Rviz trying to display shape_msgs Mesh

asked 2015-12-11 11:03:22 -0600

flag of United Kingdom of Great Britain and Northern Ireland

9529 ●30 ●143 ●135 https://www.linkedin.c...

Hi There,

I've created a ROS node that uses a lidar scanner and a pan tilt unit to create 3d scans. These scans are published by the node as shape_msgs::Mesh messages. I was hoping to be able to visualize these meshes live in Rviz as they are created. But they don't seem to be supported by Rvis V1.11.10 in Ros Indigo.

Is there a message type for a mesh that does work in rviz? Ideally I'd like to be able to display texture mapped meshes but I can't find a standard message type that supports that?

At some point soon I'll be needing to display a 3D terrain map in Rvis to if that's possible?

Thanks, Pete

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Could you just use a triangle list type and sort the vertices in your shape_msgs Mesh so they are correctly ordered for the triangle list?

2ROS0 ( 2015-12-11 15:24:42 -0600 )edit

Hi there. Yes I have used the triangle list. Because the data is being generated live so the last thing I want to do is save it to a file. The messages a huge since vertices have to be repeated many times. But colouring the triangles is a bonus. Thanks

PeteBlackerThe3rd ( 2015-12-17 10:16:39 -0600 )edit

Can you please tell me how can you create the triangle list to display on rviz?

simaopp ( 2018-01-16 09:45:25 -0600 )edit

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answered 2015-12-11 12:17:25 -0600

William

17335 ●101 ●182 ●262 http://wjwwood.io/

I think you want a Mesh Marker: http://wiki.ros.org/rviz/DisplayTypes...

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Doesn't this type require a mesh file and so can this be done real-time?

2ROS0 ( 2015-12-11 15:22:14 -0600 )edit

You're right this would require them to write each mesh out to a file. I think the triangle list is a better approach, as you commented above.

William ( 2015-12-11 15:42:53 -0600 )edit

Yup. Thanks. I've used a triangle list in the end

PeteBlackerThe3rd ( 2015-12-17 10:29:24 -0600 )edit

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answered 2016-02-08 07:52:11 -0600

lucasw

8729 ●137 ●239 ●256 https://github.com/lucasw

updated 2016-02-08 07:53:02 -0600

This rviz plugin displays shape_msgs::Mesh and can have a texture projected over it (though haven't gotten the texture working yet), I don't know how good it is for large vertice lists:

https://github.com/lucasw/vigir_ocs_c...

I forked it from https://github.com/team-vigir/vigir_o... on the suggestion of the answer to http://answers.ros.org/question/21850... and got rid of the most everything except that plugin.

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Rviz trying to display shape_msgs Mesh

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