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How to load pcd pointcloud into librviz RenderPanel?

asked 2016-01-29 18:45:41 -0500

lucasw gravatar image

updated 2016-01-29 19:01:31 -0500

I have a librviz instance running in a qt window thanks to http://docs.ros.org/jade/api/librviz_... . I would assume I use http://wiki.ros.org/pcl_ros to convert the loaded pcd data into a PointCloud2, but then how do I add that to the rviz::VisualizationManager?

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answered 2016-02-01 11:16:17 -0500

lucasw gravatar image

updated 2016-02-01 15:06:25 -0500

It looks like the answer is in http://answers.ros.org/question/19172... - I need to set the PointCloud2 Display to subscribe to a topic, then publish to that topic with the pcd converted into a ros message.

Having the same node publish and subscribe to itself within an rqt plugin, while keeping namespaces distinct from potential other instances of the same node requires a few more details, I chose to use the private node handle:

std::string name = "my_point_cloud";
std::string topic = getPrivateNodeHandle() + "/" + name;
rviz::Display*display = manager->createDisplay("rviz/PointCloud2", QString::fromStdString(name), true);
pub = getPrivateNodeHandle().advertise<pcl::PointCloud<pcl::PointXYZRGBNormal> >(name, 1);
display->subProp("Topic")->setValue(QString::fromStdString(topic));

I was hoping that I could get data directly into the custom rviz window without publishing or subscribing... it would be nice to have access controls and permissions on topics, or mark them hidden.

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You could probably do something similar by writing a new display type; mostly based on the existing PointCloud2 display but with the changes you need.

ahendrix gravatar imageahendrix ( 2016-02-01 11:32:14 -0500 )edit

I did try out processMessage() but it is protected, it may be as simple as having a subclass with a public method to access that.

lucasw gravatar imagelucasw ( 2016-02-01 13:17:59 -0500 )edit

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Asked: 2016-01-29 18:45:41 -0500

Seen: 412 times

Last updated: Feb 01 '16