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Displaying trajectories on rviz

asked 2016-02-11 09:06:14 -0500

mayank_m gravatar image

updated 2016-02-11 09:06:36 -0500

I am writing my own implementation of a local planner which generates 7 trajectories and choose one of them. I want to display all the 7 trajectories on rviz each time the local planner is invoked along with the trajectory chosen with a different colour. How to do it in ROS ?

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answered 2016-02-11 10:54:33 -0500

This is what Markers are made for. The Tutorial on Points and Lines should be a good stating point, as it is pretty similar to your application.

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answered 2016-02-12 02:17:28 -0500

NEngelhard gravatar image

You could use a single MarkerArray Topic for this. Within a MarkerArray, a marker is identified (e.g. when it comes to deleting or updating) by it's namespace and id. So you could create a namespace for each trajectory (e.g. just '1', '2',...) and set the id according to the position of a pose in the trajectory. The single marker could then be of type Arrow .

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answered 2016-02-11 23:53:27 -0500

minh221193 gravatar image

is there a decay time in rviz? I remember i declared history length or sth, it shows the trajectory over 10 frame before disappearing

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Asked: 2016-02-11 09:06:14 -0500

Seen: 1,185 times

Last updated: Feb 12 '16