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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 ?
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.
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 .
is there a decay time in rviz? I remember i declared history length or sth, it shows the trajectory over 10 frame before disappearing
Asked: 2016-02-11 09:06:14 -0500
Seen: 1,904 times
Last updated: Feb 12 '16
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