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How to publish the points selected by the tool 'select' on rviz?

asked 2018-07-24 02:14:52 -0600

surabhi96 gravatar image

updated 2018-07-24 02:17:20 -0600


I have tried using turbo-ros-pkg. After doing catkin_make install(which worked with no errors), an object file is created in the devel/lib folder. How do I use the plugin now to publish the selected points on a topic? Also, will the data type of these messages be sensor_msgs::PointCloud2?


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answered 2018-07-24 06:23:09 -0600

As taken from the readme file on the repository:

The tool can be loaded by clicking on the "Add new tool" button (plus sign) and
must be used to select points.

Additionally publishes selected points on /selected_points topic.

[RVIZ itself will create this topic and publish messages to it]

The type of these message will be sensor_msgs::PointCloud2

Hope you get this working okay.

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@PeteBlackerThe3rd Thank you so much. I wonder how I didn't get that line previously. This was trivial, my bad. Thanks again!

surabhi96 gravatar image surabhi96  ( 2018-07-24 07:51:20 -0600 )edit

No worries. It's easy to miss things the first time around sometimes.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-07-24 08:12:53 -0600 )edit

@PeteBlackerThe3rd I know this is a bit off-topic but is it possible to publish intensity values via this package? I tried changing the data type of the points to pcl::PointXYZI in the .cpp and .h file but that doesn't work. Or, is there any better way to select the desired points and use the data?

surabhi96 gravatar image surabhi96  ( 2018-07-25 18:19:36 -0600 )edit

This would require a significant re-working of the package. Where would these intensity values come from? They generally represent infrared albedo information for LiDAR scans.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-07-26 11:36:10 -0600 )edit

Ohkay. On selecting multiple points using the 'Select' tool, I can see the x, y, z values along with Intensity and ring num in the 'Selection' panel. Since the turbo-ros-pkg inherits from 'Select', I thought there would be some way of accessing and publishing the intensity values of the points.

surabhi96 gravatar image surabhi96  ( 2018-07-26 18:11:25 -0600 )edit

Hi,I want to know how to use this package. I want to select a region of PointCloud2 in rviz, and record such data in file, how it works? Thank you very much.

dong_ym gravatar image dong_ym  ( 2018-09-02 22:36:39 -0600 )edit

@dong_ym It is very easy! Once you clone the package into your system, you will have to load the functionality that this package provides in rviz. For adding this new tool, just click the '+' button on the top right hand side of rviz. You can then write a subscriber to access the x,y,z coordinates

surabhi96 gravatar image surabhi96  ( 2018-09-03 00:10:22 -0600 )edit

ok, I will have a try. But I have a question that the selected region can't hold in screen, I want to know instructions of this functionality.By the way,the selected region publish topic is /selected_points?

dong_ym gravatar image dong_ym  ( 2018-09-03 00:22:32 -0600 )edit

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Asked: 2018-07-24 02:14:52 -0600

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Last updated: Jul 24 '18