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Equivalent of Marker frame_locked for PointCloud2 in rviz?

asked 2018-09-27 13:11:46 -0500

lucasw gravatar image

updated 2018-09-27 13:14:23 -0500

I have knowledge that point clouds are locked (have an unchanging transform relative to) a moving frame. The rviz point cloud won't move with the moving frame because at the one timestamp it was captured it will remain at the static location. I'd like to be able to set a non-zero decay time in rviz to see the points for a few seconds after they are captured.

It's possible to set the rviz global frame to the moving frame and the visualization is correct except that I'd like to visualize from a static frame like map instead.

I can solve this by republishing a limited buffer of old point clouds that are in the moving frame and constantly updating their timestamps to the current time. But is there something off the shelf to do this- can point_cloud_assembler help me here?

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answered 2018-10-01 09:01:56 -0500

lucasw gravatar image

Short of adding frame_locked to the PointCloud2 visualization the most expedient thing was to republish the PointCloud2 messages as an rviz Markers of points, and set frame_locked to true.

point_cloud_assembler sort of works in combination with a node that repeatedly call the assemble point cloud service and publishes out the result on a topic so rviz can view it.

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Asked: 2018-09-27 13:11:46 -0500

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Last updated: Oct 01 '18