Show in RViZ coordinate of a point with respect to parent

asked 2019-04-11 12:49:21 -0500

quantum gravatar image

updated 2019-04-12 08:41:39 -0500

Hi to all,

in my RViZ I visualized two sensors, where each one of them have a different position in my vehicle and different transformation. The position and the transformation of the sensors are placed in a xacro file.


<link name="base_link">
  <visual name="chassis">
    <origin xyz="0 0 0" rpy="0 0 0"/>
      <mesh filename="file://$(arg mesh_file)" scale="1 1 1"/>

<link name="radar_front_right" />
<link name="radar_front_left" />

<joint name="radar_front_right" type="fixed">
  <origin xyz="5 2 0" rpy="0.5 0 0"/>
  <parent link="base_link"/>
  <child link="radar_front_right"/>

<joint name="radar_front_left" type="fixed">
  <origin xyz="5 -2 0" rpy="0.7 0 0"/>
  <parent link="base_link"/>
  <child link="radar_front_left"/>

I can see the radar "raw" values (before the transformation and the offset of base_link) using select plug-in. What I do not know how to do is to visualized the values after the transformation and the offset of base_link (the one i see in the RViZ visualization.

Is it possible?

edit retag flag offensive close merge delete



I think you want to set fixed frame to base_link

lucasw gravatar image lucasw  ( 2019-04-11 15:02:08 -0500 )edit

@lucasw, do you mean simply adding type=fix?

quantum gravatar image quantum  ( 2019-04-11 22:45:33 -0500 )edit

No not that. Can you link to a screenshot, and cut and paste the headers of your radar messages into your question or a comment here?

lucasw gravatar image lucasw  ( 2019-04-12 07:34:47 -0500 )edit

Your joints are missing child_links- those will need to match frame_ids in the radar messages. And the child links need to be created in the urdf/xacro also.

lucasw gravatar image lucasw  ( 2019-04-12 07:38:11 -0500 )edit

@lucasw, i added new information. Hope it helps.

quantum gravatar image quantum  ( 2019-04-12 08:41:03 -0500 )edit

Ok, now add the left and right radar headers, and a screenshot.

lucasw gravatar image lucasw  ( 2019-04-15 09:33:12 -0500 )edit