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RViz marker coordinate space

asked 2019-06-10 09:59:03 -0600

Hypomania gravatar image


I was wondering what coordinate space RViz markers work in (Pose or Points parameters).

I have an object with Pose of 5000, 5000, 0, however when I open RViz and draw a Marker with 0, 0, 0 coordinate, it draws it directly over the object.

What's wrong?

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answered 2019-06-10 10:52:43 -0600

RVIZ markers specify their frame_id in the message, along with their pose. So if you specify a point at (0, 0, 0) then it will be shown at the origin of the given pose defined within the coordinate system of '<frame_id>'

I usually set the pose to identity to keep things simple, and calculate the marker points directly within the specified frame, but that isn't always appropriate.

Regarding the problem you describe can you post a screen-shot along with the code which produces it. We'll just be guessing without it.

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Awesome, thank you!

Hypomania gravatar image Hypomania  ( 2019-06-10 11:12:28 -0600 )edit

I solved it, my TF was incorrect!

Hypomania gravatar image Hypomania  ( 2019-06-10 11:12:53 -0600 )edit

Glad you got it working.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2019-06-10 12:26:26 -0600 )edit

Just a follow-up comment: everything in ROS should use (derived) SI units. So metres, kilograms, etc.

This applies to Marker messages as well.

gvdhoorn gravatar image gvdhoorn  ( 2019-06-11 04:00:28 -0600 )edit

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Asked: 2019-06-10 09:59:03 -0600

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Last updated: Jun 10 '19