rviz_plugin_covariance Array of messages?
Hello,
I need to plot the 2D covariances of detected-tracked objects in rviz. I have seen there is already the rviz_plugin_covariance plugin. However this one, only seems to be handling a single PoseWithCovariance message.
I need to plot an array of those objects. Is that possible? I could write my own software, but I was wondering there is already an elegant solution/idea?
Related topics/resources:
- https://answers.ros.org/question/9295/how-can-i-visualize-covariance-data-using-ros-tools/
- https://answers.ros.org/question/11081/plot-a-gaussian-3d-representation-with-markers-in-rviz/
- https://geus.wordpress.com/2011/09/15/how-to-represent-a-3d-normal-function-with-ros-rviz/
Many thanks in advance!
Asked by tanasis on 2019-09-25 06:04:59 UTC
Answers
As far as I'm aware there isn't a standard message type for an Array of PoseWithCovariance or RVIZ plugin to display them.
If you need to build this yourself it would be simpler to make a node which generates a TriangleList Marker message from the set of covariances than it would be to build a new RVIZ plugin. This would not be as clean and tidy, but it will get something working faster. If this is something that you'll be using for a long time and want to share back to the ROS community then it would be worth making a custom message type and RVIS plugin.
Hope this helps.
Asked by PeteBlackerThe3rd on 2019-09-25 06:23:14 UTC
Comments
Thanks Pete! I will probably go down this road.
Asked by tanasis on 2019-09-25 09:32:22 UTC
Comments