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rviz_plugin_covariance Array of messages?

asked 2019-09-25 06:04:59 -0500

tanasis gravatar image

updated 2019-09-25 06:05:31 -0500


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?

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Many thanks in advance!

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answered 2019-09-25 06:23:14 -0500

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.

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Thanks Pete! I will probably go down this road.

tanasis gravatar image tanasis  ( 2019-09-25 09:32:22 -0500 )edit

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Asked: 2019-09-25 06:04:59 -0500

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Last updated: Sep 25 '19