Writing PointCloud2 Rviz Display Plugin

asked 2021-04-23 06:49:45 -0500

JayDe gravatar image

updated 2021-04-26 09:09:05 -0500

miura gravatar image

Hi! I would like to be able to visualize a message like this in Rviz:

Header header
sensor_msgs/PointCloud2[] point_clouds

Specifically, it would be nice to see all point clouds in point_clouds displayed in Rviz. I thought it would be a good idea to write a rviz plugin for this purpose. In order to do so, I intended to subclass rviz::PointCloud2Display and overwrite the processMessage method. Unfortunately, I am unable to import rviz::PointCloud2Display (i.e., I can't find the class in my headers). It would be great if someone could pass me basic structured code on how to set things up or point me to a repository where a concrete display type is subclassed. Thank you!

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