How to visualise a driven path?
Hey guys,
seems like a very common thing to me, but I did not find a solution for this (and I am not that good in ros to do it myself).
I am driving around a vehicle with move_base and a static map in RVIZ and everything works fine, so I recorded everything with rosbag. (ubuntu 18.04 and ros melodic, static map, localisation with gps, RVIZ for visualization)
I am able to replay everything with rosbag play so this is fine. But to verify how good the system works, I want to also visualize the driven path, not just the planned global one.
I dont care about the kind of visualization, it does not have to be a path, but could be everything else.
What I was able to find is the hector trajectory server, but I am not able to use it correctly I think. When I call it with rosrun it tells me that it finshed waiting for tf and I could chose "Trajectory" as a path in RVIZ, but thats all. looks like this:
~/catkin_ws$ rosrun hector_trajectory_server hector_trajectory_server
`[ INFO] [1626368186.486718585]: Waiting for tf transform data between frames map and base_link to become available Maybe I just don't call the service right?
Or is there a way to directly mark all the recorded fixes while playing the rosbag?
Would be happy to get some answers, thanks in advance!
Is Odometry visualization what you are looking for? It basically plots an arrow for every published odometry position.
Thanks! I will try that later and come back.
That COULD have been what I looked for, but does not work for me. There seem to be some problems with the odom.
Yes, I guess that is the general idea of that visualization to find issues with the robots odometry.
the odometry itself is fine, but the odom messages are not transformed in the map. But that's not a big problem.
Sorry, doubt that. A working odom message requires the correct frame, you seem to have an issue here.