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how to make Collision Markers visible in rviz?

asked 2012-10-31 03:17:09 -0500

updated 2012-10-31 03:17:42 -0500

according to this tutorial, i can successfully check the state validity. but i don't know what i should do to make the collision markers visible in rviz? do i need to manually publish a topic on the collision markers? i thought the /planning_scene_validity_server should do this job. i've already added "Marker" in rviz, but don't know which topic it should listen to.


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answered 2012-11-01 16:28:17 -0500

well, just find this method in collision_models.h:

void getAllCollisionPointMarkers(const planning_models::KinematicState& state,
                                   visualization_msgs::MarkerArray& arr,
                                   const std_msgs::ColorRGBA& color,
                                   const ros::Duration& lifetime);

and now i can visualize these markers by manually publish them myself.

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Asked: 2012-10-31 03:17:09 -0500

Seen: 482 times

Last updated: Nov 01 '12