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What determines size of interactive markers in RViz?

asked 2013-04-28 08:06:48 -0500

ipso gravatar image

As per the title: how does the size of interactive markers get calculated in RViz? In particular the markers for revolute joints and the large interactive marker in the planning_components_visualiser or planning_scene_warehouse_viewer instances of RViz.

Some of my robots get large diameter markers (for their joints), while others seem to have significantly smaller markers. I haven't been able to find any real pattern to this, or relation to something like min/max joint angles or speeds, but my sampling space could just be too small.

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answered 2013-04-29 02:59:05 -0500

It looks to me like the markers are generated inside planning_components_visualizer.cpp in the move_arm package:

Joint Markers:
Look in createSelectableJointMarker. In particular, the scale is set using the maxDimension parameter. For joints with mesh geometry, this is calculated based on the mesh vertex location with some odd assumptions. For other joints (with cylinder/box geometry), the scale is set to a fixed value. It looks like all markers should have a scale in the range of 0.15 to 0.5.

End-Effector Marker:
It's a little less clear how the end-effector marker is generated. I believe this is also created in the same file. It looks like it's related to the PlanningComponentsVisualizer::EndEffectorControl type and the makeInteractive6DOFMarker topic. Perhaps this marker is always created with a fixed size of 0.225.

Hope this helps!

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Good enough, must say that markers do really tend to be too small sometimes though. But that's another problem :). Thanks.

ipso gravatar image ipso  ( 2013-06-19 22:32:01 -0500 )edit

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Asked: 2013-04-28 08:06:48 -0500

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Last updated: Apr 29 '13