Marker visualization node

Sends marker data to rviz for graphical rendering.

Parameters

The following parameters can be used to configure the visualization:

• default_marker_color_r (0.0): marker color red value on a scale of 0 to 1
• default_marker_color_g (1.0): marker color green value on a scale of 0 to 1
• default_marker_color_b (0.0): marker color blue value on a scale of 0 to 1
• default_marker_color_b (1.0): marker alpha value on a scale of 0 to 1
• marker_scale_x (0.014): x scale of the marker (in meters)
• marker_scale_y (0.014): y scale of the marker (in meters)
• marker_scale_z (0.014): z scale of the marker (in meters)
• marker_lifetime (0.1): duration for which the marker will be visible after receiving marker data (in seconds)
• marker_frame (mocap): the origin to which the markers will be rendered relative to, should correspond with the origin used by the mocap system
• namespace (mocap_markers): namespace attached to the visualized markers
• use_markers_with_id (true): whether to use Marker messages (if false) or MarkerWithId messages (if true). Needs to correspond with the configuration of the motion capture system driver. Currently markers with ID are only supported by the Qualisys driver.

Services

The set_marker_color service changes the marker color based on the marker ID and specified color. Can be used for highlighting markers when using external tools. The reset_marker_color service resets the color of the marker specified by the marker ID to the default value. Both services only work when using MarkerWithId messages.

Changelog for package mocap4r2_marker_viz

0.0.7 (2024-01-25)

0.0.6 (2024-01-23)

0.0.5 (2024-01-23)

0.0.4 (2024-01-23)

0.0.3 (2024-01-21)

• Rename mocap to mocap4r2 to meet with REP 144
• Contributors: Francisco Martín Rico

0.0.2 (2024-01-09)

• Add launch rviz
• Multiple rigid bodies and launcher
• Adding rigid body and setting markers axis
• Fix header
• Initial commit
• Contributors: Francisco Martín Rico, Juancams, jmguerreroh