Package Summary

Tags No category tags.
Version 0.3.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/locusrobotics/robot_navigation.git
VCS Type git
VCS Version noetic
Last Updated 2021-01-08
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RViz visualizations for robot_navigation datatypes

Additional Links

No additional links.

Maintainers

  • David V. Lu!!

Authors

No additional authors.

robot_nav_rviz_plugins

RViz visualizations for robot_navigation datatypes

PathDisplay

This is a simple port of rviz::PathDisplay but to work with nav_2d_msgs::Path2D.

Polygon Displays

The existing rviz::PolygonDisplay draws only the outline of a given polygon, and cannot fill the polygon in with color. This package has three new RViz displays for polygon data: * robot_nav_rviz_plugins::Polygon3DDisplay will display geometry_msgs/PolygonStamped messages just like rviz::PolygonDisplay except it can fill in the polygon. * robot_nav_rviz_plugins::PolygonDisplay displays nav_2d_msgs/Polygon2DStamped messages * robot_nav_rviz_plugins::PolygonsDisplay (note the S in PolygonS) will display nav_2d_msgs/Polygon2DCollection messages.

Each has three display modes, for displaying just the outline, just the filler, or both.

The behavior is showcased by running roslaunch robot_nav_viz_demos polygons.launch.

This is a robust refactoring of rviz::MapDisplay to not only support nav_msgs::OccupancyGrid but also the nav_2d_msgs::NavGridOfChars and nav_2d_msgs::NavGridOfDoubles datatypes. There are couple of noteworthy added features.

Dynamic Color Support

rviz::MapDisplay had three hard-coded color schemes for coloring pixels based on the map data. * Map Gray scale for [0, 100], green for [101, 127], red/yellow for [128, 254] and bluish gray for 255. * Costmap, Invisible for 0, cyan for 99, purple for 100, bluish-gray for 255, and then the same green/red/yellow as Map for [101, 254]. * Raw Gray scale for [0, 255]

The new NavGridDisplay types have those color schemes implemented, but also allows for arbitrary other mappings of colors using pluginlib. Just define an extension of robot_nav_rviz_plugins::NavGridPalette with a unique name and list of as many as 256 colors.

Dynamic Value Scaling

In the past, if you wanted to display a grid of values, you would need to either convert it into an OccupancyGrid and use the hard-coded color schemes above, or you would need to convert it to a PointCloud2 and use a Color Transform. The NavGridOfDoublesDisplay allows you to publish unbounded double values, and the scale will be dynamically calculated, so the minimum values appear on one side of the NavGridPalette and the maximum on the other, even as the extremes change.

Furthermore, there is an option to ignore particular values. * If you don't want the value -1 to be included, you can set the Ignore Value Type to Value, and the Ignore Value to -1, and then -1 will not be included in the dynamic bounds. * If you don't want any values above 2000 to be included, you can set the Ignore Value Type to Limit and the Ignore Value to 2000 and then any values greater than or equal to 2000 will be ignored.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Recent questions tagged robot_nav_rviz_plugins at answers.ros.org

Package Summary

Tags No category tags.
Version 0.3.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/locusrobotics/robot_navigation.git
VCS Type git
VCS Version melodic
Last Updated 2021-01-08
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RViz visualizations for robot_navigation datatypes

Additional Links

No additional links.

Maintainers

  • David V. Lu!!

Authors

No additional authors.

robot_nav_rviz_plugins

RViz visualizations for robot_navigation datatypes

PathDisplay

This is a simple port of rviz::PathDisplay but to work with nav_2d_msgs::Path2D.

Polygon Displays

The existing rviz::PolygonDisplay draws only the outline of a given polygon, and cannot fill the polygon in with color. This package has three new RViz displays for polygon data: * robot_nav_rviz_plugins::Polygon3DDisplay will display geometry_msgs/PolygonStamped messages just like rviz::PolygonDisplay except it can fill in the polygon. * robot_nav_rviz_plugins::PolygonDisplay displays nav_2d_msgs/Polygon2DStamped messages * robot_nav_rviz_plugins::PolygonsDisplay (note the S in PolygonS) will display nav_2d_msgs/Polygon2DCollection messages.

Each has three display modes, for displaying just the outline, just the filler, or both.

The behavior is showcased by running roslaunch robot_nav_viz_demos polygons.launch.

This is a robust refactoring of rviz::MapDisplay to not only support nav_msgs::OccupancyGrid but also the nav_2d_msgs::NavGridOfChars and nav_2d_msgs::NavGridOfDoubles datatypes. There are couple of noteworthy added features.

Dynamic Color Support

rviz::MapDisplay had three hard-coded color schemes for coloring pixels based on the map data. * Map Gray scale for [0, 100], green for [101, 127], red/yellow for [128, 254] and bluish gray for 255. * Costmap, Invisible for 0, cyan for 99, purple for 100, bluish-gray for 255, and then the same green/red/yellow as Map for [101, 254]. * Raw Gray scale for [0, 255]

The new NavGridDisplay types have those color schemes implemented, but also allows for arbitrary other mappings of colors using pluginlib. Just define an extension of robot_nav_rviz_plugins::NavGridPalette with a unique name and list of as many as 256 colors.

Dynamic Value Scaling

In the past, if you wanted to display a grid of values, you would need to either convert it into an OccupancyGrid and use the hard-coded color schemes above, or you would need to convert it to a PointCloud2 and use a Color Transform. The NavGridOfDoublesDisplay allows you to publish unbounded double values, and the scale will be dynamically calculated, so the minimum values appear on one side of the NavGridPalette and the maximum on the other, even as the extremes change.

Furthermore, there is an option to ignore particular values. * If you don't want the value -1 to be included, you can set the Ignore Value Type to Value, and the Ignore Value to -1, and then -1 will not be included in the dynamic bounds. * If you don't want any values above 2000 to be included, you can set the Ignore Value Type to Limit and the Ignore Value to 2000 and then any values greater than or equal to 2000 will be ignored.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Recent questions tagged robot_nav_rviz_plugins at answers.ros.org

Package Summary

Tags No category tags.
Version 0.3.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/locusrobotics/robot_navigation.git
VCS Type git
VCS Version kinetic
Last Updated 2021-01-08
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RViz visualizations for robot_navigation datatypes

Additional Links

No additional links.

Maintainers

  • David V. Lu!!

Authors

No additional authors.

robot_nav_rviz_plugins

RViz visualizations for robot_navigation datatypes

PathDisplay

This is a simple port of rviz::PathDisplay but to work with nav_2d_msgs::Path2D.

Polygon Displays

The existing rviz::PolygonDisplay draws only the outline of a given polygon, and cannot fill the polygon in with color. This package has three new RViz displays for polygon data: * robot_nav_rviz_plugins::Polygon3DDisplay will display geometry_msgs/PolygonStamped messages just like rviz::PolygonDisplay except it can fill in the polygon. * robot_nav_rviz_plugins::PolygonDisplay displays nav_2d_msgs/Polygon2DStamped messages * robot_nav_rviz_plugins::PolygonsDisplay (note the S in PolygonS) will display nav_2d_msgs/Polygon2DCollection messages.

Each has three display modes, for displaying just the outline, just the filler, or both.

The behavior is showcased by running roslaunch robot_nav_viz_demos polygons.launch.

This is a robust refactoring of rviz::MapDisplay to not only support nav_msgs::OccupancyGrid but also the nav_2d_msgs::NavGridOfChars and nav_2d_msgs::NavGridOfDoubles datatypes. There are couple of noteworthy added features.

Dynamic Color Support

rviz::MapDisplay had three hard-coded color schemes for coloring pixels based on the map data. * Map Gray scale for [0, 100], green for [101, 127], red/yellow for [128, 254] and bluish gray for 255. * Costmap, Invisible for 0, cyan for 99, purple for 100, bluish-gray for 255, and then the same green/red/yellow as Map for [101, 254]. * Raw Gray scale for [0, 255]

The new NavGridDisplay types have those color schemes implemented, but also allows for arbitrary other mappings of colors using pluginlib. Just define an extension of robot_nav_rviz_plugins::NavGridPalette with a unique name and list of as many as 256 colors.

Dynamic Value Scaling

In the past, if you wanted to display a grid of values, you would need to either convert it into an OccupancyGrid and use the hard-coded color schemes above, or you would need to convert it to a PointCloud2 and use a Color Transform. The NavGridOfDoublesDisplay allows you to publish unbounded double values, and the scale will be dynamically calculated, so the minimum values appear on one side of the NavGridPalette and the maximum on the other, even as the extremes change.

Furthermore, there is an option to ignore particular values. * If you don't want the value -1 to be included, you can set the Ignore Value Type to Value, and the Ignore Value to -1, and then -1 will not be included in the dynamic bounds. * If you don't want any values above 2000 to be included, you can set the Ignore Value Type to Limit and the Ignore Value to 2000 and then any values greater than or equal to 2000 will be ignored.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Recent questions tagged robot_nav_rviz_plugins at answers.ros.org