ROS专题----数据可视化rviz简明笔记

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ROS数据可视化rviz简明笔记

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标记：发送基本形状（C ++）
显示如何使用visualization_msgs / Marker消息将基本形状（立方体，球体，圆柱体，箭头）发送到rviz。
标记：点和线（C ++）
教导如何使用visualization_msgs / Marker消息将点和线发送到rviz。
交互式标记：入门
本教程解释什么是交互式标记，并教你一些基本的概念。
交互式标记：编写简单的交互式标记服务器
本教程介绍如何设置管理单个交互式标记的极简主义服务器。
交互式标记：基本控件
本教程解释basic_controls教程代码如何工作。
插件：新显示类型
如何编写一个插件，为RViz添加一个新的显示功能。
插件：新的可停靠面板
如何编写一个插件，添加一个新类型的可停靠Panel小部件到RViz。
插件：新工具类型
如何编写一个插件，为RViz添加一个新工具。
Librviz：将RViz纳入自定义GUI
如何使用RViz可视化窗口小部件编写应用程序。
Rviz in Stereo
教你如何设置Rviz在3D立体声渲染。

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$ tree -L 3.├── interactive_marker_tutorials│   ├── CHANGELOG.rst│   ├── CMakeLists.txt│   ├── package.xml│   ├── scripts│   │   ├── basic_controls.py│   │   ├── cube.py│   │   ├── menu.py│   │   └── simple_marker.py│   └── src│       ├── basic_controls.cpp│       ├── cube.cpp│       ├── menu.cpp│       ├── point_cloud.cpp│       ├── pong.cpp│       ├── selection.cpp│       └── simple_marker.cpp├── librviz_tutorial│   ├── CHANGELOG.rst│   ├── CMakeLists.txt│   ├── package.xml│   ├── rosdoc.yaml│   └── src│       ├── doc│       ├── main.cpp│       ├── myviz.cpp│       └── myviz.h├── rviz_plugin_tutorials│   ├── CHANGELOG.rst│   ├── CMakeLists.txt│   ├── icons│   │   └── classes│   ├── media│   │   └── flag.dae│   ├── package.xml│   ├── plugin_description.xml│   ├── rosdoc.yaml│   ├── scripts│   │   └── send_test_msgs.py│   └── src│       ├── doc│       ├── drive_widget.cpp│       ├── drive_widget.h│       ├── flag.h│       ├── imu_display.cpp│       ├── imu_display.h│       ├── imu_visual.cpp│       ├── imu_visual.h│       ├── plant_flag_tool.cpp│       ├── plant_flag_tool.h│       ├── teleop_panel.cpp│       └── teleop_panel.h├── rviz_python_tutorial│   ├── CHANGELOG.rst│   ├── CMakeLists.txt│   ├── config.myviz│   ├── doc-src│   │   ├── conf.py│   │   ├── index.rst│   │   ├── myviz.png│   │   └── tutorialformatter.py│   ├── myviz.py│   ├── package.xml│   └── rosdoc.yaml├── visualization_marker_tutorials│   ├── CHANGELOG.rst│   ├── CMakeLists.txt│   ├── package.xml│   └── src│       ├── basic_shapes.cpp│       └── points_and_lines.cpp└── visualization_tutorials    ├── CHANGELOG.rst    ├── CMakeLists.txt    └── package.xml18 directories, 57 files

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1 标记：基本形状，点，线等

补充阅读：

1 DisplayTypes/Marker：http://wiki.ros.org/rviz/DisplayTypes/Marker

2 rviz/UserGuide：http://wiki.ros.org/rviz/UserGuide

3 tf/tf2：http://wiki.ros.org/tf http://wiki.ros.org/tf2

代码解析等参考如下：

1 标记：发送基本形状（C ++）

2 标记：点和线（C ++）

使用命令和效果，如下：

$ rosrun visualization_marker_tutorials basic_shapes

在rviz中，添加Marker，修改Fixed Frame为my_frame，可见如下不断变化的基本图形：

$ rosrun visualization_marker_tutorials points_and_lines

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2 交互式标记

这部分都分为C++和Python两种语言介绍。

这里需要注意，Fixed Frame为base_link等。

这里以simple_marker为例：

python：

import rospyfrom interactive_markers.interactive_marker_server import *from visualization_msgs.msg import *def processFeedback(feedback):    p = feedback.pose.position    print feedback.marker_name + " is now at " + str(p.x) + ", " + str(p.y) + ", " + str(p.z)if __name__=="__main__":    rospy.init_node("simple_marker")        # create an interactive marker server on the topic namespace simple_marker    server = InteractiveMarkerServer("simple_marker")        # create an interactive marker for our server    int_marker = InteractiveMarker()    int_marker.header.frame_id = "base_link"    int_marker.name = "my_marker"    int_marker.description = "Simple 1-DOF Control"    # create a grey box marker    box_marker = Marker()    box_marker.type = Marker.CUBE    box_marker.scale.x = 0.45    box_marker.scale.y = 0.45    box_marker.scale.z = 0.45    box_marker.color.r = 0.0    box_marker.color.g = 0.5    box_marker.color.b = 0.5    box_marker.color.a = 1.0    # create a non-interactive control which contains the box    box_control = InteractiveMarkerControl()    box_control.always_visible = True    box_control.markers.append( box_marker )    # add the control to the interactive marker    int_marker.controls.append( box_control )    # create a control which will move the box    # this control does not contain any markers,    # which will cause RViz to insert two arrows    rotate_control = InteractiveMarkerControl()    rotate_control.name = "move_x"    rotate_control.interaction_mode = InteractiveMarkerControl.MOVE_AXIS    # add the control to the interactive marker    int_marker.controls.append(rotate_control);    # add the interactive marker to our collection &    # tell the server to call processFeedback() when feedback arrives for it    server.insert(int_marker, processFeedback)    # 'commit' changes and send to all clients    server.applyChanges()    rospy.spin()

C++：

#include <ros/ros.h>#include <interactive_markers/interactive_marker_server.h>void processFeedback(    const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback ){  ROS_INFO_STREAM( feedback->marker_name << " is now at "      << feedback->pose.position.x << ", " << feedback->pose.position.y      << ", " << feedback->pose.position.z );}int main(int argc, char** argv){  ros::init(argc, argv, "simple_marker");  // create an interactive marker server on the topic namespace simple_marker  interactive_markers::InteractiveMarkerServer server("simple_marker");  // create an interactive marker for our server  visualization_msgs::InteractiveMarker int_marker;  int_marker.header.frame_id = "base_link";  int_marker.header.stamp=ros::Time::now();  int_marker.name = "my_marker";  int_marker.description = "Simple 1-DOF Control";  // create a grey box marker  visualization_msgs::Marker box_marker;  box_marker.type = visualization_msgs::Marker::CUBE;  box_marker.scale.x = 0.45;  box_marker.scale.y = 0.45;  box_marker.scale.z = 0.45;  box_marker.color.r = 0.5;  box_marker.color.g = 0.5;  box_marker.color.b = 0.5;  box_marker.color.a = 1.0;  // create a non-interactive control which contains the box  visualization_msgs::InteractiveMarkerControl box_control;  box_control.always_visible = true;  box_control.markers.push_back( box_marker );  // add the control to the interactive marker  int_marker.controls.push_back( box_control );  // create a control which will move the box  // this control does not contain any markers,  // which will cause RViz to insert two arrows  visualization_msgs::InteractiveMarkerControl rotate_control;  rotate_control.name = "move_x";  rotate_control.interaction_mode =      visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;  // add the control to the interactive marker  int_marker.controls.push_back(rotate_control);  // add the interactive marker to our collection &  // tell the server to call processFeedback() when feedback arrives for it  server.insert(int_marker, &processFeedback);  // 'commit' changes and send to all clients  server.applyChanges();  // start the ROS main loop  ros::spin();}

可以比较一下，然后输入下面命令：

$ rosrun interactive_marker_tutorials simple_marker