ROS进阶学习手记 3 -- RViz工具的学习2，Markers: Sending Basic Shapes

最新推荐文章于 2024-08-15 13:24:49 发布

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最新推荐文章于 2024-08-15 13:24:49 发布 · 3.1k 阅读

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这篇博客介绍了如何使用ROS的visualization_msgs/Marker消息在rviz中显示基本形状，如立方体、球体、圆柱体和箭头。首先创建名为using_markers的包，然后编写C++代码发送Markers，通过catkin_make构建代码，并运行展示基本形状。同时，指南还涵盖了在rviz中配置固定帧和添加Markers显示。

Markers: Sending Basic Shapes (C++)

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我是从这里开始：http://wiki.ros.org/rviz
在它之下，先玩完这一部分：http://wiki.ros.org/rviz/UserGuide

今天要玩这一部分： http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Basic%20Shapes

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Description: Shows how to use visualization_msgs/Marker messages to send basic shapes (cube, sphere, cylinder, arrow) to rviz.

2. Intro

Unlike other displays, the Marker Display lets you visualize data in rviz without rviz knowing anything about interpreting that data. Instead, primitive objects are sent to the display throughvisualization_msgs/Marker messages, which let you show things like arrows, boxes, spheres and lines.

This tutorial will show you how to send the four basic shapes (boxes, spheres, cylinders, and arrows). We'll create a program that sends out a new marker every second, replacing the last one with a different shape.