Goal

The goal of the wire_viz package is to visualize the input and the output send to and received from the wire_core package of the wire stack in RViz.

Tutorial

A tutorial explaining this package is part of the wire tutorials and can be found here.

Nodes

Topics

Subscribed Topics

world_evidence (world_model_msgs/WorldEvidence)
  • Listen to the evidence fed to the world model.
world_state (world_model_msgs/WorldState)
  • Listen to the estimated world state provided by the world model.

Published Topics

visualization_markers/world_evidence (visualization_msgs/MarkerArray)
  • Marker array representing the world model input
visualization_markers/world_state (visualization_msgs/MarkerArray)
  • Marker array representing the world model output

Parameters

Parameters

show_cov (bool, default: false)
  • Let the marker size grow with increasing covariance
show_text (bool, default: true)
  • Add text label to the marker
show_id (bool, default: true)
  • Show the
r (double, default: 1.0)
  • Default color markers r-channel
g (double, default: 1.0)
  • Default color markers g-channel
b (double, default: 1.0)
  • Default color markers b-channel
alpha (double, default: 1.0)
  • Default transparency color markers (alpha)
scale_x (double, default: 0.1)
  • Size of the marker in x-direction
scale_y (double, default: 0.1)
  • Size of the marker in y-direction
scale_z (double, default: 0.1)
  • Size of the marker in z-direction
offset_x_pos (double, default: 0)
  • Offset of the marker position in the x-direction
offset_y_pos (double, default: 0)
  • Offset of the marker position in the y-direction
offset_z_pos (double, default: 0)
  • Offset of the marker position in the z-direction
offset_x_rot (double, default: 0)
  • Offset of the marker orientation in the x-direction
offset_y_rot (double, default: 0)
  • Offset of the marker orientation in the y-direction
offset_z_rot (double, default: 0)
  • Offset of the marker orientation in the z-direction
offset_w_rot (double, default: 0)
  • Offset of the marker orientation in the w-direction
mesh_resource (string, default: "")
  • Default mesh resource for the geometric markers (default is no mesh)
marker_type (string, default: sphere)
  • Geometric shape of the marker, e.g., sphere, cube, cylinder
duration (double, default: 1.0)
  • Lifetime of the marker

Wiki: wire_viz (last edited 2013-01-28 12:14:18 by JosElfring)