0 专栏介绍

本专栏旨在通过对ROS的系统学习，掌握ROS底层基本分布式原理，并具有机器人建模和应用ROS进行实际项目的开发和调试的工程能力。

🚀详情：《ROS从入门到精通》

1 Rviz可视化

ROS提供了三维可视化工具Rviz，用于可视化传感器的数据和状态信息。在Rviz中可以通过图形化的方式，实时显示机器人传感器的信息、机器人的运动状态、周围环境的变化等。

Rviz的基础操作详见：

ROS从入门到精通2-1：机器人3D可视化工具——Rviz
ROS从入门到精通2-4：Rviz插件制作实战案例(以多点连续导航插件为例)

本文介绍Rviz的进阶使用，效果如下所示，可以实现坐标轴、坐标系、直线、平面、点列、圆柱等多种Marker的可视化。

在这里插入图片描述

2 环境配置

下载可视化库

git clone https://github.com/PickNikRobotics/rviz_visual_tools

初次编译可能会遇到以下问题

-- Could NOT find eigen_stl_containers (missing: eigen_stl_containers_DIR) -- Could not find the required component 'eigen_stl_containers'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.

解决方案：
```
git clone https://github.com/AcutronicRobotics/eigen_stl_containers
```
-- Could NOT find graph_msgs (missing: graph_msgs_DIR) -- Could not find the required component 'graph_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.

解决方案：
```
sudo apt-get install ros-noetic-graph-msgs
```

最后一起编译即可

catkin_make

3 使用方法

rviz_visual_tools提供了很多方便的可视化API

publishSphere
publishSpheres
publishArrow/publishXArrow
publishYArrow
publishZArrow
publishCuboid
publishCone
publishXYPlane
publishXZPlane
publishYZPlane
publishLine
publishPath
publishPolygon
publishBlock
publishWireframeCuboid
publishWireframeRectangle
publishAxis
publishAxisLabeled
publishCylinder
publishMesh
publishText
publishTest

rviz_visual_tools提供了下述可选的颜色

BLACK,
BLUE,
BROWN,
CYAN,
DARK_GREY,
GREEN,
GREY,
LIME_GREEN,
MAGENTA,
ORANGE,
PINK,
PURPLE,
RED,
WHITE,
YELLOW,
TRANSLUCENT_LIGHT,
TRANSLUCENT,
TRANSLUCENT_DARK,
RAND,
CLEAR,
DEFAULT

以及下述大小

XXXXSMALL,
XXXSMALL,
XXSMALL,
XSMALL,
SMALL,
MEDIUM,
LARGE,
XLARGE,
XXLARGE,
XXXLARGE,
XXXXLARGE,

4 测试用例

比如要可视化一个三维位姿

#include <rviz_visual_tools/rviz_visual_tools.h>

// For visualizing things in rviz
rviz_visual_tools::RvizVisualToolsPtr visual_tools_;

// Change the first parameter to the name of your robot's base frame, 
// and the second parameter to whatever name you'd like to use for the corresponding Rviz marker ROS topic.
visual_tools_.reset(new rviz_visual_tools::RvizVisualTools("base_frame","/rviz_visual_markers"));

// Create pose
Eigen::Isometry3d pose;
pose = Eigen::AngleAxisd(M_PI/4, Eigen::Vector3d::UnitY()); // rotate along X axis by 45 degrees
pose.translation() = Eigen::Vector3d( 0.1, 0.1, 0.1 ); // translate x,y,z

// Publish arrow vector of pose
ROS_INFO_STREAM_NAMED("test","Publishing Arrow");
visual_tools_->publishArrow(pose, rviz_visual_tools::RED, rviz_visual_tools::LARGE);

// publish
visual_tools_->trigger();