Rviz Tools for python
- rviz marker 기능을 쉽게 사용
- 설치 : ./include/rviz_tools_py/폳더내에 rviz_tools.py & init.py 복사
#------------marker-----------------
import roslib
from geometry_msgs.msg import Pose, Point, Quaternion, Vector3, Polygon
from tf import transformations # rotation_matrix(), concatenate_matrices()
import rviz_tools_py as rviz_tools
#------------------------------------
#------------marker---------------------
markers = rviz_tools.RvizMarkers('/velodyne', 'visualization_marker')
# Text:
# Publish some text using a ROS Pose Msg
P = Pose(Point(3,-1,0),Quaternion(0,0,0,1))
scale = Vector3(0.2,0.2,0.2)
markers.publishText(P, 'This is some text_korean', 'white', scale, 5.0) # pose, text, color, scale, lifetime
# Cube / Cuboid:
# Publish a cuboid using a numpy transform matrix
T = transformations.translation_matrix((0.6,2.2,0))
scale = Vector3(1.5,5.2,0.2)
markers.publishCube(T, 'red', scale, 5.0) # pose, color, scale, lifetime
#-------------------------------
Visualising the real time trajectory path using markers
https://answers.ros.org/question/279558/visualising-the-real-time-trajectory-path-using-markers/