tier4_localization_rviz_plugin

Purpose

This plugin can display the localization history obtained by ekf_localizer, ndt_scan_matching, and GNSS. If the uncertainty of the estimated pose is given, it can also be displayed.

Inputs / Outputs

Input

Pose History

Name	Type	Description
input/pose	geometry_msgs::msg::PoseStamped	In input/pose, put the result of localization calculated by ekf_localizer, ndt_scan_matching, or GNSS

Pose With Covariance History

Name	Type	Description
input/pose_with_covariance	geometry_msgs::msg::PoseWithCovarianceStamped	In input/pose_with_covariance, put the result of localization calculated by ekf_localizer, ndt_scan_matching, or GNSS

Parameters

Core Parameters

Pose History

Name	Type	Default Value	Description
property_buffer_size_	int	100	Buffer size of topic
property_line_view_	bool	true	Use Line property or not
property_line_width_	float	0.1	Width of Line property [m]
property_line_alpha_	float	1.0	Alpha of Line property
property_line_color_	QColor	Qt::white	Color of Line property

Pose With Covariance History

Name	Type	Default Value	Description
property_buffer_size_	int	100	Buffer size of topic
property_path_view_	bool	true	Use path property or not
property_shape_type_	string	Line	Line or Arrow
property_line_width_	float	0.1	Width of Line property [m]
property_line_alpha_	float	1.0	Alpha of Line property
property_line_color_	QColor	Qt::white	Color of Line property
property_arrow_shaft_length	float	0.3	Shaft length of Arrow property
property_arrow_shaft_diameter	float	0.15	Shaft diameter of Arrow property
property_arrow_head_length	float	0.2	Head length of Arrow property
property_arrow_head_diameter	float	0.3	Head diameter of Arrow property
property_arrow_alpha_	float	1.0	Alpha of Arrow property
property_arrow_color_	QColor	Qt::white	Color of Arrow property
property_sphere_scale_	float	1.0	Scale of Sphere property
property_sphere_alpha_	float	0.5	Alpha of Sphere property
property_sphere_color_	QColor	(204, 51, 204)	Color of Sphere property

Assumptions / Known limits

TBD.

Usage

1. Start rviz and select Add under the Displays panel.
2. Select tier4_localization_rviz_plugin/PoseHistory or PoseWithCovarianceHistory. Next, press OK.
3. Enter the name of the topic where you want to view the trajectory and the covariance.
4. You can view the trajectory and the covariance.