mission_planner_rviz_plugin#
MrmGoalTool#
This is a copy of rviz_default_plugins::tools::GoalTool. Used together with the RouteSelectorPanel to set the MRM route.
After adding the tool, change the topic name to /rviz/route_selector/mrm/goal from the topic property panel in rviz.
RouteSelectorPanel#
This panel shows the main and mrm route state in the route_selector and the route states in the mission_planner. Additionally, it provides clear and set functions for each main route and mrm route.
| Trigger | Action |
|---|---|
| main route clear button | call /planning/mission_planning/route_selector/main/clear_route |
| mrm route clear button | call /planning/mission_planning/route_selector/mrm/clear_route |
/rviz/route_selector/main/goal topic |
call /planning/mission_planning/route_selector/main/set_waypoint_route |
/rviz/route_selector/mrm/goal topic |
call /planning/mission_planning/route_selector/mrm/set_waypoint_route |