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