This small PR extends the existing visual alert from simply a maximum range to an area defined in polar coordinates by a min/max range and a min/max elevation. The user may not set inconsistent values for min/max, else their input is overridden and the value is clamped (for example, attempting to set a min range of 10 while the max range is 5 would clamp the min range to 5 for consistency).
Testing
Testing is the same as described for the range-only alert in the previous PR; please see the video attached there. Tested and working on skid steer 2d tracked object data, however the elevation feature should be tested on data with elevation enabled (3d data); I could only test that setting the min/max to not include 0 degrees would cause the alert to disappear as expected.
Notes
Note that the options for the visual alert are hidden until the user enables it in order to make the RViz display options less cluttered, however due to the way RViz handles hidden options, there appears to be some blank space in the options list. I do not know a fix for this, unfortunately. It does not affect performance, but makes the options list longer than necessary.
Summary
This small PR extends the existing visual alert from simply a maximum range to an area defined in polar coordinates by a min/max range and a min/max elevation. The user may not set inconsistent values for min/max, else their input is overridden and the value is clamped (for example, attempting to set a min range of 10 while the max range is 5 would clamp the min range to 5 for consistency).
Testing
Testing is the same as described for the range-only alert in the previous PR; please see the video attached there. Tested and working on skid steer 2d tracked object data, however the elevation feature should be tested on data with elevation enabled (3d data); I could only test that setting the min/max to not include 0 degrees would cause the alert to disappear as expected.
Notes
Note that the options for the visual alert are hidden until the user enables it in order to make the RViz display options less cluttered, however due to the way RViz handles hidden options, there appears to be some blank space in the options list. I do not know a fix for this, unfortunately. It does not affect performance, but makes the options list longer than necessary.