search

RobotLocomotion / drake-ros

Experimental prototyping (for now)
Apache License 2.0
87 stars 34 forks source link

Should add option to visualize simulation rate in RViz? #142

Open EricCousineau-TRI opened 2 years ago

EricCousineau-TRI commented 2 years ago

Motivated by https://github.com/robotlocomotion/drake-ros/pull/133#pullrequestreview-1117001491

In Drake Visualizer, we have the option to show simulation rate. I believe this is also the case for meldis / MeshCat.

Is there a way that we could a text overlay or even an updating text item in the "Dipslays" where we can show text? From looking at currently available plugins, I don't see anything obvious for "put text on screen". (this is on Jammy + Humble, using https://github.com/sloretz/apptainer-ros/blob/ad1867258b5e8a82a72a47e0eb572e71cc407093/jammy-ros-humble-desktop/Apptainer)

\cc @IanTheEngineer @sloretz

adeeb10abbas commented 1 year ago

I think rviz_2d_overlay_plugins would be ideal for this. ~They recently ported their ROS1 plugin to ROS2~ Someone other than the original jsk_visualization folks did this for ROS2

EricCousineau-TRI commented 1 year ago

Ah, nice! Since they have their stuff on ROS Index, it should be easy to add that in for CMake / Bazel testing when using debs.

adeeb10abbas commented 1 year ago

fwiw - I tried using it. Got stuck here, posted the issue on the original repo

Might look for alternative ways, in the meantime. Any suggestions are welcome as always! :) /cc @EricCousineau-TRI Issue resolved! Back at it :) Might have misunderstood a warning on my part hehe