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coincar-sim / lanelet_rviz_plugin_ros

BSD 3-Clause "New" or "Revised" License
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[Q] Highlight some lanelets and route in rviz #12

Closed Wing-ka-king closed 3 years ago

Wing-ka-king commented 3 years ago

Hey, Where should I begin, if I want to highlight certain lanelets and route calculated by lanelet_routing in rviz?

m-naumann commented 3 years ago

I'd recommend to use markers (https://wiki.ros.org/rviz/DisplayTypes/Marker#Line_Strip_.28LINE_STRIP.3D4.29) to visualize a route, at least for the start.

Since this plugin is intended to display a static map, highlighting routes is not supported. To integrate this feature, you'd need an additional message that provides the information "which lanelets are to be highlighted" to this plugin. I rather see this as a different application, and also implementationwise, I'd recommend writing a separate plugin, once the markers no longer fulfill your needs.