Additional 3D markers in the GUI

[mmurooka]

This is not an issue, but a feature request for the future.

It would be nice to have more types of 3D markers in the GUI. For example, the following types supported by ROS visualization_msgs/Marker messages are not available in mc_rtc.

• boxes (CUBE in visualization_msgs/Marker)
• spheres and ellipsoids (SPHERE in visualization_msgs/Marker)
• lines (LINE_LIST in visualization_msgs/Marker. Although LINE_STRIP can be handled by mc_rtc::gui::Trajectory, LINE_LIST is still useful.)

Supporting these features reduces the motivation for users to do things away from the mc_rtc concept, such as publishing their own ROS topics for the GUI as in https://github.com/isri-aist/Motion6DoF/pull/5#issuecomment-1418423577.

[gergondet]

boxes (CUBE in visualization_msgs/Marker) spheres and ellipsoids (SPHERE in visualization_msgs/Marker)

These two can (mostly) be handled via Visual although:

• this is not part of this documentation
• creating Visual objects is a little more involved than they should be
• we cannot display ellipsoid via Sphere (since the Visual element is from the definition of URDF visual elements) but we can via Superellipsoid although I think the client does not handle them

Note: mc_rtc's Visual also handles cylinders and meshes

I think we can add a nice helper to simplify usage here (and improve the docs)

To handle LINE_LIST we have to introduce a new type in mc_rtc GUI.

[mmurooka]

I will close this as it was handled by https://github.com/jrl-umi3218/mc_rtc/pull/299. Thank you.

[gergondet]

@mmurooka how about LINE_LIST-like functionality?

[mmurooka]

Oh, yes. It is desirable to have LINE_LIST as well. (At least Motion6DoF also used LINE_LIST.) I'll reopen the issue.