Pose Array and TF display are missing a "length" or "scale" config option (ros-pkg ticket #4442)

[hershwg]

Pose Array markers (mainly as visualization of a particlecloud)and TF frames have a fixed size which mainly fits robots the size of a PR2. For robots of smaller scale, they cover too much of the screen or the actual robot model.

It would be preferable to have the same config options for Pose Array as for Pose (length or a "scale" alone would already be useful), and the same options for TF (the complete tree) as for the Axes display. Odometry might be another culprit, as they seem to be always 1m length.

trac data:

• Owner: hersh
• Reporter: ahornung
• Reported at: Tue Sep 21 00:53:29 2010
• URL: http://code.ros.org/trac/ros-pkg/ticket/4442

[hershwg]

[ahornung] I added a visualization of the complete TF tree and odometry for the Nao humanoid, illustrating the problem. Length and / or radius scaling options would easily solve this for robots of any size.

[hershwg]

[hersh] Update: The TF display now has a scale parameter.

PoseArray still needs to be done.

[hershwg]

[hersh] The scale parameter for PoseArray should be easy. Marking for Fuerte.

[hershwg]

[hersh] Fixed in r38763: PoseArrayDisplay and OdometryDisplay now each have a "length" parameter which scales their arrows.