Visualize height of UAV (both esitamted state and ground truth) in rviz

[tongtybj]

This PR is about the height visualization in rviz, which is separated from commit in #65, and was also discussed in #63

• [ ] [jsk_mbzirc_tasks/include/jsk_mbzirc_tasks/mbzirc_gazebo_uav_state_display_plugin.h, jsk_mbzirc_tasks/src/mbzirc_gazebo_uav_state_display_plugin.cpp/, jsk_mbzirc_tasks/urdf/quadrotor_with_hokyo30lx_and_downward_cam.urdf.xacro ] Add plugin visualizting height of UAV
• [ ] [jsk_mbzirc_tasks/launch/jsk_mbzirc_task_1.launch,jsk_mbzirc_tasks/launch/jsk_mbzirc_task_3.launch ] Modify the description to publish height info of each UAV in rviz.
• [ ] [jsk_mbzirc_tasks/config/task1.rviz,jsk_mbzirc_tasks/config/task3.rviz ] Modify the config to display the height info of each UAV

[tongtybj]

[k-okada]

looks nice, but why you have to create another plugin for this purpose.

[tongtybj]

@k-okada

Just follow this same type in https://github.com/start-jsk/jsk_mbzirc/blob/master/jsk_mbzirc_common/src/mbzirc_gazebo_truck_plugin.cpp#L189-L193

So I need a plugin to convert message to std_msgs::string so that the relay_field_728.py can receive and change to jsk_rviz_plugins/OverlayText: https://github.com/start-jsk/jsk_mbzirc/blob/master/jsk_mbzirc_tasks/launch/jsk_mbzirc_task_1.launch#L39-L41

Is there any better solution?

[k-okada]

please try something like (this is not confimed, may need debugging), relay_field.py /dom /pose_overlay jsk_rviz_plugins/OverlayText 'text: m.pose.pose.position.z'

◉ Kei Okada

On Mon, Jun 13, 2016 at 2:37 PM, 趙 漠居 notifications@github.com wrote:

@k-okada https://github.com/k-okada

Just follow this same type in

https://github.com/start-jsk/jsk_mbzirc/blob/master/jsk_mbzirc_common/src/mbzirc_gazebo_truck_plugin.cpp#L189-L193

So I need a plugin to convert message to std_msgs::string so that the relay_field_728.py can receive and change to jsk_rviz_plugins/OverlayText:

https://github.com/start-jsk/jsk_mbzirc/blob/master/jsk_mbzirc_tasks/launch/jsk_mbzirc_task_1.launch#L39-L41

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/start-jsk/jsk_mbzirc/pull/83#issuecomment-225492915, or mute the thread https://github.com/notifications/unsubscribe/AAeG3HufdUa7hXGfy6QJrtaReRAtAMp3ks5qLOykgaJpZM4IzqSZ .

[tongtybj]

not sure this is correct way. I add type conversion process in relay_field.py if input and output value type are different: https://github.com/tongtybj/jsk_mbzirc/blob/8b4d5cfb692a8b9d5153260e2d81591e68bf7210/jsk_mbzirc_tasks/script/relay_field_728.py#L42-L44

With this, direct conversion is achieved:

<node pkg="jsk_mbzirc_tasks" name="uav_state_text_to_overlay" type="relay_field_728.py"
        args="/state /state_overlay jsk_rviz_plugins/OverlayText
              'text: [m.pose.pose.position.z, str]' --wai

[furushchev]

travis failed

/home/travis/catkin_ws/src/jsk_mbzirc/jsk_mbzirc_tasks/script/relay_field_728.py:44:41: E231 missing whitespace after ','

[tongtybj]

@k-okada is this PR OK?

[k-okada]

please check if https://github.com/ros/ros_comm/pull/728 is already released

◉ Kei Okada

On Fri, Jun 17, 2016 at 8:19 AM, 趙　漠居 notifications@github.com wrote:

@k-okada is this PR OK?

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[tongtybj]

@k-okada Yes, it is released. So next step is to send PR to https://github.com/ros/ros_comm, is it right?

[k-okada]

If it is release you can use released version And if you need to update script, send new PR

◉ Kei Okada

2016/06/17 12:46、趙　漠居 notifications@github.com のメッセージ:

@k-okada Yes, it is released. So next step is to send PR to https://github.com/ros/ros_comm, is it right?

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or mute the thread.

[furushchev]

@tongtybj I think it's better to use ros_comm version relay_field instead of this repo version. you will need to fix launch files, (and remove old relay_field script?)

[tongtybj]

@furushchev Exactly. Besides, I also updated the script: https://github.com/tongtybj/jsk_mbzirc/blob/82bdb4a32ce494bcf252167bbd8217619c7244b7/jsk_mbzirc_tasks/script/relay_field_728.py#L42-L44 So I need to send PR to ros_comm, is it correct?

[furushchev]

@tongtybj はい。