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swri-robotics / mapviz

Modular ROS visualization tool for 2D data.
BSD 3-Clause "New" or "Revised" License
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Real time navigation with Mapviz ROS2 #728

Open nicolasaw opened 3 years ago

nicolasaw commented 3 years ago

Hi everyone, I am quite new on Mapviz and I am currently using it for my research project. I would like to utilize Mapviz to visualize the movement of my robot equipped with a GPS on a map. Not only that, I also wish to be able to navigate my robot from initial point to a goal point directly on Mapviz as what RViz is capable of.

fb328a98-7d69-4888-8624-4b00029d8365

I read in #507 that for Mapviz on ROS1, move_base and plan_route plugins can be used to help navigating. For ROS2, is there something similar to it and how to actually use it? It would be great if it publishes cmd_vel topic as that is the topic I will be using to send data to my microcontroller.

Attach below is the output I was able to get currently, sorry for the lack of quality. Screenshot from 2021-04-08 15-12-08

Thanks and I will be looking forward to any guidance

pjreed commented 3 years ago

The way actions work in ROS2 have some significant changes from ROS1, and at the time I originally ported mapviz to ROS2, MoveIt was still under heavy development and changing rapidly, so I decided not to port the move_base plugin, and I believe it's still the one plugin in the ROS1 version of mapviz that hasn't been ported to ROS2. Unfortunately, I still not familiar with ROS2 actions or MoveIt, but anybody who wants to take a look at porting that plugin would be welcome to do so. 😉

kyuhyong commented 6 months ago

Hi @nicolasaw How were you able to show tile_map on mapviz? I source build mapviz on my ros2_ws but I got Wgs84Transformer not initialized error and no map shows. Can you share your launch.py for a reference?