Publish clicked point with orientation

[tky1026]

I would like to publish GPS coordinate message by clicking on the display, where point_click_publisher with frame set to /wgs84 get the job done perfectly.

However, I am looking to add orientation like how the move_base 2D Estimated Pose option works, such that the message field contains GPS coordinate + orientation.

point_click_publisher publishes PointStamped only; move_base Estimated Pose publishes pose message to /initialpose with data under map frame only and not changeable.

How can I achieve this?

[matt-attack]

There is not an existing way to do this using just mapviz.

One way we have done something like this is by creating a node which listens to two PointStamped and uses the relative heading between the two to create a Pose. The alternative is creating a new mapviz plugin based on point_click_publisher (or adding an option to it) which does something similar internally.

[danthony06]

I'm thinking about how we could integrate this more easily into the UI. What if we did something like a click and drag, where you click where the waypoint should be, and then drag to the direction you want? After you release, the point would be published.

[knickels]

@tky1026, check out https://github.com/swri-robotics/mapviz/pull/716 and see if it does what you need. I based it off of the move_base plugin.

[tky1026]

@knickels , this is exactly what I am looking for! Thank you!