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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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Unable to rotate markers in MapViz #770

Open ALCarroll24 opened 1 year ago

ALCarroll24 commented 1 year ago

Hi,

I am trying to display a covariance ellipse within MapViz. Because I did not find any native functionality within MapViz for this, I am trying to draw a covariance ellipse using Markers.

This approach works fine to create a viewable ellipse. However, rotating the ellipse seems to do nothing and thus I can't fully display covariance.

I have tried viewing the same marker messages within RVIZ, where rotation and stretching the ellipse seems to work fine.

Are marker rotations not implemented in MapViz and if not are there are any other approaches I can take for viewing covariance.

Thanks

malban commented 1 year ago

Are marker rotations not implemented in MapViz and if not are there are any other approaches I can take for viewing covariance.

It looks like the orientation isn't taken into account when drawing the ellipse for a cylinder marker: https://github.com/swri-robotics/mapviz/blob/master/mapviz_plugins/src/marker_plugin.cpp#L566-L575, which seems like an oversight.

The odometry plugin can draw the position covariance for an odometry message.