robot_nav_viz_demos

Demos for testing/demonstrating robot_nav_rviz_plugins and color_util packages

Color Util Demos

To see a simple tool for visualizing color_util blending, run roslaunch robot_nav_viz_demos spectrum_demo.launch. To see what all the named colors look like, run roslaunch robot_nav_viz_demos named_colors_demo.launch

Nav Grid Demo

roslaunch robot_nav_viz_demos grid_demo.launch

This will launch two processes.

• pong is a simple script for generating NavGridOfDoubles and NavGridOfDoublesUpdate data with an ever-expanding range of values.
  • Note that 0 is set as the Ignore Value, which means that it is set to transparent (with some palettes) and the min/max range ignores that value.
• The second plays back the data from demo_grids.bag which contains NavGridOfChars and NavGridOfCharsUpdate data.
  • The bag data only contains 6 values (by design) and thus requires custom palettes to fully appreciate. There are two contained within demo_palettes.cpp, called mega and green. This demonstrates the capabilities of the pluginlib approach for the palettes.

Polygons Demo

roslaunch robot_nav_viz_demos polygons.launch

This shows off the new Polygon-based display types.

• In the center, is a single Polygon2DStamped in the form of a simple star. Like all of the Polygon displays here, you can choose to display the outline, the filled in polygon, or both, as well as customize colors for each.
• Outside of that is a Polygon2DCollection, i.e. an array of possibly Complex polygons (i.e. polygons with holes). Each of the rings represents a polygon with an outer and inner outline. There are three different fill-color styles you can choose. By default, it shows everything in one color. You can also switch it to use color information from the message, which should display a rainbow. You can also choose a set of unique colors from the color_util package if the color information is not included in the message.
• The small star spinning farthest away has the type geometry_msgs::PolygonStamped. It is the same as the standard rviz::PolygonDisplay except it can also be filled in. You can enable the old-style polygon display for comparison.