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vision_msgs_markers package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

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Package Summary

Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Generic node to convert vision_msgs Detection3DArray to visualization_msgs MarkerArray

Maintainers

WATonomous

Authors

No additional authors.

src/infrastructure/vision_msgs_markers/README.md

vision_msgs_markers

Generic ROS2 node that converts vision_msgs/msg/Detection3DArray to visualization_msgs/msg/MarkerArray for visualization in Foxglove or RViz.

Features

Wireframe bounding boxes (LINE_LIST markers)
Text labels showing class ID and confidence score
Colors assigned per class ID (consistent hashing into 12-color palette)
Semi-transparent markers (configurable alpha)

Topics

Topic	Type	Direction	Description
`detections_in`	`vision_msgs/msg/Detection3DArray`	Subscribe	Input 3D detections
`markers_out`	`visualization_msgs/msg/MarkerArray`	Publish	Output visualization markers

Use topic remappings to connect to your actual topics.

Parameters

Parameter	Type	Default	Description
`marker_alpha`	double	0.6	Transparency of box outlines (0.0-1.0)
`text_scale`	double	0.3	Size of text labels
`line_width`	double	0.05	Thickness of box edges

Usage

Launch from your module’s bringup with topic remappings:

- node:
    pkg: vision_msgs_markers
    exec: vision_msgs_markers_node
    name: detection_viz
    output: screen
    remappings:
      - from: detections_in
        to: /perception/detections_3d
      - from: markers_out
        to: /visualization/detection_markers
    param:
      - name: marker_alpha
        value: 0.7

Color Palette

Classes are assigned colors via consistent hashing:

Red, Green, Blue, Yellow, Magenta, Cyan
Orange, Purple, Spring Green, Rose, Lime, Sky Blue

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	vision_msgs
	visualization_msgs
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
infrastructure_bringup
carla_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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API Docs Browse Code

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