如何可视化rviz发布点？

Question

I want to combine the publish points via ros-rviz by ticking, but I don't know how to do this exactly, which resources should I look at, is there a sample study?

What I want is done on frontier exploration ros wiki, but how can I add it on a different rviz? How can I make this visualization by giving it publish point?

Answer 1

For this you will need to write a node that constructs a boundary polygon from the points it gets from Rviz Publish point and then constructs line strip markers from them and publishes it back to Rviz . Inside Rviz you will have to add a Marker display subscribing to the corresponding topic. For how this can be done have a look at the C++-node explore_client inside the frontier_exploration package as well as the Rviz-configuration turtlebot_exploration.rviz inside turtlebot_samples .

Alternatively you could also write a Rviz plugin using the same logic. Tutorials for this can be found here , in particular have a look at PlantFlagTool .