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Visualize height of UAV (both esitamted state and ground truth) in rviz #83

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Visualize height of UAV (both esitamted state and ground truth) in rviz #83

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1e5b8dd
Visualize height of UAV (both esitamted state and ground truth) in rv…
tongtybj Jun 12, 2016
82bdb4a
Add type assigment in relay_field.py
tongtybj Jun 14, 2016
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38 changes: 38 additions & 0 deletions jsk_mbzirc_tasks/config/task1.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,8 @@ Panels:
- /Global Options1
- /Status1
- /OverlayText1
- /OverlayText2
- /OverlayText3
Splitter Ratio: 0.5
Tree Height: 428
- Class: rviz/Selection
Expand Down Expand Up @@ -151,6 +153,42 @@ Visualization Manager:
text size: 32
top: 10
width: 500
- Background Alpha: 0.8
Background Color: 0; 0; 0
Class: jsk_rviz_plugin/OverlayText
Enabled: true
Foreground Alpha: 0.8
Foreground Color: 25; 255; 240
Name: OverlayText
Overtake Color Properties: true
Overtake Position Properties: true
Topic: /state_overlay
Value: true
font: DejaVu Sans Mono
height: 40
left: 10
line width: 2
text size: 24
top: 70
width: 250
- Background Alpha: 0.8
Background Color: 0; 0; 0
Class: jsk_rviz_plugin/OverlayText
Enabled: true
Foreground Alpha: 0.8
Foreground Color: 255; 0; 0
Name: OverlayText
Overtake Color Properties: true
Overtake Position Properties: true
Topic: /ground_truth_overlay
Value: true
font: DejaVu Sans Mono
height: 30
left: 10
line width: 2
text size: 18
top: 110
width: 200
Enabled: true
Global Options:
Background Color: 48; 48; 48
Expand Down
72 changes: 63 additions & 9 deletions jsk_mbzirc_tasks/config/task3.rviz
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Original file line number Diff line number Diff line change
@@ -1,13 +1,16 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /OverlayText1
- /OverlayText2
- /OverlayText3
Splitter Ratio: 0.5
Tree Height: 124
Tree Height: 202
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expand Down Expand Up @@ -113,7 +116,6 @@ Visualization Manager:
Size (m): 0.01
Style: Flat Squares
Topic: /UAV1/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Expand All @@ -125,10 +127,10 @@ Visualization Manager:
Overlay Alpha: 0.5
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Visibility:
Grid: true
OverlayText: true
Remaining Time: true
UAV1 LaserScan: true
UAV1 RobotModel: true
Expand Down Expand Up @@ -196,7 +198,7 @@ Visualization Manager:
Max Color: 255; 255; 255
Max Intensity: 999999
Min Color: 0; 0; 0
Min Intensity: 0
Min Intensity: -6.80389e-27
Name: UAV2 LaserScan
Position Transformer: XYZ
Queue Size: 10
Expand All @@ -205,7 +207,6 @@ Visualization Manager:
Size (m): 0.01
Style: Flat Squares
Topic: /UAV2/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Expand All @@ -217,10 +218,10 @@ Visualization Manager:
Overlay Alpha: 0.5
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Visibility:
Grid: true
OverlayText: true
Remaining Time: true
UAV1 Camera: true
UAV1 LaserScan: true
Expand Down Expand Up @@ -297,7 +298,6 @@ Visualization Manager:
Size (m): 0.01
Style: Flat Squares
Topic: /UAV3/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Expand All @@ -309,10 +309,10 @@ Visualization Manager:
Overlay Alpha: 0.5
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Visibility:
Grid: true
OverlayText: true
Remaining Time: true
UAV1 Camera: true
UAV1 LaserScan: true
Expand Down Expand Up @@ -342,6 +342,60 @@ Visualization Manager:
text size: 64
top: 10
width: 370
- Background Alpha: 0.8
Background Color: 0; 0; 0
Class: jsk_rviz_plugin/OverlayText
Enabled: true
Foreground Alpha: 0.8
Foreground Color: 25; 255; 240
Name: OverlayText
Overtake Color Properties: true
Overtake Position Properties: true
Topic: /UAV1/ground_truth_overlay
Value: true
font: DejaVu Sans Mono
height: 30
left: 10
line width: 2
text size: 20
top: 10
width: 250
- Background Alpha: 0.8
Background Color: 0; 0; 0
Class: jsk_rviz_plugin/OverlayText
Enabled: true
Foreground Alpha: 0.8
Foreground Color: 25; 255; 240
Name: OverlayText
Overtake Color Properties: true
Overtake Position Properties: true
Topic: /UAV2/ground_truth_overlay
Value: true
font: DejaVu Sans Mono
height: 30
left: 10
line width: 2
text size: 20
top: 80
width: 250
- Background Alpha: 0.8
Background Color: 0; 0; 0
Class: jsk_rviz_plugin/OverlayText
Enabled: true
Foreground Alpha: 0.8
Foreground Color: 25; 255; 240
Name: OverlayText
Overtake Color Properties: true
Overtake Position Properties: true
Topic: /UAV3/ground_truth_overlay
Value: true
font: DejaVu Sans Mono
height: 30
left: 10
line width: 2
text size: 20
top: 150
width: 250
Enabled: true
Global Options:
Background Color: 48; 48; 48
Expand Down
17 changes: 13 additions & 4 deletions jsk_mbzirc_tasks/launch/jsk_mbzirc_task_1.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -38,18 +38,27 @@
<arg name="z" value="$(arg z)"/>
</include>

<!-- workaround until https://github.com/ros/ros_comm/pull/728 get released -->
<!-- workaround until https://github.com/ros/ros_comm/pull/728 get released -->
<!-- display time in rviz -->
<node pkg="jsk_mbzirc_tasks" name="remain_time_text_to_overlay" type="relay_field_728.py"
args="/remaining_time /remaining_time_overlay jsk_rviz_plugins/OverlayText
'text: m.data' --wait-for-start" />
'text: m.data' --wait-for-start" />
<!-- display uav state in rviz -->
<node pkg="jsk_mbzirc_tasks" name="uav_state_text_to_overlay" type="relay_field_728.py"
args="/state /state_overlay jsk_rviz_plugins/OverlayText
'text: [m.pose.pose.position.z, str]' --wait-for-start" />
<!-- display state in rviz -->
<node pkg="jsk_mbzirc_tasks" name="uav_ground_truth_text_to_overlay" type="relay_field_728.py" output="screen"
args="/ground_truth/state /ground_truth_overlay jsk_rviz_plugins/OverlayText
'text: [m.pose.pose.position.z, str]' --wait-for-start" />

<group unless="$(arg headless)" >
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find jsk_mbzirc_tasks)/config/task1.rviz"/>

<node pkg="jsk_mbzirc_tasks" type="uav_teleop_keyboard" name="uav_teleop_keyboard"
launch-prefix="xterm -e">
<param name="teleopUGV" value="$(arg teleopUGV)"/>
<remap from="teleopUGV" to="uav_teleop_keyboard/teleopUGV"/>
<param name="teleopUGV" value="$(arg teleopUGV)"/>
<remap from="teleopUGV" to="uav_teleop_keyboard/teleopUGV"/>
</node>

</group>
Expand Down
28 changes: 27 additions & 1 deletion jsk_mbzirc_tasks/launch/jsk_mbzirc_task_3.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,14 @@
<arg name="y" value="-25"/>
<arg name="z" value="0.3"/>
</include>
<!-- display uav state in rviz -->
<node pkg="jsk_mbzirc_tasks" name="uav_state_text_to_overlay" type="relay_field_728.py"
args="/$(arg uav1_name)/state /$(arg uav1_name)/state_overlay jsk_rviz_plugins/OverlayText
'text: [m.pose.pose.position.z, str]' --wait-for-start" />
<!-- display state in rviz -->
<node pkg="jsk_mbzirc_tasks" name="uav_ground_truth_text_to_overlay" type="relay_field_728.py"
args="/$(arg uav1_name)/ground_truth/state /$(arg uav1_name)/ground_truth_overlay jsk_rviz_plugins/OverlayText
'text: [m.pose.pose.position.z, str]' --wait-for-start" />
</group>
<group ns="$(arg uav2_name)">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
Expand All @@ -35,6 +43,14 @@
<arg name="y" value="-25"/>
<arg name="z" value="0.3"/>
</include>
<!-- display uav state in rviz -->
<node pkg="jsk_mbzirc_tasks" name="uav_state_text_to_overlay" type="relay_field_728.py"
args="/$(arg uav2_name)/state /$(arg uav2_name)/state_overlay jsk_rviz_plugins/OverlayText
'text: [m.pose.pose.position.z, str]' --wait-for-start" />
<!-- display state in rviz -->
<node pkg="jsk_mbzirc_tasks" name="uav_ground_truth_text_to_overlay" type="relay_field_728.py"
args="/$(arg uav2_name)/ground_truth/state /$(arg uav2_name)/ground_truth_overlay jsk_rviz_plugins/OverlayText
'text: [m.pose.pose.position.z, str]' --wait-for-start" />
</group>
<group ns="$(arg uav3_name)">
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
Expand All @@ -45,10 +61,20 @@
<arg name="y" value="-25"/>
<arg name="z" value="0.3"/>
</include>
<!-- display uav state in rviz -->
<node pkg="jsk_mbzirc_tasks" name="uav_state_text_to_overlay" type="relay_field_728.py"
args="/$(arg uav3_name)/state /$(arg uav3_name)/state_overlay jsk_rviz_plugins/OverlayText
'text: [m.pose.pose.position.z, str]' --wait-for-start" />

<!-- display state in rviz -->
<node pkg="jsk_mbzirc_tasks" name="uav_ground_truth_text_to_overlay" type="relay_field_728.py"
args="/$(arg uav3_name)/ground_truth/state /$(arg uav3_name)/ground_truth_overlay jsk_rviz_plugins/OverlayText
'text: [m.pose.pose.position.z, str]' --wait-for-start" />

</group>

<!-- workaround until https://github.com/ros/ros_comm/pull/728 get released -->
<node pkg="jsk_mbzirc_tasks" name="remain_time_text_to_overlay" type="relay_field_728"
<node pkg="jsk_mbzirc_tasks" name="remain_time_text_to_overlay" type="relay_field_728.py"
args="/remaining_time /remaining_time_overlay jsk_rviz_plugins/OverlayText
'text: m.data' --wait-for-start" />

Expand Down
4 changes: 4 additions & 0 deletions jsk_mbzirc_tasks/script/relay_field_728.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@
import rostopic
import genpy
import std_msgs
import __builtin__

__author__ = '[email protected] (Kentaro Wada)'

Expand All @@ -38,6 +39,9 @@ def _eval_in_dict_impl(dict_, globals_, locals_):
type_ = type(v)
if type_ is dict:
res[k] = _eval_in_dict_impl(v, globals_, locals_)
elif (type_ is list):
val = eval(v[0], globals_, locals_)
res[k] = getattr(__builtin__, v[1])(val)
elif (type_ is str) or (type_ is unicode):
try:
res[k] = eval(v, globals_, locals_)
Expand Down