obstacle.rst

Obstacle

Obstacles are visualized using a black, cube marker

Properties

Marker properties are utilized to visualize properties of the incoming message:

Example

In this example, we will manually publish an obstacle and observe it in RViz. Start the visualizer node:

ros2 run soccer_vision_3d_rviz_markers visualizer

Set up a publisher that publishes an Obstacle Array message:

ros2 topic pub soccer_vision_3d/obstacles soccer_vision_3d_msgs/msg/ObstacleArray "
header:
  frame_id: 'camera'
obstacles:
  - bb:
      center:
        position:
          x: 2.0
          y: 0.0
          z: 0.6
      size:
        x: 0.3
        y: 0.5
        z: 1.2
    confidence:
      confidence: 0.5
"

Open RViz2 with a demo configuration:

rviz2 -d $(ros2 pkg prefix --share soccer_vision_3d_rviz_markers)/rviz/demo.rviz

You should see an obstacle with 50% transparency displayed in RViz: