robot.rst

Robot

.. tabs::

  .. tab:: Teammate

    .. figure:: images/robot_team_own.png
      :align: center

      Teammates are visualized using a **green, cube** marker

  .. tab:: Opponent

    .. figure:: images/robot_team_opponent.png
      :align: center

      Opponent robots are visualized using a **red, cube** marker

  .. tab:: Unknown team

    .. figure:: images/robot_team_unknown.png
      :align: center

      If a robot's team cannot be determined, visualize using a **white, cube** marker

The player number of the robot is displayed above the cube marker, if provided.

Properties

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

• Color - Team

  Team of a robot is classified as own, opponent or otherwise unknown. An own robot is green, opponent is red and unknown is white.

• Number Marker - Player Number

  Player number of a robot is displayed above the cube marker, if provided. If player number is unknown, the player number will not be displayed above the cube marker.

Example

In this example, we will manually publish a robot array with one teammate (green) and one opponent (red) and observe it in RViz. Start the visualizer node:

ros2 run soccer_vision_3d_rviz_markers visualizer

Set up a publisher that publishes the robot array with one teammate and one opponent robot:

ros2 topic pub /soccer_vision_3d/robots soccer_vision_3d_msgs/msg/RobotArray "
header:
  frame_id: 'camera'
robots:
  - bb:
      center:
        position:
          x: 1.0
          y: 0.5
          z: 0.3
      size:
        x: 0.3
        y: 0.3
        z: 0.6
    attributes:
      player_number: 1
      team: 1
  - bb:
      center:
        position:
          x: 1.0
          y: -0.5
          z: 0.2
      size:
        x: 0.2
        y: 0.2
        z: 0.4
    attributes:
      player_number: 3
      team: 2
  - bb:
      center:
        position:
          x: 0.0
          y: -1.5
          z: 0.4
      size:
        x: 0.4
        y: 0.4
        z: 0.8
    attributes:
      player_number: 4
"

Open RViz2 with a demo configuration:

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

You should see the robots displayed in RViz: