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Overview

Mapviz is extensible, like rviz, by writing plugins to display different kinds of data. This page describes existing plugin types.

Plugin Types

Disparity

Overlays a sensor_msgs/DisparityImage onto the display using the "jet" color map.

Parameters

Topic (string)

• disparity topic name

Anchor (enum)

• position in display (options: top left | top center | top right | center left | center | center right | bottom left | bottom center | bottom right)

Offset X (float)

• display offset from the left

Offset Y (float)

• display offset from the top

Width (int)

• display width

Height (int)

• display height

Units (pixels | percent of window)

• units for offsets, width, and height

GPS

Projects gps_common/GPSFix message data into the scene.

Parameters

Topic (string)

• GPS topic name

Color (color)

• color of the GPS data

Draw Style (lines | points | arrows)

• display style of GPS data

Position Tolerance (float)

• distance threshold for adding new GPS points to visualization

Buffer Size (int)

• size of circular buffer of GPS points

Grid

Projects a 2D grid into the scene.

Parameters

Frame (string)

• coordinate frame of the grid

Color (color)

• color of the grid

Alpha (float)

• alpha transparency of the grid

X (float)

• x-offset of the grid from origin of coordinate frame

Y (float)

• y-offset of the grid from origin of coordinate frame

Size (int)

• size of each grid cell

Rows (int)

• number of grid rows

Columns (int)

• number of grid columns

Image

Overlays a sensor_msgs/Image onto the display

Parameters

Topic (string)

• image topic name

Anchor (enum)

• position in display (options: top left | top center | top right | center left | center | center right | bottom left | bottom center | bottom right)

Offset X (float)

• display offset from the left

Offset Y (float)

• display offset from the top

Width (int)

• display width

Height (int)

• display height

Units (pixels | percent of window)

• units for offsets, width, and height

LaserScan

Projects a sensor_msgs/LaserScan message into the scene

Parameters

Topic (string)

• laser scan topic name

Min Color (color)

• color associated with minimum return intensity

Max Color (color)

• color associated with maximum return intensity

Min Intensity (float)

• minimum intensity value

Max Intensity (float)

• maximum intensity value

Point Size (int)

• display size of laser scan points in pixels

Buffer Size (int)

• size of circular buffer of laser scan messages

Marker

Projects a visualization_msgs/Marker or visualization_msgs/MarkerArray into the scene. Markers are the most flexible display type; they more or less mirror the OpenGL primitives.

Parameters

Topic (string)

• marker topic name

Multi-res Image

Projects a geo-referenced multi-resolution image tile map into the scene. The concept is the same as the Google Maps-style pan/zoom satellite imagery.

Parameters

Geo File (string)

• Path to the geo-referenced map tiles; see mapviz/GeoFile for format

Odometry

Projects nav_msgs/Odometry message data into the scene.

Parameters

Topic (string)

• odometry topic name

Color (color)

• color of the odometry data

Draw Style (lines | points | arrows)

• display style of odometry data

Show Covariance (bool)

• draw covariance ellipse around latest data

Position Tolerance (float)

• distance threshold for adding new odometry points to visualization

Buffer Size (int)

• size of circular buffer of odometry points

Path

Projects nav_msgs/Path message data into the scene

Parameters

Topic (string)

• path topic

Robot Image

Projects an image loaded from a file into the scene to represent the robot platform

Parameters

Image File (string)

• path to image file

Frame (string)

• frame to which to tie the image

Width (float)

• physical width represented by the image

Height (float)

• physical height represented by the image

Textured Marker

Projects marti_visualization_msgs/TexturedMarker and marti_visualization_msgs/TexturedMarkerArray message data into the scene. Textured markers follow the same general approach as traditional markers, but can be used to texture dense image data onto a quad which is projected into the scene.

Parameters

Topic (string)

• textured marker topic

Tile Map

Projects a geo-referenced multi-resolution image tile map into the scene. Data is automatically streamed from OpenMapQuest (satellite and road data) or Stamen Design (terrain, watercolor, and toner). Custom or local map servers can also be specified. Map data is cached to disk, which enables some limited use when completely offline.

Parameters

Source (string)

• source of the tile data

TF Frame

Projects tf frames into the scene, similar to the Odometry plugin

Parameters

Frame (string)

• tf frame

Color (color)

• color of the tf data

Draw Style (lines | points | arrows)

• display style of tf data

Position Tolerance (float)

• distance threshold for adding new tf points to visualization

Buffer Size (int)

• size of circular buffer of tf points