This page lists changes that were made in the 1.2.x series of visualization (C Turtle).

1.2.2 (2010-11-22)

  • rviz

    • fixed crash when a sensor_msgs/PointCloud is received that has a channel with a values array that is a different size than the points array (r33966)

    • PointCloud2 display now filters out nan values completely, rather than just moving them to someplace you'll never see. Improves performance for rectangular sensor-based clouds (like stereo or the kinect). (r33978)

    • Fixed performance problems with high datarate, large size point clouds like those that come from the kinect (r33994)
    • Fixed threading crash caused by LaserScan/PointCloud/PointCloud2 displays (<<Ticket(ros-pkg,4426)>>, r34027, r34028)

1.2.1 (2010-10-5)

  • rxbag_plugins

    • bug fix for displaying images with rgb8 encoding <<Ticket(ros-pkg 4415)>>

    • bug fix for plotting integers <<Ticket(ros 3028)>>

1.2.0 (2010-7-23)

rviz: New Features

  • Marker Display
    • Support for new visualization_msgs/Marker types and members

      • MESH_RESOURCE marker type that can load meshes from disk/web

      • TEXT_VIEW_FACING marker type for displaying text

      • TRIANGLE_LIST marker type for displaying "triangle soup"

      • frame_locked option for markers, which automatically retransforms them into a frame every update cycle

      • Support for per-point color for POINT, CUBE_LIST, LINE_LIST and LINE_STRIP markers. Does not yet support per-point alpha though the capability exists in the message.

      • All documented at rviz/DisplayTypes/Marker

  • New PointCloud2 display

  • LaserScan/PointCloud/PointCloud2 color/position transformation is now pluggable

    • Loading of fields related to transforming intensity into color is not backwards compatible with the boxturtle version, please update your config files
  • TF Display

    • Added Frame Timeout option which will fade out frames that have not received data within a certain amount of time. Defaults to 15 seconds.

  • Ogre.log file is now suppressed by default, with a command line options -l to turn it on

  • A dialog is now shown when rviz cannot connect to the master
  • Support for COLLADA meshes and materials

rviz: Bugs Fixed

  • POINT, CUBE_LIST, LINE_LIST and LINE_STRIP markers no longer throw away messages with empty points members

  • Relative paths now work when passed to the -d command line option

  • Fixed support for the mesh scale attribute in a URDF
  • Receiving images, both in image_view and rviz no longer generates mipmaps, which was using a large amount of CPU

  • URDF loading of spheres now uses the radius correctly, instead of treating it as a diameter

  • Reduced the tf cache length to 60 seconds to significantly reduce memory usage
  • Exits cleanly if an exception is thrown during startup


  • warn on multiple background tasks (e.g. image or CSV exporting)
  • ImageView: R and B channels were being swapped on CompressedImage message export

  • PlotView bug fixes

    • reopening configure frame no longer clears plot
    • disabled drag & drop on configure frame due to wxPython bug

    • fixed CSV export when striding
    • chart fixes (e.g. axis label widths; no data or zero range display)

Wiki: visualization/ChangeList/1.2 (last edited 2010-11-22 20:54:31 by JoshFaust)