Goal
The goal of the wire_viz package is to visualize the input and the output send to and received from the wire_core package of the wire stack in RViz.
Tutorial
A tutorial explaining this package is part of the wire tutorials and can be found here.
Nodes
Topics
Subscribed Topics
world_evidence (world_model_msgs/WorldEvidence)- Listen to the evidence fed to the world model.
- Listen to the estimated world state provided by the world model.
Published Topics
visualization_markers/world_evidence (visualization_msgs/MarkerArray)- Marker array representing the world model input
- Marker array representing the world model output
Parameters
Parameters
show_cov (bool, default: false)- Let the marker size grow with increasing covariance
- Add text label to the marker
- Show the
- Default color markers r-channel
- Default color markers g-channel
- Default color markers b-channel
- Default transparency color markers (alpha)
- Size of the marker in x-direction
- Size of the marker in y-direction
- Size of the marker in z-direction
- Offset of the marker position in the x-direction
- Offset of the marker position in the y-direction
- Offset of the marker position in the z-direction
- Offset of the marker orientation in the x-direction
- Offset of the marker orientation in the y-direction
- Offset of the marker orientation in the z-direction
- Offset of the marker orientation in the w-direction
- Default mesh resource for the geometric markers (default is no mesh)
- Geometric shape of the marker, e.g., sphere, cube, cylinder
- Lifetime of the marker
