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This repository collected 3 ways to show trajectory of robot in ROS

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HaoQChen/show_trajectory

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Introduction

This repository collected 3 ways to show trajectory of robot in ROS. And I had test them all in indigo.

How to Run

There are three nodes declared in CMakeLists.txt. You just need to

catkin_make
roscore
rosrun rviz rviz
rosrun show_trajectory by_path
or
rosrun show_trajectory by_marker
or
rosrun show_trajectory by_marker_list


and then add corresponding display in rviz

by_path add Path
by_marker and by_marker_list add Marker

and remember to set Fixed Frame to my_frame

Three Ways

1. nav_msgs/Path

public a nav_msgs::Path message which contains an array of geometry_msgs/PoseStamped
result

2. visualization_msgs/Marker

public visualization_msgs::Marker and hold them by setting lifetime to forever. But remember to update the id of Marker to avoid covering previous markers.
result

3. visualization_msgs/Marker list

public visualization_msgs::Marker's points and lines which contains an array of geometry_msgs/Point
result


Thank you for your star! (grinning)

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