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rviz_visual_tools

repository·ros2·Indexed 21 days ago

https://github.com/picknikrobotics/rviz_visual_tools

A library by PickNik Robotics designed to simplify the visualization of complex robot data, such as trajectories, paths, and poses, within RViz by providing high-level abstractions for publishing markers.

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What's inside rviz_visual_tools

  1. Migrate from Affine3d to Isometry3d in ROS Melodic

    ros2
    In ROS Melodic versions of Rviz Visual Tools, the Affine3d type has been replaced by Isometry3d to improve computational efficiency. For most use cases, a simple find-and-replace of the type name in your code should be sufficient to resolve compatibility issues.

  2. Handle changes to ros::spinOnce() behavior in publishMarkers (ROS Melodic)

    ros2

    In previous versions of Rviz Visual Tools for ROS Melodic, RvizVisualTools::publishMarkers internally called ros::spinOnce(). This behavior has been removed to prevent ROS callback functions from running in unexpected threads (such as the UI thread).

    If your application logic relied on publishMarkers triggering ROS callbacks, you must now explicitly manage spinning. You can resolve this by:

    1. Adding a manual call to ros::spinOnce() immediately after your call to publishMarkers().
    2. Using a ros::AsyncSpinner to handle callbacks in a dedicated thread.