在rviz中绘制多个路径

问题描述

我正在尝试在rviz处绘制不同的路径

我正在使用以下代码来获得第一种方法（基于此存储库：https://github.com/HaoQChen/show_trajectory/tree/master/src）

import rospy
import math
import numpy as np
from geometry_msgs.msg import PoseStamped
from nav_msgs.msg import Path,Odometry
from std_msgs.msg import Empty


class ProjectElement(object):
    def __init__(self):
        self.path_pub = rospy.Publisher('~path',Path,latch=True,queue_size=10)
        self.circle_sub = rospy.Subscriber('~circle',Empty,self.circle_cb,queue_size=10)
        self.line_sub = rospy.Subscriber('~line',self.line_cb,queue_size=10)
        self.project_sub = rospy.Subscriber('~project',self.project_cb,queue_size=10)
        
        self.paths = []

        self.rate = rospy.Rate(50)

    def circle_cb(self,msg):
        
        path = Path()

        centre_x = 1
        centre_y = 1
        R = 0.5
        th = 0.0
        delta_th = 0.1

        while (th<2*math.pi):
            x = centre_x + R * math.sin(th)
            y = centre_y + R * math.cos(th)
            th += delta_th

            this_pose_stamped = PoseStamped()
            this_pose_stamped.pose.position.x = x
            this_pose_stamped.pose.position.y = y

            this_pose_stamped.header.stamp = rospy.get_rostime()
            this_pose_stamped.header.frame_id = "/my_cs"

            path.poses.append(this_pose_stamped)

        path.header.frame_id = "/my_cs"
        path.header.stamp = rospy.get_rostime()
        
        self.paths.append(path)

    def line_cb(self,msg):
        
        path = Path()

        x_start = 0.0
        y_start = 0.0
        length = 2
        angle = 45 * math.pi/180
        th = 0.0
        delta_th = 0.1

        while (th<length):
            x = x_start + th * math.cos(angle)
            y = y_start + th * math.sin(angle)
            th += delta_th

            this_pose_stamped = PoseStamped()
            this_pose_stamped.pose.position.x = x
            this_pose_stamped.pose.position.y = y

            this_pose_stamped.header.stamp = rospy.get_rostime()
            this_pose_stamped.header.frame_id = "/my_cs"

            path.poses.append(this_pose_stamped)

        path.header.frame_id = "/my_cs"
        path.header.stamp = rospy.get_rostime()

        self.paths.append(path)  

    def project_cb(self,msg):

        while(True):
            for element in self.paths:
                # element.header.stamp = rospy.get_rostime()
                self.path_pub.publish(element)


if __name__ == '__main__':
    
    rospy.init_node('path_simulate')

    elements = ProjectElement()

    rospy.spin()

我可以在rviz处看到路径，但是我不知道如何以这种方式同时绘制两个图形。

line

circle

我想问一下这种方法是解决此问题的最佳方法，还是哪种可能是最佳方法。

解决方法

我终于根据以下问题使用visualization_msgs / MarkerArray解决了： https://answers.ros.org/question/220898/how-to-use-rviz-to-show-multiple-planing-paths/?answer=220993#post-id-220993

如果有人需要，我会在这里张贴代码

import rospy
import math
import numpy as np
from geometry_msgs.msg import Vector3,Point
from std_msgs.msg import Empty
from visualization_msgs.msg import Marker,MarkerArray

class ProjectElement(object):
    def __init__(self):
        self.marker_pub = rospy.Publisher('~marker',MarkerArray,latch=True,queue_size=10)
        self.circle_sub = rospy.Subscriber('~circle',Empty,self.circle_cb,queue_size=10)
        self.line_sub = rospy.Subscriber('~line',self.line_cb,queue_size=10)
        self.project_sub = rospy.Subscriber('~project',self.project_cb,queue_size=10)

        self.marker_array = MarkerArray()

    def circle_cb(self,msg):

        marker = Marker()
        marker.type = Marker.LINE_STRIP

        marker.action = Marker.ADD
        
        marker.scale = Vector3(0.01,0.01,0)

        marker.color.g = 1.0
        marker.color.a = 1.0

        centre_x = 1
        centre_y = 1
        R = 0.5
        delta_th = 0.1

        for th in np.arange(0.0,2*math.pi+delta_th,delta_th):
            x = centre_x + R * math.sin(th)
            y = centre_y + R * math.cos(th)

            point = Point()
            point.x = x
            point.y = y

            marker.points.append(point)

        marker.id = 0
        marker.header.stamp = rospy.get_rostime()
        marker.header.frame_id = "/my_cs"

        self.marker_array.markers.append(marker)

    def line_cb(self,msg):
        
        marker = Marker()
        marker.type = Marker.LINE_STRIP

        marker.action = Marker.ADD
        
        marker.scale = Vector3(0.01,0)

        marker.color.g = 1.0
        marker.color.a = 1.0

        x_start = 0.0
        y_start = 0.0
        length = 2
        angle = 45 * math.pi/180
        delta_th = 0.1

        for th in np.arange(0.0,length,delta_th):
            x = x_start + th * math.cos(angle)
            y = y_start + th * math.sin(angle)

            point = Point()
            point.x = x
            point.y = y

            marker.points.append(point)

        marker.id = 1
        marker.header.stamp = rospy.get_rostime()
        marker.header.frame_id = "/my_cs"

        self.marker_array.markers.append(marker)

    def project_cb(self,msg):

        self.marker_pub.publish(self.marker_array)


if __name__ == '__main__':

    rospy.init_node('markers_simulate')

    elements = ProjectElement()

    rospy.spin()

取得了成果

marker array display