MRS Rviz Plugins
The Rviz plugins originate from the package mrs_rviz_plugins.
Plugins
mrs_msgs/ObstacleSectors vizualization
"Bumper" vizualizations, integrates seamlessly.
mrs_msgs/PoseWithCovarianceStamped vizualization
Integrates seamlessly.
mrs_msgs/TrackArrayStamped vizualization
Integrates seamlessly.
mrs_msgs/UavStatus vizualization
Displays useful information about the UAV state and sensors, integrates seamlessly.
Use mrs_rviz_plugins/UAV Status display type.
nav_msgs/Odometry vizualization
Includes visualization of velocity and its covariance, integrates seamlessly.
Use mrs_rviz_plugins/OdometryWithVelocity display type.
NamedSetGoal
RViz goal tool with modifiable label.
Control tool
Integrates mrs_uav_status and Selection tool functionality into one tool. Shortcut key for the tool is 'c'.
Mouse control
| Mouse event | Action |
|---|---|
| Click and drag | Select objects on the screen |
| Shift + Click and drag | Move 'UAV Status' display |
| Right-click (on drone) | Show services to be called |
| Alt + Left-click | Rotate |
| Alt + Middle-click | Move X/Y |
| Alt + Shift + Left-click | Move X/Y |
| Alt + Right-click | Move Z |
| Alt + Shift + Right-click | Move Z |
Controlling the UAV through RVIZ
Press the 'R' key to enter the "remote" mode. While in this mode, you can fly the UAV with your keyboard. While in remote mode, press 'G' to switch to global frame. Only one key at a time is registered, multiple key inputs are not supported.
| Key | Action |
|---|---|
| 'wasd' or 'hjkl' | Fly laterally |
| 'qe' | Change UAV's heading |
| 'rf' | Fly up and down |
Custom services
You can add your own services to drone's menu.
- To add a service to the menu, publish a message to the topic
mrs_uav_status/set_trigger_service - Only services of the std_srvs/Trigger type are supported
- The message is a std_msgs/String, and has to consist of two entries separated by spaces:
- Service name (
uav_manager/land_home) - Name to be displayed in the menu (
Land Home) - this name can contain additional spaces
- Service name (
- The namespace of the UAV will be added automatically (
uav_manager/land_home->/uav1/uav_managerland_home) - To a service outside of the namespace, use "/" as the first character (
/uav_manager/land_home)
Press the 'm' key (as menu) to show services on selected drones. Custom services will not be shown, only the default ones.
WaypointPlanner
Allows sending a sequence of waypoints to drone. The click-and-pull input supplies a 2D position with heading (a waypoint). Tool properties allow customization (height change, fly now, loop, use heading).
| Key | Action |
|---|---|
| w | Turn the plugin on/off |
| del | Delete last waypoint |
| enter | Trigger behaviour |
ROS Nodes - the ROS-Rviz interface
RvizNavGoal
Allows giving a reference to a UAV using the "2D Nav Goal" button in Rviz. The click-and-pull input supplies a 2D position with heading.
RvizPoseEstimate
Allows obtaining a coordinates from Rviz by using the "2D Pose Estimate" button in Rviz. The coordinates will appear as a standard output
Utils
UAV Airframe vizualization
roslaunch mrs_rviz_plugins load_robot.launch