showpath_bag

introduce

Use rviz to draw path trajectories in geometry_msgs/PoseStamped format in. bag files

Software architecture

Software Architecture Description Using ROS system and C++language, refer to CMakeLists.txt for configuration, usually only ROS and cmake need to be installed.

Installation and Compilation

Download this source code into the src folder of your catkin worksapce and catkin_make::

cd ~/catkin_ws/src
git clone https://github.com/hsiaochao/showpath_bag
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

How to use it

1.Start the project on a terminal:

roslaunch showpath_bag showpath01.launch

2.Play. bag file on another terminal, And map the topic names in geometry_msgs/PoseStamped format to/gt_ Traj, corresponding to the internal program, for example:

rosbag play --pause  /usr/myhome/dataset_M2DGR/door_01_gt.bag /door_01:=/gt_traj

You can complete the playback trajectory in rviz.

Participate in contributions

Fork warehouse
Create a new Feature_ Xxx branch
Submit code
Create a new Pull Request