也就是说,每个.txt文件中的30个数值分别表示IMU(其实应该是IMU + GPS或者惯性导航系统INS)数据的30个字段值,即空间位置(纬度lat、经度lon、海拔高度alt)、姿态(横滚角roll、俯仰角pitch、航向角yaw)、线速度(北向速度vn、东向速度ve、前向速度vf、左向速度vl、垂向速度vu)、线性加速度(x轴方向加速度ax、y...
在ROS 2中，RViz2默认不支持IMU数据的可视化。因此，我们将通过添加Github网站上的imu_tools开源存储库中的rviz_imu_plugin插件软件包，将IMU数据中的线性加速度、角速度、方位等数据在RViz2中进行可视化显示。以下是详细步骤：
imu_acc_visual.cpp imu_axes_visual.cpp imu_display.cpp imu_orientation_visual.cpp 29 changes: 29 additions & 0 deletions 29 rviz_imu_plugin/CMakeLists.txt Original file line numberDiff line numberDiff line change @@ -0,0 +1,29 @@ cmake_minimum_required(VERSION 2.4.6) include($...
class ImuDisplay: public rviz::MessageFilterDisplay<sensor_msgs::Imu> { Q_OBJECT public: Constructor(构造函数). pluginlib::ClassLoader creates instances(实例) by calling the default constructor, so make sure you have one. ImuDisplay(); virtual ~ImuDisplay(); Overrides(代理佣金) of protected...
## This CMakeLists.txt file for rviz_plugin_tutorials builds both the MultiNaviGoalsPanel tutorial and the ImuDisplay tutorial. ## ## First start with some standard catkin stuff. cmake_minimum_required(VERSION 2.8.3) project(navi_multi_goals_pub_rviz_plugin) ...
real-timecpuvisualrosimuinertialcatkinreconstructionslamviorvizrosbageurockimera-vio UpdatedAug 15, 2024 C++ leggedrobotics/xpp Star328 Code Issues Pull requests Visualization of Motions for Legged Robots in ros-rviz visualizationroboticscomputer-graphicsmotion-planningroslocomotionrvizlegged-robotszmpphysics-ba...
</description> <message_type>sensor_msgs/Imu</message_type> </class> <class name="rviz_plugin_tutorials/PlantFlag" type="rviz_plugin_tutorials::PlantFlagTool" base_class_type="rviz::Tool"> <description> Tool for planting flags on the ground plane in rviz. </description> </class> </...
在ROS中,RVIZ是被广泛使用的3D可视化工具。RVIZ首先接收ROS话题消息,然后基于ORGE图形渲染库进行可视化。但是有时候RVIZ支持的消息类型有限,如果需要对自定义的ROS话题消息可视化,那么就需要二次开发RVIZ插件了。 在ROS官网上有进行二次开发RVIZ插件的流程,这里附上链接: ImuDisplay - rviz_plugin_tutorials documentation...
## BEGIN_TUTORIAL## This CMakeLists.txt file for rviz_plugin_tutorials builds both the MultiNaviGoalsPanel tutorial and the ImuDisplay tutorial.### First start with some standard catkin stuff.cmake_minimum_required(VERSION2.8.3)project(navi_multi_goals_pub_rviz_plugin)find_package(catkin REQUIRE...
│ ├── plugin_description.xml │ ├── rosdoc.yaml │ ├── scripts │ │ └── send_test_msgs.py │ └── src │ ├── doc │ ├── drive_widget.cpp │ ├── drive_widget.h │ ├── flag.h │ ├── imu_display.cpp ...