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Add mesh folder path and frame parameters instead of hard coding them #2

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506b3cc
Add mesh folder path and frame parameters instead of hardcoding them
burakaksoy Mar 11, 2023
6cb1cd3
disable verbouse log info
burakaksoy Mar 11, 2023
b3680a1
add a test launcher
burakaksoy Mar 15, 2023
e8d5de0
make python3
burakaksoy Jun 12, 2023
68e8b54
decrease rate
burakaksoy Oct 5, 2023
7705e1c
debug
burakaksoy Oct 5, 2023
bb3d843
debug
burakaksoy Oct 5, 2023
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8 changes: 8 additions & 0 deletions launch/display_highbay_swarm.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,8 @@
<launch>
<node name="RVizMeshVisualizer" pkg="object_visualizer" type="object_visualizer.py" output="screen">
<rosparam param="frame" subst_value="True">map</rosparam>
<rosparam param="visualizer_path" subst_value="True">$(find lab_gazebo)/worlds/highbay_swarm_world/meshes</rosparam>
</node>

<node type="rviz" name="rviz" pkg="rviz" args="-d $(find object_visualizer)/launch/visualization.rviz" />
</launch>
12 changes: 12 additions & 0 deletions launch/display_with_params.launch
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@@ -0,0 +1,12 @@
<launch>
<arg name="node_start_delay" default="1.0" /> <!-- Delay of 5 seconds to let RViz come up -->
<arg name="frame" default="map" />
<arg name="visualizer_path" default="$(find object_visualizer)/meshes" />

<node name="object_visualizer" pkg="object_visualizer" type="object_visualizer.py" output="screen" launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@'" >
<rosparam param="frame" subst_value="True">$(arg frame)</rosparam>
<rosparam param="visualizer_path" subst_value="True">$(arg visualizer_path)</rosparam>
</node>

<node type="rviz" name="rviz" pkg="rviz" args="-d $(find object_visualizer)/launch/visualization.rviz" />
</launch>
14 changes: 9 additions & 5 deletions scripts/object_visualizer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,14 @@
from visualization_msgs.msg import MarkerArray, Marker

rospy.init_node("object_visualizer")
rate = rospy.Rate(1)
rate = rospy.Rate(0.5)
rospy.loginfo('Initializing object visualizer')
rp = rospkg.RosPack()
visualizer_path = os.path.join(rp.get_path('object_visualizer'), 'meshes')

visualizer_path = rospy.get_param("~visualizer_path", visualizer_path)
frame = rospy.get_param("~frame", "map")

markerArray = MarkerArray()

publisher = rospy.Publisher('visualization_marker', MarkerArray, queue_size=1)
Expand All @@ -19,7 +23,7 @@
if len(files) != current_file_count: # if the number of valid meshed in the 'meshes' folder has changed
if len(files) < current_file_count: # if some markers are removed from the 'meshes' folder, delete them in RViz
marker = Marker()
marker.header.frame_id = 'map'
marker.header.frame_id = frame
marker.action = marker.DELETEALL # send the DELETEALL marker to delete all marker in RViz
markerArray.markers.append(marker)
publisher.publish(markerArray)
Expand All @@ -29,16 +33,16 @@
rospy.loginfo('Loading file: %s', file)
marker = Marker()
marker.id = marker_id
marker.mesh_resource = 'package://object_visualizer/meshes/' + file
marker.mesh_resource = "file://" + visualizer_path + "/" + file
marker.mesh_use_embedded_materials = True # Need this to use textures for mesh
marker.type = marker.MESH_RESOURCE
marker.header.frame_id = "map"
marker.header.frame_id = frame
marker.scale.x = 1.0
marker.scale.y = 1.0
marker.scale.z = 1.0
marker.pose.orientation.w = 1.0
markerArray.markers.append(marker)

rospy.loginfo('Published %d objects. ', len(markerArray.markers))
# rospy.loginfo('Published %d objects. ', len(markerArray.markers))
publisher.publish(markerArray)
rate.sleep()