MRS Rviz Plugins

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The MRS UAV System 1.5 is being released and this page needs updating. Please, keep in mind that the information on this page might not be valid.

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
• 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