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Created a MarkerArray to publish normals in ROS #1038

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Created a MarkerArray to publish normals in ROS #1038

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ahcorde
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@ahcorde ahcorde commented Feb 4, 2020

We are exposing normals in Gazebo9. This PR exposes the normals as a MarkerArray and then we can visualize the normals in RVIZ

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ahcorde commented Feb 4, 2020

Steps to reproduce it:

  • Launch the test world:
    rosrun gazebo_ros gazebo test_worlds/gazebo_ros_depth_camera.world
  • Create the tf between the world and the camera:
    rosrun tf2_ros static_transform_publisher 0 0 5 0 0 -1.57 world base_link
  • Open RVIZ

@ahcorde ahcorde mentioned this pull request Feb 11, 2020
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ahcorde commented Feb 11, 2020

Closing this PR in favour of #1047. Moved this PR to noetic-devel to avoid ABI changes in melodic

@ahcorde ahcorde closed this Feb 11, 2020
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