[Gazebo 9] Created a MarkerArray to publish normals in ROS #1047
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ahcorde
changed the title
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You should run the example with |
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Actually, I just realized that this change will make this branch not compilable against earlier Gazebo 9 versions. @j-rivero , what's the minimum Gazebo 9 version that we need to support for Noetic? I imagine that's 9.12.0, which is going into Focal? In that case, we may need to wrap the new APIs with |
chapulina
dismissed
their stale review
See comment about sompiling against 9.12.0
| m.pose.orientation.w = q.w(); | ||
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| // plotting some of the normals, otherwise rviz will block it | ||
| if (index % this->reduce_normals_ == 0) |
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move this check earlier? We could skip creating the marker msg and doing computations when the results are not being published.
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sorry didn't catch this earlier: index is declared later so it is not resolved here and this if block is missing curly brackects
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I had this resolved in this other PR, but I can create a Pr just solving this issue
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looks good to me! just left one minor comment. |
Signed-off-by: ahcorde <ahcorde@gmail.com>
…ation#1047) * created a MarkerArray to publish normals in ROS * Added visualization msgs dependencie depthcamerasensor * Added feedback * populate point cloud when normals is activated * argument to reduce the amount of normals to publish * reduced computation in normals publisher Signed-off-by: ahcorde <ahcorde@gmail.com>
Moved this PR #1038 to
noetic-develto avoid ABI changes inmelodicWe are exposing normals in Gazebo9. This PR exposes the normals as a MarkerArray and then we can visualize the normals in RVIZ
Steps to reproduce it:
rosrun gazebo_ros gazebo test_worlds/gazebo_ros_depth_camera.worldrosrun tf2_ros static_transform_publisher 0 0 5 0 0 -1.57 world base_link