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Incorrect visualization of pointcloud published on a moving frame #1666
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The mentioned commit transforms old data with new transforms, which should obviously be wrong. I don't quite understand the intention behind this commit. This is a major regression and should be reverted as soon as possible. |
Third this. Here's also a better illustration of the erroneous behavior: Currently:rviz_bug.mp4Expected: (with the fix proposed by @f-fl0)rviz_expected.mp4 |
I can open a PR with the fix I suggested or one that reverts the changes from https://github.com/ros-visualization/rviz/pull/1655/files. Let me know which one you believe is best. |
@UniBwTAS, could you please comment? |
Same problem with rviz 1.13.19 on 18.04. Tested with 1.13.20 and it's fixed ! Best, |
We just have seen a release sync a week ago: https://discourse.ros.org/c/release |
Yes ros-melodic-rviz version 1.13.19-1bionic.20210921.222942 has been pushed 27/09/2021, and I was wondering how long will it take for the next release ? I don't know anything about ros-testing, what's this ? Best, |
See here: http://wiki.ros.org/TestingRepository |
This issue has been mentioned on ROS Discourse. There might be relevant details there: https://discourse.ros.org/t/preparing-for-noetic-sync-2021-09-23/22378/4 |
Had the same issue with rviz also running inside a docker container. #!/bin/bash
sudo sed -i 's/\/ros\//\/ros-testing\//g' /etc/apt/sources.list.d/ros-latest.list
sudo apt-get update
sudo apt-get install ros-melodic-rviz |
Fix released. |
The transformation from a moving frame to a fixed frame is incorrect when visualizing PointCloud2 messages with the latest version of
rviz (1.14.9)
. Using decay time with a large duration e.g. 10 seconds exhibits the problem pretty clearly (see the videos below). It seems to be related with the changes introduced in #1655. Note thatLaserScan
visualization appears to be correct.I prepared a
Python
script to reproduce the situation and a configuration forrviz
. I also recorded two videos showing the same scene inrviz
using version1.14.9
and a modified version with a suggested fix. In this scene, a robot with a 2D lidar mounted on a rotated platform, is scanning a room in a shape of a cylinder. The/scan
topic is displayed in red and the/cloud
topic in blue.1.14.9
1.14.9.mp4
The data in
/scan
is accumulated and displayed as expected where as the/cloud
data does not.1.14.9
that changesros::Time()
tocloud_info->message_->header.stamp
inrviz/src/rviz/default_plugin/point_cloud_common.cpp
Line 642 in a808401
1.14.9-modified.mp4
Both data from
/scan
and/cloud
are accumulated and displayed as expected.Although this modified version fixes the reported issue, it seems to break the feature introduced in the mentioned PR. The pointcloud is no longer smoothly displayed when running https://github.com/ros-visualization/rviz/blob/1.14.9/src/test/point_cloud_test.py.
rviz
configuration (renamed toconfig.txt
to upload it here)config.txt
Environment
Compiled against Qt version 5.12.8.
Compiled against OGRE version 1.9.0 (Ghadamon).
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