vrx_2019 waypoint_vis_tutorial - osrf/vrx GitHub Wiki

Waypoint visualization markers

Waypoint visualization allows users to see waypoint markers for station-keeping and wayfinding tasks inside Gazebo. The visualization markers only show the position of the waypoints and not their orientation.

2598206705-wayfinding.jpg

Waypoint visualization is enabled by default. Parameters for markers can be modified by editing the SDF in stationkeeping_task.world.xacro or wayfinding_task.world.xacro inside vrx_gazebo/worlds.

<markers>
   <material>Gazebo/Green</material>
   <scaling>0.2 0.2 2.0</scaling>
   <height>0.5</height>
</markers>

To disable the visualization, simply remove the <markers /> tag.

SDF Parameters

  • <material /> - specifies the Gazebo material used for the marker. (Default: Gazebo/red)
  • <scaling /> - specifies scaling for the marker. (Default: 0.2 0.2 1.5)
  • <height /> - height of marker above water (Default: 0)

Note: all parameters are optional

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