RViz custom Tool that mimics "Publish Point" built-in Tool behavior?

asked 2019-12-11 15:05:15 -0600

iomh
1 ●3 ●4 ●4

Hello all,

The Publish Point Tool publishes a PointStamped to /clicked_point when used to click some object in RViz. It publishes nothing when clicked on empty space. This is the behavior I want, but I wish to make multiple Tools have this same behavior and publish to different topics.

I have seen custom plugins that can publish a point where clicked in the XY-plane (or some arbitrary plane, surface, etc), but this misses the "Z" dimension, while the Publish Point Tool takes on the XYZ-point of the object it clicks.

I have yet to find a custom RViz Plugin that can communicate with the positions of all other Display objects.

answered 2020-05-14 13:59:56 -0600

pbeeson
276 ●8 ●15 ●20

If you look in your .rviz configuration file, you'll notice a Tools section.

 Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: false
      Topic: /clicked_point

You can most probably, cut/paste the Publish Point multiple times with different Topics. I haven't tried, but give it a shot and see if it works.

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Thanks for the reply! I actually abandoned this idea since PublishPoint crashed RViz too frequently for my purposes. However, I did try your solution, and it does work, but you cannot change the tool's name (even if you add a name tag to the .rviz file), so you're left with multiple tools that publish to different topics in the RViz toolbar, all with the name "Publish Point". Pretty cluttered.

iomh ( 2020-06-04 19:10:58 -0600 )edit

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