3D Markers for Rviz

Overview

This is a collection of low-poly 3D markers that can enhance data visualisation using Rviz. The 3D models are designed to be lightweight without heavily compromising realisticity.

Installation ROS 1

1. Clone this repository to your catkin workspace src
2. Build the package cd ~/catkin_ws catkin build rviz_markers
3. Source your workspace source ~/catkin_ws/devel/setup.bash

Installation ROS 2

1. Clone this repository to your colcon (ROS2) workspace src (e.g. ~/ros2_ws/src) checkout the branch: git checkout ros2-humble
2. Build the package cd ~/ros2_ws colcon build --packages-select rviz_markers
3. Source your workspace in a new terminal source ~/ros2_ws/install/local_setup.bash && source ~/ros2_ws/install/setup.bash

Usage

Simple demo

After source, simply run:

roslaunch rviz_markers demo1.launch 
ros2 launch rviz_markers demo1.launch.py

This will start rviz, publis some TF frames and start all markers, visible in rviz.

The package currently contains seven markers.

VW E-Golf

Using the VW E-Golf marker:

1. In a terminal window, start roscore roscore

2. In a different terminal window, run: rosrun rviz_markers egolf _frame_id:=fake_golf

3. The marker should be visible using Rviz, as Marker, choose fake_golf frame id.

DJI Matrice 600 Pro Drone

Using the DJI Matrice 600 Pro Drone marker:

1. In a terminal window, start roscore roscore
2. In a different terminal window, run: rosrun rviz_markers drone
3. The marker should be visible using Rviz, as Marker.

Topics

VW E-Golf

Parameters of the published topic:

• Name: egolf_marker
• Type: visualisation_msgs/Marker
• Fixed frame: base_link (set with golf_frame_id)

DJI Matrice 600 Pro Drone

Parameters of the published topic:

• Name: drone_marker
• Type: visualisation_msgs/Marker
• Frame: set with drone_frame_id