/rviz_tools_py

Tools for using ROS Rviz with python.

Primary LanguagePython

Rviz Tools for python

Some useful tools for using ROS Rviz with python.
Currently this package contains some functions that make it easy to publish Rviz Markers in a pythonic way.

Python code by David Butterworth.
Based on Dave Coleman's C++ library RvizVisualTools

This package been tested on Ubuntu 14.04 with ROS Indigo.

Usage examples:

The normal way to publish an Rviz Marker is by setting its properties using ROS message types:

P = Pose(Point(0,0,0),Quaternion(0,0,0,1))
scale = Vector3(1.1,0.2,0.8)
markers.publishCube(P, 'red', scale)

Alternatively you can publish a Marker using a numpy matrix, with parameters specified as floats, tuples and lists:

T = transformations.translation_matrix((1,1,1))
rgb_color = [0,1,0]
cube_width = 0.5
markers.publishCube(T, rgb_color, cube_width)

Demo:

To run the example code:

$ rosrun rviz_tools_py demo.py

Demo markers