/path_compare_viz

Easily create path-visualization in rviz from estimated and ground thruth paths with your robot from simulation

Primary LanguageC++

Overview

Easily compare / visualize a robots path in simulation with Gazebo and Rviz (ROS).

Features:

  • Compare two paths and visualize them in rviz by running roslaunch ../../path_compare_viz path_visualization.launch (For instance in order the compare estimated and ground truth paths in simulation
  • Record and visualize a single taken path by the robot by running roslaunch ../../path_compare_viz single_path_viz.launch

Usage

Download or clone the repo.

Both nodes have their own config.yaml file. Inside you can set to which topic a node should subscribe and publish to. Path visualization currently works from following source types:

  • nav_msgs/Odometry
  • geometry_msgs/PoseStamped
  • geometry_msgs/Pose

A path is published on nav_msgs/Path topic.

Additionally angle and distance thresholds can be specified. Internally these are used to determine if a new callback pose is far away enough to publish again.

Example

Real robot-path (Red)

Estimated path (Green)

Note: This example was taking testing out my monte-carlo localisation implementation