Introduction

This repository collected 3 ways to show trajectory of robot in ROS. And I had test them all in indigo.

How to Run

There are three nodes declared in CMakeLists.txt. You just need to

catkin_make
roscore
rosrun rviz rviz
rosrun show_trajectory by_path
or
rosrun show_trajectory by_marker
or
rosrun show_trajectory by_marker_list

and then add corresponding display in rviz



by_path add Path

by_marker and by_marker_list add Marker

and remember to set Fixed Frame to my_frame

Three Ways

1. nav_msgs/Path

public a nav_msgs::Path message which contains an array of geometry_msgs/PoseStamped

2. visualization_msgs/Marker

public visualization_msgs::Marker and hold them by setting lifetime to forever. But remember to update the id of Marker to avoid covering previous markers.

3. visualization_msgs/Marker list

public visualization_msgs::Marker's points and lines which contains an array of geometry_msgs/Point

Thank you for your star! (grinning)