rviz_maps

Overview

This package is an adapted version of rviz_satellite. It extends this version and is able to plot marker points of incoming gps positions. This package is basically a rviz plugin to load tiles from a tile server around a latitude and longitude coordinate and plot gps points as markers of message Type: sensor_msgs/NavSatFix to a topic with name /gps/fix.

Author: Markus Lamprecht
Maintainer: Markus Lamprecht, 2f4yor@gmail.com

Installation

Dependencies

This software is built on the Robotic Operating System (ROS), which needs to be installed first. Additionally, this package depends on following software:

• [alfons_msgs]
• [cv_bridge]
• [opencv]
• [tf2_ros]

Building

In order to install this package, clone the latest version from this repository into your catkin workspace and compile the package using catkin_tools

mkdir -p catkin_ws/src
cd catkin_ws/src/
git clone git@github.com:CesMak/rviz_maps.git #(takes some time due to included bag to test this package)
cd ..
catkin init -w .
catkin build
source devel/setup.bash

Basic Usage

• Start via: roslaunch rviz_maps demo.launch
• Have a look to the launch file to use the bag file (etc.)
• If you do not see the map -> change the latitute and click enter!

Main Launch file

roslaunch rviz_maps demo.launch

License BSD

If you want to use this package please contact: me. Please also consider the License of rviz_satellite

Bugs

Errors     << rviz_maps:make /home/markus/ros_space/alfons_ws/logs/rviz_maps/build.make.000.log
In file included from /home/markus/ros_space/alfons_ws/src/alfons/rviz_maps/src/aerialmap_display.cpp:38:0:
/home/markus/ros_space/alfons_ws/src/alfons/rviz_maps/src/aerialmap_display.h:20:53: fatal error: rviz_maps/rviz_scale.h: No such file or directory
compilation terminated.

Solution

• source ws
• try rosmsg show rviz_maps/rviz_scale.msg
• roscd rviz_maps
• catkin build --this
• catkin build

mapscache is stored in package of different folder

  const std::string package_path = ros::package::getPath("rviz_pics");
  if (package_path.empty()) {
    throw std::runtime_error("package 'rviz_pics' not found to create storage folder");
  }

  std::hash<std::string> hash_fn;
  cache_path_ =
      QDir::cleanPath(QString::fromStdString(package_path) + QDir::separator() +
                      QString("mapscache") + QDir::separator() +
                      QString::number(hash_fn(object_uri_)));

Change storage folder here ^^^

If this does not work change a little thing in the tileloader.cpp file and catkin build again and then it should work.

TODO's

• Extend GUI to a field for adjusting the topic's name.