README.md

car_rviz_model

　Robosense rviz RobotModel for Car.

How to build

　git clone into your ros workspace ROS_WS.

$ cd $(ROS_WS)/src/common
$ git clone https://github.com/LidarPerception/rviz_car_model.git

$ cd $(ROS_WS)/
$ catkin build -DCMAKE_BUILD_TYPE=Release

How to use

• roslaunch the demo.

  $ cd $(ROS_WS)
  $ source devel/setup.bash
  $ roslaunch rviz_car_model demo.launch

• use in your own project for visualization.
  1. Setup your launch file.

     <!-- Load rviz_car_model before rviz -->
     <include file="$(find rviz_car_model)/launch/default.launch">
         <arg name="fixed_frame" value="base_link"/>
         <!-- x y z qx qy qz qw -->
         <arg name="transform" value="0 0 -0.98 0 0 0 1"/>
     </include>

  2. Add a RobotModel in rviz.

Parameters

• fixed_frame: Fixed-frame for rviz or any frame you want to fix the Car to, default is base_link.
• transform: Coordinates of the Car in fixed_frame-Coordinate, in Quaternion form: x y z qx qy qz qw. default is 0 0 0 0 0 0 1, no translation and no rotation.