For viewing laser scans, point clouds, or other things with intensity data, color values seem to range from black to the specified color, which is difficult to see against the black background.

It would be extremely useful to be able to specify the max, and min colors, as well as to be able to determine the min/max intensities that correspond to that color. E.g., all intensities less than 1000 show up as blue, all intensities greater than 1000 show up as red, and everything else is linear interpolation between those two colors.

trac data:

• Owner: jfaust
• Reporter: leibs
• Reported at: Sat Nov 22 18:11:50 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/627

cast to int need to be changed to cast to long, please see attached.

trac data:

• Owner: jfaust
• Reporter: hsu
• Reported at: Thu Oct 30 06:57:17 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/522

We'd like to visualize a stream of 2-D poses (x,y,yaw) coming from odometry-like systems. The message of interest in '''std_msgs/RobotBase2DOdom''', and the values of interest are in the '''pos''' field. I'm thinking of a small arrow on the ground. The trace of arrows should accumulate from the time it's enabled until it's cleared.

This message is currently published by the robot on '''odom''' and by localization on '''localized_pose'''. The default topic should be '''odom'', but it should be possible to give a different topic.

The same information is represented by the base->odom and base->map transforms. So you could get at it from there instead of the message stream, if that's more convenient. But I'm guessing that it's easier to key the display off the receipt of a message, than off the receipt of the transform.

trac data:

• Owner: jfaust
• Reporter: gerkey
• Reported at: Thu Oct 16 15:42:53 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/429

is what it seems is this expected?

trac data:

• Owner: leibs
• Reporter: anonymous
• Reported at: Fri Oct 17 14:01:27 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/440

PointCloud Data often lands inside the robotModel, and then it's hard to see. Adding transparency would definitely solve this problem

trac data:

• Owner: jfaust
• Reporter: vpradeep
• Reported at: Fri Oct 24 15:17:33 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/494

I compiled pr2_gui and got an error and did rosapt-get but it didn't get wxformbuilder and continued to fail building until I installed it

trac data:

• Owner: leibs
• Reporter: mwise
• Reported at: Tue Nov 11 14:49:54 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/577

Goal: Replace draw.sh in rosTF

It would draw each coordinate frame in real space with an arrow to it's parent.

It would need to have the viewing frame defined.

Advanced feature:
Set start and end frame(with times default to current) and show only the path between.

Disconnected frames could not be rendered (maybe have a drop down list of all tree roots to make obvious elements of the graph. (tf list output new feature needed)

If disconnected show up to parent for both sides(tf list output new feature needed)

trac data:

• Owner: jfaust
• Reporter: tfoote
• Reported at: Tue Oct 14 18:36:07 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/418

Need to change the way the visualizer deals with transformations. Currently it transforms directly from the frame of the incoming messages to the frame we're displaying in. What we should be doing is transforming to a fixed frame ("map" or possibly "odom") and just transforming the things that need to be relative to the target frame as needed (the robot, camera, grid, origin axes...).

trac data:

• Owner: jfaust
• Reporter: jfaust
• Reported at: Wed Oct 22 16:20:37 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/477

I get the following on running scripts/standalone_visualizer.py:

{{{
Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread -1210062640 (LWP 29722)]
0xb7e6c68a in strcmp () from /lib/tls/i686/cmov/libc.so.6
(gdb) bt
#0 0xb7e6c68a in strcmp () from /lib/tls/i686/cmov/libc.so.6
#1 0xb6573f74 in SWIG_TypeCheck (

c=0x775f705f <Address 0x775f705f out of bounds>, ty=0xb7b12ac8)
at /u/gerkey/code/personalrobots/visualization/ogre_visualizer/src/ogre_visualizer/ogre_visualizer_swig_generated.cpp:432

#2 0xb65748bd in SWIG_Python_ConvertPtrAndOwn (obj=0xb6608a2c,

ptr=0xbff13998, ty=0xb7b12ac8, flags=0, own=0x0)
at /u/gerkey/code/personalrobots/visualization/ogre_visualizer/src/ogre_visualizer/ogre_visualizer_swig_generated.cpp:1984

#3 0xb6584fa0 in _wrap_new_VisualizationPanel (args=0xb6608acc,

kwargs=0xb660a24c)
at /u/gerkey/code/personalrobots/visualization/ogre_visualizer/src/ogre_visualizer/ogre_visualizer_swig_generated.cpp:5129

#4 0x0805c787 in PyObject_Call ()
#5 0x080c6c2f in PyEval_EvalFrameEx ()
#6 0x080c9ca5 in PyEval_EvalCodeEx ()
#7 0x08111f21 in ?? ()
#8 0xb7ba97b8 in ?? ()
#9 0xb65f124c in ?? ()
#10 0x00000000 in ?? ()

}}}

trac data:

• Owner: jfaust
• Reporter: gerkey
• Reported at: Fri Oct 17 18:02:23 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/445

the new panels are ibps_panel and pr2_power_panel in the IBPSBatteryInterface package and pr2_power_board packages respectively.

These would go next to rob's reset motors button.

trac data:

• Owner: jfaust
• Reporter: tfoote
• Reported at: Tue Oct 14 18:28:18 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/417

Need functionality + UI for adding/removing visualizations in the visualizer

trac data:

• Owner: jfaust
• Reporter: jfaust
• Reported at: Tue Sep 16 15:53:31 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/304

(a) Listen to joint velocity message and have a panel that displays joint velocities and positions along with names of joints
(b) Allow user to specify a link for which cartesian velocities can be displayed
(c) Draw arrows for forces (with length proportional to magnitude of force)

trac data:

• Owner: jfaust
• Reporter: sachinc
• Reported at: Mon Sep 22 15:57:45 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/339

The following generated files appear to be checked into the repository. If the are, in fact, generated, they probably shouldn't be checked in.

{{{

modified: ../../3rdparty/wxswig/SWIG-1.3.29-wx/Source/Include/swigconfig.h

modified: ../../3rdparty/wxswig/SWIG-1.3.29-wx/Source/Makefile.in

modified: ../../3rdparty/wxswig/SWIG-1.3.29-wx/Tools/config/config.guess

modified: ../../3rdparty/wxswig/SWIG-1.3.29-wx/Tools/config/config.sub

modified: ../../3rdparty/wxswig/SWIG-1.3.29-wx/Tools/config/depcomp

modified: ../../3rdparty/wxswig/SWIG-1.3.29-wx/Tools/config/install-sh

modified: ../../3rdparty/wxswig/SWIG-1.3.29-wx/aclocal.m4

modified: ../../3rdparty/wxswig/SWIG-1.3.29-wx/autom4te.cache/output.0

modified: ../../3rdparty/wxswig/SWIG-1.3.29-wx/autom4te.cache/output.1

modified: ../../3rdparty/wxswig/SWIG-1.3.29-wx/autom4te.cache/requests

modified: ../../3rdparty/wxswig/SWIG-1.3.29-wx/autom4te.cache/traces.0

modified: ../../3rdparty/wxswig/SWIG-1.3.29-wx/autom4te.cache/traces.1

modified: ../../3rdparty/wxswig/SWIG-1.3.29-wx/configure

}}}

trac data:

• Owner: jfaust
• Reporter: sglaser
• Reported at: Wed Sep 24 17:57:56 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/354

A gui version of rostopic that displays the topic information in a gui form so we can see it easily without having to stop a scrolling display. Ability to select topics to view and display would be great.

trac data:

• Owner: jfaust
• Reporter: sachinc
• Reported at: Tue Oct 21 17:37:38 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/471

We need a new PR2 GUI now that most of the standalone panels are implemented

trac data:

• Owner: jfaust
• Reporter: jfaust
• Reported at: Tue Sep 16 15:56:08 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/305

Would be nice to be able to use the keyboard to do stuff in the visualizer... most likely this means using OIS

trac data:

• Owner: hersh
• Reporter: jfaust
• Reported at: Tue Sep 16 16:00:04 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/307

In r4937 I think you forgot a file or two.

trac data:

• Owner: jfaust
• Reporter: sglaser
• Reported at: Thu Oct 2 18:44:29 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/381

Use Point/Quaternion types
Fixup current code

trac data:

• Owner: jfaust
• Reporter: jfaust
• Reported at: Mon Oct 27 15:43:43 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/501

Need to be able to save/restore visualizer settings/state. This includes which displays have been added, and all the settings for each display

trac data:

• Owner: jfaust
• Reporter: jfaust
• Reported at: Tue Sep 16 15:52:08 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/303

Use libTF to place base in its actual position in visualizer

trac data:

• Owner: jfaust
• Reporter: sachinc
• Reported at: Mon Sep 22 15:59:04 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/340

When I start Nav View and then start Standalone Visualizer, only the display for Nav View will appear. Immediately after I close the Nav View display, however, the display for Standalone Visualizer will appear. I can also produce the same effect in the reverse order by starting Standalone Visualizer first and then Nav View. Not sure why these tools can't run in parallel, but its probably worth looking into.

trac data:

• Owner: jfaust
• Reporter: eitan
• Reported at: Wed Oct 22 16:43:37 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/479

I open the visualizer and tick the boxes in the "Robot Model" section, but nothing shows up. If I tick the "Collision Enabled" box then the collision boxes show up in the correct places, so pr2_etherCAT is definitely publishing the frame transforms.

Could this have something to do with the recent changes to the mesh locations?

trac data:

• Owner: hsu
• Reporter: sglaser
• Reported at: Tue Nov 18 16:57:16 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/595

If the EtherCAT driver detects a problem, it shuts down all of the motors. After investigating the problem, the operator may choose to reset the motor controller boards. It would be nice to have a method (button?) that allows the operator to reset the motors.

The actual reset is implemented as a ROS service. The button could just perform:

reset = rospy.ServiceProxy("reset_motors", std_srvs.srv.Empty)
reset()

trac data:

• Owner: jfaust
• Reporter: wheeler
• Reported at: Mon Oct 13 19:39:20 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/412

Also, rename it (rosoutvis?)

trac data:

• Owner: jfaust
• Reporter: jfaust
• Reported at: Thu Nov 6 13:34:19 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/556

Allow display of multiple robots in the visualizer. One robot display is with complete model while all the others are with a very low resolution model. This would be useful in cases like localization where you might want to see a bunch of particles.

This should also include a ros interface to bring up and target displays.

trac data:

• Owner: jfaust
• Reporter: sachinc
• Reported at: Mon Sep 22 16:07:23 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/341

Vision people want a full-screen image display.

• X-based?
• Console?
• Both?

trac data:

• Owner: jfaust
• Reporter: jfaust
• Reported at: Mon Oct 13 15:57:17 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/409

nav_view is really just an orthographic version of what's now called ogre_visualizer, with some specialized input tools. There are two options here:

1. Provide orthographic camera functionality in the existing ogre_visualizer, along with the ability to add custom tool support, and figure out some way of dealing with the fact that the map is such an integral part of nav_view

2. Break out the common functionality into visualizer_framework. Implement what is now the 3d visualizer in another package (vis3d?) using the framework. Implement nav_view using the framework as well.

I'm leaning towards option 2.

trac data:

• Owner: jfaust
• Reporter: jfaust
• Reported at: Fri Oct 3 13:27:55 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/383

glc is useful for recording opengl windows... look into adding it to our 3rdparty

trac data:

• Owner: jfaust
• Reporter: jfaust
• Reported at: Tue Sep 16 15:57:53 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/306

freeimage 3.10 does not compile with gcc 4.3; however, the latest version (3.11) does. if there are no other conflicts, I'd be grateful if this upgrade is performed

trac data:

• Owner: jfaust
• Reporter: isucan
• Reported at: Mon Oct 27 13:35:50 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/498

running 2dnav_gazebo-wg.xml

shortly after startup.

{{{
nav_view: ../../OgreMain/include/OgreAxisAlignedBox.h:239: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.
[nav_view-8] process has died [exit code -6]
}}}

trac data:

• Owner: jfaust
• Reporter: tfoote
• Reported at: Sat Nov 1 11:28:14 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/538

Currently the plotting tool has some nice features and needs a few more to be effective.

things to keep:

1. scrolling time history that is changeable
2. ability to select which data to plot
3. auto resizing of axis for data

things needed:

1. ability to deselect something you're plotting
2. ability to zoom in on the data you're plotting
3. a better listing of the data available to plot (i.e. if there is a list of names associated with the vector you want to plot displa those names)

trac data:

• Owner: kwc
• Reporter: mwise
• Reported at: Mon Nov 3 10:43:02 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/542

The background color should be settable to something other than black, maybe as one of the global options?

trac data:

• Owner: jfaust
• Reporter: leibs
• Reported at: Sat Nov 22 21:13:43 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/628

Advanced feature: Set start and end frame(with times default to current) and show only the path between.

Disconnected frames could not be rendered (maybe have a drop down list of all tree roots to make obvious elements of the graph. (tf list output new feature needed)

If disconnected show up to parent for both sides(tf list output new feature needed)

trac data:

• Owner: jfaust
• Reporter: jfaust
• Reported at: Mon Oct 27 13:55:18 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/499

Need to be able to select things correctly in the visualizer... so not AABB based.

trac data:

• Owner: jfaust
• Reporter: jfaust
• Reported at: Tue Sep 16 16:01:53 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/309

Ogre visualizer needs a movie record button. It should have options to encode the movies in different formats. It should be able to record movies from multiple panels at the same time.

trac data:

• Owner: jfaust
• Reporter: sachinc
• Reported at: Fri Nov 7 16:40:36 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/563

I am trying to do planning for simple robot models. If I add the model that follows, bin/visualizer_test segfaults.
It has something to do with the missing component. I guess it should simply not display anything, if is missing. Also, looking at the code, is it always the case that the 's is a mesh file? The parser currently allows more options (simple shapes are possible as well). However, I believe we can limit the 's to always point to a mesh. What do you think?

{{{

<origin xyz="1 0 0" rpy="1.0 1.0 1.0" />

<inertial>
  <mass value="1" />
</inertial> 

<collision>
  <geometry>
<cylinder radius="0.1" length="0.5" />
  </geometry>      
</collision>

<joint type="floating"/>

trac data:

• Owner: jfaust
• Reporter: isucan
• Reported at: Mon Nov 10 16:07:53 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/572

Visualizer intermittently doesn't clear laser scans. Seems to be associated with clicking the 'enabled' button. Some of the scans clear when data is no longer streaming into the visualizer.

trac data:

• Owner: jfaust
• Reporter: vpradeep
• Reported at: Thu Oct 16 18:47:27 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/432

Need a to do a second pass on wx_rosout:

• table-based
• generic filter instead of just per-node
• fast

trac data:

• Owner: jfaust
• Reporter: jfaust
• Reported at: Wed Sep 17 12:04:31 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/317

As we're getting into dynamic maps, being updated by a SLAM system, it would be handy to have a "Reload Map" button in nav_view. It would make the service call and just replace whatever data it used to have.

trac data:

• Owner: jfaust
• Reporter: gerkey
• Reported at: Mon Oct 20 19:08:43 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/464

Display and possibly plot rostime vs. wall-time in pr2_gui. This is especially useful when running simulation.

trac data:

• Owner: jfaust
• Reporter: hsu
• Reported at: Thu Oct 30 15:58:31 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/528

Size of the points in nav_view should match the size of a pixel on the map.

trac data:

• Owner: jfaust
• Reporter: jfaust
• Reported at: Thu Oct 16 12:21:07 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/423

Implement messages in the simulator similar to those sent by the imu node. This will allow us to use the imu inside the simulator.

The imu node currently (but this will change soon?) sends two messages:

• Euler angles
• Angular velocity + x,y,z acceleration

trac data:

• Owner: hsu
• Reporter: meeussen
• Reported at: Fri Nov 7 10:31:19 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/560

Allow selection + follow of a piece of the robot

trac data:

• Owner: jfaust
• Reporter: jfaust
• Reported at: Tue Sep 30 18:14:31 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/370

Because the wheels are in one color, its hard to see which way they are rotating. Some additional texture on the wheels might help.

trac data:

• Owner: jfaust
• Reporter: sachinc
• Reported at: Mon Sep 22 15:55:36 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/338

• read from comma-separated lists of names - write the selected one to - default to the first in each list

trac data:

• Owner: jfaust
• Reporter: roland
• Reported at: Wed Oct 29 17:55:14 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/516

Looks like a file : SDL.h, is missing. nav_view will no longer build.

/u/mcgann/pr/util/sdlgl/include/sdlgl/sdlgl.h:5:17: error: SDL.h: No such file or directory
/u/mcgann/pr/util/sdlgl/include/sdlgl/sdlgl.h:20: error: ‘uint16_t’ has not been declared
/u/mcgann/pr/util/sdlgl/include/sdlgl/sdlgl.h:20: error: ‘SDLMod’ has not been declared
/u/mcgann/pr/util/sdlgl/include/sdlgl/sdlgl.h:35: error: ‘uint32_t’ does not name a type

trac data:

• Owner: gerkey
• Reporter: mcgann
• Reported at: Thu Oct 2 10:22:39 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/375

The default topic types currently cannot be deleted. it would be nice to be able to remove any of the topics on the sidebar.

trac data:

• Owner: jfaust
• Reporter: vpradeep
• Reported at: Wed Oct 22 18:38:07 2008
• URL: http://code.ros.org/trac/ros-pkg/ticket/482