Draw RelativePose2DStampedConstraint constraints #2

efernandez · 2019-09-23T18:42:19Z

This includes:

Dynamically generate display properties for the constraint sources
Cache the constraint sources properties config so it's applied when
the properties are later created
Create Variable visual + property, as we do for the Constraint

Below you can see how the display looks like, its properties and visual objects, and what can be done to inspect a fuse_msgs::SerializedGraph message using this PR. Before only the variables were rendered.

I'm looking for a first review iteration here, before I send a PR upstream.

fuse_viz/include/fuse_viz/mapped_covariance_property.h

fuse_viz/include/fuse_viz/mapped_covariance_visual.h

fuse_viz/src/serialized_graph_display.cpp

iwanders · 2019-09-24T13:00:55Z

Gave it a quick glance. Nothing stood out really, but I'm not that knowledgeable about rviz plugins. It's unfortunate there's so much copy pasting of already existing properties just to use them in a slightly different or compound way. But I don't see a way of changing that without modifying upstream.

Looks like a great addition to get some insight into the graph fuse creates. 👍

nlunscher-cpr

video looks good, approved

This includes: * Dynamically generate display properties for the constraint sources * Cache the constraint sources properties config so it's applied when the properties are later created * Create Variable visual + property, as we do for the Constraint

efernandez added the enhancement New feature or request label Sep 23, 2019

efernandez requested review from iwanders, servos, a user and nlunscher-cpr September 23, 2019 18:42

efernandez self-assigned this Sep 23, 2019