visualizer: display trace of 2-D poses (ros-pkg ticket #429)

[hershwg]

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

[hershwg]

[jfaust] This is in, along with a map display and orthographic view.