RVIZ plugins to display a textured 3D mesh, a refactoring of plugins in: https://github.com/robustrobotics/flame_ros
- Install ROS + the following dependencies: (change
melodicfor your ROS distribution):
sudo apt-get install ros-melodic-image-geometry ros-melodic-pcl-ros ros-melodic-cv-bridge- Then, just clone in your workspace, catkin build it, source the workspace and use rviz as you would normally do.
# Setup catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin init
# Add workspace to bashrc.
echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc
# Clone repo
cd ~/catkin_ws/src
git clone https://github.com/ToniRV/mesh_rviz_plugins.git
# Install dependencies from rosinstall file using wstool
wstool init
wstool merge mesh_rviz_plugins/install/mesh_rviz_plugins.rosinstall
wstool update
# Compile code
catkin build
# Refresh workspace
source ~/.bashrcAfter loading rviz whit this plugin, add a topic of type TexturedMesh, for which you can use a dropdown menu in rviz to subscribe to a point cloud pcl_msgs and an image for texture.
Check usage and example output in spark_vio_ros.