display_rviz2_pckg.rviz2_map_visualization

Node ROS 2 to display the map in RViz2.

Module Contents

Classes

Rviz2MapVisualization

Class of rviz2_map_visualization node.

Functions

main	ROS 2 node main.

Data

geod

API

display_rviz2_pckg.rviz2_map_visualization.geod = None

class display_rviz2_pckg.rviz2_map_visualization.Rviz2MapVisualization

Bases: rclpy.node.Node

Class of rviz2_map_visualization node.

Initialization

Constructor taking a dynamic parameter ROS 2 for agent names in the system using RTK GPS.

Parameters:

• name_map (str) – [ROS 2 param] Name of the map you wish to display, defaults to ‘map_plaine’

• reference_agent_name (str) – [ROS 2 param] Name of one agent of the system, to calculate the position of our map in 3D space, defaults to ‘human_1’

• antenna_height (float) – [ROS 2 param] If you want t ouse your own RTK base as origin and fix the altitude of the map, defaults to 0.065

listener_gps_for_publish_map(msg_gps_rcv)

Subscriber to the GPS data of one agent, calculate the position of the local map, and publish the marker.

Parameters:

msg_gps_rcv – Message received in SatMsgRcv format

Returns:

None

select_coordinate_map(name)

Function to find out the dimensions of the selected tile.

Format for adding a map: ‘name_map’: [top latitude, left longitude, bottom latitude, right longitude]

Parameters:

name (str) – Name of the selected map

Returns:

Coordinates of the four sides of the selected map

Return type:

list[float]

display_rviz2_pckg.rviz2_map_visualization.main(args=None)

ROS 2 node main.