rviz2_plugin_ser2res

rviz2_plugin_ser2res is a RViz plugin for resetting displays via service. This enables controllable updates of visualized messages, such as point clouds. More explanations for the usages will be provided soon.

Dependencies

Ubuntu 22.04

ROS2 Humble

Compilation

cd ~/ros2_ws/src
git clone https://github.com/ASIG-X/rviz2_plugin_ser2res
cd ..
colcon build --symlink-install --packages-select rviz2_plugin_ser2res

Usage

To use this plugin, please follow the steps below.

1. Click on the “+” button in the toolbar of RViz2.
2. Select "ser2res" under "rviz2_plugin_ser2res".
3. Reset all displays by using the following two methods:

• Open a new terminal and run

ros2 service call /rviz2/reset_time std_srvs/srv/Empty

• Alternatively, you can create a client in your code

rclcpp::Client<std_srvs::srv::Empty>::SharedPtr client = nh->create_client<std_srvs::srv::Empty>("/rviz2/reset_time");

and send a request

auto request = std::make_shared<std_srvs::srv::Empty::Request>();
auto result = client->async_send_request(request);
rclcpp::Rate rate(10);
while (!result.valid()) {
    rate.sleep();
}

Contributors

Ziyu Cao (email: [email protected])

Kailai Li (email: [email protected])

License

The source code is released under GPLv3 license.

We are constantly working on improving our code. For any technical issues, please contact Ziyu Cao ([email protected]).