背景
如果要在rviz上可视化一般包括以下两个步骤：
- 定义这个图形的消息类型（一般可以使用rviz自带的消息类型或第三方库所提供的消息类型），通过话题发布出来。
- 在rviz中根据接收到消息将图形绘制出来。
第三方库主要有以下几种：
- jsk_rviz_plugins
- gridmap_rviz_plugins
- autoware
博主使用的是jsk_rviz_plugins库，它是一个提供原始 rviz 插件的包。当启动 rviz 即可使用这些 rviz 插件、面板和工具。官方的阅读文档：https://jsk-visualization.readthedocs.io/en/latest/jsk_rviz_plugins/index.html
官方Github链接：https://github.com/jsk-ros-pkg/jsk_visualization
报错
博主在可视化jsk_recognition_msgs/BoundingBoxArray（3D 边界框）的时候，遇到了以下错误：
Error: The plugin for class ‘jsk_rviz_plugin/BoundingBoxArray’ failed to load.
解决
解决方法是需要安装相应的库与插件，打开终端输入以下命令：
# 更新软件源列表
sudo apt-get update
# 根据自己的ROS版本选择对应的指令
# ubuntu16.04:kinetic
sudo apt-get install ros-kinetic-jsk-recognition-msgs
sudo apt-get install ros-kinetic-jsk-rviz-plugins
# ubuntu18.04:melodic
sudo apt-get install ros-melodic-jsk-recognition-msgs
sudo apt-get install ros-melodic-jsk-rviz-plugins
# ubuntu20.04:noetic
sudo apt-get install ros-noetic-jsk-recognition-msgs
sudo apt-get install ros-noetic-jsk-rviz-plugins
附
安装好后，又遇到了rviz无法显示，state为error的报错，后来检查rviz文件发现：Class: jsk_rviz_plugin/BoundingBoxArray下面的Topic和Fixed Frame字段设置错误，根据自己的代码修改成相对应的Topic和Frame即可。（遇到报错一定要仔细检查！）
成功运行的rviz文件：
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /PointCloud21
- /BoundingBoxArray1
Splitter Ratio: 0.5
Tree Height: 235
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: PointCloud2
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 26.235191345214844
Min Value: -12.199440002441406
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Squares
Topic: /velodyne_points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Axes
Enabled: true
Length: 1
Name: Axes
Radius: 0.10000000149011612
Reference Frame: <Fixed Frame>
Value: true
- Class: jsk_rviz_plugin/BoundingBoxArray
Enabled: true
Name: BoundingBoxArray
Topic: /detection/lidar_detector/visualization
Unreliable: false
Value: true
alpha: 0.800000011920929
color: 25; 255; 0
coloring: Flat color
line width: 0.20000000298023224
only edge: true
show coords: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: velodyne
Frame Rate: 20
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 61.30393600463867
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 11.016645431518555
Y: -6.342355728149414
Z: 3.211975574493408
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.124796748161316
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.210404872894287
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1011
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000031400000354fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000176000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001b9000001d80000001600ffffff000000010000010f00000354fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000354000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003ffc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004660000035400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1920
X: 0
Y: 38