README.md

tuw_shape_array

shape_server_node

Parameters

• json:
  • json filename with the shape_array to open
• frame_id:
  • can be used to replace the frame id
  • default: false
• pub_interval:
  • publishing interval in seconds. If 0 or less, the graph is published once. [sec]
  • default: 10.0

Publisher

• shapes
  • Shapes from the json file
  • Type: tuw_object_msgs::msg::ShapeArray

Subscriber

• get
  • Returns the shape_array on request
  • Type: tuw_object_msgs::srv::GetShapeArray
• publish
  • Request to publish the shape_array
  • Type: std_srvs::srv::Trigger

Demo

RViz

ros2 run rviz2 rviz2 -d ./ws01/src/tuw_shape_array/config/cave.rviz
ros2 run tuw_shape_array shape_server_node --ros-args -p pub_interval:=1 -r shapes:=shape_server/cave -r get:=shape_server/get -r publish:=shape_server/publish -p json:=./ws01/src/tuw_shape_array/config/cave.json

tuw_shape_array_msg visualized with the tuw_rviz plugins in RViz2