Plot multiple paths in rviz - path

Question

I'm trying to plot different paths at rviz
I'm using the following code to get a first approach (based on this repository: https://github.com/HaoQChen/show_trajectory/tree/master/src)
import rospy
import math
import numpy as np
from geometry_msgs.msg import PoseStamped
from nav_msgs.msg import Path, Odometry
from std_msgs.msg import Empty
class ProjectElement(object):
def __init__(self):
self.path_pub = rospy.Publisher('~path', Path, latch=True, queue_size=10)
self.circle_sub = rospy.Subscriber('~circle', Empty, self.circle_cb, queue_size=10)
self.line_sub = rospy.Subscriber('~line', Empty, self.line_cb, queue_size=10)
self.project_sub = rospy.Subscriber('~project', Empty, self.project_cb, queue_size=10)
self.paths = []
self.rate = rospy.Rate(50)
def circle_cb(self, msg):
path = Path()
centre_x = 1
centre_y = 1
R = 0.5
th = 0.0
delta_th = 0.1
while (th<2*math.pi):
x = centre_x + R * math.sin(th)
y = centre_y + R * math.cos(th)
th += delta_th
this_pose_stamped = PoseStamped()
this_pose_stamped.pose.position.x = x
this_pose_stamped.pose.position.y = y
this_pose_stamped.header.stamp = rospy.get_rostime()
this_pose_stamped.header.frame_id = "/my_cs"
path.poses.append(this_pose_stamped)
path.header.frame_id = "/my_cs"
path.header.stamp = rospy.get_rostime()
self.paths.append(path)
def line_cb(self, msg):
path = Path()
x_start = 0.0
y_start = 0.0
length = 2
angle = 45 * math.pi/180
th = 0.0
delta_th = 0.1
while (th<length):
x = x_start + th * math.cos(angle)
y = y_start + th * math.sin(angle)
th += delta_th
this_pose_stamped = PoseStamped()
this_pose_stamped.pose.position.x = x
this_pose_stamped.pose.position.y = y
this_pose_stamped.header.stamp = rospy.get_rostime()
this_pose_stamped.header.frame_id = "/my_cs"
path.poses.append(this_pose_stamped)
path.header.frame_id = "/my_cs"
path.header.stamp = rospy.get_rostime()
self.paths.append(path)
def project_cb(self, msg):
while(True):
for element in self.paths:
# element.header.stamp = rospy.get_rostime()
self.path_pub.publish(element)
if __name__ == '__main__':
rospy.init_node('path_simulate')
elements = ProjectElement()
rospy.spin()
I can visualize the paths at rviz, but I don't know how to plot both figures at the same time in this way.
line
circle
I would like to ask if this approach is the best way to address this issue or which could be the best way.

Answer 1

I finally solved with visualization_msgs/MarkerArray based on this question:
https://answers.ros.org/question/220898/how-to-use-rviz-to-show-multiple-planing-paths/?answer=220993#post-id-220993
I post the code used here in case anyone needs it
import rospy
import math
import numpy as np
from geometry_msgs.msg import Vector3, Point
from std_msgs.msg import Empty
from visualization_msgs.msg import Marker, MarkerArray
class ProjectElement(object):
def __init__(self):
self.marker_pub = rospy.Publisher('~marker', MarkerArray, latch=True, queue_size=10)
self.circle_sub = rospy.Subscriber('~circle', Empty, self.circle_cb, queue_size=10)
self.line_sub = rospy.Subscriber('~line', Empty, self.line_cb, queue_size=10)
self.project_sub = rospy.Subscriber('~project', Empty, self.project_cb, queue_size=10)
self.marker_array = MarkerArray()
def circle_cb(self, msg):
marker = Marker()
marker.type = Marker.LINE_STRIP
marker.action = Marker.ADD
marker.scale = Vector3(0.01, 0.01, 0)
marker.color.g = 1.0
marker.color.a = 1.0
centre_x = 1
centre_y = 1
R = 0.5
delta_th = 0.1
for th in np.arange(0.0, 2*math.pi+delta_th, delta_th):
x = centre_x + R * math.sin(th)
y = centre_y + R * math.cos(th)
point = Point()
point.x = x
point.y = y
marker.points.append(point)
marker.id = 0
marker.header.stamp = rospy.get_rostime()
marker.header.frame_id = "/my_cs"
self.marker_array.markers.append(marker)
def line_cb(self, msg):
marker = Marker()
marker.type = Marker.LINE_STRIP
marker.action = Marker.ADD
marker.scale = Vector3(0.01, 0.01, 0)
marker.color.g = 1.0
marker.color.a = 1.0
x_start = 0.0
y_start = 0.0
length = 2
angle = 45 * math.pi/180
delta_th = 0.1
for th in np.arange(0.0, length, delta_th):
x = x_start + th * math.cos(angle)
y = y_start + th * math.sin(angle)
point = Point()
point.x = x
point.y = y
marker.points.append(point)
marker.id = 1
marker.header.stamp = rospy.get_rostime()
marker.header.frame_id = "/my_cs"
self.marker_array.markers.append(marker)
def project_cb(self, msg):
self.marker_pub.publish(self.marker_array)
if __name__ == '__main__':
rospy.init_node('markers_simulate')
elements = ProjectElement()
rospy.spin()
And the result achieved
marker array display