This repo contains a RVIZ2 plugin to display vision_msgs for ROS 2 humble.

• Detection3DArray
  • Display ObjectHypothesisWithPose/score
  • Change color based on ObjectHypothesisWithPose/id [car: orange, person: blue, cyclist: yellow, motorcycle: purple, other: grey]
  • Visualization propperties
    • Alpha
    • Line or Box
    • Linewidth
    • Change color map based on provided yaml file
• Detection3D
  • Display ObjectHypothesisWithPose/score
  • Change color based on ObjectHypothesisWithPose/id [car: orange, person: blue, cyclist: yellow, motorcycle: purple, other: grey]
  • Visualization propperties
    • Alpha
    • Line or Box
    • Linewidth
    • Change color map based on provided yaml file
• BoundingBox3D
  • Alpha
  • Line or Box
    Since no header in vision_msgs/BonudingBox visualizations uses rviz fixed frame for tf transformation
  • Linewidth
• BoundingBox3DArray
  • Alpha
  • Line or Box
  • Linewidth

Install:

1. Via apt:

sudo apt update && sudo apt install ros-$ROS_DISTRO-vision-msgs-rviz-plugins

2. From source:

$ cd ros2_ws/src && git clone https://github.com/NovoG93/vision_msgs_rviz_plugins -b humble
$ cd ros2_ws && rosdep install --from src --ignore-src -r -y \
  && colcon build --symlink-install --packages-select vision_msgs_rviz_plugins

Testing:

$ ros2 launch vision_msgs_rviz_plugins test_all.launch.py