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Point README to the GitHub docs site (#687)
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P. J. Reed
P. J. Reed
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README.md
272
README.md
@ -5,273 +5,7 @@ Mapviz is a [ROS](http://www.ros.org/) based visualization tool with a plug-in s
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Installation
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------------
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Usage
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-----
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You can install mapviz using apt-get from the ROS apt repository:
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sudo apt-get install ros-$ROS_DISTRO-mapviz ros-$ROS_DISTRO-mapviz-plugins ros-$ROS_DISTRO-tile-map ros-$ROS_DISTRO-multires-image
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Building From Source
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--------------------
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These directions assume you have already set up a catkin workspace. See [this tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace) on the ROS Wiki for help setting up a catkin workspace.
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### Checking out the source code (wstool)
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If you're using wstool, add this repository to your wstool workspace:
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wstool set mapviz --git https://github.com/swri-robotics/mapviz.git
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wstool update mapviz
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### Checking out the source code (git)
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If you're not using wstool, you can check out the repository directly with git:
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git clone https://github.com/swri-robotics/mapviz.git
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### Installing dependencies and building
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Install all of the dependencies using rosdep by running the following command from the root of your catkin workspace:
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rosdep install --from-paths src --ignore-src
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Build the workspace with catkin\_make:
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catkin_make
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Plug-ins
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--------
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### Coordinate Picker
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Transforms coordinates of clicked points on the map to a specified frame. The most recent coordinate is placed on the clipboard, and a list of coordinates is displayed in the GUI.
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**Parameters**
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* Frame: coordinate frame into which to transform the clicked point
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### Disparity
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Overlays a [sensor_msgs::DisparityImage](http://docs.ros.org/api/stereo_msgs/html/msg/DisparityImage.html) onto the display using the ''jet'' color map.
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**Parameters**
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* Topic: The disparity topic name
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* Anchor: (top left | top center | top right | center left | center | center right | bottom left | bottom center | bottom right)
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* Offset X: Display offset from the left
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* Offset Y: Display offset from the top
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* Width: Display width
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* Height: Display height
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* Units: (pixels | percent of window)
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### GPS
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Projects [gps_common::GPSFix](http://docs.ros.org/kinetic/api/gps_common/html/msg/GPSFix.html) message data into the scene.
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**Parameters**
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* Topic: The GPS topic
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* Color: The color of the GPS data
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* Draw Style: (lines | points | arrows)
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* Static Arrow Sizes: If checked, draw arrows the same size regardless of zoom level; slider adjusts size
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* Position Tolerance: Distance threshold for adding new GPS points to visualization
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* Buffer Size: Size of circular buffer of GPS points
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* Show Laps: If checked, multiple loops of GPS coordinates will have different colors
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### Grid
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Projects a 2D grid into the scene.
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**Parameters**
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* Frame: Coordinate frame of the grid
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* Color: Color of the grid
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* Alpha: Alpha transparency of the grid
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* X: X offset of the grid from the specified coordinate frame origin
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* Y: Y offset of the grid from the specified coordinate frame origin
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* Size: Size of each grid cell
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* Rows: Number of grid rows
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* Columns: Number of grid columns
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### Image
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Overlays a [sensor_msgs::Image](http://docs.ros.org/api/sensor_msgs/html/msg/Image.html) onto the display.
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**Parameters**
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* Topic: The image topic name
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* Anchor: (top left | top center | top right | center left | center | center right | bottom left | bottom center | bottom right)
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* Offset X: Display offset from the left
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* Offset Y: Display offset from the top
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* Width: Display width
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* Height: Display height
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* Units: (pixels | percent of window)
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### LaserScan
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Projects a [sensor_msgs::LaserScan](http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html) message into the scene.
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* Topic: The laser scan topic name
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* Min Color: The color associated with minimum return intensity
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* Max Color: The color associated with maximum return intensity
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* Min Intesity: Minimum intensity value
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* Max Intensity: Maximum intensity value
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* Point Size: Display size of laser scan points in pixels
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* Buffer Size: Size of circular buffer of laser scan messages points
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### Marker
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Projects a [visualization_msgs::Marker](http://docs.ros.org/api/visualization_msgs/html/msg/Marker.html) or [visualization_msgs::MarkerArray](http://docs.ros.org/api/visualization_msgs/html/msg/MarkerArray.html) into the scene.
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[Markers](http://wiki.ros.org/rviz/DisplayTypes/Marker) are the most flexible display type and more or less mirror the [OpenGL primitives](https://www.opengl.org/wiki/Primitive).
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**Parameters**
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* Topic: The marker topic
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### Move Base
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This plugin allows the user to send goals to [move_base](wiki.ros.org/move_base).
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**Buttons**
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* Estimated pose: similarly to RViz, it will publish a [geometry_msgs::PoseWithCovarianceStamped](http://docs.ros.org/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html) using the topic __/initialpose__.
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* 2D Nav goal: send a [move_base_msgs/MoveBaseActionGoal](http://wiki.ros.org/move_base#Action_API), unlike its RViz equivalent, which publishes a message on the topic __/move_base_simple/goal__.
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* Abort: stop the execution of the current goal.
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### Multi-res Image
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Projects a geo-referenced multi-resolution image tile map into the scene. The concept is the same as the Google Maps style pan/zoom satellite imagery.
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**Parameters**
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* Geo File: Path to the geo-referenced map tiles.
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A custom format is currently used to store the map tiles and geo-reference. The geo-file has the following format:
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image_path: "." # The relative path to the map tiles
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image_width: 29184 # The full pixel width of the map
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image_height: 15872 # The full pixel height of the map
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tile_size: 512 # The pixel size of the individual tiles
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datum: "wgs84" # Datum is currently ignored
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projection: "utm" # (utm|wgs84)
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# At least 2 tie points are required for
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# scale, and 3 for orientation.
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tiepoints: # [pixel x, pixel y, geo x, geo y]
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- point: [4799, 209, 535674.5, 3258382.5]
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- point: [2336, 15596, 535329.5, 3256198.5]
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- point: [26925, 15457, 538837.5, 3256233.5]
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- point: [29133, 84, 539142.5, 3258416.5]
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The map tiles are stored in directories for each resolution starting with layer0, the full resolution. In subsequent layers the resolution is halved until the entire map fits within a single tile.
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Tiles are named using the following format:
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tile%05dx%05d.png % (row, column)
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### NavSat
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Projects [sensor_msgs::NavSatFix](https://docs.ros.org/jade/api/sensor_msgs/html/msg/NavSatFix.html) message data into the scene.
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**Parameters**
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* Topic: The GPS topic
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* Color: The color of the GPS data
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* Draw Style: (lines | points)
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* Position Tolerance: Distance threshold for adding new GPS points to visualization
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* Buffer Size: Size of circular buffer of GPS points
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### Odometry
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Projects [nav_msgs::Odometry](http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html) message data into the scene.
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**Parameters**
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* Topic: The odometry topic
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* Color: The color of the odometry data
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* Draw Style: (lines | points | arrows)
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* Show Covariance: Draw covariance ellipse around latest data
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* Position Tolerance: Distance threshold for adding new odometry points to visualization
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* Buffer Size: Size of circular buffer of odometry points
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### Path
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Projects [nav_msgs::Path](http://docs.ros.org/api/nav_msgs/html/msg/Path.html) message data into the scene.
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**Parameters**
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* Topic: The path topic
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### Point Click Publisher
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Publishes a [geometry_msgs::PointStamped](http://docs.ros.org/api/geometry_msgs/html/msg/PointStamped.html) message every time a user clicks on the map frame that corresponds to the clicked location.
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**Parameters**
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* Topic: The topic to publish the point to
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* Frame: The target frame to transform the point to before publishing it
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### Robot Image
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Projects an image loaded from file into the scene to represent the robot platform.
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**Parameters**
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* Image File: Path to the image file
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* Frame: Frame to tie the image to
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* Width: The physical width represented by the image
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* Height: The physical height represented by the image
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### String
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Displays the most recent string from a std_msgs::String message at a fixed location on the scene.
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**Parameters**
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* Topic: The string topic
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* Font: The font for rendering the string
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* Color: The color for drawing the string
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* Anchor: (top left | top center | top right | center left | center | center right | bottom left | bottom center | bottom right)
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* Offset X: Horizontal offset from the anchor
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* Offset Y: Vertical offset from the anchor
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* Units: (pixels | percent of window)
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### Float
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Displays the most recent value from a std_msgs::Float32/64, marti_common_msgs/Float32/64Stamped or a marti_sensor_msgs/Velocity message at a fixed location on the scene.
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**Parameters**
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* Topic: The float topic
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* Font: The font for rendering the float
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* Color: The color for drawing the float
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* Anchor: (top left | top center | top right | center left | center | center right | bottom left | bottom center | bottom right)
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* Offset X: Horizontal offset from the anchor
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* Offset Y: Vertical offset from the anchor
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* Units: (pixels | percent of window)
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* Postfix: Text to append to the displayed value (ex. to show units)
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### Textured Marker
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Projects marti_visualization_msgs::TexturedMarker and marti_visualization_msgs::TexturedMarkerArray message data into the scene.
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Textured markers follow the same general approach as traditional markers, but can be used to texture dense image data onto a quad which is projected into the scene.
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**Parameters**
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* Topic: The textured marker topic
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### Tile Map
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Projects a geo-referenced multi-resolution image tile map into the scene. Map tiles can be obtained from [Bing Maps](https://www.bing.com/mapspreview) or any [WMTS Tile Service](http://www.opengeospatial.org/standards/wmts). Pre-defined services that access [Stamen Design](http://maps.stamen.com/) (terrain, watercolor, and toner) are provided. Custom or local WMTS map servers can also be specified. Map data is cached to disk which enables some limited use completely offline.
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<img src="https://github.com/swri-robotics/mapviz/wiki/satellite.png" width="200" height="200" />
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<img src="https://github.com/swri-robotics/mapviz/wiki/roads.png" width="200" height="200" />
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<img src="https://github.com/swri-robotics/mapviz/wiki/terrain.png" width="200" height="200" />
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<img src="https://github.com/swri-robotics/mapviz/wiki/watercolor.png" width="200" height="200" />
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<img src="https://github.com/swri-robotics/mapviz/wiki/toner.png" width="200" height="200" />
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**Parameters**
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* Source: The name of source of the tile data.
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* Base URL: A template URL used to obtain map tiles. When obtaining map tiles, parameters labeled `{level}`, `{x}`, and `{y}` in the URL will be replaced with appropriate values. For example, `http://tile.stamen.com/terrain/{level}/{x}/{y}.png` is appropriate for retrieving terrain tiles from Stamen Design.
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* API Key: When the `Bing Maps (terrain)` source is selected, you must enter a Bing Maps access key here and click the `Save` button in order for tiles to be available. You can get a Bing Maps Key from the [Microsoft Developer Network](https://msdn.microsoft.com/en-us/library/ff428642.aspx).
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* Max Zoom: The maximum zoom level that will be used when requesting tiles.
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### TF Frame
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Projects [Tf](http://wiki.ros.org/tf) data into the scene similar to the Odometry plug-in.
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**Parameters**
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* Frame: The Tf frame
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* Color: The color of the Tf data
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* Draw Style: (lines | points | arrows)
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* Position Tolerance: Distance threshold for adding new Tf points to visualization
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* Buffer Size: Size of circular buffer of Tf points
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[View the documentation](https://swri-robotics.github.io/mapviz/) for usage information.
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