ROS3D机器人展示台_C++_CMake_下载.zip

# RViz This branch is currently contained in the main `ros2.repos` file of ROS 2 and can be used for ROS 2. The latest release will be available with your ROS 2 download. ROS 2 does not have a wiki yet. To learn about RViz and its functionality, please refer to the ROS RViz [wiki page](http://www.ros.org/wiki/rviz). ## Features ### Already ported These features have already been ported from `ros-visualization/rviz` to `ros2/rviz`. The basic documentation can still be found on the RViz [wiki page](http://www.ros.org/wiki/rviz). For some displays, the [documentation is updated](docs/FEATURES.md). | Displays | Tools | View Controller | Panels | | --------------------- | ------------- | --------------------- | --------------- | | Axes | Move Camera | Orbit | Displays | | Camera | Focus Camera | XY Orbit | Help | | Fluid Pressure | Measure | First Person | Selections | | Grid | Select | Third Person Follower | Time | | Grid Cells | 2D Nav Goal | Top Down Orthographic | Tool Properties | | Illuminance | Publish Point | | Views | | Image | Initial Pose | | Interactive Marker | Interact | | Laser Scan | | Map | | Marker | | Marker Array | | Odometry | | Point Cloud (1 and 2) | | Point | | Polygon | | Pose | | Pose Array | | Pose With Covariance | | Range | | Relative Humidity | | Robot Model | | Temperature | | TF | | Wrench | ### Not yet ported These features have not been ported to `ros2/rviz` yet. | Displays | | ------------- | | DepthCloud | | Effort | Other features: - Stereo In case you wished to see those features in RViz for ROS 2, feel free to add a pull request. Make sure to read the developer guide below and the migration guide. ### New features #### Pluggable transformation library In RViz for ROS 1 the frames transformation library used is tf2 (detailed information about it can be found [here](http://wiki.ros.org/tf2)). In RViz for ROS 2 the frames transformation library is now pluggable, meaning that different transformation library plugins can be loaded and changed dynamically in the gui. Developers can create and use their own plugins to provide custom transformation behavior. Two plugins are bundled with RViz: - a plugin for tf2 (`TFFrameTransformer`, in `rviz_default_plugins`), which provides the standard tf2 functionality and which is used as a default - a trivial plugin (`IdentityFrameTransformer`, in `rviz_common`), which always performs identity transforms. This plugin is used by default if the tf2 plugin is not available and no other valid plugin is specified. As anticipated, in order for the user to choose the plugin to use, RViz provides a dedicated panel: the `Transformation` panel. Note: Not all transformation plugins are necessarily compatible with all RViz displays (e.g. some of the default displays, like the TF display, can only work with tf2). In order to take this possibility into account, the `TransformerGuard` class is provided. Adding it to a display ensures that the display will be disabled and won't function in case the wrong transformer is used. More detailed information on how to write a transformation plugin and on how to handle transformation specific displays can be found in the [plugin development guide](docs/plugin_development.md). ## Developer Guide ### Build #### Building RViz together with ROS 2 The simplest way to build from source is to use the official installation guide, since RViz is part of the official ROS 2 repos file. https://docs.ros.org/en/rolling/Installation.html #### Building RViz in a separate workspace When developing for RViz, it can be beneficial to build it in a separate workspace. **Note:** When building the current ros2 branch from source, the latest ROS 2 release for all dependencies might not be sufficient: it could be necessary to build the ROS 2 master branch. Make sure to have a source build of ROS 2 available (see installation procedure above). Create a new workspace: ``` $ mkdir -p ~/rviz2_ws/src $ cd ~/rviz2_ws/src ``` Clone these repositories into the source folder: ``` $ git clone https://github.com/ros2/rviz.git ``` Then build all the packages with this command: ``` $ colcon build --merge-install ``` The `--merge-install` flag is optional but ensures a cleaner environment which is helpful for development. More instructions and examples to come. In addition to the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html) we suggest the following. ### Testing Main rationale here is to create code that can be well tested by avoiding highly coupled components. * Avoid free functions (cannot be mocked). * Create abstract base classes (interface) for dependencies. (This allows for a mock to be completely independent of the actual implementing class.) * Use only the interface in the dependent code. * Specify dependencies as a constructor argument. * Prefer `std::unique_ptr` for storing the dependency instead of a raw pointer. ### Migration When migrating from `ros-visualization/rviz` to `ros2/rviz`, please see the more extensive [migration guide](docs/migration_guide.md). ### Plugin Development Plugins can extend RViz at different extension points: - Displays - Panels - Tools - Frames transformation library - View Controllers More information on writing plugins can be found in the [plugin development guide](docs/plugin_development.md). ## Icon Copyrights This package contains Public Domain icons downloaded from http://tango.freedesktop.org/releases/. Upstream Authors (2005-2009): - Ulisse Perusin `<[email protected]>` - Steven Garrity `<[email protected]>` - Lapo Calamandrei `<[email protected]>` - Ryan Collier `<[email protected]>` - Rodney Dawes `<[email protected]>` - Andreas Nilsson `<[email protected]>` - Tuomas Kuosmanen `<[email protected]>` - Garrett LeSage `<[email protected]>` - Jakub Steiner `<[email protected]>` Other icons and graphics contained in this package are released into the Public Domain as well. Authors (2012-2017): - David Gossow - Chad Rockey - Kei Okada - Julius Kammerl - Acorn Pooley - Rein Appeldoorn Copyright notice for all icons and graphics in this package: ``` Public Domain Dedication Copyright-Only Dedication (based on United States law) or Public Domain Certification The person or persons who have associated work with this document (the "Dedicator" or "Certifier") hereby either (a) certifies that, to the best of his knowledge, the work of authorship identified is in the public domain of the country from which the work is published, or (b) hereby dedicates whatever copyright the dedicators holds in the work of authorship identified below (the "Work") to the public domain. A certifier, moreover, dedicates any copyright interest he may have in the associated work, and for these purposes, is described as a "dedicator" below. A certifier has taken reasonable steps to verify the copyright status of this work. Certifier recognizes that his good faith efforts may not shield him from liability if in fact the work certified is not in the public domain. Dedicator makes this dedication for the benefit of the public at large and to the detriment of the Dedicator's heirs and successors. Dedicator intends this dedication to be an overt act of relinquishment in perpetuity of all present and future rights under copyright law, whether vested or contingent, in the Work. Dedicator understands that such relinquishment of all rights includes the relinquishment of all rights to enforce (by lawsuit or other