参考链接:
Home | Mapviz (swri-robotics.github.io)
swri-robotics/mapviz: Modular ROS visualization tool for 2D data. (github.com)
Visualize the GNSS messages in Mapviz, ROS | by Liu,Xiao | Medium
【ROS博客】Visualize the GNSS messages in Mapviz, ROS - 知乎 (zhihu.com)
源码安装mapviz:
1、在工作空间 src目录下克隆仓库,最好工作空间下只放mapviz这一个工能包
$ git clone https://github.com/swri-robotics/mapviz.git
2、返回到工作空间根目录,安装功能包依赖:
$ rosdep install --from-paths src --ignore-src
3、单独编译mapviz功能包
catkin_make -DCATKIN_WHITELIST_PACKAGES=mapviz
然后再编译全部,不然插件不能用
catkin_make -DCATKIN_WHITELIST_PACKAGES=
编译成功后source一下,这样每次打开终端的时候就不用重新source了
echo "source ~/catkin_mpviz/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
使用:
打开终端启动mapviz:
roslaunch mapviz mapviz.launch
依次添加title_map 和navsat,注意,顺序不要搞混
填入bing 地图api:
启动gps 节点:
roslaunch nmea_navsat_driver nmea_serial_driver.launch
在navast的topic里选择自己对应的fix节点,我这里gnss发布的节点名叫fix,