Fix/visualization

[hakuturu583]

Description

Abstract

In #1238, the ID of the visualization frame was changed to speed up the processing. At that time, there was an error in the implementation of coordinate conversion, and markers were not drawn correctly on the rviz.

Background

Execute the following command on the current master branch.

ros2 launch cpp_mock_scenarios mock_test.launch.py launch_rviz:=true timeout:=60.0 scenario:=acquire_position_in_world_frame

The following is displayed in rviz.

Screencast.from.05-21-2024.12.10.04.PM.webm

Details

The coordinate system of the various markers was modified to produce the following output.

Screencast.from.05-20-2024.04.47.35.PM.webm

References

#1238

Destructive Changes

Fix bug of geometry_msgs::msg::Point operator*(const geometry_msgs::msg::Point & point, const double value) function.

Known Limitations

#1256 This problem still remains, but if I fix this problem in this pull request, the diff will be to large so even if this PR is merged, the problem of double implementation remains.

[github-actions]

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[HansRobo]

It worked fine in my environment!

aaabaa-2024-05-21_11.59.48.mp4