ROS package to mark the triangle model on RVIZ.

This package is to mark the ground truth (cube, triangle) on RVIZ.

Requirements

1. Eigen3
2. tkinter

Content

1. ground_truth_labeler (ground_truth_labeler.py)
2. ground_truth_labeler_node (ground_truth_labeler.cpp)

1. ground_truth_labeler

This is a tool to mark ground truth (cube) by using interactive makrer in UI(implemented by tkinter)

(a) Getting Started.

1. put package ground_truth_labeler in your workspace and catkin_make the package.

2. Run the module

roscore
python ~/ground_truth_labeler/src/ground_truth_labeler.py

(b) Visualize on RVIZ

1. Open the RVIZ
2. Set the fixed frame as your input frame, the default frame is map
3. Subscribe the topic simple_markers and cube_poses

You won't see anything for now, you need to create the marker on UI.

(c) Create the first model

1. Click New Marker button on the User Interface.
2. Enter the numbers and their size you need.
3. Now check the RVIZ.

The result may seen like this:

• Notice that tx, ty, tz on Update Marker interface is not the position of the cube, it is the position of the control object (above the cube).

2. ground_truth_labeler_node

This is a tool to mark ground truth (triangle model) by using interactive makrer in command line

(a) Getting Started.

1. put package ground_truth_labeler in your workspace and catkin_make the package.

2. Run the node

roscore
rosrun ground_truth_labeler ground_truth_labeler_node

(b) Visualize on RVIZ

1. Open the RVIZ
2. Set fixed frame as map
3. Subscribe the topic simple_markers

You won't see anything for now, you need to create the marker by orders.

(c) Create the first model

1. Click 2D Nav Goal button on the upper part of RVIZ interface. (Or press g)
2. Try to drag the green arrow on the RVIZ 3D space.
3. Now check the terminal you run the ground_truth_labeler_node, following the orders to create the model.

For instance, you can create one model by giving such orders:

The movable model shown on the RVIZ:

4. Want to give more orders, back to step 1.