Add RViz research #400
Add RViz research #400
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Actionable comments posted: 2
🧹 Outside diff range and nitpick comments (4)
doc/research/paf24/general/rviz.md (4)
21-21: Fix comma placement in the sentence.Add a comma after "for example" to improve readability.
-The Visualizer always has a 3D View panel in the middle. This is where all 3D data, from for example lidar and radar sensors, is shown. +The Visualizer always has a 3D View panel in the middle. This is where all 3D data, from, for example, lidar and radar sensors, is shown.🧰 Tools
🪛 LanguageTool
[uncategorized] ~21-~21: A comma might be missing here.
Context: ...le. This is where all 3D data, from for example lidar and radar sensors, is shown. - Th...(AI_EN_LECTOR_MISSING_PUNCTUATION_COMMA)
28-28: Add missing preposition "of" in the sentence.-The *Displays* panel contains a list all the currently visualized data-displays and allows changing their settings and visibility. +The *Displays* panel contains a list of all the currently visualized data-displays and allows changing their settings and visibility.🧰 Tools
🪛 LanguageTool
[uncategorized] ~28-~28: Possible missing preposition found.
Context: ...l The Displays panel contains a list all the currently visualized data-displays ...(AI_HYDRA_LEO_MISSING_OF)
42-42: Fix comma placement in multiple sentences.Add missing commas to improve readability:
-Depending on the type there are different settings available for the display. +Depending on the type, there are different settings available for the display. -Shows an image from a camera. Allows overlaying other data on top of the image including *Path* and *PointCloud2* (*Visibility* setting) +Shows an image from a camera. Allows overlaying other data on top of the image, including *Path* and *PointCloud2* (*Visibility* setting)Also applies to: 49-49
🧰 Tools
🪛 LanguageTool
[uncategorized] ~42-~42: A comma might be missing here.
Context: ...pes that can be added. Depending on the type there are different settings available ...(AI_EN_LECTOR_MISSING_PUNCTUATION_COMMA)
74-78: Consider adding more ROS-specific documentation links.To enhance the resources section, consider adding:
- ROS sensor message documentation
- RViz plugin development guide
- ROS visualization tutorials
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📒 Files selected for processing (1)
doc/research/paf24/general/rviz.md(1 hunks)
🧰 Additional context used
🪛 LanguageTool
doc/research/paf24/general/rviz.md
[uncategorized] ~21-~21: A comma might be missing here.
Context: ...le. This is where all 3D data, from for example lidar and radar sensors, is shown. - Th...
(AI_EN_LECTOR_MISSING_PUNCTUATION_COMMA)
[uncategorized] ~28-~28: Possible missing preposition found.
Context: ...l The Displays panel contains a list all the currently visualized data-displays ...
(AI_HYDRA_LEO_MISSING_OF)
[uncategorized] ~42-~42: A comma might be missing here.
Context: ...pes that can be added. Depending on the type there are different settings available ...
(AI_EN_LECTOR_MISSING_PUNCTUATION_COMMA)
[uncategorized] ~49-~49: Possible missing comma found.
Context: ...ows overlaying other data on top of the image including Path and PointCloud2 (*Vi...
(AI_HYDRA_LEO_MISSING_COMMA)
🔇 Additional comments (1)
doc/research/paf24/general/rviz.md (1)
1-78: Document needs expansion to fully address issue #378 requirements.
While the document provides a good overview of RViz, it doesn't fully address the key requirements from issue #378:
- Missing a comprehensive list of currently visualized sensors
- Lacking detailed guidance on adding new sensor visualizations
- No specific examples of sensor configuration settings
Consider adding:
- A table listing all currently visualized sensors with their topics and display types
- Step-by-step instructions for adding new sensor visualizations
- Configuration examples for different sensor types
Let's verify the current sensor setup:
#!/bin/bash
# Find all launch files that might contain sensor configurations
fd -e launch . code/agent/launch --exec rg -l "sensor|camera|lidar|radar" {}Would you like help generating the additional sections to address these requirements?
🧰 Tools
🪛 LanguageTool
[uncategorized] ~21-~21: A comma might be missing here.
Context: ...le. This is where all 3D data, from for example lidar and radar sensors, is shown. - Th...
(AI_EN_LECTOR_MISSING_PUNCTUATION_COMMA)
[uncategorized] ~28-~28: Possible missing preposition found.
Context: ...l The Displays panel contains a list all the currently visualized data-displays ...
(AI_HYDRA_LEO_MISSING_OF)
[uncategorized] ~42-~42: A comma might be missing here.
Context: ...pes that can be added. Depending on the type there are different settings available ...
(AI_EN_LECTOR_MISSING_PUNCTUATION_COMMA)
[uncategorized] ~49-~49: Possible missing comma found.
Context: ...ows overlaying other data on top of the image including Path and PointCloud2 (*Vi...
(AI_HYDRA_LEO_MISSING_COMMA)
| RViz can be fully configured with the GUI. The settings may then be saved with *File->Save Config*. | ||
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| The default configuration file is located at [code/agent/config/rviz_config.rviz](../../../../code/agent/config/rviz_config.rviz) | ||
| and this path is defined in [code/agent/launch/agent.launch](../../../../code/agent/launch/agent.launch). It can be changed to use a different default config when running the leaderboard. |
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🛠️ Refactor suggestion
Consider adding sensor-specific configuration examples.
To better support the goal of documenting sensor visualization, consider adding:
- Example configuration snippets for common sensors
- Default settings for different sensor types
- Troubleshooting tips for sensor visualization issues
| # Research about RViz | ||
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| **Summary:** This page contains information on how to use RViz and how it is integrated into the project. | ||
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| - [General overview](#general-overview) | ||
| - [Displays panel](#displays-panel) | ||
| - [Display types](#display-types) | ||
| - [Camera](#camera) | ||
| - [Image](#image) | ||
| - [PointCloud(2)](#pointcloud2) | ||
| - [Path](#path) | ||
| - [RViz configuration](#rviz-configuration) | ||
| - [Sources](#sources) | ||
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💡 Codebase verification
Add sections for currently used sensors and visualization setup
Based on the documentation analysis, the review comment is valid and can be enhanced. The current sensor setup includes:
- Cameras (Center, Back, Left, Right) visualized through the Vision Node
- Shows object detection with bounding boxes
- Displays distance calculations
- LIDAR sensor integration for depth information
- Traffic light detection camera
Suggested additions to the document structure:
- Add a "Current Sensor Setup" section after the general overview
- List active camera configurations
- LIDAR integration
- Traffic light detection
- Add "Adding New Sensor Visualizations" section before RViz configuration
- Reference the launch file configuration process
- Document the RViz topic subscription process
🔗 Analysis chain
Consider expanding the document structure to fully address issue requirements.
While the current structure provides a good overview of RViz, consider adding these sections to fulfill the requirements from issue #378:
- List of currently visualized sensors
- Step-by-step guide for adding new sensor visualizations
Let's verify the current sensor visualizations:
🏁 Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash
# Find all sensor-related RViz configurations
rg -l "sensor|camera|lidar|radar" code/agent/config/rviz_config.rviz
Length of output: 80
Script:
#!/bin/bash
# Let's try a broader search for RViz configurations and sensor-related files
fd -e rviz . --exec rg -l "sensor|camera|lidar|radar" {}
# Also search for launch files that might reference sensors
fd -e launch . --exec rg -l "sensor|camera|lidar|radar" {}
# Search for any Python files that might handle sensor visualization
fd -e py . --exec rg -l "sensor|camera|lidar|radar" {}
# Look for any documentation about sensors
fd . -e md --exec rg -l "sensor|camera|lidar|radar" {}
Length of output: 2671
Script:
#!/bin/bash
# Let's examine the content of perception-related documentation to understand current sensor setup
cat ./doc/perception/README.md
# Check vision node documentation for camera sensor details
cat ./doc/perception/vision_node.md
# Check lidar distance documentation
cat ./doc/perception/lidar_distance_utility.md
# Examine the perception launch file for sensor configurations
cat ./code/perception/launch/perception.launch
Length of output: 12494
Description
Adds research about RViz to doc/research/paf24/general/rviz.md.
It contains information on how to use RViz and how it is integrated into the project.
Fixes #378
Type of change
Does this PR introduce a breaking change?
No, just research
Most important changes
The one file
Checklist:
Summary by CodeRabbit