added rviz plugins

docs/50-features/autostart.md

@@ -8,9 +8,6 @@ description: Autostart Takeoff Routine
 
 The ROS node for automating takeoff routine for UAVs.
 The code originates from the [mrs_uav_autostart](https://github.com/ctu-mrs/mrs_uav_autostart) package.
-
-## General description
-
 The **Autostart** checks the availability of essential parts of the system and validity of received data.
 Once all modules and data are available, it waits for the UAV to be armed and switched to offboard mode.
 Then, after a __safety timeout__, it initiates the takeoff procedure.

docs/50-features/rviz_plugins/index.md

@@ -0,0 +1,115 @@
+---
+title: Rviz plugins
+pagination_label: MRS Rviz plugins
+description: MRS Rviz plugins
+---
+
+# MRS Rviz Plugins
+
+The Rviz plugins originate from the package [mrs_rviz_plugins](https://github.com/ctu-mrs/mrs_rviz_plugins).
+
+![](fig/thumbnail.jpg)
+
+## Plugins
+
+#### mrs_msgs/ObstacleSectors vizualization
+
+"Bumper" vizualizations, integrates seamlessly.
+
+#### mrs_msgs/PoseWithCovarianceStamped vizualization
+
+Integrates seamlessly.
+
+#### mrs_msgs/TrackArrayStamped vizualization
+
+Integrates seamlessly.
+
+#### mrs_msgs/UavStatus vizualization
+
+Displays useful information about the UAV state and sensors, integrates seamlessly.
+Use `mrs_rviz_plugins/UAV Status` display type.
+
+#### nav_msgs/Odometry vizualization
+
+Includes visualization of velocity and its covariance, integrates seamlessly.
+Use `mrs_rviz_plugins/OdometryWithVelocity` display type.
+
+#### NamedSetGoal
+
+RViz goal tool with modifiable label.
+
+#### Control tool
+
+Integrates [mrs_uav_status](https://github.com/ctu-mrs/mrs_uav_status/tree/master) and Selection tool functionality into one tool.
+Shortcut key for the tool is 'c'.
+
+##### Mouse control
+
+|        Mouse event        |            Action            |
+|:-------------------------:|:----------------------------:|
+|      Click and drag       | Select objects on the screen |
+|  Shift + Click and drag   |  Move 'UAV Status' display   |
+|  Right-click (on drone)   |  Show services to be called  |
+|     Alt + Left-click      |            Rotate            |
+|    Alt + Middle-click     |           Move X/Y           |
+| Alt + Shift + Left-click  |           Move X/Y           |
+|     Alt + Right-click     |            Move Z            |
+| Alt + Shift + Right-click |            Move Z            |
+
+##### Controlling the UAV through RVIZ
+
+Press the 'R' key to enter the "remote" mode. While in this mode, you can fly the UAV with your keyboard.
+While in remote mode, press 'G' to switch to global frame.
+Only one key at a time is registered, multiple key inputs are not supported.
+
+|        Key       |        Action        |
+|:----------------:|:--------------------:|
+| 'wasd' or 'hjkl' |     Fly laterally    |
+|       'qe'       | Change UAV's heading |
+|       'rf'       |    Fly up and down   |
+
+##### Custom services
+
+You can add your own services to drone's menu.
+ * To add a service to the menu, publish a message to the topic ```mrs_uav_status/set_trigger_service```
+ * Only services of the [std_srvs/Trigger](http://docs.ros.org/melodic/api/std_srvs/html/srv/Trigger.html) type are supported
+ * The message is a [std_msgs/String](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html), and has to consist of two entries separated by spaces:
+   * Service name (```uav_manager/land_home```)
+   * Name to be displayed in the menu (```Land Home```) - this name can contain additional spaces
+ * The namespace of the UAV will be added automatically (```uav_manager/land_home``` -> ```/uav1/uav_managerland_home```)
+ * To a service outside of the namespace, use "/" as the first character (```/uav_manager/land_home```)
+
+Press the 'm' key (as menu) to show services on selected drones. Custom services will not be shown, only the default ones.
+
+#### WaypointPlanner
+
+Allows sending a sequence of waypoints to drone.
+The click-and-pull input supplies a 2D position with heading (a waypoint). Tool properties allow customization (height change, fly now, loop, use heading).
+
+|  Key  |         Action         |
+|:-----:|:----------------------:|
+|   w   | Turn the plugin on/off |
+|  del  |  Delete last waypoint  |
+| enter |   Trigger behaviour    |
+
+![Demonstration](fig/Waypoint_planner_demonstration.gif)
+
+## ROS Nodes - the ROS-Rviz interface
+
+#### RvizNavGoal
+
+Allows giving a reference to a UAV using the "2D Nav Goal" button in Rviz.
+The click-and-pull input supplies a 2D position with heading.
+
+#### RvizPoseEstimate
+
+Allows obtaining a coordinates from Rviz by using the "2D Pose Estimate" button in Rviz.
+The coordinates will appear as a standard output
+
+## Utils
+
+#### UAV Airframe vizualization
+
+```bash
+roslaunch mrs_rviz_plugins load_robot.launch
+```