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Publishes the car's name/prefix as a marker that can be visualized in rviz, so individual cars can be tracked when simulating many cars #11

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Publishes the car's name/prefix as a marker that can be visualized in rviz, so individual cars can be tracked when simulating many cars #11

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20 changes: 19 additions & 1 deletion mushr_base/src/racecar_state.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
from sensor_msgs.msg import JointState
from std_msgs.msg import Float64
from vesc_msgs.msg import VescStateStamped

from visualization_msgs.msg import Marker
import utils


Expand Down Expand Up @@ -152,6 +152,9 @@ def __init__(self):
# Publishes joint messages
self.br = tf.TransformBroadcaster()

# Publishes vehicle prefix above vehicle in simulator as text facing camera
self.prefix_pub = rospy.Publisher("visualization_marker", Marker, queue_size=1)

# Duration param controls how often to publish default map to odom tf
# if no other nodes are publishing it
self.transformer = tf.TransformListener()
Expand Down Expand Up @@ -502,6 +505,21 @@ def timer_cb(self, event):
cur_pose.pose.orientation = utils.angle_to_quaternion(rot)
self.state_pub.publish(cur_pose)

# Publish prefix as a marker (for rviz)
prefix_marker = Marker()
prefix_marker.header.frame_id = "/map"
prefix_marker.header.stamp = now
prefix_marker.pose = cur_pose.pose
prefix_marker.type = 9
prefix_marker.text = self.TF_PREFIX
prefix_marker.pose.position.z = 0.3
prefix_marker.color.a = 1.0
prefix_marker.color.r = 244.0/255.0
prefix_marker.color.g = 214.0/255.0
prefix_marker.color.b = 118.0/255.0
prefix_marker.scale.z=0.1
self.prefix_pub.publish(prefix_marker)

"""
get_map: Get the map and map meta data
Returns: A tuple
Expand Down