On Fri, Aug 3, 2012 at 3:37 PM, Jack O'Quin wrote: > On Fri, Aug 3, 2012 at 7:58 AM, Thomas Moulard wrote: >> Hello there, >> I have written a small package called rviz_plugin_covariance. >> >> It is an rviz plug-in (using the new ROS Fuerte C++ API) displaying >> geometry_msgs/PoseWithCovarianceStamped messages. >> >> It is based on this blog post [1] and on the rviz API tutorial. >> >> The package page on the wiki is here (not yet indexed): >> http://www.ros.org/wiki/rviz_plugin_covariance >> >> It is available on GitHub at: >> https://github.com/laas/rviz_plugin_covariance >> >> [1] http://geus.wordpress.com/2011/09/15/how-to-represent-a-3d-normal-function-with-ros-rviz/ > > Thanks for providing that, Thomas. I am sure it will be very useful. > > Questions: > > * Is there a way to handle Odometry messages? It is easy to extend the plug-in to be able to display Odometry messages, for the position covariance at least. Representing twist covariance is more difficult. > * How could orientation covariance be displayed? I am only considering the upper-left 3x3 block of the covariance matrix currently. I made a quick google search w/o finding any relevant paper, but it seems like a "classical" issue so I would be suprised this has not already been solved... -- Thomas Moulard http://www.linkedin.com/in/moulard