Since the orientation is a vector, I have seen the orientation covariance shown as a scaled cone. -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ William Woodall Graduate Software Engineering Auburn University w@auburn.edu wjwwood@gmail.com williamjwoodall.com ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ On Fri, Aug 3, 2012 at 12:05 PM, Thomas Moulard wrote: > 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 > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >