[ros-users] rviz OccupancyGrid message display

Daniel Maier maierd at informatik.uni-freiburg.de
Mon Nov 22 17:54:22 UTC 2010


I wonder whether it would be possible to have rviz display the occupancy 
of the nav_msgs/OccupancyGrid message as probabilities instead of the 
ternary representation as occupied/free/unknown.
I think this decision is due to the fact that the costmap_2d package 
uses the same
ternary representation. However, according to the message definition, 
the data
field is supposed to store probabilities in the range of [0,100]. Hence, 
I think it would
be more consistent and less confusing to have rviz indicate those 
probabilities in some way.
I included a small patch which does what I think rviz should do.


On 12/25/2009 05:08 PM, Clemens Eppner wrote:
> hello,
> i am trying to visualize a likelihood field in rviz. but when i use
> nav_msgs/OccupancyGrid rviz only distinguishes between
> occupied/unoccupied/unknown and ignores all other grey values. How can I
> workaround this? Sending a different colored Marker/Cube message for
> every grid map cell would certainly do the trick but may be not very
> efficient.
> What would you recommend?
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