rviz plugin to display pose covariance

This repository provides rviz plugin to display pose covariance information using an ellipsoid and a cone.

The plugin currently supports geometry_msgs/PoseWithCovariance, geometry_msgs/PoseWithCovarianceStamped and nav_msgs/Odometry. This work is based on [this discussion] discussion and on this tutorial tutorial.

This package requires at least ROS Fuerte

Getting started with rviz_plugin_covariance

ROS Fuerte

(instructions here)

ROS Hydro

To build this plugin:

Checkout the hydro branch into a catkin workspace and run catkin_make

To test this plugin:

roscore
rosrun rviz rviz
rosrun rviz_plugin_covariance send_test_msgs.py

Add new rviz display of type PoseWithCovariance

Select the /test_covariance topic

TO DO

- [ ] write instructions for ROS Fuerte - [ ] check if ROS Groovy is supported - [ ] migrate `nav_msgs/Odometry` display to ROS Hydro - [ ] add code improvements seen in ROS Hydro to older versions