Given that all of us (@arjo129 @chapulina and I) have been seeing a big need for Ignition Markers to be more usable for debugging purposes, I'm opening this ticket to keep track of specific features we need in this repo (as opposed to opening separate issues upstream, because there are so many things to make it parallel to RViz Marker. We need to focus on a few for now).
Feel free to add.
Given that all of us (@arjo129 @chapulina and I) have been seeing a big need for Ignition Markers to be more usable for debugging purposes, I'm opening this ticket to keep track of specific features we need in this repo (as opposed to opening separate issues upstream, because there are so many things to make it parallel to RViz Marker. We need to focus on a few for now).
Feel free to add.
Why: Performance for visualizing science data. See Check yaw rates instead of positions when yoyoing (retargeted #124 to main) #133. Otherwise we can only visualize a very small number of markers without significant lag, ~400 on my Dell XPS 15 9570.
Implementation: Refer to RViz Markers implementation, which has the colors specified as a vector for vector types including
POINTS,LINE_LISTS, etc. Ignition differs in that the material field is very large, and a vector of that creates a lot of overhead. Need design decision.Why: To debug force vectors etc. I've run into this in our GSoC 2020 project with Martiño too. It's a real limitation.
Current workaround: One way is to use POINTS and LINE_LISTS in combination. Drawback is you won't have per-vertex coloring - see bullet above.
Implementation: Refer to RViz Markers implementation for parameters to specify sizes for different parts of the arrow.
Why: Continuous gradient color visualization with more resemblance to typical marine science visualizations, as opposed to discrete points visualization.
Implementation: Marker textures have recently been added to RViz2 Triangle lists support textures ros2/rviz#719
Example usage: https://github.com/gbalke/rviz_shader_tester