[WIP] Display Type Vector3Stamped

[goretkin]

I am writing this on top of Groovy, but aside from the changes in c7b8d44, it should apply to more recent releases.

This is essentially a duplicate of the Wrench code. If I had to visualize a Twist, it would be exactly the Wrench code. Is there a way to avoid this duplication?

Visualizing Wrenches worked fine for me, but for visualizing Vector3, for one iteration scale_ was NaN, which triggers an Ogre assertion error. I don't know why this happens and why it's different behavior from the Wrench code, but for now I check for NaN.

[goretkin]

I wonder if this is related: #811

[wjwwood]

Thanks for the contribution, but as I said in the other issue, I won't be releasing new versions of Groovy. I'd be happy to consider taking this on the indigo-devel branch though. Unfortunately I don't have time to do it myself in the near term. I'll keep it on the list though.

[goretkin]

I'll make a new pull request against indigo once I install it somewhere so that I can make sure it runs. Thanks!

[DaikiMaekawa]

Hey @goretkin, @wjwwood

I'd like to display geometry_msgs/Vector3 on RViz.
Did you already create and merge new pull request for indigo? If so, how do I have to use that?
Actually, I couldn't find your vector3 codes yet.

Thanks for your reply.

[goretkin]

Hi @DaikiMaekawa sorry, I never took the time to get ROS indigo running.

There are 4 commits in this PR. I don't know what the merge commits are, they might have been a mistake. However, if you apply the two top commits, you should get the Vector3 code working. You'll need this commit: goretkin@509503d and its parent.

If you can confirm that it's working on Indigo, it would be great if you could make a PR to Indigo!

The question still remains on how to do this without duplication. There should probably be some base code to visualize vectorial quantities, with properties such as scale and color. Then Wrench, Twist, and Vector3 would all rely on that.