replace rviz visualization through jsk polygon array to normal visualization markers. This removes the dependency on JSK and the need for pcl_visualization_catkin

Author: rubengrandia

README.md

@@ -183,25 +183,6 @@ sudo apt install libmpfr-dev
 sudo apt install libboost-all-dev
 ```
 
-#### PCL (for ANYmal research users)
-
-PCL is required, but the ANYbotics distributed version does not contain visualization components. With pcl_visualization_catkin, the missing
-components are provided into your catkin workspace (for pcl 1.10). Additionally vtk7 is required, DO NOT install this on the ANYmal onboard
-PCs, only on OPC and simulation PCs.
-
-```bash
-sudo apt install libvtk7-dev
-catkin build pcl_visualization_catkin
-```
-
-#### JSK-visualization
-
-For rviz-visualization the jsk-library is used.
-
-```bash
-sudo apt-get install ros-noetic-jsk-visualization
-```
-
 ## Usage
 
 ### Build
@@ -326,12 +307,12 @@ The plane segmentation node publishes the following:
 
   A grid map message to visualize the segmentation and some intermediate results. This information is also part of **`planar_terrain`**.
 
-* **`boundaries`**  ([jsk_recognition_msgs/PolygonArray])
+* **`boundaries`**  ([visualization_msgs/MarkerArray])
 
   A set of polygons that trace the boundaries of the segmented region. Holes and boundaries of a single region are published as separate
-  polygons with the same label.
+  markers with the same color.
 
-* **`insets`**  ([jsk_recognition_msgs/PolygonArray])
+* **`insets`**  ([visualization_msgs/PolygonArray])
 
   A set of polygons that are at a slight inward offset from **`boundaries`**. There might be more insets than boundaries since the inward
   shift can cause a single region to break down into multiple when narrow passages exist.

elevation_mapping_cupy/rviz/turtle_segmentation_example.rviz

@@ -200,20 +200,14 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: false
-    - Alpha: 1
-      Class: jsk_rviz_plugin/PolygonArray
-      Color: 25; 255; 0
+    - Class: rviz/MarkerArray
       Enabled: true
+      Marker Topic: /convex_plane_decomposition_ros/boundaries
       Name: PlaneBoundaries
-      Queue Size: 10
-      Topic: /convex_plane_decomposition_ros/boundaries
-      Unreliable: false
+      Namespaces:
+        "": true
+      Queue Size: 100
       Value: true
-      coloring: Label
-      enable lighting: true
-      normal length: 0.10000000149011612
-      only border: true
-      show normal: false
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Class: grid_map_rviz_plugin/GridMap

plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt

@@ -9,10 +9,10 @@ set(CATKIN_PACKAGE_DEPENDENCIES
 	grid_map_cv
 	grid_map_msgs
 	geometry_msgs
-	jsk_recognition_msgs
 	convex_plane_decomposition
 	convex_plane_decomposition_msgs
 	tf2_ros
+	visualization_msgs
 )
 
 find_package(catkin REQUIRED COMPONENTS

plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h

@@ -1,23 +1,23 @@
 #pragma once
 
 #include <geometry_msgs/PolygonStamped.h>
-
-#include <jsk_recognition_msgs/PolygonArray.h>
+#include <visualization_msgs/Marker.h>
+#include <visualization_msgs/MarkerArray.h>
 
 #include <convex_plane_decomposition/PlanarRegion.h>
 
 namespace convex_plane_decomposition {
 
 geometry_msgs::PolygonStamped to3dRosPolygon(const CgalPolygon2d& polygon, const Eigen::Isometry3d& transformPlaneToWorld,
-                                   const std_msgs::Header& header);
+                                             const std_msgs::Header& header);
 
 std::vector<geometry_msgs::PolygonStamped> to3dRosPolygon(const CgalPolygonWithHoles2d& polygonWithHoles,
-                                                const Eigen::Isometry3d& transformPlaneToWorld, const std_msgs::Header& header);
+                                                          const Eigen::Isometry3d& transformPlaneToWorld, const std_msgs::Header& header);
 
-jsk_recognition_msgs::PolygonArray convertBoundariesToRosPolygons(const std::vector<PlanarRegion>& planarRegions,
-                                                                  const std::string& frameId, grid_map::Time time);
+visualization_msgs::MarkerArray convertBoundariesToRosMarkers(const std::vector<PlanarRegion>& planarRegions, const std::string& frameId,
+                                                              grid_map::Time time, double lineWidth);
 
-jsk_recognition_msgs::PolygonArray convertInsetsToRosPolygons(const std::vector<PlanarRegion>& planarRegions, const std::string& frameId,
-                                                              grid_map::Time time);
+visualization_msgs::MarkerArray convertInsetsToRosMarkers(const std::vector<PlanarRegion>& planarRegions, const std::string& frameId,
+                                                          grid_map::Time time, double lineWidth);
 
 }  // namespace convex_plane_decomposition

plane_segmentation/convex_plane_decomposition_ros/package.xml

@@ -16,10 +16,10 @@
     <depend>grid_map_cv</depend>
     <depend>grid_map_msgs</depend>
     <depend>geometry_msgs</depend>
-    <depend>jsk_recognition_msgs</depend>
     <depend>convex_plane_decomposition</depend>
     <depend>convex_plane_decomposition_msgs</depend>
     <depend>tf2_ros</depend>
+    <depend>visualization_msgs</depend>
 
     <exec_depend>grid_map_demos</exec_depend>