Are you looking for an easy and efficient way to display object detection data in ROS 2 humble¹? If so, I have some exciting news for you! We have just released a new RVIZ2 plugin that can help you visualize vision_msgs in a visually appealing and informative way.

My RVIZ2 plugin is easy to use and comes with several useful features that can help ROS 2 users save time and effort when working with object detection data. Here’s a brief overview of the features you can expect:

• Detection3DArray
  • Display ObjectHypothesisWithPose/score
  • Change color based on ObjectHypothesisWithPose/id [car: orange, person: blue, cyclist: yellow, motorcycle: purple, other: grey]
  • Visualization properties
    • Alpha
    • Line or Box
    • Linewidth
    • Change color map based on provided yaml file
• Detection3D
  • Display ObjectHypothesisWithPose/score
  • Change color based on ObjectHypothesisWithPose/id [car: orange, person: blue, cyclist: yellow, motorcycle: purple, other: grey]
  • Visualization properties
    • Alpha
    • Line or Box
    • Linewidth
    • Change color map based on provided yaml file
• BoundingBox3D
  • Alpha
  • Line or Box
    Since no header in vision_msgs/BonudingBox visualizations uses rviz fixed frame for tf transformation
  • Linewidth
• BoundingBox3DArray
  • Alpha
  • Line or Box
  • Linewidth

Overview

To help you understand how the plugin works, I’ve included some screenshots below:

Gif	Image
	<p align="center"></p>

As you can see, the RVIZ2 plugin can help you analyze object detection data with ease. The ability to adjust the display properties, change color maps, and choose between line or box displays can help you gain better insights into your algorithms and streamline your workflow.

Install and Testing

Install:

1. Via apt:

   sudo apt update && sudo apt install ros-$ROS_DISTRO-vision-msgs-rviz-plugins
   

2. From source:

   $ cd ros2_ws/src && git clone https://github.com/NovoG93/vision_msgs_rviz_plugins -b humble
   $ cd ros2_ws && rosdep install --from src --ignore-src -r -y \
     && colcon build --symlink-install --packages-select vision_msgs_rviz_plugins
   

Testing:

$ ros2 launch vision_msgs_rviz_plugins test_all.launch.py 

Conclusion

I hope you find my RVIZ2 plugin useful in your work with ROS 2 humble. If you have any questions or feedback, please feel free to leave a comment below. Thank you for your support!