Welcome to the ARViz wiki!

The scripts folder contains most of the core components of ARviz. You will find documentation on the navigation bar on the right hand side.

All the display types are implemented and put in this folder. So far there are two display types being implemented, TF Display and VisualisationMarkerArray.

Link to default plugins folder

So far there's only one tool implemented for the system, 2D Navigation tool - an arrow-placing tool.

Link to tools folder

ROS Publisher/Subscriber is developed in conjunction with the aforementioned Default Plugins to create a mean to translate messages received/sent from/to ROS side.

IMPORTANT NOTE: All publishers and subscribers must be added to the scene prior to compile, i.e. publishers and subscribers can't be added in runtime (or just that we haven't figured out a solution)

ROS Publisher folder
ROS Subscriber folder

Hand Menu-related codes are placed in here. These codes control the behavior of buttons appear on the hand menu.

Menu folder

Codes for helper functions are placed here, if you want to add additional helper functions, implement them and put them here. Extensions folder

Prefab code creates a mean to manipulate the pre-defined prefab, for example, ArrowManipulation changes the dimensions of the arrow. It also provides a method to manipulate an arrow using a Marker ROS message.
Any code that is attached to prefabs that are used to manipulate them are placed in this folder.

PrefabsCodes folder

Folder for codes that don't fall into any of the categories above or codes that running in the background.

Utils folder

CustomVuforiaBehavior that we implemented for our one-off calibration with QR code marker. Future localisation behavior will be put into this folder.

Vuforia folder

This is how URDF-defined robots are imported into ARviz.

Link to instructions