liuhaoyan
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webots_simulation
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vis color opt

This commit is contained in:
liuhaoyan 2026-08-25 17:08:19 +08:00
parent 855cf99c28
commit 17580c13ca
1 changed files with 13 additions and 13 deletions
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26
src/PathVisualizer.cpp
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@ -260,15 +260,15 @@ void PathVisualizer::publishVehiclePoseRviz()
marker.action= visualization_msgs::msg::Marker::ADD; marker.action= visualization_msgs::msg::Marker::ADD;
// 箭头大小 // 箭头大小
marker.scale.x=2.5; // 长度 marker.scale.x=1.5; // 长度
marker.scale.y=0.10; // 宽度 marker.scale.y=0.1; // 宽度
marker.scale.z=0.15; marker.scale.z=0.08;
// 颜色 // 颜色
marker.color.a=1.0; marker.color.a=1.0;
marker.color.r=1.0; marker.color.r=0.9;
marker.color.g=1.0; marker.color.g=0.4;
marker.color.b=1.0; marker.color.b=0.1;
// 位置 // 位置
marker.pose.position.x=x_; marker.pose.position.x=x_;
@ -334,12 +334,12 @@ void PathVisualizer::publishVehicleInfoRviz(){
text.pose.position.x = 0.0; text.pose.position.x = 0.0;
text.pose.position.y = 0.0; text.pose.position.y = 0.0;
text.pose.position.z = 1.5; text.pose.position.z = 2.0;
text.color.a = 0.8; text.color.a = 0.6;
text.color.r = 1.0; text.color.r = 1.0;
text.color.g = 1.0; text.color.g = 1.0;
text.color.b = 1.0; text.color.b = 1.0;
text.scale.z = 0.2; text.scale.z = 0.15;
text.text = text.text =
"X: " + std::to_string(x_) + "\n" + "X: " + std::to_string(x_) + "\n" +
@ -362,8 +362,8 @@ void PathVisualizer::publishPathRviz()
path.scale.z = 0.15; path.scale.z = 0.15;
path.color.a=1.0; path.color.a=1.0;
path.color.r=1.0; path.color.r=1.0;
path.color.g=0.0; path.color.g=0.3;
path.color.b=0.0; path.color.b=0.05;
double cos_yaw = std::cos(yaw_); double cos_yaw = std::cos(yaw_);
double sin_yaw = std::sin(yaw_); double sin_yaw = std::sin(yaw_);
for(size_t i=0;i<path_x_.size();i++) for(size_t i=0;i<path_x_.size();i++)
@ -394,8 +394,8 @@ void PathVisualizer::publishHistoryPathRviz(){
history_pose.scale.y = 0.10; history_pose.scale.y = 0.10;
history_pose.scale.z = 0.10; history_pose.scale.z = 0.10;
history_pose.color.a=1.0; history_pose.color.a=1.0;
history_pose.color.r=0.0; history_pose.color.r=0.05;
history_pose.color.g=0.0; history_pose.color.g=0.05;
history_pose.color.b=1.0; history_pose.color.b=1.0;
double cos_yaw = std::cos(yaw_); double cos_yaw = std::cos(yaw_);
double sin_yaw = std::sin(yaw_); double sin_yaw = std::sin(yaw_);