ball.rst

Ball

Balls are visualized using a black and white soccer ball marker

Properties

Marker properties are utilized to visualize properties of the incoming message:

Parameters

Configurable node parameters are:

• :ref:`Ball Diameter (ball_diameter) <ball_diameter>`

Example

In this example, we will manually publish a ball and observe it in RViz. Start the visualizer node:

ros2 run soccer_vision_3d_rviz_markers visualizer

Set up a publisher that publishes a Ball Array message:

ros2 topic pub soccer_vision_3d/balls soccer_vision_3d_msgs/msg/BallArray "
header:
  frame_id: 'camera'
balls:
  - center:
      x: 2.0
      y: 0.0
      z: 0.05
    confidence:
      confidence: 0.5
"

Open RViz2 with a demo configuration:

rviz2 -d $(ros2 pkg prefix --share soccer_vision_3d_rviz_markers)/rviz/demo.rviz

You should see a soccer ball with 50% transparency displayed in RViz: