### Install Rviz Visual Tools (Source)

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

Clone the repository into a catkin workspace and use rosdep to install dependencies. Adjust the ROS distro as needed.

```bash
rosdep install --from-paths src --ignore-src --rosdistro melodic
```

--------------------------------

### Launch Rviz Visual Tools Demo

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

Launch Rviz and the demo to see random shapes generated in Rviz. Ensure Rviz is running before starting the demo.

```bash
roslaunch rviz_visual_tools demo_rviz.launch
```

```bash
roslaunch rviz_visual_tools demo.launch
```

--------------------------------

### Run roslint with catkin-tools

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

Use this command to run roslint for the current package with catkin-tools. Ensure roslint is installed.

```bash
catkin build --no-status --no-deps --this --make-args roslint
```

--------------------------------

### Install Rviz Visual Tools (Debian)

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

Use this command to install the Rviz Visual Tools package on Ubuntu Debian systems.

```bash
sudo apt-get install ros-melodic-rviz-visual-tools
```

--------------------------------

### Run clang-tidy with fix flag

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

Use this command to run clang-tidy with the fix flag to automatically correct code style issues. Ensure clang-tidy is installed and the path is correct.

```bash
run-clang-tidy-4.0.py -clang-tidy-binary=/usr/lib/llvm-4.0/bin/clang-tidy -fix -p=/home/dave/ros/current/ws_moveit/build/rviz_visual_tools .
```

--------------------------------

### Build Docker Image Locally

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

Build the Docker image for rviz_visual_tools locally. Run this command from the base of the package directory.

```bash
docker build -t davetcoleman/rviz_visual_tools:melodic .
```

--------------------------------

### Initialize RvizVisualTools

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

Initialize the RvizVisualTools pointer in your class constructor. Specify the robot's base frame and the Rviz marker topic name.

```cpp
visual_tools_.reset(new rviz_visual_tools::RvizVisualTools("base_frame","/rviz_visual_markers"));
```

--------------------------------

### Run Rviz Visual Tools Docker Image

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

This command runs the rviz_visual_tools Docker image with GUI support. It temporarily disables X server access control for convenience, which is not recommended for production environments. Remember to close the security hole afterwards.

```bash
# This is not the safest way however, as you then compromise the access control to X server on your host
xhost +local:root # for the lazy and reckless
docker run -it --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" davetcoleman/rviz_visual_tools:melodic
export containerId=$(docker ps -l -q)
# Close security hole:
xhost -local:root
```

--------------------------------

### Run catkin lint with catkin-tools

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

Execute catkin lint with a warning level of 2 using catkin-tools. This helps identify potential issues in your package's build system.

```bash
catkin lint -W2
```

--------------------------------

### Run tests with catkin-tools

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

This command runs the available tests for the current package without dependencies, using catkin-tools. The -i flag enables isolated testing.

```bash
catkin run_tests --no-deps --this -i
```

--------------------------------

### Create and Publish Pose with Arrow

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

Creates a pose with a specified translation and rotation, then publishes it as a red, large arrow for visualization in Rviz. Ensure your Rviz fixed frame matches the one in the code.

```C++
// Create pose
    Eigen::Isometry3d pose;
    pose = Eigen::AngleAxisd(M_PI/4, Eigen::Vector3d::UnitY()); // rotate along X axis by 45 degrees
    pose.translation() = Eigen::Vector3d( 0.1, 0.1, 0.1 ); // translate x,y,z

    // Publish arrow vector of pose
    ROS_INFO_STREAM_NAMED("test","Publishing Arrow");
    visual_tools_->publishArrow(pose, rviz_visual_tools::RED, rviz_visual_tools::LARGE);

    // Don't forget to trigger the publisher!
    visual_tools_->trigger();
```

--------------------------------

### Helper Functions

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

Utility functions for managing Rviz markers and manipulating poses and points.

```APIDOC
## Helper Functions

Reset function

- ``deleteAllMarkers()`` - tells Rviz to clear out all current markers from being displayed.

All markers must be triggered after being published, by calling the ``trigger()`` function. This allows batch publishing to be achieved by only calling after several markers have been created, greatly increasing the speed of your application. You can even explicitly tell ``rviz_visual_tools`` how often to publish via the ``triggerEvery(NUM_MARKERS)`` command:

- trigger()
- triggerEvery(20)

Conversion functions

- convertPose
- convertPoint32ToPose
- convertPoseToPoint
- convertPoint
- convertPoint32
- convertFromXYZRPY
- convertToXYZRPY

Convenience functions

- generateRandomPose
- generateEmptyPose
- dRand
- fRand
- iRand
- getCenterPoint
- getVectorBetweenPoints
```

--------------------------------

### Interactive Marker Helper Class

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

Provides basic 6DOF pose interactive marker functionality.

```APIDOC
## Interactive Marker Helper Class

This class quickly gives you basic 6dof pose interactive marker funcitonality. A demo is available:

    roslaunch rviz_visual_tools demo_rviz.launch
    rosrun rviz_visual_tools imarker_simple_demo
```

--------------------------------

### Include Rviz Visual Tools Header

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

Add this include statement to your C++ source files to use the Rviz Visual Tools library.

```cpp
#include <rviz_visual_tools/rviz_visual_tools.h>
```

--------------------------------

### TF Visual Tools

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

A tool for debugging Eigen transforms in Rviz.

```APIDOC
## TF Visual Tools

This tool lets you easily debug Eigen transforms in Rviz. Demo use:

    rviz_visual_tools::TFVisualTools tf_visualizer;
    Eigen::Isometry3d world_to_shelf_transform = Eigen::Isometry3d::Identity(); // or whatever value
    tf_visualizer.publishTransform(world_to_shelf_transform, "world", "shelf");

*Note: this is a work in progress*
```

--------------------------------

### Basic Publishing Functions

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

Functions for publishing various geometric primitives and visualizations to Rviz. These include spheres, arrows, cuboids, cones, planes, lines, paths, polygons, blocks, wireframes, axes, cylinders, meshes, and text.

```APIDOC
## Basic Publishing Functions

See ``rviz_visual_tools.h`` for more details and documentation on the following functions:

- publishSphere
- publishSpheres
- publishArrow/publishXArrow
- publishYArrow
- publishZArrow
- publishCuboid
- publishCone
- publishXYPlane
- publishXZPlane
- publishYZPlane
- publishLine
- publishPath
- publishPolygon
- publishBlock
- publishWireframeCuboid
- publishWireframeRectangle
- publishAxis
- publishAxisLabeled
- publishCylinder
- publishMesh
- publishText
- publishTest

And more...
```

--------------------------------

### Publish Transform with TFVisualTools

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

Publishes a transform between two frames using the TFVisualTools class for debugging purposes in Rviz.

```C++
rviz_visual_tools::TFVisualTools tf_visualizer;
    Eigen::Isometry3d world_to_shelf_transform = Eigen::Isometry3d::Identity(); // or whatever value
    tf_visualizer.publishTransform(world_to_shelf_transform, "world", "shelf");
```

--------------------------------

### Declare RvizVisualTools Pointer

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

Declare a pointer to RvizVisualTools as a member variable in your class for visualizing objects in Rviz.

```cpp
// For visualizing things in rviz
rviz_visual_tools::RvizVisualToolsPtr visual_tools_;
```

--------------------------------

### Frame Locking

Source: https://github.com/picknikrobotics/rviz_visual_tools/blob/master/README.md

Enables markers to be automatically updated as the base frame moves without requiring republishing.

```APIDOC
## Frame locking

This allows the markers to be automatically updated as the base frame moves without having to republish. You can enable it via ``enableFrameLocking()`` (this is not enabled by default).
```

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