I am currently trying to run the test cow and lady dataset with Voxblox. The process appears to execute properly in the terminal, but I cannot view the mesh in RViz.
When I try to add the topic
voxblox_node/mesh to RViz, the topic name is greyed out and I cannot add the topic. This topic is listed under "unvisualizable topics".
In Rviz, I tried creating a topic of type
MarkerArray and manually typing in the topic name to add it. This does not work and I get the following error:
process[voxblox_node-2]: started with pid  [ INFO] [1523646547.806476760]: Opening /media/ubuntu/jetsontx2b/data/voxblox/data.bag [ INFO] [1523646548.104770697]: Static transforms loaded from file. T_B_D: 0.971048 0.15701 -0.180038 -0.000432202 -0.120915 0.973037 0.196415 -0.0522007 0.206023 -0.168959 0.96385 -0.0341353 0 0 0 1 T_B_C:1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 [ERROR] [1523646548.172363508]: Client [/rviz_1523646021870801813] wants topic /voxblox_node/mesh to have datatype/md5sum [visualization_msgs/MarkerArray/d155b9ce5188fbaf89745847fd5882d7], but our version has [voxblox_msgs/Mesh/ca70fabcc211b61f795cb5e7c8210eb6]. Dropping connection. [ INFO] [1523646549.056998208]: Updating mesh.
The Voxblox documentation states that the node
visualization_msgs::MarkerArray. A visualization topic showing the mesh produced from the tsdf in a form that can be seen in RViz.
Why doesn't Rviz recognize
mesh as a
MarkerArray? What do I need to do to get Rviz to visualize