https://github.com/nobleo/rviz_satellite

Display internet satellite imagery in RViz
https://github.com/nobleo/rviz_satellite

Last synced: about 2 months ago
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Display internet satellite imagery in RViz

• Host: GitHub
• URL: https://github.com/nobleo/rviz_satellite
• Owner: nobleo
• License: apache-2.0
• Created: 2014-09-07T07:32:07.000Z (about 10 years ago)
• Default Branch: main
• Last Pushed: 2024-05-31T05:58:47.000Z (4 months ago)
• Last Synced: 2024-07-30T01:09:43.660Z (2 months ago)
• Language: C++
• Homepage:
• Size: 2.46 MB
• Stars: 533
• Watchers: 19
• Forks: 226
• Open Issues: 15
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.rst
  • License: LICENSE

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README

        
# rviz_satellite

Rviz plugin for displaying satellite maps at the position of a `sensor_msgs/msg/NavSatFix` message.

> **_NOTE:_**  Looking for the ROS1 version? Checkout the ros1 branch!

## Usage

Add an instance of `AerialMap` to your Rviz config and point it to a `sensor_msgs/msg/NavSatFix` topic.

Map tiles will be cached to `$HOME/.cache/rviz_satellite`.

At present the cache does not expire automatically - you should delete the files in the folder if you want the images to be reloaded.

Currently, the [OpenStreetMap](http://wiki.openstreetmap.org/wiki/Slippy_map_tilenames) convention for tile URLs is supported.

This e.g. implies that only raster tiles (no vector tiles) are supported.

To try a demo, run the following commands to make Rviz circle around a geo point you define.

```bash

ros2 launch rviz_satellite demo.launch.xml

```

You should see a view like the following.

Here, the coordinates are 48.211486, 16.383982 (Vienna), using OpenStreetMap tiles.

![Rviz view with updating aerial map](images/rviz_satellite.gif "Rviz view with updating aerial map")

## Tile servers

You must provide a tile URL (Object URI) from which the satellite images are loaded.

The URL should have the form `http://server.tld/{z}/{x}/{y}.jpg`.

Where the tokens `{z}`, `{x}`, `{y}` represent the zoom level, x coordinate, and y coordinate respectively.

These will automatically be substituted by rviz_satellite when making HTTP requests.

Tiles can optionally be loaded from a local filesystem if downloaded beforehand

for cases where robots do not have internet access. For example, the file URI

`file:///tmp/tile/{z}/{y}/{x}.jpg` can be used to load files from the `/tmp/tile` directory.

rviz_satellite doesn't come with any preconfigured tile URL.

For example, you could use one of the following tile servers:

* OpenStreetMap: https://tile.openstreetmap.org/{z}/{x}/{y}.png

* TomTom: https://api.tomtom.com/map/1/tile/basic/main/{z}/{x}/{y}.png?tileSize=512&key=[TOKEN]

* Mapbox: https://api.mapbox.com/styles/v1/mapbox/satellite-v9/tiles/256/{z}/{x}/{y}?access_token=[TOKEN]

For some of these, you have to request an access token first.

Please refer to the respective terms of service and copyrights.

## Options

- `Topic` is the topic of the GPS measurements.

- `Alpha` is simply the display transparency.

- `Draw Under` will cause the map to be displayed below all other geometry.

- `Zoom` is the zoom level of the map. Recommended values are 16-19, as anything smaller is _very_ low resolution. 22 is the current max.

- `Blocks` number of adjacent tiles in addition to the center tile to load, 8 maximum.

- `Timeout` specifies a timeout since the last received message timestamp, after which the map will be faded out; disable by setting to 0.

## Support and Contributions

In case of questions or problems, do not hesitate to open an issue.

Contributions are welcomed. Please add a summary of your changes to the [changelog](CHANGELOG.rst) under the section Forthcoming.

## Icon copyright

The icon was downloaded and edited from [svgrepo](https://www.svgrepo.com/svg/118507/satellite), originally licensed under CC0.