PoseWithCovariance to rviz

[Fbag96]

Hi!
We have a problem in showing the positions of aruco codes in rviz.
If we use PoseArray (of ros) we can see the positions of the aruco codes in rviz:(like this)

And we can check that this is right because in the gazebo environment it matches:

Our problem is that we have to show the arucos pose estimation in rviz with the associated covariance and for that we have to use PoseWithCovariance (of ros) but this type of message do not receive a list but just a number
We have 16 arucos and we don't want to create 16 topics, then publish in all them the pose with covariance and then manually execute them on rviz (showing the topic and selecting all 16).
How can we find the better way to generate a list of Poses+Covariances of the arucos ?

[oscar-lima]

Looks to me that the best way would be to create your own (custom) msg of PoseWithCovariance array and make a republisher without the covariance for rviz visualization

[Fbag96]

So you are saying that is not possible to see the covariance on rviz visualization using an array with Poses+Covariance?
So it is impossible to represent all the covariances on rviz at once (using an array)? The only way is to generate all covariances and manually turning on this using the rviz panel and select PosewithCovariance?

[oscar-lima]

If you make the array, rviz will not visualize it. Unless there is a specific plugin handling that. i.e. the pose array stamped msg can be visualized in rviz. I suggest you to publish the msgs as they are so that you can visualize them (no array)

[Fbag96]

So we have to create a topic for each aruco including there a pose + covariance or exists other way?

[oscar-lima]

You can create array and then another republisher node that subscribes to the array and publishes individual msgs on the same topic (iterate over the array) (ok rviz set the topic to remeber past n readings otherwise they will be visually overwritten)