Plugins

Plugin Name	Description
Attitude Indicator
Coordinate Picker	Transforms coordinates of clicked points on the map to a specified frame. The most recent coordinate is placed on the clipboard, and a list of coordinates is displayed in the GUI.
Disparity	Overlays a sensor_msgs::DisparityImage onto the display using the ‘‘jet’’ color map.
Draw Polygon	Draw a polygon on the canvas and publish to a topic.
Float	Displays the most recent value from a std_msgs::Float32/64, marti_common_msgs/Float32/64Stamped or a marti_sensor_msgs/Velocity message at a fixed location on the scene.
GPS	Projects gps_common::GPSFix message data into the scene.
Grid	Projects a 2D grid into the scene.
Image	Overlays a sensor_msgs::Image onto the display.
LaserScan	Projects a sensor_msgs::LaserScan message into the scene.
Marker	Projects a visualization_msgs::Marker or visualization_msgs::MarkerArray into the scene. Markers are the most flexible display type and more or less mirror the OpenGL primitives.
Measuring	Measure distance on the canvas with the mouse.
Move Base	Allows the user to send goals to move_base.
Multi-Res Image	Projects a geo-referenced multi-resolution image tile map into the scene. The concept is the same as the Google Maps style pan/zoom satellite imagery.
NavSat	Projects sensor_msgs::NavSatFix message data into the scene. Requires an initialized local_xy_origin.
Occupancy Grid
Odometry	Projects nav_msgs::Odometry message data into the scene.
Path	Projects nav_msgs::Path message data into the scene.
Plan Route
Point Click Publisher	Publishes a geometry_msgs::PointStamped message every time a user clicks on the map frame that corresponds to the clicked location.
Point Drawing
Pointcloud2
Pose
Robot Image	Projects an image loaded from file into the scene to represent the robot platform.
Robot Model	Renders a URDF robot model as a top-down 2D projection in the map scene. Supports box, cylinder, and sphere primitives as well as mesh geometry with diffuse textures and Lambert shading.
Route
String	Displays the most recent string from a std_msgs::String message at a fixed location on the scene.
Textured Marker	Projects marti_visualization_msgs::TexturedMarker and marti_visualization_msgs::TexturedMarkerArray message data into the scene. Textured markers follow the same general approach as traditional markers, but can be used to texture dense image data onto a quad which is projected into the scene.
TF Frame	Projects Tf data into the scene similar to the Odometry plug-in.
Tile Map	Projects a geo-referenced multi-resolution image tile map into the scene. Map tiles can be obtained from Bing Maps or any WMTS Tile Service. Pre-defined services that access Stamen Design (terrain, watercolor, and toner) are provided. Custom or local WMTS map servers can also be specified. Map data is cached to disk which enables some limited use completely offline. The credit line that the selected source’s terms of use require (for example “© OpenStreetMap contributors, © CARTO” for Carto) is drawn in the bottom-right corner of the map; for Bing it lists the imagery providers covering the area on screen, next to the Bing logo.