This repo is about a universal trajectory display interface based on RVIZ. The client can send trajectory data to the server through the socket in the specified format for display.
The three-dimensional coordinates xyz and a flag are used to detect whether a loop occurs.
The server receives the data sent by the client through the socket, and converts it into visualization_msgs::Marker messages and publishes them.
In this way, when rviz is opened, the corresponding topic can be selected for display. By the way, the server's IP address and port number are written in the controller.cpp file, remember to modify them.
The client needs to send the specified data format to the server. The specific implementation needs to be completed according to your SLAM framework and code structure.
I provide two simple implementations of the test version here, namely clientx.cpp, which reads data from the document traj_example.txt.