在mapviz中显示遥感地图瓦片

前言

在mapviz中加载地图瓦片，可以用于目视多传感器融合定位结果的好坏。

安装

mkdir -p ~/mapviz_ws/src
cd ~/mapviz_ws/src
git clone https://github.com/swri-robotics/mapviz.git
cd ..
rosdep install --from-paths src --ignore-src
catkin_make
echo "source ~/mapviz_ws/devel/setup.bash" >> ~/.bashrc

获取第一帧的经纬度

参考https://py1995.blog.csdn.net/article/details/137643416?spm=1001.2014.3001.5502

修改配置并运行节点

<launch>

  <node pkg="mapviz" type="mapviz" name="mapviz"></node>

  <node pkg="swri_transform_util" type="initialize_origin.py" name="initialize_origin" >
    <param name="local_xy_frame" value="/map"/>
    <param name="local_xy_origin" value="swri"/>
    <rosparam param="local_xy_origins">
      [{ name: swri,
         latitude: 31.xxx,
         longitude: 121.xxxx,
         altitude: 3.61199951171875,
         heading: 0.0},
         
       { name: back_40,
         latitude: 31.xxx,
         longitude: 121.xxxx,
         altitude: 3.61199951171875,
         heading: 0.0}]
    </rosparam>
    <remap from="fix" to="/gps/fix" />
  </node>

  <node pkg="tf" type="static_transform_publisher" name="swri_transform" args="0 0 0 0 0 0 /map /origin 100"  />
</launch>

运行节点

roslaunch mapviz mapviz.launch

添加展示

依次添加tile_map和navsat

申请天地图地图影像瓦片接口

直接给出url

http://t0.tianditu.gov.cn/img_w/wmts?SERVICE=WMTS&REQUEST=GetTile&VERSION=1.0.0&LAYER=img&STYLE=default&TILEMATRIXSET=w&FORMAT=tiles&TILEMATRIX={level}&TILEROW={y}&TILECOL={x}&tk=1cfe06711bc22d31762c8884d41d68f0

最终效果

本地地图服务

Q&&A

Q: Failed to load file: /home/greenfield/.mapviz_config

A: sudo apt-get update && sudo apt-get upgrade
参考https://github.com/swri-robotics/mapviz/issues/592