报错解决：Error: The plugin for class ‘jsk_rviz_plugin/BoundingBoxArray‘ failed to load.

背景

如果要在rviz上可视化一般包括以下两个步骤：

1. 定义这个图形的消息类型（一般可以使用rviz自带的消息类型或第三方库所提供的消息类型），通过话题发布出来。
2. 在rviz中根据接收到消息将图形绘制出来。

第三方库主要有以下几种：

• jsk_rviz_plugins
• gridmap_rviz_plugins
• autoware

博主使用的是jsk_rviz_plugins库，它是一个提供原始 rviz 插件的包。当启动 rviz 即可使用这些 rviz 插件、面板和工具。官方的阅读文档：https://jsk-visualization.readthedocs.io/en/latest/jsk_rviz_plugins/index.html
官方Github链接：https://github.com/jsk-ros-pkg/jsk_visualization

报错

博主在可视化jsk_recognition_msgs/BoundingBoxArray（3D 边界框）的时候，遇到了以下错误：

Error: The plugin for class ‘jsk_rviz_plugin/BoundingBoxArray’ failed to load.

解决

解决方法是需要安装相应的库与插件，打开终端输入以下命令：

# 更新软件源列表
sudo apt-get update
# 根据自己的ROS版本选择对应的指令
# ubuntu16.04:kinetic
sudo apt-get install ros-kinetic-jsk-recognition-msgs
sudo apt-get install ros-kinetic-jsk-rviz-plugins
# ubuntu18.04:melodic
sudo apt-get install ros-melodic-jsk-recognition-msgs
sudo apt-get install ros-melodic-jsk-rviz-plugins
# ubuntu20.04:noetic
sudo apt-get install ros-noetic-jsk-recognition-msgs
sudo apt-get install ros-noetic-jsk-rviz-plugins

附

安装好后，又遇到了rviz无法显示，state为error的报错，后来检查rviz文件发现：Class: jsk_rviz_plugin/BoundingBoxArray下面的Topic和Fixed Frame字段设置错误，根据自己的代码修改成相对应的Topic和Frame即可。（遇到报错一定要仔细检查！）
成功运行的rviz文件：

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /PointCloud21
        - /BoundingBoxArray1
      Splitter Ratio: 0.5
    Tree Height: 235
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: PointCloud2
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: 
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 26.235191345214844
        Min Value: -12.199440002441406
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Min Color: 0; 0; 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.05000000074505806
      Style: Squares
      Topic: /velodyne_points
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/Axes
      Enabled: true
      Length: 1
      Name: Axes
      Radius: 0.10000000149011612
      Reference Frame: 
      Value: true
    - Class: jsk_rviz_plugin/BoundingBoxArray
      Enabled: true
      Name: BoundingBoxArray
      Topic: /detection/lidar_detector/visualization
      Unreliable: false
      Value: true
      alpha: 0.800000011920929
      color: 25; 255; 0
      coloring: Flat color
      line width: 0.20000000298023224
      only edge: true
      show coords: false
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: velodyne
    Frame Rate: 20
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Theta std deviation: 0.2617993950843811
      Topic: /initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 61.30393600463867
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 11.016645431518555
        Y: -6.342355728149414
        Z: 3.211975574493408
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 1.124796748161316
      Target Frame: 
      Value: Orbit (rviz)
      Yaw: 3.210404872894287
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1011
  Hide Left Dock: false
  Hide Right Dock: false
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd00000004000000000000031400000354fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000176000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001b9000001d80000001600ffffff000000010000010f00000354fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000354000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003ffc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004660000035400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1920
  X: 0
  Y: 38