... | ... | @@ -124,14 +124,34 @@ It should start with a default configuration of the tool and look like the follo |
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We can add visualization using the ```Add``` button. It should show a display like this:
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<!--We can add visualization using the ```Add``` button. It should show a display like this:
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The first thing to add is called ```TF```, which shows all the coordinate frames used by the robot. If too many frames are shown, deselect all of them (uncheck ```all enabled```). Then select ```odom``` and base link. It should show the origin of the world and the current position of the robot.
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The first thing to add is called ```TF```, which shows all the coordinate frames used by the robot. If too many frames are shown, deselect all of them (uncheck ```all enabled```). Then select ```odom``` and base link. It should show the origin of the world and the current position of the robot.)-->
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We can now customize which information is visualized in Rviz. Following are instructions to add visualization of robot's position, its 3D model and map of the environment.
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<details>
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<summary>1. Click me - Adding 3D model of the robot to visualization!</summary>
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<summary>1. Click me - Adding TF to visualization - relevant coordinate frames!</summary>
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### Adding TF to visualization - relevant coordinate frames!
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1. Click on ```Add``` button in `Displays` panel and select the ```TF``` visualization.
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2. Once its added, expand the `TF` in `Displays` panel.
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3. Look for ```Frames``` field. Most likely too many frames will be shown. Deselect all of them (uncheck ```All Enabled```). Then select ```odom``` and ```base link```.
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4. Now, rviz should show the origin of the world and the current position of the robot.
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Here are the screenshots for steps 1-4:
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</details>
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<details>
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<summary>2. Click me - Adding 3D model of the robot to visualization!</summary>
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### Adding 3D model of the robot to visualization!
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... | ... | @@ -147,7 +167,7 @@ Here are the screenshots for steps 1-3: |
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</details>
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<details>
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<summary>2. Click me - Adding map of the environment to visualization!</summary>
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<summary>3. Click me - Adding map of the environment to visualization!</summary>
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### Adding 3D map of the environment to visualization!
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... | ... | @@ -162,15 +182,17 @@ Here are the screenshots for steps 1-3: |
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</details>
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Then, add a 3D model of the robot, using the ```RobotModel``` visualization. In the `Displays` panels, look for `RobotModel` you need to write ```/robot_description``` for ```Description Topic```.
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<!--Then, add a 3D model of the robot, using the ```RobotModel``` visualization. In the `Displays` panels, look for `RobotModel` you need to write ```/robot_description``` for ```Description Topic```.
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Then, add the map used by the robot to navigate: you can use the ```map``` visualization and then select the ```/map``` topic.
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-->
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If you were successful your Rviz window should look as on the screenshot blow.
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**Note**, you can save your Rviz configuration from the file menu.
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This should show a window that looks like this:
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You can save your Rviz configuration from the file menu.
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Sending commands to the robot
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-------------------------
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