... | ... | @@ -92,10 +92,22 @@ The robot is ready to take commands, but the visualisation by the simulator is v |
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rviz2
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```
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It should start empty and look like the following:
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![rviz_empty](uploads/62e97910ebad5d01376885940c0d48de/rviz_empty.png)
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We can add visualisation using the ```add``` button, it should show a display like this:
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![rviz_add](uploads/6ed71d5720c80f448f5adb93e1b9a7e2/rviz_add.png)
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The first thing to add is called ```TF```, it shows all the frames used by the robot. Too many frames are shown, deselect all of them (uncheck ```all enabled```), and 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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Then add a 3D model of the robot, using the ```RobotModel``` visualisation, in the parameters, for ```topic``` type ```/robot_description```.
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Then add the map used by the robot to navigate, you can use the ```map``` visualisation and then select the ```/map``` topic.
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This should show a window that looks like this:
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![rviz_final](uploads/77a697f1e5267c9b0bb23589c0241637/rviz_final.png)
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