lab1.md

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