In this video we’ll learn how to visualize a robot model using RViz tool.
At the end of the video, you’ll understand how to launch RViz and visualize a given robot description model.
Let’s go!
Links mentioned in the video and other useful links:
– Robot Ignite Academy, the place to learn to program robots using only a web browser
– ROS Development Studio (the environment used in the video), another powerful online tool for pushing your ROS learning in a practical way
Step 0. Create a project in ROS Development Studio(ROSDS)
ROSDS helps you follow our tutorial in a fast pace without dealing without setting up an environment locally. If you haven’t had an account yet, you can create a free account here. Let’s create a new project and call it laser_qa.
Step 1. Clone the code and create a package
The questioner provides the code he used. Let’s clone it first.
cd catkin_ws/src
git clone http://github.com/erenaud3/fakeLaserScan.git
In the /launch/fakeLaserScan.launch file, please leave the node tag and comment out the others since we don’t need them. Then we can compile and run the package
cd ~/catkin_ws
catkin_make
source devel/setup.bash
roslaunch beginner_tutorial fakeLaserScan.launch
To visualize the laser scan, we’ll use rviz
rosrun rviz rviz
After launching rviz, go to Tools->Graphical Tool. You’ll see the rviz window pops out.
In rviz, click Add->LaserScan to add a visualization. Then we select the topic /fakeScan, however, there is nothing.
It turns out the size of the display is too small. Please change it to a larger value. e.g. 0.1
You should see the visualization now.
Want to learn more?
If you are interested in learning more about ROS, please check our ROS Basic in 5 Days course.
Edit by: Tony Huang
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Did you like this video? Do you have questions about what is explained? Whatever the case, please leave a comment on the comments section below, so we can interact and learn from each other.
If you want to learn about other ROS topics, please let us know in the comments area and we will do a video about it.
Still on the series of Markers and how to use them, in the previous Live Class we looked at the Basic RViz Markers and how they are created. Today’s class will delve deeper into other types of Markers available to us in RViz.
We will see:
▸ How to create dynamic BoundingBox Markers
▸ How to add Simple Overlays in ROS RVIZ
Every Tuesday at 18:00 CET/CEST.
This is a LIVE Class on how to develop with ROS. In Live Classes you practice with me at the same time that I explain, with the provided free ROS material.
IMPORTANT: Remember to be on time for the class because at the beginning of the class we will share the code with the attendants.
IMPORTANT 2: in order to start practicing quickly, we are using the ROS Development Studio for doing the practice. You will need a free account to attend the class. Go to http://rds.theconstructsim.com and create an account prior to the class.
In this video we are going to see how to tune and tweak the parameters required for navigation, using a graphical tool. This tool will enable us to modify parameters on-the-run, allowing us to quickly and painlessly test various parameter settings.
Step1. Create a project in Robot Ignite Academy(RIA)
We have the best online ROS course available in RIA. It helps you learn ROS in the easiest way without setting up ROS environment locally. The only thing you need is a browser! Create an account here and start to browse the trial course for free now! We’ll use the ROS Navigation in 5 days course as an example today. Please go to Unit 0: Guide for ROS Navigation in 5 Days.
Step2. Check the parameter
We use turtlebot 2 as an example. You can use the following command to navigate to the parameter file.
roscd turtlebot_navigation_gazebo
cd param
cat dwa_local_planner_params.yaml
Let’s launch the navigation stack with the following command
If you checked the parameters, you’ll see there are lots of different parameters. How can we tune them? Let’s use a built-in graphical tool called rqt_reconfigure with the following command.
rosrun rqt_reconfigure rqt_reconfigure
Step3. Tune the parameter
For example, the question is about the inflation_radius. You can find it under move_base->global_costmap->inflation_layer.
The best part of this graphical tool is that the change will apply to the simulation immediately, so you can run and tune your navigation stack at the same time. You can also save the parameter to a .yaml file if you click the button on the top left corner.
Want to learn more?
If you want to learn more about the navigation stack and what is the meaning of each parameter, please check our ROS navigation in 5 days course.
Edit by: Tony Huang
Feedback
Did you like this video? Do you have questions about what is explained? Whatever the case, please leave a comment on the comments section below, so we can interact and learn from each other.
If you want to learn about other ROS topics, please let us know on the comments area and we will do a video about it.
In this ROS LIVE-Class we’re going to learn how to create a marker to be displayed in ROS Rviz. Markers are special graphics that we can use in Rviz to display data generated by the robot. For example, we can create a marker that shows a person figure at the proper distance of the robot when the robot detects a person. By using markers, we can debug and understand better what the robot program is doing. Markers are basic tools for robot program debug!
We will see:
How to get the information we want to display from a ROS program
How to create a custom marker that contains that information
How to display the marker on the Rviz
How to build a mesh marker and show it on Rviz
Every Tuesday at 18:00 CET/CEST.
This is a LIVE Class on how to develop with ROS. In Live Classes you practice with me at the same time that I explain, with the provided free ROS material.
IMPORTANT: Remember to be on time for the class because at the beginning of the class we will share the code with the attendants.
IMPORTANT 2: in order to start practicing quickly, we are using the ROS Development Studio for doing the practice. You will need a free account to attend the class. Go to http://rds.theconstructsim.com and create an account prior to the class.
![[Gazebo in 5 minutes] 008 – How to visualize a robot URDF using RVIZ](https://www.theconstruct.ai/wp-content/uploads/2018/11/Gazebo-in-5-minutes-008-How-to-visualize-a-robot-URDF-using-RVIZ.png)
![[ROS Q&A] 151 – Rviz receives LaserScan messages but doesn’t display them](https://www.theconstruct.ai/wp-content/uploads/2018/08/ROS-QA-151-Rviz-receives-LaserScan-messages-but-doesnt-display-them.jpg)
