Sensor_msgs/PointCloud, sensor_msgs/PointCloud2Īccumulates odometry poses from over time.ĭisplays cones representing range measurements from sonar or IR range sensors. Shows data from a point cloud, with different options for rendering modes, accumulation, etc. Visualization_msgs/Marker, visualization_msgs/MarkerArrayĭraws a "cloud" of arrows, one for each pose in a pose array Shows data from a laser scan, with different options for rendering modes, accumulation, etc.Īllows programmers to display arbitrary primitive shapes through a topic Version: Diamondback+ĭisplays 3D objects from one or multiple Interactive Marker servers and allows mouse interaction with them. Unlike the Camera display, this display does not use a CameraInfo. Sensor_msgs/Image, sensor_msgs/CameraInfoĭraws cells from a grid, usually obstacles from a costmap from the navigation stack.Ĭreates a new rendering window with an Image. Shows the effort being put into each revolute joint of a robot.Ĭreates a new rendering window from the perspective of a camera, and overlays the image on top of it. You can move a display up or down in the list with the arrow buttons to the right of the Add/Remove buttons: This information is different for different displays, and the messages should be self explanatory. The Status category also expands to show specific status information. The status is indicated in the display's title by the background color, as well as in the Status category that you can see if the display is expanded: The status can be one of 4: OK, Warning, Error and Disabled. For example:Įach display gets its own status to help let you know if everything is OK or not. If you have, for example, two laser scanners on your robot, you might create two "Laser Scan" displays named "Laser Base" and "Laser Head".Įach display gets its own list of properties. Finally, you must give the display a unique name. The text box in the middle gives a description of the selected display type. The type details what kind of data this display will visualize. The list at the top contains the display type. To add a display, click the Add button at the bottom: An example is a point cloud, the robot state, etc. On the right are some of the other panels, described below.Ī display is something that draws something in the 3D world, and likely has some options available in the displays list. Right now it just contains the global options and the time view, which I'll get to later. On the left is the Displays list, which will show any displays you have loaded. The big black thing is the 3D view (empty because there is nothing to see). When rviz starts for the first time, you will see an empty window: Then start the visualizer: rosrun rviz rviz You might have to run a line such as source /opt/ros/indigo/setup.bash Until fuerte: sudo apt-get install ros-fuerte-visualizationįrom groovy on: sudo apt-get install ros-groovy-rvizĭownload the rviz sources into your ros_workspace or your overlay ( help for fuerte, help for groovy).įirst satisfy any system dependencies. Obviously you don't need both and should prefer the install: If you're running into problems and have not seen the answer below, try the Troubleshooting Page
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