The [rviz] tool(http://wiki.ros.org/rviz) allows real-time visualization of all components of the robotic system —the system of coordinates, moving parts, sensors, camera images — on the 3D stage.
rqt is a set of GUI for analyzing and controlling ROS systems. For example,
rqt_image_view allows viewing topics with images,
rqt_multiplot allows plot charts by the values in topics, etc.
To use rviz and rqt, a PC running Ubuntu Linux (or a virtual machine such as [Parallels Desktop Lite] (https://itunes.apple.com/ru/app/parallels-desktop-lite/id1085114709?mt=12) or [VirtualBox] (https://www.virtualbox.org)) is required.
ros-kinetic-desktop using the installation documentation.
To start еру visualization of the state of Clever in real time, connect to it via Wi-Fi (
CLEVER-xxx) and run rviz, specifying an appropriate ROS_MASTER_URI:
If connection is not established, make sure the
.bashrc of Clever contains line:
It is recommended to set the
map frame as a reference frame. To visualize the copter, add visualization markers from topic
/vehicle_markers. To visualize the camera of the copter, add visualization markers from topic
The result of copter and camera visualization is shown below:
You can view a picture with augmented reality from the topic of the main camera
Axis or Grid configured to frame
aruco_map will visualize the location on the map of ArUco marks.
It is also recommended to install additional useful plugins for rviz jsk_rviz_plugins. This kit allows visualizing topics like
PolygonArray, and many more. To install, use command:
sudo apt-get install ros-kinetic-jsk-visualization
To start rqt for monitoring Clever status, use command:
An example of starting a specific plugin (
Brief description of useful rqt plugins:
rqt_image_view– viewing images from topics like
rqt_multiplot– Building charts from the data from of arbitrary topics (installation:
sudo apt-get install ros-kinetic-rqt-multiplot);
- Bag – working with Bag-files.