Visualizing with Rviz¶
After setting up your robot and adding the sensors you want, you can now visualize your robot’s updated model in
rviz. In addition, if you have the physical sensors and included the launching of their drivers, you can also visualize your sensors’ data.
The Robot Customizer ROS package provides a useful
.launch file for visualization in
rviz. This file is called
rviz.launch, and can be found here.
To use it, simply launch
rviz.launch and provide the
description_launch argument with the path to your robot’s
.launch file. For example, you can visualize the model of the example
generic_robot.urdf.xacro robot along with the SICK LMS1xx 2D laser scanner attached to it. In terminal, run:
roslaunch cpr_robot_customizer rviz.launch description_launch:=/home/administrator/catkin_ws/src/cpr_robot_customizer/example/description.launch
rviz loads, you should see the model of the example generic robot, along with the SICK LMS1xx 2D laser scanner mounted ontop of the
In addition, if you have the physical sensor setup, you can also add the
/scan ROS topic to
rviz to see the 2D laser scans from the SICK LMS1xx 2D laser scanner.