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Introspecting the ROS computation graph in RQT

Prerequisites

Installation

A node graph is an rqt plugin that can visualize ROS computation graph. It is a very handy tool for debugging communication problems.

First, make sure you have the plugin installed:

Launch

Start rqt by typing:

Now choose Plugins -> Introspection -> Node Graph

If your are connected to your Rover, you should see all the nodes running on Raspberry Pi. You can experiment with Node Graph settings, so it can look like this:

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