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Visualizing the model using RViz

Prerequisites

Installation

To visualize the model, you will need 2 additional packages:

  1. leo_description − contains the URDF model of Leo Rover with all the required mesh files.
  2. leo_viz − contains visualization launch files and RViz configurations for Leo Rover.

You can build them using the instructions from this chapter. You can also download the prebuilt packages from the ROS repository by executing:

Replace <distribution> with the ROS distribution you have installed on your computer (e.g. melodic).

Launch

Now, to visualize the model in RViz, just type:

Alternatively, you can open a fresh instance of RViz by typing:

In the Fixed Frame option choose base_link.In Displays panel, click Add and choose RobotModel plugin.Change the Background Color to make the model more visible.

You should see the wheels rotating when the Rover is being steered.

Running the visualization offline

You can run the visualization without being connected to the Rover. For this, you will need to change environment variables to point to your loopback device:

Then, use the launch file located in the leo_viz package:

roslaunch will automatically spawn the Master node (roscore) if it detects that it is not already running.

An RViz instance with RobotModel plugin should start, as well as GUI for joint_state_publisher that let's you specify simulated wheel positions.

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