To visualize the model, you will need 2 additional packages:
You can build them using the instructions from this chapter. You can also download the prebuilt packages from the ROS repository by executing:
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.
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:
An RViz instance with RobotModel plugin should start, as well as GUI for joint_state_publisher that let's you specify simulated wheel positions.