Using rviz and rqt
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.
Install package ros-melodic-desktop-full
or ros-melodic-desktop
using the installation documentation.
Start rviz
To start the Clover state visualization in real time, connect to it via Wi-Fi (clover-xxx
) and run rviz, specifying an appropriate ROS_MASTER_URI:
ROS_MASTER_URI=http://192.168.11.1:11311 rviz
If connection is not established, make sure the .bashrc
of Clover contains line:
export ROS_HOSTNAME=`hostname`.local
Using rviz
Visualization of the copter position
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 /main_camera/camera_markers
.
The result of copter and camera visualization is shown below:
Visualization of the environment
You can view a picture with augmented reality from the topic of the main camera /main_camera/image_raw
.
Axis or Grid configured to frame aruco_map
will visualize the location on the map of ArUco marks.
jsk_rviz_plugins
It is also recommended to install additional useful plugins for rviz jsk_rviz_plugins. This kit allows visualizing topics like TwistStamped
(velocity) CameraInfo
, PolygonArray
, and many more. To install, use command:
sudo apt-get install ros-melodic-jsk-visualization
Starting the rqt toolkit
To start rqt for monitoring Clover status, use command:
ROS_MASTER_URI=http://192.168.11.1:11311 rqt
An example of starting a specific plugin (rqt_image_view
):
ROS_MASTER_URI=http://192.168.11.1:11311 rqt_image_view
Brief description of useful rqt plugins:
rqt_image_view
– viewing images from topics likesensor_msgs/Image
;rqt_multiplot
– Building charts from the data from of arbitrary topics (installation:sudo apt-get install ros-melodic-rqt-multiplot
);- Bag – working with Bag-files.