==== RViz ==== .. contents:: :local: Overview ======== http://wiki.ros.org/rviz * 3D visualization tool for ROS * Subscribes to topics and visualizes the message contents * Different camera views (orthographic, top-down, etc.) * Interactive tools to publish user information * Save and load setup as RViz configuration * Extensible with plugins Run === .. code-block:: bash rosrun rviz rviz .. figure:: img/rviz-1.png :align: center :alt: Rviz Save configuration with ``ctrl+s`` Built-In Display Types ====================== +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Name | Description | Messages Used | +=================================================================================+===========================================================================================================================================+==========================================================================================================================================================================================================+ | `Axes `_ | Displays a set of Axes | | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Effort `_ | Shows the effort being put into each revolute joint of a robot. | `sensor_msgs/JointStates `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Camera `_ | Creates a new rendering window from the perspective of a camera, and overlays the image on top of it. | `sensor_msgs/Image `_, `sensor_msgs/CameraInfo `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Grid `_ | Displays a 2D or 3D grid along a plane | | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Grid Cells `_ | Draws cells from a grid, usually obstacles from a costmap from the `navigation `_ stack. | `nav_msgs/GridCells `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Image `_ | Creates a new rendering window with an Image. Unlike the Camera display, this display does not use a CameraInfo. *Version: Diamondback+* | `sensor_msgs/Image `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `InteractiveMarker `_ | Displays 3D objects from one or multiple Interactive Marker servers and allows mouse interaction with them. *Version: Electric+* | `visualization_msgs/InteractiveMarker `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Laser Scan `_ | Shows data from a laser scan, with different options for rendering modes, accumulation, etc. | `sensor_msgs/LaserScan `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Map `_ | Displays a map on the ground plane. | `nav_msgs/OccupancyGrid `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Markers `_ | Allows programmers to display arbitrary primitive shapes through a topic | `visualization_msgs/Marker `_, `visualization_msgs/MarkerArray `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Path `_ | Shows a path from the `navigation `_ stack. | `nav_msgs/Path `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Point `_ | Draws a point as a small sphere. | `geometry_msgs/PointStamped `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Pose `_ | Draws a pose as either an arrow or axes. | `geometry_msgs/PoseStamped `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Pose Array `_ | Draws a "cloud" of arrows, one for each pose in a pose array | `geometry_msgs/PoseArray `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Point Cloud(2) `_ | Shows data from a point cloud, with different options for rendering modes, accumulation, etc. | `sensor_msgs/PointCloud `_, `sensor_msgs/PointCloud2 `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Polygon `_ | Draws the outline of a polygon as lines. | `geometry_msgs/Polygon `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Odometry `_ | Accumulates odometry poses from over time. | `nav_msgs/Odometry `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Range `_ | Displays cones representing range measurements from sonar or IR range sensors. *Version: Electric+* | `sensor_msgs/Range `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `RobotModel `_ | Shows a visual representation of a robot in the correct pose (as defined by the current TF transforms). | | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `TF `_ | Displays the `ros wiki tf `_ transform hierarchy. | | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Wrench `_ | Draws a wrench as arrow (force) and arrow + circle (torque) | `geometry_msgs/WrenchStamped `_ | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | `Oculus `_ | Renders the RViz scene to an Oculus headset | | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ :tag:`ROS`