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RViz

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

rosrun rviz rviz

Rviz
Figure 1: Rviz

Save configuration with ctrl+s

Built-In Display Types

+---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Name | Description | Messages Used | +=================================================================================+===========================================================================================================================================+==========================================================================================================================================================================================================+ | Axes | Displays a set of Axes | | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Effort https://wiki.ros.org/rviz/DisplayTypes/Effort_ | Shows the effort being put into each revolute joint of a robot. |sensor_msgs/JointStates | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Camera https://wiki.ros.org/rviz/DisplayTypes/Camera_ | Creates a new rendering window from the perspective of a camera, and overlays the image on top of it. |sensor_msgs/Image http://docs.ros.org/api/sensor_msgs/html/msg/Image.html_,sensor_msgs/CameraInfo | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Grid | Displays a 2D or 3D grid along a plane | | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Grid Cells https://wiki.ros.org/rviz/DisplayTypes/GridCells_ | Draws cells from a grid, usually obstacles from a costmap from thenavigation https://wiki.ros.org/navigation_ stack. |nav_msgs/GridCells | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Image https://wiki.ros.org/rviz/DisplayTypes/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 https://wiki.ros.org/rviz/DisplayTypes/InteractiveMarker_ | Displays 3D objects from one or multiple Interactive Marker servers and allows mouse interaction with them. *Version: Electric+* |visualization_msgs/InteractiveMarker | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Laser Scan https://wiki.ros.org/rviz/DisplayTypes/LaserScan_ | Shows data from a laser scan, with different options for rendering modes, accumulation, etc. |sensor_msgs/LaserScan | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Map https://wiki.ros.org/rviz/DisplayTypes/Map_ | Displays a map on the ground plane. |nav_msgs/OccupancyGrid | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Markers https://wiki.ros.org/rviz/DisplayTypes/Marker_ | Allows programmers to display arbitrary primitive shapes through a topic |visualization_msgs/Marker http://docs.ros.org/api/visualization_msgs/html/msg/Marker.html_,visualization_msgs/MarkerArray | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Path https://wiki.ros.org/rviz/DisplayTypes/Path_ | Shows a path from thenavigation https://wiki.ros.org/navigation_ stack. |nav_msgs/Path | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Point https://wiki.ros.org/rviz/DisplayTypes/Point_ | Draws a point as a small sphere. |geometry_msgs/PointStamped | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Pose https://wiki.ros.org/rviz/DisplayTypes/Pose_ | Draws a pose as either an arrow or axes. |geometry_msgs/PoseStamped | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Pose Array https://wiki.ros.org/rviz/DisplayTypes/PoseArray_ | Draws a "cloud" of arrows, one for each pose in a pose array |geometry_msgs/PoseArray | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Point Cloud(2) https://wiki.ros.org/rviz/DisplayTypes/PointCloud_ | Shows data from a point cloud, with different options for rendering modes, accumulation, etc. |sensor_msgs/PointCloud http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud.html_,sensor_msgs/PointCloud2 | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Polygon https://wiki.ros.org/rviz/DisplayTypes/Polygon_ | Draws the outline of a polygon as lines. |geometry_msgs/Polygon | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Odometry https://wiki.ros.org/rviz/DisplayTypes/Odometry_ | Accumulates odometry poses from over time. |nav_msgs/Odometry | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Range https://wiki.ros.org/rviz/DisplayTypes/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 https://wiki.ros.org/rviz/DisplayTypes/TF_ | Displays theros wiki tf transform hierarchy. | | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Wrench https://wiki.ros.org/rviz/DisplayTypes/Wrench_ | Draws a wrench as arrow (force) and arrow + circle (torque) |geometry_msgs/WrenchStamped | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Oculus | Renders the RViz scene to an Oculus headset | | +---------------------------------------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+