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
Save configuration with ctrl+s
Built-In Display Types
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| Name | Description | Messages Used |
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| Axes | Displays a set of Axes | |
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| Effort https://wiki.ros.org/rviz/DisplayTypes/Effort_ | Shows the effort being put into each revolute joint of a robot. |
sensor_msgs/JointStates |
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| 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 |
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| Grid | Displays a 2D or 3D grid along a plane | |
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| Grid Cells https://wiki.ros.org/rviz/DisplayTypes/GridCells_ | Draws cells from a grid, usually obstacles from a costmap from the
navigation https://wiki.ros.org/navigation_ stack. |
nav_msgs/GridCells |
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| 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 |
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| 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 |
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| 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 |
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| Map https://wiki.ros.org/rviz/DisplayTypes/Map_ | Displays a map on the ground plane. |
nav_msgs/OccupancyGrid |
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| 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 |
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| Path https://wiki.ros.org/rviz/DisplayTypes/Path_ | Shows a path from the
navigation https://wiki.ros.org/navigation_ stack. |
nav_msgs/Path |
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| Point https://wiki.ros.org/rviz/DisplayTypes/Point_ | Draws a point as a small sphere. |
geometry_msgs/PointStamped |
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| Pose https://wiki.ros.org/rviz/DisplayTypes/Pose_ | Draws a pose as either an arrow or axes. |
geometry_msgs/PoseStamped |
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| 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 |
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| 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 |
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| Polygon https://wiki.ros.org/rviz/DisplayTypes/Polygon_ | Draws the outline of a polygon as lines. |
geometry_msgs/Polygon |
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| Odometry https://wiki.ros.org/rviz/DisplayTypes/Odometry_ | Accumulates odometry poses from over time. |
nav_msgs/Odometry |
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| Range https://wiki.ros.org/rviz/DisplayTypes/Range_ | Displays cones representing range measurements from sonar or IR range sensors. *Version: Electric+* |
sensor_msgs/Range |
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| RobotModel | Shows a visual representation of a robot in the correct pose (as defined by the current TF transforms). | |
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| TF https://wiki.ros.org/rviz/DisplayTypes/TF_ | Displays the
ros wiki tf transform hierarchy. | |
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| Wrench https://wiki.ros.org/rviz/DisplayTypes/Wrench_ | Draws a wrench as arrow (force) and arrow + circle (torque) |
geometry_msgs/WrenchStamped |
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| Oculus | Renders the RViz scene to an Oculus headset | |
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