HackMD
rviz
A powerful tool for debugging robot applications, let us view what robot is seeing, thinking, and doing.
Two ways putting data inside rviz:
- sensor and state information: like laser scans, point clouds, cameras and cooridinate frames
- visualization markers: can send colored cubes, lines and arrows, used by motion planning research to show planned v.s. actual path, goals and object detections
Sources
- rviz user guide: http://wiki.ros.org/rviz
- video tutorial: http://wiki.ros.org/rviz/Tutorials
rviz GUI
Panels
- Displays
- Views
- Tools
- Selections
- Tool properties
Displays
Draws something in the 3D world, and likely has some options available in the displays list. An example is a point cloud, the robot state, etc.
- 4 display status: OK, Warning, Error and Disabled
- Add by display type or by topic
- Built-in Display types
- Global options: Fixed frame (world frame)
- http://wiki.ros.org/rviz/DisplayTypes
- TF
map -> odom -> base_link -> laser- map: 虛擬世界中的固定frame, 一般與odom（或者odom_combined）相連。它的Z軸指向正上方，也就是天空。 map與odom同為全局坐標系，原點為地圖原點（地圖原點在地圖相應的yaml文件中有規定）。
- odom: odom 坐標係是基於測距源來計算的，如車輪里程計odom，視覺里程計vo或慣性測量單元imu。
- base_link: 緊緊粘在移動機器人基座上
- markers
- interactive markers
- TF
Views
- camera type (orbit(default), XY orbit, FPS, Top-down, Third-person)
- View configuration
- Target frame (camera view)
Note: Fixed frame v.s. Target frame
The fixed frame is the reference frame used to denote the "world" frame. This is usually the "map", or "world", or something similar, but can also be, for example, your odometry frame.
The target frame is the reference frame for the camera view.
Tools
- Move camera
- Select
- Focus Camera
- Measure
- 2D Pose Estimate
- 2D Goal Pose
- Publish Point
- Interact
Config
Saved as .rviz file, contains:
- Displays + their properties
- Tool properties
- Camera type + settings for the initial viewpoint
Plugins
- New Display Type
- New Dockable Panel
- New Tool Type
