You can move a display up or down in the list with the arrow buttons to the right of the Add/Remove buttons: This information is different for different displays, and the messages should be self explanatory. The Status category also expands to show specific status information. The status is indicated in the display's title by the background color, as well as in the Status category that you can see if the display is expanded: The status can be one of 4: OK, Warning, Error and Disabled. For example:Įach display gets its own status to help let you know if everything is OK or not.
If you have, for example, two laser scanners on your robot, you might create two "Laser Scan" displays named "Laser Base" and "Laser Head".Įach display gets its own list of properties. Finally, you must give the display a unique name. The text box in the middle gives a description of the selected display type.
The type details what kind of data this display will visualize. The list at the top contains the display type. To add a display, click the Add button at the bottom: An example is a point cloud, the robot state, etc. On the right are some of the other panels, described below.Ī display is something that draws something in the 3D world, and likely has some options available in the displays list. Right now it just contains the global options and the time view, which I'll get to later. On the left is the Displays list, which will show any displays you have loaded. The big black thing is the 3D view (empty because there is nothing to see). When rviz starts for the first time, you will see an empty window: Then start the visualizer: rosrun rviz rviz You might have to run a line such as source /opt/ros/indigo/setup.bash Until fuerte: sudo apt-get install ros-fuerte-visualizationįrom groovy on: sudo apt-get install ros-groovy-rvizĭownload the rviz sources into your ros_workspace or your overlay ( help for fuerte, help for groovy).įirst satisfy any system dependencies. Obviously you don't need both and should prefer the install: If you're running into problems and have not seen the answer below, try the Troubleshooting Page 2D Pose Estimate (Keyboard shortcut: p).by the LIDAR, ultrasonic sensor, or some other object detection sensor) would be marked -1. The number is often 0 (free space) to 100 (100% likely occupied). In an occupancy grid map, each cell is marked with a number that indicates the likelihood the cell contains an object. Thus, for a 0.1 resolution grid map, a robot that reports its position as (3.5, 4.3) corresponds to a grid map location of (35, 43). What would the corresponding location be on the grid map? On the grid cell, this location would correspond to cell (x=3, y=4) because the grid map is 1 meter resolution.īut what if we wanted to change the map resolution to 0.1 meter spacing between each grid cell? Let’s suppose the robot reported its location as (3.5, 4.3). For example, let’s say a robot’s location in the real world is recorded as (3.5, 4.3). One other thing we need to keep in mind is that I assumed the map above has 1 meter spacing between each grid cell. Knowing what part of a factory floor is open space and what part of a factory floor contains obstacles helps a robot properly plan the shortest, collision-free path from one point to another. A robot’s position in the environment at any given time is relative to the corner of the map (x=0, y=0). We can use a grid map to abstractly represent any indoor environment, including a house, apartment, and office. However, open factory floor is located at (x=3, y=3). For example, we can see in the image above that a shelf is located at (x=6, y=8). The cool thing about a grid map is that we can determine what is in each cell by looking up the coordinate. An overhead view of a factory floor represented abstractly as a grid map with 1 meter x 1 meter cells.