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dingo_desktop: dingo_msgs | dingo_viz

Package Summary

Visualization launchers and helpers for Dingo.

Overview

This package provides launchers and rviz configurations to assist with visualizing real or simulated Dingo from a desktop environment. For help getting your desktop environment set up to use with Dingo, see the Dingo homepage.

For more information on simulating Dingo, see dingo_simulator.

Usage

To view the Dingo model in isolation, disconnected from a real or simulated robot, use the following launcher:

roslaunch dingo_viz view_model.launch

To visualize a real or simulated Dingo, launch:

roslaunch dingo_viz view_robot.launch

For more examples, see Dingo Tutorials.

Configurations

If you'd like to bring up a specific rviz configuration, you can add an arg to the view_robot launcher, for example:

roslaunch dingo_viz view_robot.launch config:=navigation

The configurations available are:

robot (default)

The default configuration includes the RobotModel plugin, and displays Dingo in the odom frame, which will move the model about in rviz as you drive around.

navigation

This configuration also displays Dingo in the odom frame and displays all the visualization information that local navigation provides including global plan, trajectory and local costmap. The desired navigation Pose for the robot to achieve can be set using 2D Nav Goal.

gmapping

Gmapping configuration displays Dingo in the map frame. It includes InteractiveMarker plugin so you can drive the robot around to build the map. It also includes Map plugin to visualize the map being constructed.

localization

This configuration also displays Dingo in the map frame and includes PoseArray plugin which display the localization system's uncertainty about the robot's pose. It also includes visualization information of the known map, global costmap, trajectory associated with the velocity commands and global plan. The localization system can be initialized by setting the pose of the robot in the known map using 2D Pose Estimate.


2022-06-25 12:33