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Using rviz with the Navigation Stack

Description: This tutorial provides a guide to using rviz with the navigation stack to initialize the localization system, send goals to the robot, and view the many visualizations that the navigation stack publishes over ROS.

Keywords: navigation rviz debugging

Tutorial Level: BEGINNER

Overview

rviz is a powerful visualization tool that can be used for many different purposes. This tutorial assumes at least some familiarity with rviz on which documentation can be found here.

Setting Up rviz for the Navigation Stack

The following video shows how to setup rviz to work with the navigation stack. This includes setting the pose of the robot for a localization system like amcl, displaying all the visualization information that the navigation stack provides, and sending goals to the navigation stack with rviz. Discussions of each visualization topic the navstack publishes can be found below.

2D Nav Goal

2D Pose Estimate

Static Map

Particle Cloud

Robot Footprint

Obstacles

Inflated Obstacles

Unknown Space

Global Plan

Local Plan

Planner Plan

Current Goal


2019-10-19 12:56