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Note: This tutorial assumes that you have completed the previous tutorials: TurtleBot Bringup, PC Bringup.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Visualisation

Description: Find and call launchers to visualise the turtle and its data streams.

Keywords: turtlebot

Tutorial Level: BEGINNER

Next Tutorial: 3D Visualisation

Visualisation Launchers

Most of the visualisation launchers can be found in the turtlebot_rviz_launchers package. Some of these need the robot up and running, others can be run standalone (e.g. view the robot description).

If you have non-default hardware, make sure you have the appropriate environment variables exported - refer to the PC Installation tutorial.

View the Turtlebot Model

Standalone

This is a standalone launcher, and doesn't need a connection to a running turtlebot. To view the default Turtlebot2 configuration:

> roslaunch turtlebot_rviz_launchers view_model.launch --screen

Alternatively an exported create type:

> export TURTLEBOT_BASE=create
> export TURTLEBOT_STACKS=circles
> export TURTLEBOT_3D_SENSOR=kinect
> roslaunch turtlebot_rviz_launchers view_model.launch --screen

With the Robot

Make sure the minimal software has already been launched on the robot and you have configured your network correctly. On the PC:

Roslaunch

> roslaunch turtlebot_rviz_launchers view_robot.launch --screen

OR

Remocon

Start the remocon and fire up the Visualisation/View Model interaction.

What Next?

* 3D Visualisation or return to the TurtleBot main page.


2019-06-15 13:16