Ignition RViz

RViz is a 3D visualization tool for robots using ROS.

Ignition RViz offers functionality similar to RViz, and is developed using Ignition libraries.

Build Status

ROS2 Distro	Status
Foxy
Rolling

Head over to the wiki to get detailed description of the project.

Requirements

ROS 2 Foxy
Ignition Dome (under development)
- Ignition Common 3
- Ignition GUI 4
- Ignition Math 6
- Ignition Rendering 4
Qt5
Additional qml modules required for GPS Plugin
- QtPositioning (qml-module-qtpositioning)
- QtLocation (qml-module-qtlocation)

Setup the repository

Create a colcon workspace

mkdir -p ~/colcon_ws/src
cd ~/colcon_ws/src

Clone the repository

git clone https://github.com/ignitionrobotics/ign-rviz.git

Build ign-rviz

# Go to the root of your colcon workspace
cd ../

# Source ROS2
source /opt/ros/foxy/setup.bash  # If using bash
source /opt/ros/foxy/setup.zsh   # If using zsh

# Build ign-rviz
colcon build

Launch ign-rviz

Ignition Rviz can be launched using the following command

# Source the workspace
source install/setup.zsh

# Launch ign-rviz
ros2 launch ign_rviz rviz.launch.py

Instruction to generate documentation

Project documentation can be generated with the help of doxygen using the following commands.

cd ~/colcon_ws/src/ign-rviz/docs/

# Generate documentation
doxygen rviz.doxyfile

# View documentation
firefox ./html/index.html

Instruction to use plugins

ImageDisplay plugin
1. Launch a sensor_msgs/msg/Image publisher. For example
```
# Source ROS2
ros2 run image_tools cam2image
```
2. Launch ign-rviz as mention above
3. Load an ImageDisplay plugin and select the published topic.