cmower/optas_ros

Visualize robot in rviz

Closed this issue · 5 comments

cmower commented

@mhubii I am wondering if you could lend a hand. I have been unable to work out how to visualize the robot in Rviz, do you have any idea how to add the robot model to the visualization? Please see the launch script here. You see that I have the robot description, I am wondering how this is then passed to rviz? Perhaps something needs to generate the joint states like gazebo? In which case, do you know the easiest way to achieve this?

Any help greatly appreciated.

joaomoura24 commented

I usually add the robot using the rviz gui and then save the rviz config to file, and then from the launch file you should be able to load the rviz config that you saved using the gui which will have the robot.
Programatically I don't know what is the way.

cmower commented

Thanks @joaomoura24. However, the problem is I don't know how to do this in rviz2/ROS2 😉 it's not so obvious and I can't find any examples

mhubii commented

sure, will have a look

mhubii commented

Missing is the robot_state_publisher. This node publishes transforms, as well as the robot description

cmower commented

Thanks @mhubii

The main issue was that in ROS2, the robot_description (that needs to be set in Rviz2) is a topic, in ROS1 this was a parameter.