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Mastering ROS for Robotics Programming

You're reading from  Mastering ROS for Robotics Programming

Product type Book
Published in Dec 2015
Publisher Packt
ISBN-13 9781783551798
Pages 480 pages
Edition 1st Edition
Languages
Concepts
Author (1):
Lentin Joseph Lentin Joseph
Profile icon Lentin Joseph
LinkedIn
Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
See other products by Lentin Joseph

Table of Contents (19) Chapters

Mastering ROS for Robotics Programming
Credits
About the Author
About the Reviewers
www.PacktPub.com
Preface
Introduction to ROS and Its Package Management Working with 3D Robot Modeling in ROS Simulating Robots Using ROS and Gazebo Using the ROS MoveIt! and Navigation Stack Working with Pluginlib, Nodelets, and Gazebo Plugins Writing ROS Controllers and Visualization Plugins Interfacing I/O Boards, Sensors, and Actuators to ROS Programming Vision Sensors using ROS, Open-CV, and PCL Building and Interfacing Differential Drive Mobile Robot Hardware in ROS Exploring the Advanced Capabilities of ROS-MoveIt! ROS for Industrial Robots Troubleshooting and Best Practices in ROS Index

Understanding ROS visualization tool (RViz) and its plugins

The RViz tool is an official 3D visualization tool of ROS. Almost all kinds of data from sensors can be viewed through this tool. RViz will be installed along with the ROS desktop full installation. Let's launch RViz and see the basic components present in RViz:

  • Start roscore 

    $roscore

  • Start RViz

    $ rosrun rviz rviz

The important sections of the RViz GUI are marked and the uses of each section are given as follows:

Figure 6: RViz and its toolbars

Displays panel

The panel on the left side of the RViz is called Displays panel. The Displays panel contains a list of display plugins of RViz and its properties. The main use of display plugins is to visualize different types of ROS messages, mainly sensor data in the RViz 3D viewport. There are lots of display plugins already present in RViz for viewing images from camera, for viewing 3D point cloud, LaserScan, robot model, Tf, and so on. Plugins can be added by pressing the Add button on the...

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Authors (1)

Profile icon Lentin Joseph
LinkedIn
Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
See other products by Lentin Joseph

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