You're reading from Mastering ROS for Robotics Programming, Third edition - Third Edition

Product typeBook

Published inOct 2021

PublisherPackt

ISBN-139781801071024

Edition3rd Edition

Tools

Robot Framework Robot Framework

Concepts

Robotics

Authors (2):

Lentin Joseph

Jonathan Cacace

View More author details

Writing an RViz plugin for teleoperation

In this section, we will see how to create an RViz plugin from scratch. The objective of this plugin is to teleoperate the robot from RViz. Normally, we use separate teleoperation nodes for controlling the robot, but using this plugin, we can mention the teleop topic and the linear and angular velocity, as shown in the following screenshot:

Figure 13.5 – RViz Teleop plugin

In the following section, we discuss the detailed procedure of building this plugin.

The methodology of building a RViz plugin

Before starting to build the teleoperation plugin, we should understand how to write a RViz plugin in general. The standard method to build a ROS plugin is applicable for this plugin too. The difference is that the RViz plugin is GUI-based. RViz is written using a GUI framework called Qt, so we need to create a GUI in Qt and, using Qt APIs, we have to get the GUI values and send them to the ROS system.

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Mastering ROS for Robotics Programming, Third edition - Third Edition

Published in: Oct 2021Publisher: PacktISBN-13: 9781801071024

Authors (2)

Lentin Joseph

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.
Read more about Lentin Joseph

Jonathan Cacace

Jonathan Cacace was born in Naples, Italy, on December 13, 1987. He received his Master's degree in computer science, and a Ph.D. degree in Information and Automation Engineering, from the University of Naples Federico II. Currently, he is an Assistant Professor at the University of Naples Federico II. He is also a member of PRISMA Lab where he is involved in different research projects focused on industrial and service robotics in which he has developed several ROS-based applications integrating robot perception and control.
Read more about Jonathan Cacace

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