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using-rviz-in-ros2.md

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Using rviz in ROS 2

The following tutorial will walk you through the necessary steps to get rviz working in ROS 2.

NOTE: rviz is not currently fully functional in ROS 2 -- many features are missing completely. Do not expect it to work perfectly and do not be surprised if it crashes or has issues.

Working plugins

The following is a list of plugins that are working to some degree:

  • Axes
  • Grid
  • Tf
  • Laser Scan
  • Map
  • Robot model
  • Path
  • Point Stamped
  • Polygon
  • Range
  • Relative Humidity
  • Temperature
  • Wrench Stamped
  • Odometry

Check out and compile the source packages

Use the following steps to checkout and compile all of the packages necessary to compile rviz:

# Set up the rviz overlay workspace
mkdir -p ~/sandbox/ros2_rviz_overlay_ws/src
cd ~/sandbox/ros2_rviz_overlay_ws

# Check out the source packages
wget https://raw.githubusercontent.com/bponsler/ros2-support/master/rviz_ros2.repos
vcs import src < rviz_ros2.repos

# Compile the packages
ament build

Running rviz in ROS 2

The following commands will allow you to run rviz ROS 2:

source ~/sandbox/ros2_rviz_overlay_ws/install/local_setup.bash
ros2 run rviz rviz