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rviz的简单介绍及使用

rviz是ROS中一款三维可视化平台，一方面能够实现对外部信息的图形化显示，另外还可以通过 rviz 给对象发布控制信息，从而实现对机器人的监测与控制。

1 rviz界面简介

请先打开一个新的ROS1环境终端(快捷键Ctrl+Alt+T),输入如下指令：

Brief introduction and use of rviz

rviz is a 3D visualization platform in ROS. On one hand, it can realize the graphical display of external information, and on the other hand, it can also release control information to an object through rviz, realizing the monitoring and control of a robot.

1 Introduction to rviz interface

Open a new ROS1 terminal (shortcut key: Ctrl+Alt+T) and enter the following command:

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roscore

<<<<<<< HEAD 然后再打开一个ROS1环境终端(快捷键Ctrl+Alt+T)输入命令打开rviz

rosrun rviz rviz
# 或
rviz

打开rviz,显示如下界面：

1.1 各个区域介绍

  • 左侧为显示器列表，显示器是在3D世界中绘制某些内容的东西，并且可能在显示列表中具有一些可用的选项。
  • 上方是工具栏，允许用户用各种功能按键选择多种功能的工具
  • 中间部分为3D视图: 它是可以用三维方式查看各种数据的主屏幕。3D视图的背景颜色、固定框架、网格等可以在左侧显示的全局选项（Global Options）和网格（Grid）项目中进行详细设置。
  • 下方为时间显示区域，包括系统时间和ROS时间等。
  • 右侧为观测视角设置区域，可以设置不同的观测视角。

本部分我们只进行粗略的介绍，如果您想了解更多详细的内容，可以前往用户指南进行查看。

2 简单使用

通过launch文件启动

本例子建立在您已经完成环境搭建，并成功将本公司的代码从GitHub上复制下来的基础上。

打开ROS1环境终端，然后运行命令：进行ROS的环境配置。

Then open a new ROS1 terminal (shortcut key: Ctrl+Alt+T) and input the following command to open rviz.

rosrun rviz rviz
# or
rviz

Open rviz, and the following interface will be displayed:

1.1 Introduction of all areas

  • There is a list of monitors on the left. The monitor is a device that draws something in a 3D world and may have some options available in the display list.
  • On the top is a toolbar, which allows the user to use various function buttons to select tools with multiple functions.
  • The middle part is the 3D view: It is a main screen where various data can be viewed in three dimensions. The background color, fixed frame, grid, etc. of the 3D view can be set in detail in the Global Options and Grid items displayed on the left.
  • Below is the time display area, including system time and ROS time.
  • The right side is the observation angle setting area where different observation angles can be set.

We only give a rough introduction in this part. If you want to know more details, go to User Guide.

2 Simple use

Start using launch file

This example is built on what you have already done Environment building and you have successfully copied the company's code from GitHub to your virtual machine.

Open the ROS1 environment terminal, and then run the command: ROS environment configuration.

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cd ~/catkin_ws/
source devel/setup.bash

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再输入：

Enter again：

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roslaunch mercury_b1 test.launch

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打开rviz，并得到如下结果：

Open rviz, and then you will obtain the following result:

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如果您想了解更多rviz的相关资料信息，您可以前往官方文档进行查看

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If you want to know more information about rviz, go to Official documents.

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