<<<<<<< HEAD
rviz2的简单介绍及使用
Rviz2是一个可视化工具，用于显示机器人环境中的消息，提供3D视角来查看机器人的状态和活动。它可以帮助开发者更好地理解机器人当前的状态和活动，以及其他可视化消息。Rviz2提供了一系列的可视化工具，可以帮助开发者更好地理解机器人的状态和活动，比如可视化坐标系、激光扫描消息、点云消息、机器人模型等等。使用Rviz2，可以轻松地查看和调试机器人系统，从而更好地实现机器人目标。
1 rviz2的安装及界面简介
ros2安装成功表明rviz2也一起安装成功了，因为ros2的安装包含了rviz2。
点击桌面上的ROS2 Shell图标或者桌面下方栏的对应图标，打开ROS2环境终端，输入命令打开rviz2：
ros2 run rviz2 rviz2
# 或
rviz2
打开rviz2,显示如下界面：
Brief introduction and use of rviz2
Rviz2 is a visualization tool for displaying messages in the robot environment, providing a 3D perspective to view the robot's status and activities. It can help developers better understand the current status and activities of the robot, as well as other visual messages. Rviz2 provides a series of visualization tools that can help developers better understand the status and activities of robots, such as visual coordinate systems, laser scanning messages, point cloud messages, robot models, etc. Using Rviz2, robotic systems can be easily viewed and debugged to better achieve robotic goals.
1 Introduction to rviz2
Open the ROS2 environment terminal, enter the command to open rviz2:
ros2 run rviz2 rviz2
# or
rviz2
Open rviz2 and display the following interface:
5673ade8eb00a28794557125b7d1c8cd332434a9
<<<<<<< HEAD
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。包括添加、删除、复制、重命名插件，显示插件，以及设置插件属性等功能。
- 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ROS2环境终端，输入以下命令进行ROS2的环境配置。
1.1 Introduction of each area
- On the left is the list of monitors, a monitor is something that draws something in the 3D world and may have some options available in the display list. Including functions such as adding, deleting, copying, renaming plug-ins, displaying plug-ins, and setting plug-in properties.
- Above is the toolbar, which allows users to use various function buttons to select tools with multiple functions
- The middle part is the 3D view: it is the main screen where various data can be viewed in 3D. 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, and different observation angles can be set.
We only give a rough introduction in this part. If you want to know more detailed content, you can go to the user guide to view it.
2 Simple use
Launch through launch file
This example is based on the fact that you have completed Environment Setup and successfully copied the company's code from GitHub.
Open the ROS2 environment terminal and enter the following commands to configure the ROS2 environment.
5673ade8eb00a28794557125b7d1c8cd332434a9
cd ~/colcon_ws/
colcon build --symlink-install
source install/setup.bash
<<<<<<< HEAD
再输入：
Enter again:
5673ade8eb00a28794557125b7d1c8cd332434a9
ros2 launch mercury_b1 test.launch.py
<<<<<<< HEAD
打开rviz，并得到如下结果：
Open rviz2 and get the following result:
5673ade8eb00a28794557125b7d1c8cd332434a9
<<<<<<< HEAD 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
← 上一页 | 下一页 →
If you want to know more information about rviz, you can go to the official documentation to view it.
5673ade8eb00a28794557125b7d1c8cd332434a9