RViz Sensor Visualization
Launch RViz 2 and configure displays to visualize LiDAR, camera and map data.
1
RViz Sensor Visualization
Launch RViz 2 to visualize sensor data and configure displays for LiDAR and camera streams.
RViz 2 is a powerful visualization tool for ROS 2. Use it to view LiDAR scans, camera images, TF frames and maps. This module describes how to launch RViz and configure common displays.
bash
rviz2Once RViz is running:
- Set the Fixed Frame to your robot base frame (e.g.,
${ROS_NAME}/odomor${ROS_NAME}/base_link). - Click Add in the Displays panel and add:
- LaserScan: set the Topic to
/{ROS_NAME}/scanto visualize LiDAR data. - Image: set the Topic to
/{ROS_NAME}/camera/image_rawto view the camera stream. - TF: add a TF display to see coordinate frames.
- Map: when running SLAM, add a Map display with topic
/map.
- LaserScan: set the Topic to
- Adjust the color, size and style properties as desired. Save your configuration to a
.rvizfile for later use.