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RViz2 Visualization

Introduction to RViz2​

RViz2 is a 3D visualizer for ROS 2. It allows you to display sensor data, robot models, and other information in a graphical environment.

Launching Your Robot Model​

To see your humanoid.urdf in RViz2, you will typically use a launch file that starts the necessary ROS 2 nodes.

Code​

See src/ros2_foundations/launch/visualize.launch.py.

Manipulating Joints​

The joint_state_publisher_gui node allows you to interactively manipulate the joints of your robot model in RViz2.

Steps​

  1. Launch your robot model with the GUI: 
    ros2 launch ros2_foundations visualize.launch.py use_jsp_gui:=true
  2. A GUI window will appear with sliders for each joint. Move them to see your robot articulate.