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## descriptive title for the tutorial
## title = Viewing data from the rc_visard in Rviz
## description = This tutorial shows how to connect to the rc_visard and view data in RViz.
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## next.0.link=[[rc_visard/Tutorials/HandEyeCalibration]]
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<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>

== Goal ==

This tutorial shows how to visualize data of the ''rc_visard'' with RViz.

== Installation ==

Install the ''rc_visard_driver'' with

{{{
$ sudo apt-get install ros-$ROS_DISTRO-rc-visard-driver
}}}

== Launch ==

The rc_visard provides data via its [[http://doc.rc-visard.com/latest/en/rc_dynamics.html|Roboception rc_visard User Manual - rc_dynamics interface]] and its [[http://doc.rc-visard.com/latest/en/gigevision.html|Roboception rc_visard User Manual - GigE Vision 2.0/GenICam image interface]]. The [[rc_visard_driver]] converts data of both interfaces to a ROS interface. Data relevant for visualization is mostly provided via ROS topics.

{{{#!wiki tip
The ''rc_visard_driver'' uses [[rc_genicam_api]] to convert the GenICam image interface data to the ROS interface.
}}}

{{{#!wiki tip
For information about the ROS topics which are published by the ''rc_visard_driver'' refer to [[rc_visard_driver]].
}}}

=== rc_visard_driver ===

In case only one ''rc_visard'' is connected to the network one can launch with

{{{
$ rosrun rc_visard_driver rc_visard_driver _enable_tf:=True _autostart_dynamics:=True _autostop_dynamics:=True
}}}

In case multiple ''rc_visard''s are connected to the network one can launch the ''rc_visard_driver'' as node to access a specific ''rc_visard'' by specifying the serial number (here: ''02912006'')

{{{
$ rosrun rc_visard_driver rc_visard_driver _device:=:02912006 _enable_tf:=True _autostart_dynamics:=True _autostop_dynamics:=True
[ INFO] [1530276459.662423622]: rc_visard_driver: Opening connection to '00_14_2d_2c_6f_06'
}}}

{{{#!wiki tip
Preceed the serial number with a colon (here: '':02912006'') when passing this on the command line or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file.
}}}

{{{#!wiki tip
The ''rc_visard_driver'' publishes all topics in the global name space. In case several rc_visards are used in the same network the topics need to be redirected into specific name spaces with the [[Nodes#Remapping_Arguments.A.22Pushing_Down.22|ROS namespace system]].
}}}

To provide the ''rc_visard_driver''s topics into a name space specific to a sensor (here: ''my_visard'') launch ''rc_visard_driver'' as nodelet with

{{{
ROS_NAMESPACE=my_visard rosrun nodelet nodelet standalone rc_visard_driver _device:=:02912006
}}}

=== RViz ===

The rc_visard_driver also has an example configuration file `rc_visard.rviz` for RViz. You can also download the file from [[https://github.com/roboception/rc_visard_ros/blob/master/rc_visard_driver/config/rc_visard.rviz|rc_visard_ros/rc_visard_driver/config/rc_visard.rviz]].

{{{
$ rviz -d $(rospack find rc_visard_driver)/config/rc_visard.rviz
}}}

== Data visualization ==

To enable point cloud visualization one may enable the check box "point cloud" in the "Displays" area and increase the "Decay Time" value to e.g. 10. To enable visualization of images one may enable the check boxes "disparity" (disparity image), "left image" (left camera image) and "confidence image".

{{attachment:robot.png|Screenshot of RViz showing point cloud data  and images from a rc_visard|width=100%}}

{{{#!wiki tip
The RViz visualization of the left camera images published via the topic `left_image` may differ dependent on the purchased ''rc_visard'' type (color/monochrome). The screenshot above shows a scene captured with a [[https://roboception.com/product/rc_visard-65-monochrome/|rc_visard 65 monochrome]].
}}}

To get some impression about how pointcloud data should be visualized in real-time consider the demonstration video [[https://www.youtube.com/watch?v=chJ0rs4Ozog|rc_visard 65 - Orientation in 3D Space & Pointcloud Demonstration]]:

<<Youtube(chJ0rs4Ozog)>>

== What Next? ==

 * [[rc_visard/Tutorials/CreateOctomapWithSLAM|Create octomap using rc_visard's onboard SLAM]]

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