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## note = This tutorial assumes that you have successfully installed the [[http://wiki.ros.org/tango_ros_streamer|TangoRosStreamer|target="_blank"]] application on your Tango device. Check [[http://github.com/Intermodalics/tango_ros/blob/master/README.md|here|target="_blank"]] if it is not the case yet.
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## descriptive title for the tutorial
## title = Visualise Tango data in Rviz
## multi-line description to be displayed in search
## description = Step by step tutorial to visualise Tango data published by the [[http://wiki.ros.org/tango_ros_streamer|TangoRosStreamer|target="_blank"]] application in Rviz.
## the next tutorial description (optional)
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## next.0.link= [[tango_ros_streamer/Use Tango localization|Use Tango localization]]
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## keywords = tango, ros, streamer, visualisation, Rviz
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== Configuration of the app ==
On your desktop, open a new terminal and run:

{{{
> roscore
}}}
On your Tango device launch the app by clicking on the app icon. If it is the first time you are launching the app, you will directly end up in the Settings page.  Otherwise, click on the gear icon (top right) to go to the Settings page.

Click on "Master URI" and set the correct master URI.

{{attachment:master_uri_screenshot.png|text describing image|width="500"}}

If it is the first time you are launching the app, click on DONE in the message at the bottom of the screen. Otherwise, a message saying you need to restart the app appears. To do so, kill the app by swiping it from the current app, and restart it.

{{attachment:kill_app_swap.png|text describing image|width="500"}}
<<BR>>
Now, if everything went correctly, both the ROS light and the Tango light should turn green.

{{attachment:app_all_ok.png|text describing image|width="500"}}

== Visualisation in Rviz ==
First you need to download the Rviz config file from [[http://github.com/Intermodalics/tango_ros/blob/master/TangoRosStreamer/tango_ros.rviz|here]]

Then, on your desktop, open a new terminal and run:

{{{
> rosrun rviz rviz -d <path_to_rviz_config_file>
}}}
This will open Rviz with the given config file.

In Rviz you should be able to visualize:

 * The available frames (under the TF section)
 * The point cloud
 * The laser scan
 * The fisheye and the color images with an overlay of the 3d world.
 * The meshes (as a visualization marker array)
 * The occupancy grid

{{attachment:rviz_visualisation.png|text describing image|width="1000"}}
<<BR>>
For each image topic you can choose between the raw or the compressed image.

You can also choose the compression format/level. To do so, open a new terminal and run:

{{{
> rosrun rqt_reconfigure rqt_reconfigure
}}}
Under tango/camera you will find all image topics. For each of them you can modify the compression format (jpeg or png) and adjust the compression level.

As you can see on the image below, you can also adjust the max/min height of the laser scan (value in meter).
{{attachment:reconfigure_compressed_images.png|text describing image|width="1000"}}

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