<> <> == Overview == This package provides launchers and [[rviz]] configurations to assist with visualizing real or simulated [[Robots/Dingo|Dingo]] from a desktop environment. For help getting your desktop environment set up to use with Dingo, see the [[Robots/Dingo|Dingo homepage]]. For more information on simulating Dingo, see [[dingo_simulator]]. == Usage == To view the Dingo model in isolation, disconnected from a real or simulated robot, use the following launcher: {{{ roslaunch dingo_viz view_model.launch }}} To visualize a real or simulated Dingo, launch: {{{ roslaunch dingo_viz view_robot.launch }}} For more examples, see [[http://www.clearpathrobotics.com/assets/guides/melodic/dingo/index.html|Dingo Tutorials]]. == Configurations == If you'd like to bring up a specific rviz configuration, you can add an arg to the view_robot launcher, for example: {{{ roslaunch dingo_viz view_robot.launch config:=navigation }}} The configurations available are: ||<^>`robot` (default) || The default configuration includes the [[rviz/DisplayTypes/RobotModel|RobotModel plugin]], and displays Dingo in the '''odom''' frame, which will move the model about in rviz as you drive around. || ||<^>`navigation` || This configuration also displays Dingo in the '''odom''' frame and displays all the visualization information that local navigation provides including global plan, trajectory and local costmap. The desired navigation [[rviz/DisplayTypes/Pose|Pose]] for the robot to achieve can be set using `2D Nav Goal`. || ||<^>`gmapping` || Gmapping configuration displays Dingo in the '''map''' frame. It includes [[rviz/DisplayTypes/InteractiveMarker|InteractiveMarker plugin]] so you can drive the robot around to build the map. It also includes [[rviz/DisplayTypes/Map|Map plugin]] to visualize the map being constructed.|| ||<^>`localization` || This configuration also displays Dingo in the '''map''' frame and includes [[rviz/DisplayTypes/PoseArray|PoseArray plugin]] which display the localization system's uncertainty about the robot's pose. It also includes visualization information of the known map, global costmap, trajectory associated with the velocity commands and global plan. The localization system can be initialized by setting the pose of the robot in the known map using `2D Pose Estimate`. || ## AUTOGENERATED DON'T DELETE ## CategoryPackage