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Read and visualize your robot sensors

This tutorial will cover the steps needed in order to read and visualize your robot's sensors.

Laser scanner

The laser scanner driver node is hokuyo_node. The data is published through a sensor_msgs/LaserScan message under the topic /scan.

To view the camera stream from the rqt rqt_rviz plugin, select from the rqt upper menu:

Plugins -> Visualization -> Rviz

To add the laserscan visualization to Rviz, press the Add button on the bottom of the left Rviz displays list window, select LaserScan under rviz folder, and press OK on the bottom of the window (Add -> LaserScan -> OK).

Now, you will be able to see that LaserScan property was added to the left Rviz displays list window. Press the small arrow on the left of the LaserScan property to expand its properties. For Topic property select /scan. Notice: you will not be able to see the LaserScan visualization in Rviz, unless the robot is in front of an object.

Ultrasonic Range Finders (URF)

The range finders data is published through a sensor_msgs/Range message under the topic /URF/<sensor_name>.

komodo2 has 3 range finders mounted on the right, left ande rear of the mobile base, and the topics are: and /URF/right, /URF/left, /URF/rear accordingly.

To view the URF stream from the rqt rqt_rviz plugin, select from the rqt upper menu:

Plugins -> Visualization -> Rviz

To add the URF visualization to Rviz, press the Add button on the bottom of the left Rviz displays list window, select Range under rviz folder, and press OK on the bottom of the window (Add -> Range -> OK).

RGB-D depth cameras

RealSense D435

We use the following collection of tools and libraries for a ROS Interface to the Kinect One (Kinect v2):

https://github.com/intel-ros/realsense

https://github.com/IntelRealSense/librealsense/releases/tag/v2.10.4

To add the depth camera visualization to Rviz, press the Add button on the bottom of the left Rviz displays list window, select PointCloud2 under rviz folder, and press OK on the bottom of the window (Add -> PointCloud2 -> OK). then in the Displays menu, press on DepthCloud -> Depth Map Topic and choose the camera you want to use.

GPS

The GPS data is published through a sensor_msgs/NavSatFix message under the topic /GPS/fix.

Inertial Measurement Unit (IMU)

The IMU data is published through a sensor_msgs/Imu message under the topic /IMU/data.

The Magnetometer data is published through a geometry_msgs/Vector3Stamped message under the topic /IMU/magnetic.