This package provides launch files and rviz configurations for visualizing Leo Rover (real or a simulated one) from a desktop environment.


To view the Leo Rover model without having the real or simulated robot connected to the ROS network, use:

roslaunch leo_viz view_model.launch

This will run RViz and a basic ROS environment for publishing robot state, including a GUI for specifying fake joint states (you can disable the GUI by passing gui:=false argument to the launch file).

If you have the robot running on the ROS network and would like to just visualize it in RViz, type:

roslaunch leo_viz rviz.launch

RViz configurations

If you would like to use a specific RViz configuration, you can add the config argument to the rviz.launch file with the configuration name, for example:

roslaunch leo_viz rviz.launch config:=slam

Here's a list of available configurations:

config name

fixed frame


robot (default)


Includes the RobotModel display which visualizes the robot model and the Image display (disabled by default) for showing images from robot's camera.



Shows the robot model moving according to the position estimated from continuous odometry sources. Adds the Odometry display which (when enabled) visualizes the odometry computed by robot_localization.



Shows the robot model in a top-down view with a position that tends to do discrete jumps due to odometry drift correction. Adds the LaserScan display to show measurements from laser range-finder and the Map display to visualize obstacles detected by gmapping. Also adds Pose and PoseArray displays (disabled by default) that can visualize robot's pose estimated by amcl and its uncertainty.



The same as slam configuration, except that it shows costmaps and the navigation plan published by move_base.

The non-default configurations were created as part of the Autonomous Navigation tutorial and won't work with the standard Leo Rover installation.

Wiki: leo_viz (last edited 2020-12-09 17:11:25 by BlazejSowa)