Visualization

To be able to visualize the information published, it is necessary to correctly configure the Global Options:

  • Fixed frame: Indicates the name of the frame used as reference for all the other frames. You can select every frame available in the combo box. world is a good option. You will see the world from the sensors of the robot.
  • Frame rate: The maximum frequency used to update the 3D view.

This plugin allows you to visualize the Robot Model according to its description from the URDF model. You have two options to select a URDF. You can select Topic or File in the combo box:

  • Topic: If you publish the URDF of the robot in the /robot_description topic.
  • File: If you write the path of the URDF file.

You will be able to visualize the robot if you also publish the robot state using for example the robot_state_publisher.

This plugins allows you to visualize the position and the orientation of all the frames that compose the TF Hierarchy.

  • Show names: Enable/disable the 3D visualization of name of the links
  • Show axes: Enable/disable the 3D visualization of the axes of the frames
  • Show arrows: Enable/disable the 3D visualization of the arrows that connect the various frames
  • Update interval: The update time in seconds. Leave at 0 to see each update Critical to using this plugin is the ability to enable/disable visualizing individual frames. This allows you to concentrate only on the parts that are most important for your current task.