| Note: This tutorial assumes that you have completed the previous tutorials: TurtleBot Bringup, PC Bringup. |
 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
Visualisation
Description: Find and call launchers to visualise the turtle and its data streams.Keywords: turtlebot
Tutorial Level: BEGINNER
Next Tutorial: 3D Visualisation
Visualisation Launchers
Most of the visualisation launchers can be found in the turtlebot_rviz_launchers package. Some of these need the robot up and running, others can be run standalone (e.g. view the robot description).
If you have non-default hardware, make sure you have the appropriate environment variables exported - refer to the PC Installation tutorial.
View the Turtlebot Model
Standalone
This is a standalone launcher, and doesn't need a connection to a running turtlebot. To view the default Turtlebot2 configuration:
> roslaunch turtlebot_rviz_launchers view_model.launch --screen
Alternatively an exported create type:
> export TURTLEBOT_BASE=create > export TURTLEBOT_STACKS=circles > export TURTLEBOT_3D_SENSOR=kinect > roslaunch turtlebot_rviz_launchers view_model.launch --screen
With the Robot
Make sure the minimal software has already been launched on the robot and you have configured your network correctly. On the PC:
Roslaunch
> roslaunch turtlebot_rviz_launchers view_robot.launch --screen
OR
Remocon
Start the remocon and fire up the Visualisation/View Model interaction.
What Next?
* 3D Visualisation or return to the TurtleBot main page.
