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A Systematic Approach to Learning Robot Programming with ROS by Wyatt Newman

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CHAPTER 5

Sensing and Visualization in ROS

CONTENTS

5.1 Markers and interactive markers in rviz

5.1.1 Markers in rviz

5.1.2 Triad display example

5.1.3 Interactive markers in rviz

5.2 Displaying sensor values in rviz

5.2.1 Simulating and displaying LIDAR

5.2.2 Simulating and displaying color-camera data

5.2.3 Simulating and displaying depth-camera data

5.2.4 Selection of points in rviz

5.3 Wrap-Up

INTRODUCTION

The primary tool for visualization in ROS is rviz (see http://www.w3.org/1999/xlink). With this tool, one can display sensor values, real or emulated, as well as robot pose (as inferred from a robot model and from published robot joint values). One can also superimpose graphics (e.g. to display results from perceptual processing nodes) ...

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