You're reading from ROS 2 from Scratch Get started with ROS 2 and create robotics applications with Python and C++

Product type Paperback

Published in Nov 2024

Publisher Packt

ISBN-13 9781835881408

Length 380 pages

Edition 1st Edition

Concepts

Robotics

Author (1):

Edouard Renard

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Table of Contents (20) Chapters

Preface

1. Part 1:Getting Started with ROS 2

2. Chapter 1: Introduction to ROS 2 – What Is ROS 2? FREE CHAPTER

3. Chapter 2: Installing and Setting Up ROS 2

4. Chapter 3: Uncovering ROS 2 Core Concepts

5. Part 2: Developing with ROS 2 – Python and C++

6. Chapter 4: Writing and Building a ROS 2 Node

7. Chapter 5: Topics – Sending and Receiving Messages between Nodes

8. Chapter 6: Services – Client/Server Interaction between Nodes

9. Chapter 7: Actions – When Services Are Not Enough

10. Chapter 8: Parameters – Making Nodes More Dynamic

11. Chapter 9: Launch Files – Starting All Your Nodes at Once

12. Part 3: Creating and Simulating a Custom Robot with ROS 2

13. Chapter 10: Discovering TFs with RViz

14. Chapter 11: Creating a URDF for a Robot

15. Chapter 12: Publishing TFs and Packaging the URDF

16. Chapter 13: Simulating a Robot in Gazebo

17. Chapter 14: Going Further – What To Do Next

18. Index

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Visualizing a robot model in RViz

In this section, you will discover RViz. RViz allows you to visualize a robot model in 3D and contains many plugins and functionalities that will help you develop your robotics applications. With RViz, you will be able to visualize the TFs for a robot, so we can start to understand what they are.

As we haven’t created a robot model yet, we will use one from an existing ROS 2 package named urdf_tutorial. We will load a robot model in RViz and learn how to navigate the software.

Let’s start by setting up everything we need for this chapter.

Installation and setup

First of all, there is no need to install RViz. It was already included when you installed ROS 2 at the beginning of the book (with the sudo apt install ros-<distro>-desktop command).

To visualize TFs for a robot model on RViz, we will install a new ROS package named urdf_tutorial. This package contains some existing launch files and robot model files (how...