zinger_viz
Provides the RViz config files for the Zinger robot.
Dependencies
The configurations in this repository assume you have the following prerequisites installed on the device on which you want to run this code. That device might be an Ubuntu machine or a physical robot using Raspberry Pi OS.
- zinger_description - Contains the geometric description of the Zinger robot for ROS to work with.
Contents
This repository contains different folders for different parts of the RViz configuration for zinger.
- The launch/view_robot.launch.py file is used to launch RViz and the robot description.
- The rviz/robot.rviz file provides the configuration for RViz.
Usage
When launching the zinger nodes manually it is recommended to use the launch/view_robot.launch.py file as follows
ros2 launch zinger_viz view_robot.launch.py use_sim_time:=false use_fake_hardware:=true description:=true
This will launch all the required nodes to display the robot in RViz.