09. Rviz Package

Launch rviz:

$ rosrun rviz rviz

Edit the rviz configuration:

1. Change the Fixed Frame to base_footprint
2. Change the Reference Frame to odom
3. Add a RobotModel
4. Add a camera and select the /camera/rgb/image_raw topic
5. Add a /ekfpath topic and change the display name to EKFPath
6. Add a /odompath topic and change the display name to OdomPath
7. Change the OdomPath color to red:255;0;0

Save the rviz configuration:

Save the rviz configuration in /home/workspace/catkin_ws/src as EKFLab.rviz

Now, kill the rviz terminal!

Relaunch rviz:

$ rosrun rviz rviz -d /home/workspace/catkin_ws/src/EKFLab.rviz

Quiz:

Quiz Solution:

The RvizLaunch.launch file:

<launch>
  <!--RVIZ-->
  <node pkg="rviz" type="rviz" name="rviz" args="-d /home/workspace/catkin_ws/src/EKFLab.rviz"/>
</launch>

Launch Rvizlaunch.launch:

$ cd /home/workspace/catkin_ws/src
$ roslaunch RvizLaunch.launch