Use of common visualization tools
1. QT toolbox
1.1. Log output tool——rqt_console
rqt_console can collect log information in the system and can be used for debugging. For example, if we let the turtle hit the wall below, some warning information will be collected in the console.
You can open this toolbox throughrqt_console command:
rqt_console
1.2. Data drawing tool——rqt_plot
rqt_plot can be used to draw data curves and can also be used for observation and debugging.
You can open this toolbox throughrqt_plot command:
1.3. Image rendering tool - rqt_image_view
Image rendering tool, used to display camera images.
You can open this toolbox throughrqt_image_view command:
Of course, no image will come out after opening it. We need to insert the camera and drive the camera to run. The camera will continue to publish image information. Then we need to select the corresponding topic in the upper left corner of the interface, and then this toolbox will automatically render the image. .
1.4. Computational graph visualization tool——rqt_graph
Computational graph resources can be displayed intuitively, with ovals representing nodes and arrows representing the direction of the topic.
You can open this toolbox throughrqt_graph command:
1.5. Comprehensive tool——rqt
It is a comprehensive tool that can be understood as an integrated version of all rqt toolboxes.
You can open this toolbox throughrqt command:
For example, the rqt_console tool can be opened in the Plugins > Logging > console menu. If you can't find the menu bar, try full screen.
2. see
rviz is a3D visualization tool and adata display platform , can be well compatible with robot platforms based on ROS software framework.
In rviz, you can useExtensible Markup Language XML to control the size, quality, position, and material of any physical objects such as robots and surrounding objects. , joints and other attributes, and presented in the interface.
At the same time, rviz can also display the information of the robot sensor, the robot's motion status, and changes in the surrounding environment in real time throughgraphically and other information.
In short, rviz provides users with graphical display of allmonitorable information. Users and developers can also control the behavior of the robot through buttons, sliders, numerical values, etc. in the rviz control interface.
Enterrviz in the terminal to open this tool, as shown in the figure below. (roscore needs to be started first)
3. Gazebo simulation platform
Gazebo is a powerful3D physics simulation platform with a powerful physics engine, high-quality graphics rendering, and convenient programming. With graphical interface, open source and free.
Its typical application scenarios include: testing robot algorithms, robot design, and backtesting in real-life scenarios.
The interface is as follows:
You can also use the roslaunch gazebo_ros + 模型名字 command to start a certain simulation file, but it is very slow to start. (My computer can’t run anyway)