Tutorial on Basics and Advance features of Rviz2 | Webots ROS2 Tutorials | [Tutorial 7]

Wish to create interesting robot motion and have control over your world and robots in Webots? Soft_illusion Channel is here with a new tutorial series on the integration of Webots and ROS2. (A channel which aims to help the robotics community).
#ROS2 #ROS2_DEBUG #RVIZ2
Video series:
1. ROS 2, Webots installation and Setup of a workspace in VS Code
2. Different examples in Webots with ROS2
3. Use ROS2 services to interact with robots in Webots
4. Control a robot with ROS2 Publisher
5. Get feedback from different sensors of Robot with ROS2 Subscriber
6. Implement Master and Slave robots project with ROS2
7. Setup Rviz2 (Showing different sensor output )
8. Ways to debug projects with Rostopic echo, Rostopic info, RQT_graph
9. Use advance debugging tools like Rqt console, Rqt gui
10 & 11. Implementation of SLAM toolbox or LaMa library for unknown environment.
12. & 13. Implementation of AR-tag detection and getting exact pose from camera.
Note:Following are the system specifications that will be used in the tutorial series.
Ubuntu 20.04, ROS 2 Foxy, Webots R2020b-rev1
This 7th video teaches you an important tool in ROS2 - Rviz2.
0:00 Soft Illusion Webots ROS2 Intro Video
03:02 Rviz features
07:00 Implementation of Rviz configuration
10:07 Save of Rviz configuration
12:02 Load Rviz configuration in the launch file
14:11 Working Demo
Rviz2 is a 3D visualization tool. It gives perspective of what the robot senses, what robot sees and what it does. It can be used to understand and simulate sensor data. Without Rviz viewing and debugging a lot of data can get really difficult.
1. Rviz features/Implementation: Reference Link: github.com/cyberbotics/webots...
Follow the video tutorial to understand getting started with the Ros2 world. A list of topics is shown. Rviz is started using command "rviz2". This is similar to rviz in Ros1. Basics of the application is explained in the video such as 2D Pose Estimate to give Initial Pose. The view orientation can also be changed and saved. Global options on the left is the most use. Choose the Fixed frame wisely here as the entire view will be with respect to this frame. The Epuck robot is added as the RobotModel. The TF Tree is also added where the different links can be seen and their transforms with respect to each other can be debugged. Additional visualizations can also be added by either "Display type" or "Topic" as shown in the video. Sensors such as Tof has been added as topics.
2. Save of Rviz configuration:
It is important to know how to save an Rviz configuration so that the required visualizations doesn't have to be created every time.
3. Load Rviz configuration in launch file
Adding the Rviz configuration in launch file makes it easier to start the visualization every time we launch our project. This loading is similar to a node addition along with giving the location of the Rviz config. Hence with this everytime we start the launch file Rviz will be launched too.
4. Working Demo: The same link is used as given in the section 1 of this description. The Navigation module is launched as shown. A fully loaded Rviz loads up. This displays a Long range Tof, a map, a cost map (for easy loading of local and global cost map), several robot transforms, bunch of Tofs etc. Next a 2D Goal Pose is given to the robot, which it tries to reach. The path along which it travels is shown as the green path coming on the /path topic. This project is made in such a way that there is a package which takes in the initial pose.
This Rviz is a great debugging tool in Ros.
Playlist of the Webots ROS2 tutorial series is available here: • Webots ROS2 tutorial s...
Introductory Webots tutorial playlist:
www.youtube.com/watch?v=yi4e5...
These videos begin with the basic installation of the simulator, and ranges to higher-level applications like object detection, obstacle avoidance, actuator motion etc.
Facebook link to the Intro Video Artist, Arvind Kumar Bhartia:
/ arvindkumar.bhartia.9
Comment if you have any doubts on the above video.
Do Share so that I can continue to make many more videos with the same boost. :)
Happy Coding. :)

[@anprabh1]

Hi there! I have been loving your videos so far. Could you please make a video on using emitter and receiver nodes on epucks or custom robots in python? I found a sample emitter_receiver.c file, but it was in C and I am not well-versed in C.

[@coolrobotics]

Sure good idea 👍

[@iqraaslam5140]

Can we also visualize custom messages-based data i.e. I have lidar based object list can I visualize it in rviz2?

[@bohdantanasov8064]

Hi. Have some problem. When run rviz from epuck, have a problem with maps loading. In map have Status: Warn and Message: No map received. And in Global status have status Error Frame [map] does not exist. Can you say what is my problem?

[@coolrobotics]

Check If you echo map topic do you see bunch of zeros.
and also look for map server in launch file.

[@Ahmad3000s]

I have the same issue. the solution is to do:
sudo apt install ros-foxy-navigation2
sudo apt install ros-foxy-nav2-bringup
from (navigation.ros.org/build_instructions/index.html)

[@coolrobotics]

Thanks for the solution ☺️

[@hananabd8517]

Hello
My question is can I build my world and run it in ros?

[@coolrobotics]

We have a new tutorial series on ROS .
You can refer it and can achieve your goal.