RViz is a 3D visualization tool for robots using ROS.
Ignition RViz offers functionality similar to RViz, and is developed using Ignition libraries.
- ROS versions: Rolling (Humble)
- Ignition versions: Fortress
Head over to the wiki to get detailed description of the project.
- ROS 2 Foxy or Rolling
- Ignition Fortress
- Qt5
- Additional QML modules required for GPS Plugin
- QtPositioning (
qml-module-qtpositioning
) - QtLocation (
qml-module-qtlocation
)
- QtPositioning (
Create a colcon workspace
mkdir -p ~/colcon_ws/src
cd ~/colcon_ws/src
Clone the repository
git clone https://github.com/ignitionrobotics/ign-rviz.git
Choose an Ignition version
export IGNITION_VERSION=<ignition>
Where <ignition>
should be fortress
.
You only need to set this variable when compiling, not when running.
Build ign-rviz
Go to the root of your colcon workspace
cd ../
Source ROS2, where <distro>
is rolling
:
source /opt/ros/<distro>/setup.bash # If using bash
source /opt/ros/<distro>/setup.zsh # If using zsh
Build ign-rviz
colcon build
Ignition Rviz can be launched using the following command
# Source the workspace
source install/setup.zsh
# Launch ign-rviz
ros2 launch ign_rviz rviz.launch.py
Project documentation can be generated with the help of doxygen using the following commands.
cd ~/colcon_ws/src/ign-rviz/docs/
# Generate documentation
doxygen rviz.doxyfile
# View documentation
firefox ./html/index.html
- ImageDisplay plugin
- Launch a
sensor_msgs/msg/Image
publisher. For example# Source ROS2 ros2 run image_tools cam2image
- Launch ign-rviz as mentioned above
- Load an
ImageDisplay
plugin and select the published topic.
- Launch a