https://github.com/gazebosim/gz-rviz

ROS 2 visualization using Gazebo Libraries
https://github.com/gazebosim/gz-rviz

3d gazebo hacktoberfest ign ign-gui ign-rendering ign-rviz ignition ignition-rendering ignition-rviz plugin rendering robot robotics ros ros2 rviz visualization

Last synced: 2 months ago
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ROS 2 visualization using Gazebo Libraries

• Host: GitHub
• URL: https://github.com/gazebosim/gz-rviz
• Owner: gazebosim
• Created: 2020-02-27T09:40:32.000Z (almost 5 years ago)
• Default Branch: main
• Last Pushed: 2023-05-31T16:48:23.000Z (over 1 year ago)
• Last Synced: 2023-05-31T17:29:38.668Z (over 1 year ago)
• Topics: 3d, gazebo, hacktoberfest, ign, ign-gui, ign-rendering, ign-rviz, ignition, ignition-rendering, ignition-rviz, plugin, rendering, robot, robotics, ros, ros2, rviz, visualization
• Language: C++
• Homepage: https://gazebosim.org
• Size: 376 KB
• Stars: 45
• Watchers: 8
• Forks: 8
• Open Issues: 13
• Metadata Files:
  • Readme: README.md

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README

        
# Ignition RViz

[RViz](http://wiki.ros.org/rviz) is a 3D visualization tool for robots using ROS.

Ignition RViz offers functionality similar to RViz, and is developed using

[Ignition](https://ignitionrobotics.org/) libraries.

### Build Status

* ROS versions: Rolling (Humble)

* Ignition versions: Fortress

[![Ignition RViz CI](https://github.com/ignitionrobotics/ign-rviz/actions/workflows/ci.yml/badge.svg)](https://github.com/ignitionrobotics/ign-rviz/actions/workflows/ci.yml)

Head over to the [wiki](https://github.com/ignitionrobotics/ign-rviz/wiki) to get detailed description of the project.

### Requirements

- [ROS 2 Foxy or Rolling](https://docs.ros.org/en/rolling/Releases.html)

- [Ignition Fortress](https://ignitionrobotics.org/docs/)

	- [Ignition Common](https://ignitionrobotics.org/libs/common)

	- [Ignition GUI](https://ignitionrobotics.org/libs/gui)

	- [Ignition Math](https://ignitionrobotics.org/libs/math)

	- [Ignition Rendering](https://ignitionrobotics.org/libs/rendering)

- [Qt5](https://www.qt.io/)

- Additional QML modules required for GPS Plugin

  - [QtPositioning](https://doc.qt.io/qt-5/qtpositioning-index.html) (`qml-module-qtpositioning`)

  - [QtLocation](https://doc.qt.io/qt-5/qtlocation-index.html) (`qml-module-qtlocation`)

### Setup the repository

**Create a colcon workspace**

```bash

mkdir -p ~/colcon_ws/src

cd ~/colcon_ws/src

```

**Clone the repository**

```bash

git clone https://github.com/ignitionrobotics/ign-rviz.git

```

**Choose an Ignition version**

```bash

export IGNITION_VERSION=

```

Where `` 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

```bash

cd ../

```

Source ROS2, where `` is `rolling`:

```bash

source /opt/ros//setup.bash  # If using bash

source /opt/ros//setup.zsh   # If using zsh

```

Build ign-rviz

```bash

colcon build

```

### Launch ign-rviz

Ignition Rviz can be launched using the following command

```bash

# Source the workspace

source install/setup.zsh

# Launch ign-rviz

ros2 launch ign_rviz rviz.launch.py

```

### Instruction to generate documentation

Project documentation can be generated with the help of doxygen using the following commands.

```bash

cd ~/colcon_ws/src/ign-rviz/docs/

# Generate documentation

doxygen rviz.doxyfile

# View documentation

firefox ./html/index.html

```

### Instruction to use plugins

- **ImageDisplay plugin**

    1. Launch a `sensor_msgs/msg/Image` publisher. For example

       ```bash

       # Source ROS2

       ros2 run image_tools cam2image

       ```

    2. Launch ign-rviz as mentioned above

    3. Load an `ImageDisplay` plugin and select the published topic.