Lizi_sensors
This tutorial will cover the steps needed in order to read and visualize your robot's sensors.
The laser scanner driver node is hokuyo_node. The data is published through a sensor_msgs/LaserScan message under the topic /scan.
To view the camera stream from the rqt rqt_rviz plugin, select from the rqt upper menu:
Plugins -> Visualization -> Rviz
To add the laserscan visualization to Rviz, press the Add button on the bottom of the left Rviz displays list window, select LaserScan under rviz folder, and press OK on the bottom of the window (Add -> LaserScan -> OK).
Now, you will be able to see that LaserScan property was added to the left Rviz displays list window. Press the small arrow on the left of the LaserScan property to expand its properties. For Topic property select /scan. Notice: you will not be able to see the LaserScan visualization in Rviz, unless the robot is in front of an object.
The range finders data is published through a sensor_msgs/Range message under the topic /URF/<sensor_name>.
lizi has 3 range finders mounted on the right, left ande rear of the mobile base, and the topics are: and /URF/right, /URF/left, /URF/rear accordingly.
To view the URF stream from the rqt rqt_rviz plugin, select from the rqt upper menu:
Plugins -> Visualization -> Rviz
To add the URF visualization to Rviz, press the Add button on the bottom of the left Rviz displays list window, select Range under rviz folder, and press OK on the bottom of the window (Add -> Range -> OK).
lizi uses the following collection of tools and libraries for a ROS Interface to the RealSense D435:
https://github.com/intel-ros/realsense
https://github.com/IntelRealSense/librealsense/releases/tag/v2.10.4
the camera publishes 2 topics.
/camera/depth/color/points - front 3d camera point cloud topic.
/camera/color/image_raw - front 3d camera raw (2d) image.
To add the depth camera visualization to Rviz, press the Add button on the bottom of the left Rviz displays list window, select PointCloud2 under rviz folder, and press OK on the bottom of the window (Add -> PointCloud2 -> OK). then in the Displays menu, press on DepthCloud -> Depth Map Topic and choose the camera.
the camera publishes 2 topics. /rgb_cam/image_raw - front rgb camera raw image
To add the depth camera visualization to Rviz, press the Add button on the bottom of the left Rviz displays list window, select PointCloud2 under rviz folder, and press OK on the bottom of the window (Add -> PointCloud2 -> OK). then in the Displays menu, press on DepthCloud -> Depth Map Topic and choose the camera.
The GPS data is published through a sensor_msgs/NavSatFix message under the topic /GPS/fix.
The IMU data is published through a sensor_msgs/Imu message under the topic /IMU/data.
The Battery data is published through a sensor_msgs/BatteryState message under the topic /battery.