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Effective Robotics Programming with ROS

You're reading from   Effective Robotics Programming with ROS Find out everything you need to know to build powerful robots with the most up-to-date ROS

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Product type Paperback
Published in Dec 2016
Publisher Packt
ISBN-13 9781786463654
Length 468 pages
Edition 3rd Edition
Tools
Concepts
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Authors (3):
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Luis S√°nchez Luis S√°nchez
Author Profile Icon Luis S√°nchez
Luis S√°nchez
Enrique Fernandez Perdomo Enrique Fernandez Perdomo
Author Profile Icon Enrique Fernandez Perdomo
Enrique Fernandez Perdomo
Anil Mahtani Anil Mahtani
Author Profile Icon Anil Mahtani
Anil Mahtani
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Toc

Table of Contents (12) Chapters Close

Preface 1. Getting Started with ROS FREE CHAPTER 2. ROS Architecture and Concepts 3. Visualization and Debugging Tools 4. 3D Modeling and Simulation 5. The Navigation Stack – Robot Setups 6. The Navigation Stack – Beyond Setups 7. Manipulation with MoveIt! 8. Using Sensors and Actuators with ROS 9. Computer Vision 10. Point Clouds Index

Setting up rviz for the navigation stack


It is good practice to visualize all possible data that the navigation stack does. In this section, we will show you the visualization topic that you must add to rviz to see the correct data sent by the navigation stack. Discussions on each visualization topic that the navigation stack publishes are given next.

The 2D pose estimate

The 2D pose estimate (P shortcut) allows the user to initialize the localization system used by the navigation stack by setting the pose of the robot in the world.

The navigation stack waits for the new pose of a new topic with the name initialpose. This topic is sent using the rviz windows where we previously changed the name of the topic.

You can see in the following screenshot how you can use initialpose. Click on the 2D Pose Estimate button, and click on the map to indicate the initial position of your robot. If you don't do this at the beginning, the robot will start the auto-localization process and try to set an initial...

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