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Hi, in order to display sonars in RVIZ, you could modify the nxt_rviz_plugin on your own or use the one we've already modified. Our repository (https://github.com/cwru-robotics/smart_wheelchair) is here and the relevant package is nxt_rviz_plugin. An example view of this plugin is available here on my youtube.

If you download the nxt_rviz_plugin and then rosmake nxt_rviz_plugin, it will be available in RVIZ under "Plugins -> Manage" and then make sure it's selected. It should then be available in the normal way "Add" -> "New Display", etc.

The way we've designed the plugin to work, you should publish sensor_msgs/Range messages on a common topic for each division you care about. For instance, I read all of my sonars in serial order to minimize read errors and publish each of these on /sonars. The way I tell the sonars apart is through the transform frame_ids, and I rely on tf to transform the range data for my other nodes. I have 6 sonars, so I set Buffer Length to 6 so that each of my sonars is always visible.

I would recommend you publish your sonars on one topic and then at least one other topic for your IR rangers.

Hi, in order to display sonars in RVIZ, you could modify the nxt_rviz_plugin on your own or use the one we've already modified. Our repository is (https://github.com/cwru-robotics/smart_wheelchair) is here and the relevant package is nxt_rviz_plugin. An example view of this plugin is available here on my youtube.

If you download the nxt_rviz_plugin and then rosmake nxt_rviz_plugin, it will be available in RVIZ under "Plugins -> Manage" and then make sure it's selected. It should then be available in the normal way "Add" -> "New Display", etc.

The way we've designed the plugin to work, you should publish sensor_msgs/Range messages on a common topic for each division you care about. For instance, I read all of my sonars in serial order to minimize read errors and publish each of these on /sonars. The way I tell the sonars apart is through the transform frame_ids, and I rely on tf to transform the range data for my other nodes. I have 6 sonars, so I set Buffer Length to 6 so that each of my sonars is always visible.

I would recommend you publish your sonars on one topic and then at least one other topic for your IR rangers.

Hi, in order to display sonars in RVIZ, you could modify the nxt_rviz_plugin on your own or use the one we've already modified. Our repository is (https://github.com/cwru-robotics/smart_wheelchair) and the relevant package is nxt_rviz_plugin. range_rviz_plugin. An example view of this plugin is available here on my youtube.

If you download the nxt_rviz_plugin range_rviz_plugin and then rosmake nxt_rviz_pluginrange_rviz_plugin, it will be available in RVIZ under "Plugins -> Manage" and then make sure it's selected. It should then be available in the normal way "Add" -> "New Display", etc.

The way we've designed the plugin to work, you should publish sensor_msgs/Range messages on a common topic for each division you care about. For instance, I read all of my sonars in serial order to minimize read errors and publish each of these on /sonars. The way I tell the sonars apart is through the transform frame_ids, and I rely on tf to transform the range data for my other nodes. I have 6 sonars, so I set Buffer Length to 6 so that each of my sonars is always visible.

I would recommend you publish your sonars on one topic and then at least one other topic for your IR rangers.

Hi, in order to display sonars in RVIZ, you could modify the nxt_rviz_plugin on your own or use the one we've already modified. Our repository is (https://github.com/cwru-robotics/smart_wheelchair) and the relevant package is range_rviz_plugin. An example view of this plugin is available here on my youtube.

If you download the range_rviz_plugin and then rosmake range_rviz_plugin, it will be available in RVIZ under "Plugins -> Manage" and then make sure it's selected. It should then be available in the normal way "Add" -> "New Display", etc.

The way we've designed the plugin to work, you should publish sensor_msgs/Range messages on a common topic for each division you care about. For instance, I read all of my sonars in serial order to minimize read errors and publish each of these on /sonars. The way I tell the sonars apart is through the transform frame_ids, and I rely on tf to transform the range data for my other nodes. I have 6 sonars, so I set Buffer Length to 6 so that each of my sonars is always visible.

I would recommend you publish your sonars on one topic and then at least one other topic for your IR rangers.