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The most common solution is to view that information outside of Gazebo. Think of Gazebo as the real world, all that you should see in the Gazebo window is what you would see if your robot was in the physical world. I.e. you would see the robot, and the environment, but not sensor data. ROS has other tools for visualizing sensor data.

For example with the camera view, the easiest way is to start the rqt GUI (by entering "rqt" into a terminal) then from the menu select Plugins->Visualization->Image View. Then select your camera feed from the pull down menu and you should see the video stream (you can also view this information from inside RViz, but I find this way to be more intuitive).

For the laser data, use RViz. To start RViz, type "rosrun rviz rviz" in a new terminal, then select Add and add a LaserScan item. Once the LaserScan item is added to the left pane, expand it and enter the topic name that Gazebo is publishing the lidar data to in the Topic field. You might have to mess with the frames a bit depending on how you have things setup, the userguide is helpful for that type of stuff.