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Topic names are changing with new releases. The tutorial you point out has some outdated information for new releases like Indigo. For footprint you can check this answer: http://answers.ros.org/question/216152/footprint-in-rviz-issue/?answer=216216#post-id-216216

You may try adding components "by topic" in rviz if it will be easier without thinking about their types.

By the way, your assignment tells about a config file for rviz FirstnameLastnameSlamSim.rviz. If it is properly configured it should be enough just to load it in rviz.

Topic names are changing with new releases. The tutorial you point out has some outdated information for new releases like Indigo. For footprint you can check this answer: http://answers.ros.org/question/216152/footprint-in-rviz-issue/?answer=216216#post-id-216216

You may try adding components "by topic" in rviz if it will be easier without thinking about their types.

By the way, your assignment tells about a config file for rviz FirstnameLastnameSlamSim.rviz. If it is properly configured it should be enough just to load it in rviz.

Update: For visualization of obstacles, we use costmaps. You can subscribe to /move_base/local_costmap/costmap which is a type of nav_msgs/OccupancyGrid . For global costmap it is /move_base/global_costmap/costmap