How vizualize several sensors in RVIZ
Hi All,
In my project about the autonomous drone, I use the ROS framework to connect and log several sensors (lidar, IMU, camera, radar...). I use a specific package for each sensor with different "frame_id".
My need is to view quickly that all sensors work correctly when my sytem has been startde. My first approch has been to use rviz. I started to change the "frame_id" name is each package to see all data in the same windows.
But I 'm not sure that it is a good approch especially since I use a IMU ellipse of SBG and for example in this package the frame_id depends on the mode that you set (System, Synchronize...). I can change the name in the code but I would like to know if there is a better way to view quickly all data in the same windows ?
Thanks for your helps
Hello,
Does anyone have a proposal or another approach to view all sensors data in RVIZ when the frame id is not the same ?
Thanks
Do you have a URDF describing the spatial relationship between all your sensors?
Hi gvdhoorn,
For the moment we don't have URDF file to describe the relationship between all the sensors. We work on a specific support to install all the sensors so soon we will have the spatial relationship between the different sensors.
In my system, all sensors are mounted on a boat which can be seen as a single rigid structure => between each sensors there are only a translation and a rotation. I 'm started with ROS and the URDF file seems very interesting to describe but I 'm not able to say if it is interesting for my application ?
Thanks,
A URDF file is about the easiest way to model the relative positions of all your sensor frames.
The reason you have to keep editing the Fixed Frame in RViz is exactly because you don't tell RViz (or the rest of your ROS application) where all your sensor frames are.
I'd suggest going through the URDF tutorials, getting a bit more familiar with it and then start modelling your boat. It doesn't matter it "can be seen as a single rigid structure". What RViz (and the rest of your ROS application) needs is to know this:
and a URDF is (at least when you're just starting out ...(more)
Basically: if you're using ROS with a robot and you don't have a URDF (or other way to represent your geometry and kinematic structure): "you're doing it wrong".
An exaggeration/hyperbole of course (as there are many cases in which a URDF is not needed or the only way to do this), but it gets the point across.
Thanks for your feedbacks I will look this.