Rviz as publisher and subscriber?

Is Rviz considered both publisher and subscriber?

I want to ensure the information below because I want to include them in a report.

Rviz as Publisher: this means Rviz publishes 2d pose estimate to amcl AND publishes 2d nav goal to move_base

Rviz as subscriber: this means Rviz subscribes to staic map, particle cloud, robot footprint, local costmap, global costmap, global plan, local plan, planner plan, current goal. Consequently, Rviz can visualize data in the corresponding topics.

Many thanks for any help

Asked by Eman.m on 2021-10-06 14:28:18 UTC

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Answers

RViz is certainly a subscriber and a publisher in these cases yes.

Asked by gvdhoorn on 2021-10-07 02:46:04 UTC

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Thanks alot. AMCL subscribes to the topic initialpose as indicated here: http://wiki.ros.org/amcl

So, can we consider Rviz as both publisher and subscriber to the topic initialpose ?

Asked by Eman.m on 2021-10-07 03:20:25 UTC

What does rosnode info /rviz say?

Asked by gvdhoorn on 2021-10-07 03:29:11 UTC