1. 启动节点,发布tf及图像话题
2. 启动rviz
$ rviz -d rviz.rviz
[ INFO] [1617754735.040330534]: rviz version 1.13.15
[ INFO] [1617754735.040387421]: compiled against Qt version 5.9.5
[ INFO] [1617754735.040404222]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1617754735.047468044]: Forcing OpenGl version 0.
[ INFO] [1617754735.912043962, 8.166000000]: Stereo is NOT SUPPORTED
[ INFO] [1617754735.912136321, 8.166000000]: OpenGl version: 4.6 (GLSL 4.6).
- 出现下面界面:
3. 添加image话题
(1) 点击上图左下角处的“Add”,选择“Image”
(2) 点击“Image Topic”,选择需要的话题,在下方的“No Image”便会得到图像。
4. 添加tf话题
(1) 同样,点击“Add”,选择“TF”
(2) 出现各个坐标系
- 滚动鼠标滚轮或按住鼠标右键拖动表示放大/缩小
- 按住鼠标左键可进行旋转
- 按住鼠标滚轮可进行平移