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rviz2

rviz2 is a visualization tool in ROS 2.

It provides a 3D GUI to visualize:

  • Robot models (URDF)
  • Sensor data (e.g., LIDAR, cameras)
  • TF transforms
  • Path planning
  • Maps and occupancy grids

install

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sudo apt install ros-jazzy-rviz2
sudo apt install ros-${ROS_DISTRO}-rviz2

usage

load with config
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# rviz2 -d /path/to/config
launch file
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import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node

PKG_BRINGUP = "turtlebot_bringup"


def generate_launch_description():
    ld =  LaunchDescription()

    config_file = PathJoinSubstitution([
        get_package_share_directory(PKG_BRINGUP),
        'config',
        'config.rviz'
    ])

    rviz_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        output='screen',
        arguments=['-d', config_file]
    )

    ld.add_action(rviz_node)
    return ld