Configuring rviz

Configuring rviz

While rviz can be configured to display multiple robots by simply subscribing to additional topics in its control panel, creating new buttons for setting the navigation goals and pose estimates is more complicated. To create these additional buttons, the myRviz.rviz file must be edited. Open the file and find the following section:

  Tools:
    - Class: rviz/MoveCamera
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/Select
    - Class: rviz/SetInitialPose
      Topic: /robot1/initialpose/patch
    - Class: rviz/SetInitialPose
      Topic: /robot2/initialpose/patch
    - Class: rviz/SetGoal
      Topic: /robot1/move_base_simple/goal
    - Class: rviz/SetGoal
      Topic: /robot2/move_base_simple/goal
    - Class: rviz/Measure
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point

Then add the following lines under the Tools: section:

- Class: rviz/SetInitialPose
  Topic: /robot_name/initialpose/patch
- Class: rviz/SetGoal
  Topic: /robot_name/move_base_simple/goal

Where robot_name is the name of the robot you are adding a button for.