Executing slam and navigation: RVIZ functionality and configuration elements

Rviz is a 3D visualization environment.

• On the left hand side there is the displays list that will list the topics rviz is related to.

• Target frame: reference frame for the camera view. In this case /map frame is the target frame which means that we will see the robot driving around the map.

• Fixed frame: where all incoming data is transformed to before being displayed. This frame should not be moving relative to the world. In this case /map frame is he fixed frame.

• The 2D Nav goal topic is /move_base_simple/goal

• The 2D pose estimate topic is initialpose

All of this characteristics can be determined either directly on rviz o through a configuration file that in this case is launch/rviz_conf.vcg which is determined when running rviz node like this:

$ roscd rviz

$ ./bin/rviz -d `rosstack find sscrovers-ros-pkg`/launch/rviz_conf.vcg