RVIZ第一课

Try to use RVIZ:

It's already been installed, so, create a workspace first:

$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash

 Then, create the package(in the workspace/src folder):

catkin_create_pkg using_markers roscpp visualization_msgs

 Then, in the src folder of the package, wget the cpp file:

$ wget https://raw.github.com/ros-visualization/visualization_tutorials/indigo-devel/visualization_marker_tutorials/src/basic_shapes.cpp 

Let's explain the code later, keep building the package:

$ catkin_make

 Run catking_make in your wokrspace, not the package folder.

 

Before you run rviz, use mkdir /my_frame to create blank forlder for tf (what's tf? learning...)

Now, start the rviz:

$ rosmake rviz
$ rosrun using_markers basic_shapes
$ rosrun rviz rviz

 And don't forget firing up your ros core

In the rviz window, change the fix frame to /my_frame, now you will see the mark change every second from square to a ball and to an arrow...