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Tools

For a list of common ROS libraries, please see the API overview.

For tips on working with common thirdparty tools, such as Matlab, please see Interoperability.

3D Visualization: RVIZ

rviz is a 3D visualization environment that lets you combine sensor data, robot model, and other 3D data into a combined view. You can also send your own 3D markers into rviz from your software.

Foxglove Studio

Visualize and debug your ROS data in one integrated development environment, available as both a web and desktop app (macOS, Linux, Windows).

Connect to your data by starting a native ROS 1 or ROS 2 connection, loading bag files, or connecting to Velodyne LIDAR hardware.

Write custom data transformations, build your own panel extensions, and manage layouts with your team.

Foxglove Studio screenshot

See more at the Foxglove Studio ROS Wiki page.

Webviz

A browser-based tool to look at data and ROS bag files, including mixed with live video. See the Webviz ROS Wiki page.

Screenshot from the live demo:

Logging and Visualization Sensor Data: rosbag and rqt_bag

rosbag is a command-line tool for recording and playing back messages into "bag" files.

rqt_bag is a visualizer that lets you see data recorded in bag files.

Live plotting: rqt_plot

ROS/Tutorials/UnderstandingTopics/rqt_plot.png

rqt_plot lets you visualize scalar data published to ROS topics.

System visualization: rqt_graph

launch top window

rqt_graph displays a visual graph of the processes running in ROS and their connections.

Control & Visualization with Mobile Devices: ROS-Mobile

ROS-Mobile is an Android application designed for dynamic control and visualization of mobile robotic system operated by the Robot Operating System (ROS). The application uses ROS nodes initializing publisher and subscriber with standard ROS messages. The overall code architecture pattern is Model View Model View ViewModel, which stabilizes the application and makes it highly customizable. You can download the application from the Google Playstore or built it from source by downloading the source code from the GitHub page.

Command Line Tools

See also:

Running ROS Systems

Launching/configuring multiple programs

roslaunch

Run a single program

rosrun

Bringup core system

roscore

Interacting with and debugging running system

Topics

rostopic

Services

rosservice

Nodes

rosnode

Parameters

rosparam

Messages

rosmsg

Services

rossrv

General debugging

roswtf

Install, build and filesystem tools

Build

rosmake

Install from source

rosinstall

Searching for packages/stacks

roslocate

Install thirdparty libraries

rosdep

Packages

rospack, roscd

Stacks

rosstack, roscd


2022-05-28 12:23