How to visualize data with RVIZ
The included launch file camera.launch.py
will publish and remap all topics and services to /ifm3d/camera
, for example the point cloud topic will be remapped to /ifm3d/camera/cloud
.
Both the namespace (default: ifm3d
) and the node name (default: camera
) can be changed via the launch description files.
A pre-configured RViz2 will be launched when setting the visualization
argument of the launch file to true
. Be aware that the RViz configuration assumes the default namespace and node name.
You have to change the topic subscriptions yourself when using non-default values.
ros2 launch ifm3d_ros2 camera.launch.py visualization:=true
Viewing the RGB image
The RGB image is published on the /ifm3d/camera*/rgb
topic in a compressed JPEG format.
This is useful to save bandwidth, but cannot be visualized as-is with RViz.
The image can be uncompressed using the image_transport republish
node:
$ sudo apt install ros-humble-compressed-image-transport
$ ros2 run image_transport republish compressed raw --ros-args --remap /in/compressed:=/ifm3d/camera/rgb --remap out:=/uncompressed_rgb
In RViz, you can now subscribe to the /uncompressed_rgb
topic to visualize the RGB image.