RobotModel is not present in tb3_navigation2.rviz

[ahtsan]

ISSUE TEMPLATE ver. 0.4.0

1. Which TurtleBot3 platform do you use?

   • [ ] Burger
   • [ ] Waffle
   • [x] Waffle Pi

2. Which ROS is working with TurtleBot3?

   • [ ] ROS 1 Kinetic Kame
   • [ ] ROS 1 Melodic Morenia
   • [ ] ROS 1 Noetic Ninjemys
   • [x] ROS 2 Dashing Diademata
   • [ ] ROS 2 Eloquent Elusor
   • [ ] ROS 2 Foxy Fitzroy
   • [ ] etc (Please specify your ROS Version here)

3. Specify the commands or instructions to reproduce the issue.

   • ros2 run rviz2 rviz2, and select the rviz file from https://github.com/ROBOTIS-GIT/turtlebot3/blob/ros2/turtlebot3_navigation2/rviz/tb3_navigation2.rviz

4. Please describe the issue in detail.

   • The Robot Model is missing, not consistent with the behavior with the rviz in ROS1 (https://github.com/ROBOTIS-GIT/turtlebot3/blob/master/turtlebot3_navigation/rviz/turtlebot3_navigation.rviz#L57)

[ROBOTIS-Will]

Hi @ahtsan TurtleBot3 now uses a default RViz view setting from nav2_bringup package when launching Navigation. The Nav2 RViz setting contains the Robot Model, but disabled by default. If you need to see the robot model, please add below code underneath the Displays: in Visualization Manager: section of your .rviz file. Thank you.

    - Alpha: 1
      Class: rviz_default_plugins/RobotModel
      Collision Enabled: false
      Description File: ""
      Description Source: Topic
      Description Topic: /robot_description
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_scan:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        caster_back_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      TF Prefix: ""
      Unreliable: false
      Update Interval: 0
      Value: true
      Visual Enabled: true

[ahtsan]

Thanks! Do you see any value in enabling the robot model by default in turtlebot3_navigation2? I would prefer seeing the robot by default as a user.

[ROBOTIS-Will]

In case of TurtleBot3, the robot model in RViz doesn't really necessary as other TF information will provide enough information. However, if you are operating a robot with multi DOF joints(such as manipulator), you might want to see the shape of the robot on RViz.

[ahtsan]

Got it. For the sake of consistency (since the robot model is present in the rviz in ROS1), I still think there's some value there. I'll resolve it for now and come up with a pull request later if possible.

[ROBOTIS-Will]

@ahtsan Thanks for the feedback. I'll update the rviz configuration file in the next update so that developers can modify for their own purpose.

[ahtsan]

@ROBOTIS-Will Great, thanks!