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osrf / ros2_test_cases

Tracking of tests to be performed on a ROS 2 release
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Rviz #1511

Closed marcoag closed 6 months ago

marcoag commented 6 months ago

This is a sanity check to ensure that the GUI tools aren't fundamentally broken.

Configuration

Links

Process

Check Rviz

Launch using the rviz2 command.

The rviz window should be generally usable and should be able to load some of the discovered visualizations.

Loading visualizations into the tree and using the mouse to navigate through the virtual workspace is sufficient for this test.

Actions

# StdIn - terminal 1
ros2 launch dummy_robot_bringup dummy_robot_bringup_launch.py
# StdIn - terminal 2
rviz2

In RViz, in the left pane, click 'Add'. A window will pop up. In that window, under 'rviz_default_plugins', select 'TF' and click 'OK'. Under 'Displays', in the 'Global Options' section, change the 'Fixed Frame' to '/world'.

In RViz, in the left pane, click 'Add'. A window will pop up. In that window, under 'rviz_default_plugins', select 'LaserScan' and click 'OK'. Under 'Displays', in the 'LaserScan' section, change the 'Topic' to '/scan'.

Expected Results

You should see the dummy robot's kinematic tree waving back and forth in the rviz window.

You should see a laser scan emitting from the waving end of the dummy robot.

Play around, move the camera, enable and disable things in the 'Displays' pane. RViz should be stable.

pradyum commented 6 months ago

Setup

Installation Changes

  1. openssl v1.1.1 - downloaded through choco
   PLATFORM INFORMATION
system           : Windows
platform info    : Windows-10-10.0.19041-SP0
release          : 10
processor        : Intel64 Family 6 Model 154 Stepping 4, GenuineIntel

   QOS COMPATIBILITY LIST
compatibility status    : No publisher/subscriber pairs found

   RMW MIDDLEWARE
middleware name    : rmw_cyclonedds_cpp

   ROS 2 INFORMATION
distribution name      : jazzy
distribution type      : ros2
distribution status    : pre-release
release platforms      : {'debian': ['bookworm'], 'rhel': ['9'], 'ubuntu': ['noble']}

Result

I am able to see the TF chain swinging with scan and map data. This test has passed.