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osrf / ros2_test_cases

Tracking of tests to be performed on a ROS 2 release
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Rviz #1512

Open marcoag opened 1 month ago

marcoag commented 1 month 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.