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docs: some fixes to rviz article

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Oleg Kalachev
2021-10-05 15:34:59 +03:00
parent 4c6e7029e8
commit d0dcc0e72a
2 changed files with 8 additions and 4 deletions
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8
docs/en/rviz.md
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@@ -3,18 +3,20 @@ Using rviz and rqt
![rviz](../assets/rviz.png)
The [rviz] tool(http://wiki.ros.org/rviz) allows real-time visualization of all components of the robotic system —the system of coordinates, moving parts, sensors, camera images — on the 3D stage.
The [rviz](http://wiki.ros.org/rviz) tool allows real-time visualization of all components of the robotic system —the system of coordinates, moving parts, sensors, camera images — on the 3D stage.
[rqt](http://wiki.ros.org/rqt) is a set of GUI for analyzing and controlling ROS systems. For example, `rqt_image_view` allows viewing topics with images, `rqt_multiplot` allows plot charts by the values in topics, etc.
To use rviz and rqt, a PC running Ubuntu Linux (or a virtual machine such as [Parallels Desktop Lite] (https://itunes.apple.com/ru/app/parallels-desktop-lite/id1085114709?mt=12) or [VirtualBox] (https://www.virtualbox.org)) is required.
To use rviz and rqt, a PC running Ubuntu Linux (or a virtual machine such as [Parallels Desktop Lite](https://itunes.apple.com/ru/app/parallels-desktop-lite/id1085114709?mt=12) or [VirtualBox](https://www.virtualbox.org)) is required.
> **Hint** You can use the [preconfigured virtual machine image](simulation_vm.md) with ROS and Clover toolkit.
Install package `ros-melodic-desktop-full` or `ros-melodic-desktop` using the [installation documentation](http://wiki.ros.org/melodic/Installation/Ubuntu).
Start rviz
---
To start the Clover state visualization in real time, connect to it via Wi-Fi (`clover-xxx`) and run rviz, specifying an appropriate ROS_MASTER_URI:
To start the Clover state visualization in real time, connect to it [via Wi-Fi](wifi.md) (`clover-xxxx`) and run rviz, specifying an appropriate ROS_MASTER_URI:
```(bash)
ROS_MASTER_URI=http://192.168.11.1:11311 rviz

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docs/ru/rviz.md
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@@ -9,12 +9,14 @@
Для использования rviz и rqt необходим компьютер с ОС Ubuntu Linux (либо виртуальная машина, например [Parallels Desktop Lite](https://itunes.apple.com/ru/app/parallels-desktop-lite/id1085114709?mt=12) или [VirtualBox](https://www.virtualbox.org)).
> **Hint** Вы можете можете использовать готовый [образ виртуальной машины](simulation_vm.md) с инструментами для Клевера.
На него необходимо установить пакет `ros-melodic-desktop-full` или `ros-melodic-desktop`, используя [документацию по установке](http://wiki.ros.org/melodic/Installation/Ubuntu).
Запуск rviz
---
Для запуска визуализация состояния Клевера в реальном времени, необходимо подключиться к нему по Wi-Fi (`clover-xxx`) и запустить rviz, указав соответствующий ROS_MASTER_URI:
Для запуска визуализация состояния Клевера в реальном времени, необходимо подключиться к нему по [Wi-Fi](wifi.md) (`clover-xxxx`) и запустить rviz, указав соответствующий ROS_MASTER_URI:
```bash
ROS_MASTER_URI=http://192.168.11.1:11311 rviz