From d0dcc0e72a1b56dd6f5b061eb3defac0f2ddc74d Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 5 Oct 2021 15:34:59 +0300 Subject: [PATCH] docs: some fixes to rviz article --- docs/en/rviz.md | 8 +++++--- docs/ru/rviz.md | 4 +++- 2 files changed, 8 insertions(+), 4 deletions(-) diff --git a/docs/en/rviz.md b/docs/en/rviz.md index 0573e70b..20293fb1 100644 --- a/docs/en/rviz.md +++ b/docs/en/rviz.md @@ -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 diff --git a/docs/ru/rviz.md b/docs/ru/rviz.md index 180395c1..24d017e4 100644 --- a/docs/ru/rviz.md +++ b/docs/ru/rviz.md @@ -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