1 00:00:00,900 --> 00:00:06,450 In this lecture, we will learn about visualization tools we can use with ROS to the tools and features 2 00:00:06,450 --> 00:00:09,480 I'm going to show are also available in Ross one. 3 00:00:11,160 --> 00:00:16,170 The first tool we will use is called Orvis, which is a3d visualization tool to run it. 4 00:00:16,170 --> 00:00:20,400 Let's open a new terminal and run our VIZ two. 5 00:00:22,110 --> 00:00:26,400 It opens and we can see a series of panels, so go ahead and maximize the window. 6 00:00:26,640 --> 00:00:31,440 This main dark colored section is actually a3d view window. 7 00:00:31,440 --> 00:00:37,680 If we had any sensor, data, localization data or robot transform data, we would be able to see it 8 00:00:37,680 --> 00:00:38,280 here. 9 00:00:38,460 --> 00:00:44,190 One of the things I like to use it in the past was for visualizing three D LiDAR data, which is a point 10 00:00:44,190 --> 00:00:47,970 cloud showing the distance surfaces are from the lidar. 11 00:00:48,210 --> 00:00:53,720 The left pane is where we can add and manage our sensors and other visualization parameters. 12 00:00:53,730 --> 00:00:54,900 So click on the add button. 13 00:00:54,900 --> 00:01:00,990 We'll open up this dialog window where we can either add a sensor by type or a corresponding topic name. 14 00:01:02,070 --> 00:01:06,630 Now, I know this doesn't seem like much now, but we will utilize this tool more once we start working 15 00:01:06,630 --> 00:01:12,330 with the simulation and have more 3D data to process within this viewport window. 16 00:01:12,660 --> 00:01:16,470 So I'll go ahead and close this and I will close without saving. 17 00:01:17,250 --> 00:01:23,340 And the next visualization tool we're going to go over is called our q T, where our stands for ROS 18 00:01:23,340 --> 00:01:24,120 and Q. 19 00:01:24,120 --> 00:01:27,210 RT is a popular user interface framework. 20 00:01:27,210 --> 00:01:32,340 So in essence, this tool is meant for helping users interact and visualize ROS data. 21 00:01:32,910 --> 00:01:38,580 So it opens up and it's just a blank window and it just says RCT is a gooey framework that is able to 22 00:01:38,580 --> 00:01:39,600 load various plug ins. 23 00:01:39,600 --> 00:01:45,360 So in order to use this tool to the best, you would go into the plugins tab and here you'll have various 24 00:01:45,360 --> 00:01:51,140 plug ins which you can utilize depending on what functionality you're looking for to interact with your 25 00:01:51,140 --> 00:01:53,250 RAS systems to help showcase the features. 26 00:01:53,250 --> 00:01:58,350 In this tool, I will use a back file to playback sensor data from a robot, so I'll go ahead and open 27 00:01:58,350 --> 00:02:03,930 up our terminal, put a new terminal tab This is the same file from the previous lecture, so if you 28 00:02:03,930 --> 00:02:06,360 have it downloaded already, no need to redownload it. 29 00:02:06,720 --> 00:02:09,090 So I'll go ahead into my downloads folder. 30 00:02:09,870 --> 00:02:16,260 So we see the back file, so I'll just go ahead and do Ros to bag play dash L to loop it and marine 31 00:02:16,260 --> 00:02:17,940 surface vehicle bay. 32 00:02:18,510 --> 00:02:18,870 All right. 33 00:02:18,870 --> 00:02:19,590 The bag is playing. 34 00:02:19,590 --> 00:02:24,210 Now, if we go back to our RCT window, I can go ahead and open up some plug in. 35 00:02:24,210 --> 00:02:28,950 So the first plug in we're going to go over is the topic monitor plug in. 36 00:02:31,940 --> 00:02:34,160 So we see a series of topics. 37 00:02:34,160 --> 00:02:39,500 If I want to see the data coming over a topic, I can click on the dropdown arrow and then select the 38 00:02:39,500 --> 00:02:42,320 checkbox to start subscribing to the data coming in. 39 00:02:42,350 --> 00:02:47,510 So here we can see things like the latitude and longitude coming in the same way we would do it from 40 00:02:47,510 --> 00:02:52,910 the terminal, but now in this user interface and we can do this for multiple topics at the same time. 41 00:02:56,690 --> 00:03:02,660 So here now we're subscribed to the fixed topic as well as the IMU data, and we can see it updating 42 00:03:02,660 --> 00:03:03,170 like so on. 43 00:03:03,170 --> 00:03:05,810 If you ever want to just stop subscribing, you can uncheck it. 44 00:03:05,810 --> 00:03:08,480 And now you're no longer subscribed to that information. 45 00:03:08,960 --> 00:03:09,910 It says not monitored. 46 00:03:09,920 --> 00:03:11,630 So go ahead and collapse that. 47 00:03:11,630 --> 00:03:17,300 So as you can see, this plugin is an interactive way of doing ROS to topic lists and ros Su topic echo 48 00:03:17,300 --> 00:03:20,630 through a user interface in the actions Project Walkthrough video. 49 00:03:20,630 --> 00:03:26,570 You saw me utilize this RCT tool to create a publisher in order to publish my robots coordinates. 50 00:03:26,570 --> 00:03:30,050 I did that with the message publisher plugin. 51 00:03:30,720 --> 00:03:35,910 So whenever you open multiple plug ins, it'll open in a separate window and you can feel free to rearrange 52 00:03:35,910 --> 00:03:39,390 the windows to match your configuration that you want. 53 00:03:40,660 --> 00:03:42,660 I'll go ahead and put this back down here. 54 00:03:46,110 --> 00:03:52,290 And so as you saw me use it in the previous lectures, you could create a topic name such as test topic. 55 00:03:53,520 --> 00:03:55,190 Give it a particular message type. 56 00:03:55,200 --> 00:03:56,420 So I'll just grade float. 57 00:03:56,430 --> 00:03:58,200 Add it to our list of existing topics. 58 00:03:58,200 --> 00:04:00,300 So these ones were here from previous lectures. 59 00:04:00,450 --> 00:04:03,030 If you want to remove them, you can just hit the minus sign. 60 00:04:04,730 --> 00:04:07,740 And then if I wanted to echo this topic right now it's 0.0. 61 00:04:07,740 --> 00:04:09,670 Let's change to something like 1.5. 62 00:04:09,680 --> 00:04:13,190 And then if I want to publish this, I can go ahead and hit it like that. 63 00:04:13,190 --> 00:04:18,920 We see it up here in our topic monitor, and if I go ahead and subscribe to it, we see it says 1.5 64 00:04:18,920 --> 00:04:24,440 and I can publish different values like 3.0 and we see it changes in the topic. 65 00:04:24,440 --> 00:04:29,720 Monitor Again, this all corresponds with our standard RAR two commands that we can use in terminal. 66 00:04:29,720 --> 00:04:34,100 So the same ROS two topic echo slash test topic. 67 00:04:35,740 --> 00:04:37,460 And we see that 3.0 value. 68 00:04:37,510 --> 00:04:39,940 So again, I can change it one more time just to show. 69 00:04:40,780 --> 00:04:41,110 All right. 70 00:04:41,110 --> 00:04:45,880 4.5 and we get the 4.5 when echoing the data in terminal. 71 00:04:49,230 --> 00:04:49,530 All right. 72 00:04:49,530 --> 00:04:54,450 I'll go ahead and stop publishing that and I'll go ahead and close this plugin for right now. 73 00:04:55,350 --> 00:05:00,420 Another useful feature for checking interactions between nodes is the Node graph plugin. 74 00:05:02,350 --> 00:05:02,890 All right. 75 00:05:02,890 --> 00:05:07,390 So I'll go ahead and slide this over and we can zoom in using the scroll wheel. 76 00:05:07,390 --> 00:05:09,850 And right now we only are showing nodes. 77 00:05:10,850 --> 00:05:17,270 So we see the ROS bag to player node, but I can actually go ahead and do notes topic and I'll just 78 00:05:17,270 --> 00:05:18,470 choose the active ones. 79 00:05:18,470 --> 00:05:24,560 And here we see the Rosberg player is publishing to fix, and that's because here in our topic Monitor 80 00:05:24,560 --> 00:05:25,580 we're subscribing to it. 81 00:05:25,850 --> 00:05:28,430 So I can go ahead and try this out in terminal one more time. 82 00:05:35,160 --> 00:05:41,490 So now I'm echoing the IMU data, and if I refresh the node graph, we now see node graph where the 83 00:05:41,490 --> 00:05:47,430 node raw player is publishing to IMU, IMU data topic, which is being subscribed to and it's currently 84 00:05:47,430 --> 00:05:48,090 active. 85 00:05:49,200 --> 00:05:49,470 All right. 86 00:05:49,470 --> 00:05:51,840 So I'll go ahead and stop that echoing. 87 00:05:52,050 --> 00:05:53,100 Close this terminal. 88 00:05:53,580 --> 00:05:56,070 And again, if I refresh it, it'll update as such. 89 00:05:56,490 --> 00:06:01,920 So besides the node graph, there's actually a topic graph in which we can actually visualize information 90 00:06:01,920 --> 00:06:03,570 as it's coming in on a plot. 91 00:06:03,720 --> 00:06:05,430 So I'll go ahead and open that. 92 00:06:06,770 --> 00:06:09,860 Go ahead and unsubscribe from my fixed topic right now. 93 00:06:10,460 --> 00:06:17,810 Give a little bit more room to the plot, and the topic I'm interested in will be the IMU data and we'll 94 00:06:17,810 --> 00:06:21,350 take a look at the linear acceleration. 95 00:06:23,690 --> 00:06:29,780 So when you utilize a valid topic, name or subtopic type in which it can graph, you'll see the plus 96 00:06:29,780 --> 00:06:31,600 arrow be available to click. 97 00:06:31,610 --> 00:06:35,840 So here it says three plausible fields in IMU data, linear acceleration, and that's for the x, Y 98 00:06:35,840 --> 00:06:40,910 and Z, which we will go ahead and see if I go ahead and hit the plus and we see it plotting in real 99 00:06:40,910 --> 00:06:41,210 time. 100 00:06:41,210 --> 00:06:44,990 So naturally we see the Z is a lot higher because of the way the IMU is mounted. 101 00:06:44,990 --> 00:06:51,110 It's getting that 9.8 meters a second squared of acceleration from gravity. 102 00:06:51,320 --> 00:06:52,790 And so right now it's auto scrolling. 103 00:06:52,790 --> 00:06:54,130 You can always turn that off. 104 00:06:54,140 --> 00:06:58,850 And once we reach the end of the bag file and it loops, you'll actually notice the graph stops producing 105 00:06:58,850 --> 00:07:02,840 and you just go ahead and clear the plot and it'll go ahead and restart from the beginning. 106 00:07:02,840 --> 00:07:07,670 That's only because we technically went back in time as part of the bag file looping. 107 00:07:08,210 --> 00:07:12,830 If you ever want to stop this, you just go ahead and hit the minus sign and remove the particular topics 108 00:07:12,830 --> 00:07:14,780 you want to stop graphing or all of them. 109 00:07:15,410 --> 00:07:19,910 And last but not least, one of the greatest plug ins of interest that my students like to use is heading 110 00:07:19,910 --> 00:07:23,090 over to the visualization and the image view. 111 00:07:23,090 --> 00:07:23,360 All right. 112 00:07:23,360 --> 00:07:25,220 So if I go ahead and expand this a bit. 113 00:07:26,200 --> 00:07:28,480 I'll actually go ahead and close our topic monitor for right now. 114 00:07:28,720 --> 00:07:31,080 We are greeted with this gradient screen. 115 00:07:31,090 --> 00:07:33,490 This is where the images will show based off the topic we select. 116 00:07:33,490 --> 00:07:38,350 So if we hit the refresh button, we can actually see a list of available topics which has image streams 117 00:07:38,350 --> 00:07:38,980 available to us. 118 00:07:38,980 --> 00:07:43,480 So in this case we have a USB camera with compressed images going through. 119 00:07:43,480 --> 00:07:48,220 So if I go ahead and click on that, we can actually see the front camera of this autonomous surface 120 00:07:48,220 --> 00:07:51,850 vehicle that was being used in this bag file. 121 00:07:53,650 --> 00:07:54,040 All right. 122 00:07:54,040 --> 00:07:56,740 I hope that was a good introduction to the RCT tool. 123 00:07:56,860 --> 00:08:01,510 Feel free to check out the plug ins and see how they can be helpful to interact with your system. 124 00:08:01,990 --> 00:08:06,970 Basically, whenever you want to visualize three D data or localization information about a robot, 125 00:08:06,970 --> 00:08:09,210 you would most likely be using RVs. 126 00:08:09,220 --> 00:08:14,410 While our TX acts like a dashboard to help you view and interact with your Ross data. 127 00:08:15,140 --> 00:08:17,810 With that, let's get to working on simulations.