Is it possible to visualize two robot models in RViz?
I tried to find a way to do this but every guide is about Gazebo, not Rviz. Any help will be appreciated.
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Yes it is possible. The most important thing to remember is namespaces. Check out Multiple robots simulation and navigation.
Here is an example launch file with 3 turtlebot3 robots in gazebo. You will have to visualize your RViz topics.
<launch>
<!-- <param name="/use_sim_time" value="true"/> -->
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="first_tb3" default="tb3_0"/>
<arg name="second_tb3" default="tb3_1"/>
<arg name="third_tb3" default="tb3_2"/>
<!-- 3 in the same room: -->
<arg name="first_tb3_x_pos" default="3.0"/>
<arg name="first_tb3_y_pos" default="4.0"/>
<arg name="first_tb3_z_pos" default=" 0.0"/>
<arg name="first_tb3_yaw" default=" 0.0"/>
<arg name="second_tb3_x_pos" default=" 3.0"/>
<arg name="second_tb3_y_pos" default="1.0"/>
<arg name="second_tb3_z_pos" default=" 0.0"/>
<arg name="second_tb3_yaw" default=" 0.0"/>
<arg name="third_tb3_x_pos" default=" 3.0"/>
<arg name="third_tb3_y_pos" default=" 3.0"/>
<arg name="third_tb3_z_pos" default=" 0.0"/>
<arg name="third_tb3_yaw" default=" 0.0"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_house.world"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<!-- <arg name="gui" value="false"/> -->
<arg name="gui" value="true"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
</include>
<group ns = "$(arg first_tb3)">
<param name="robot_description" command="$(find xacro)/xacro $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0" />
<param name="tf_prefix" value="$(arg first_tb3)" />
</node>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg first_tb3) -x $(arg first_tb3_x_pos) -y $(arg first_tb3_y_pos) -z $(arg first_tb3_z_pos) -Y $(arg first_tb3_yaw) -param robot_description" />
</group>
<group ns = "$(arg second_tb3)">
<param name="robot_description" command="$(find xacro)/xacro $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0" />
<param name="tf_prefix" value="$(arg second_tb3)" />
</node>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg second_tb3) -x $(arg second_tb3_x_pos) -y $(arg second_tb3_y_pos) -z $(arg second_tb3_z_pos) -Y $(arg second_tb3_yaw) -param robot_description" />
</group>
<group ns = "$(arg third_tb3)">
<param name="robot_description" command="$(find xacro)/xacro $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0" />
<param name="tf_prefix" value="$(arg third_tb3)" />
</node>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg third_tb3) -x $(arg third_tb3_x_pos) -y $(arg third_tb3_y_pos) -z $(arg third_tb3_z_pos) -Y $(arg third_tb3_yaw) -param robot_description" />
</group>
</launch>
Asked: 2023-04-15 04:06:29 -0500
Seen: 531 times
Last updated: Jul 27 '23
Your question has not enough information. Are these 2 wheeled-robots on a map, or are they 2 robot arms? What exactly do you want to visualize?
wheeled robots.