How to visualize data with RVIZ
The included launch file
camera.launch.py will publish and remap all topics and services to
/ifm3d/camera, for example the point cloud topic will be remapped to
Both the namespace (default:
ifm3d) and the node name (default:
camera) can be changed via the launch description files.
A pre-configured RViz2 will be launched when setting the
visualization argument of the launch file to
true. Be aware that the RViz configuration assumes the default namespace and node name.
You have to change the topic subscriptions yourself when using non-default values.
ros2 launch ifm3d_ros2 camera.launch.py visualization:=true
Viewing the RGB image
The RGB image is published on the
/ifm3d/camera*/rgb topic in a compressed JPEG format.
This is useful to save bandwidth, but cannot be visualized as-is with RViz.
The image can be uncompressed using the
image_transport republish node:
$ sudo apt install ros-humble-compressed-image-transport $ ros2 run image_transport republish compressed raw --ros-args --remap /in/compressed:=/ifm3d/camera/rgb --remap out:=/uncompressed_rgb
In RViz, you can now subscribe to the
/uncompressed_rgb topic to visualize the RGB image.
QoS reliability - best effort
When you open RVIZ for the first time and subscribe to the point cloud topic, it will not be displayed as we need to change the default quality of service (QoS) settings per topic.
To change these settings:
subscribe to a topic in RVIZ by adding it (ADD button)
Expand the topic settings
reliabilityand set it to