rviz Main Configuration Elements

rviz

This is how the dashboard looks:



It's main components are:

Displays: This are the different options to visualize the information obtained from the laser, the sonar, the camera, the encoders etc. any sensor that ROS can read. Also we can display different marks or grids to make ouy visualization easier.

These are some of the displays we can activate:

Axes, camera, grid, grid cells, laser scan, map, markers, path, pose, pose array, point cloud, polygon, odometry, robot model, tf.

They are fully explain on the USER'S GUIDE



Coordinate frames: rviz uses tf transform system to for transforming data from the coordinate frame it arrives into a global reference frame.





Tools:
> Move Camera
> Select parts of the 3D Robot



> Navigation Goal
> Estimate the 2D pose

Tool properties:



Time: "It allows you to see how much ROS Time time has passed, vs. how much "Wall Clock" (aka real) time has passed."



Plugins: Thera are some plugins that can be added to rviz. They can be installed in the plugins->manage.

This info is taked from the User's guide or ROS.org in:
rviz USER GUIDE