Hands-On ROS for Robotics Programming

Inspecting the GoPiGo3 model in ROS with RViz

Now, it's time to start working with ROS! You are going to discover roslaunch, the ROS command that allows us to launch several nodes in one shot, avoiding the need to open separate Terminals, as we did in the previous chapter.

Given that you already cloned the code repository of this book, the files that we will deal with are inside the Chapter4_RViz_basics folder of the repository, and all of them are part of the rviz_basics ROS package, as defined within package.xml. The file structure of this chapter can be seen in the following screenshot of the RoboWare Studio IDE:

You can obtain this tree ...