Hands-On ROS for Robotics Programming

Visualizing scan data from the remote laptop

The final step is to get the RViz laser scan data on the desktop of the laptop. This is what we will accomplish in this section.

In the following paragraphs, the letter r in the code snippets stands for the Terminals in the robot, while T refers to the Terminals in the laptop.

Follow these steps to build the ROS environment:

1. First, launch the processes in the robot using the unified launch file that we built in the previous section:

r1 $ roslaunch ydlidar gopigo3_ydlidar.launch

2. From the laptop, find the content of the last message that was published in the /scan topic:

T1 $ rostopic echo /scan -n1    header:     seq: 2118    stamp:       secs: 1570384635      nsecs: 691668000      frame_id: "laser_frame" angle_min: ...