Hands-On ROS for Robotics Programming

Visualizing scan data in the Raspberry Pi desktop

Now, let's check the RViz visualization in the Raspberry Pi, just like we did for the laptop. For this, you need to use VNC (Virtual Network Computing), as we explained in Chapter 6, Programming in ROS – Commands and Tools, in the Setting up the physical robot section. Set up a VNC server (x11vnc). Once connected from the remote laptop, launch the following four Terminals in the Raspberry Pi desktop:

r1 $ roslaunch ydlidar lidar_view.launchr2 $ roslaunch mygopigo gopigo3.launchr3 $ rosrun key_teleop key_teleop.py /key_vel:=/cmd_velr4 $ rqt_graph

This is the whole screen:

The laser scan view ...