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Mastering ROS for Robotics Programming by Lentin Joseph

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Writing a RViz plugin for teleoperation

In this chapter, we design a teleoperation commander in which we can manually enter the teleoperation topic, linear velocity, and angular velocity, as shown in the following:

Writing a RViz plugin for teleoperation

Figure 7: RViz teleop plugin

The following is a detailed procedure to build this plugin.

Methodology of building RViz plugin

Before starting to build this plugin, we should know how to do it. The standard method to build a ROS plugin is applicable for this plugin too. The difference is that the RViz plugin is GUI based. The RViz is written using a GUI framework called Qt, so we need to create a GUI in Qt, and using Qt APIs, we have get the ...

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