Robot Operating System Cookbook

Building and working with the plugin

We can build the plugin by invoking catkin_make from the top level folder as usual. Once the RViz plugin is compiled and exported, we will simply run rviz normally and rviz will use pluginlib to find all the plugins exported to it:

$ rosrun rviz rviz

The output is shown in the following screenshot: 

RViz adding the IMU plugin

We will add ImuDisplay by clicking the Add button at the bottom of the Displays panel, as shown in the preceding screenshot. Since we are working in a simulated environment and do not have an IMU or another source of sensor_msgs/Imu messages, we can even verify the plugin with a Python ...