The previous packages help you interface a DBW car with ROS. If we don't have a real car, we can work with ROS bag files, visualize data, and process it offline.
The following command helps you visualize the URDF model of a self-driving car:
$ roslaunch dbw_mkz_description rviz.launch
You will get following model when you execute it:
Figure 36: Visualization of a self-driving car
If we want to visualize the Velodyne sensor data, other sensors such as GPS and IMU, and control signal such as steering commands, brake, and acceleration, you can use the following commands:
Use this command to download ...
