ROS Programming: Building Powerful Robots

Visualizing IMU TF in Rviz

In this section, we are going to visualize the TF data from Arduino on Rviz. Here's the procedure to do that.

Plug the Arduino to the PC and find the Arduino's serial port. To get topics from the Arduino-ROS node, we should start a ROS serial server on the PC, listening on the Arduino serial port. We did this in Chapter 22, Controlling Embedded Boards Using ROS. Still, let's look at the commands again in this section too.

Starting roscore first:

    $ roscore

Starting the ROS serial server:

    $ rosrun rosserial_python serial_node.py /dev/ttyACM0

You can get the following topics when you run the previous node:

Figure ...