Week 5

June 30, 2021

Issues Created

#6: Create an RViz2 web template for ROS2 RADI; related to #801
#7: Split Foxy Dockerfile into base Dockerfile and wrapper Dockerfile

Issues Solved

#1074: new RADI-4.0.0 for ROS2; solves #5, #7 and #796
Created the RViz template (Demo below). Code on my fork’s branch “issue-801”

Progress on the Issues

Please find in the Week 4 blog, the progress and demo for Pull Request #1074 (solving Issue #5)
Progress on #6 below

Working on Rviz2 Template

Added a responsive RViz button and iframe to the web-template

The error message is intentional as no VNC server has been connected to port 6081
On changing the websocket port to 6080 (external port corresponding to Gazebo), the gzclient successfully connected to the RViz frame. This is expected behavior.

Connected to all 3 iframes successfully (Console + Gazebo + RViz)

Spawned Gzclient from the terminal
Gzclient from terminal

Prevented the gzclient to spawn along with the ros2 launch command
Executed command in terminal (visible above) and successfully attached to the Gazebo iframe from the terminal
DISPLAY:=0 is the xserver display to which the Gazebo iframe is attached

Spawned cartographer in RViz from the terminal
RViz from terminal

Using command DISPLAY=:2 ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True
Teleoperated the bot and verified that the map was being built
DISPLAY:=2 is the xserver display to which the RViz iframe is attached

Manipulating Gazebo’s gui.ini from manager.py

100px*100px Gazebo window
100x100 Gazebo

Corresponding gui.ini
gui.ini

The gui.ini contents are visible in the lower right
These were populated programmatically from manager-4.0.py

Gazebo Quirks

Quirk 1

Quirk 2

Readings, Observations and Design Decisions

Links to my other blogs