Issues Solved

  • #1094: RViz2 web template for ROS2 RADI; solves #6 and #801

Progress on the Issue

  • Last week’s progress on the RViz2 template can be seen in the Week 5 blog

Finishing up with RViz2 Web Template

Added RViz2 VNC in accelerated simulation mode
Accelerated RViz2



Demo of RViz2 Template in RADI 4.1.0 with map building using cartographer

Steps to replicate

git clone
cd RoboticsAcademy/scripts
git checkout issue-801
docker run -it \
      --rm \
      -v /tmp/.X11-unix:/tmp/.X11-unix \
      --name foxy_radi_container \
      -v $PWD/../:/RoboticsAcademy \
      -p 8000:8000 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 6081:6081 -p 1108:1108 \
      foxy-radi ./
  • Click the Django server URL presented
  • Click the Turtlebot3 Map Building exercise
  • Press “Connect”
  • After successful connection, press the “Rviz” button followed by the “Gazebo” button
  • RViz, the Turtlebot3 world and the bot should be visible
  • Press the “Console” button and run ros2 run turtlebot3_teleop teleop_keyboard to teleoperate the bot