Visualize your robot in 3D

Goal: see your robot model, TF, laser and map in the RViz tab.

  1. Connect to the robot (Connect to your robot).

  2. Tap + → RViz, keep Add map, laser, robot model and path displays checked and tap Create.

  3. If the robot publishes /robot_description, the RobotModel display draws it. If the model uses meshes (package://my_robot/meshes/base.stl…), the phone downloads them over HTTP: serve the folder that contains your packages’ share folders. For example, with a workspace built with colcon build --merge-install, on the robot:

    cd ~/ros2_ws/install/share
python3 -m http.server 8000

    Then write http://ROBOT_IP:8000 in the RobotModel display’s Mesh server field. The phone asks for http://ROBOT_IP:8000/my_robot/meshes/base.stl, so check that address opens in a browser. Only STL and Collada (.dae) meshes are drawn.

  4. Missing a display? Tap Add → By topic: the list shows every topic that can be drawn.

  5. Pick the Fixed frame from the picker at the top (map when you navigate, odom otherwise).

Already have an RViz config?

Copy your .rviz file to the phone and use the menu → Import .rviz. The displays, frame, background, view and goal/pose topics come along; anything that isn’t supported is listed.