RViz Interface

In the previous module, you completed the moveit setup assistant and successfully generated MoveIt! configuration files. In this module, you will be using those configuration files for the simulation of the robotic arm.

MoveIt! comes with a plugin for the ROS Visualizer (RViz). The plugin allows you to set up scenes in which the robot will work, generate plans, visualize the output and interact directly with a visualized robot. We will explore the plugin in this tutorial.

Let's start by visualizing the planning of a robotic arm in Rviz. Launch the demo.launch file from the moveit configuration package that you created.

ros2 launch ur5_moveit demo.launch.py 

• This will launch the robotic arm in Rviz
• You will see a robotic arm and a MotionPlanning display type in Rviz.

NOTE: You will not be able to execute planning motion, because we have not yet set up the controllers for the same. We will do the same in the next step.

Some exciting video

(Caution: Only for information, and will not resemble to our setup till now)

• By seeing the below video you can get an idea, for what you will be doing for the next modules. The video shows the demo with Panda arm.