For a top down view of the robot in its environment, run ros2 launch turtlebot4_viz view_robot.launch.py
.
This is useful when mapping or navigating with the robot
Rviz2 offers support for displaying data from various sources. Displays can be added using the "Add" button.
The LaserScan display shows data for sensor_msgs/msg/LaserScan
messages. On the TurtleBot 4 the RPLIDAR supplies this data on the /scan
topic.
The Camera display shows camera images from sensor_msgs/msg/Image
messages. The OAK-D cameras publish images on the /color/preview/image
and /stereo/depth
topics.
The TF display can be used to visualise the links that make up the robot. When you first add the TF display, it will show every link that makes up the robot.
You can uncheck the "All Enabled" box, and then select the links you wish to see.