rviz Baxter Sensor Displays

rviz uses Display Types to visualize different types of ROS messages. This list shows available ROS topics and corresponding Display Types for sensors on Baxter.

For information on viewing these in rviz, see the guide on Adding a Sensor Display.

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Cameras

• Topic Name: /cameras/${side}_hand_camera/image
  • Left Hand: /cameras/left_hand_camera/image
  • Right Hand: /cameras/right_hand_camera/image
• Display Type: Image

Joint States

via Robot Model

• Topic Name: /robot/joint_states
• Display Type: Robot Model
• Recommended Options:
  • Robot Description: robot_description

via TF

• Topic Name: /tf
• Display Type: TF
• Recommended Options:
  • Disable all links starting with prefix /reference/`

Sonar (Head)

• Topic Name: /robot/head/sonar/sonar/state
• Display Type: PointCloud
• Recommended Options:
  • Color Transformer: Intensity
  • Channel Name: Distance

IR Range Sensors (Hands)

• Topic Name: /robot/range/${side}_hand_range
• Display Type: Range