CLEARPATH DINGO Gebruikershandleiding - Pagina 13

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2.3 Dingo Desktop Packages

To command or observe Dingo from your desktop computer, first set up a basic ROS installation. See the following

page for details:

http://wiki.ros.org/noetic/installation/ubuntu

When your ROS install is set up, install the Dingo desktop packages:

sudo apt‐get install ros‐noetic ‐dingo‐desktop

Once your remote access to Dingo's ROS master is configured (see options in subsection 2.2), you can launch rviz, the

standard ROS robot visualization tool:

roslaunch dingo_viz view_robot.launch

From within rviz, you can use interactive markers to drive Dingo, you can visualize its published localization estimate,

and you can visualize any attached sensors which have been added to its robot description XML (

Additionally from the desktop, you can launch the standard RQT Robot Monitor, which watches the diagnostic output

from Dingo's self-montoring capabilities:

rosrun rqt_robot_monitor rqt_robot_monitor

Rev. 1.1.0

URDF

Dingo