Add RViz demo to ros2_integration.md (#364)

* Update ros2_integration.md Signed-off-by: Dharini Dutia <[email protected]> * Apply suggestions from code review Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Dharini Dutia <[email protected]> --------- Signed-off-by: Dharini Dutia <[email protected]> Signed-off-by: Dharini Dutia <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
gazebosim · Aug 3, 2023 · 07172d7 · 07172d7
1 parent af6d994
commit 07172d7
Showing 1 changed file with 29 additions and 2 deletions.
diff --git a/garden/ros2_integration.md b/garden/ros2_integration.md
@@ -1,8 +1,9 @@
 # ROS 2 Integration
 
 In this tutorial we will learn how to Integrate ROS 2 with Gazebo. We will establish
-communication between them. This can help in many aspects; we can receive data or commands
-from ROS and apply it to Gazebo and vice versa.
+communication between them. This can help in many aspects; we can receive data (like joint states, TFs) or commands
+from ROS and apply it to Gazebo and vice versa. This can also help to enable RViz to visualize a robot model
+simulatenously simulated by a Gazebo world.
 
 ## ros_gz_bridge
 
@@ -81,3 +82,29 @@ Now it's your turn! Try to send data from ROS to Gazebo. You can also try differ
 A video walk-through of this tutorial is available from our YouTube channel: [Gazebo tutorials: ROS 2 Foxy integration](https://youtu.be/IpZTNyTp9t8).
 
 <iframe width="560" height="315" src="https://www.youtube.com/embed/IpZTNyTp9t8" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+
+## Visualize in RViz
+
+Take a step further and try out demos from [`ros_gz_sim_demos`](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim_demos).
+
+For the `sdf_parser` demo, install [`ros_gz`](https://github.com/gazebosim/ros_gz/tree/ros2) and the parser plugin `sdformat_urdf` from source in a colcon workspace.
+Read more `sdformat_urdf` about [here](https://github.com/ros/sdformat_urdf/blob/ros2/sdformat_urdf/README.md).
+
+Run the demo launch file with the rviz launch argument set:
+
+```bash
+ros2 launch ros_gz_sim_demos sdf_parser.launch.py rviz:=True
+```
+
+Start the simulation in Gazebo and wait a few seconds for TFs to be published.
+
+In another terminal, send either ROS or Gazebo commands for the vehicle to move in circles:
+
+```bash
+gz topic -t "/model/vehicle/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 1.0}, angular: {z: -0.1}"
+ros2 topic pub /model/vehicle/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -0.1}}
+```
+
+And verify the vehicle matching its trajectory in Gazebo and RViz.
+
+https://github.com/gazebosim/docs/assets/24695820/7344734b-4f69-4441-807e-f06751116a03