How to use the package to view the robot and sensor data from ROS bag files in RVIZ

• source /opt/ros/noetic/setup.bash
• cd catkin_make
• catkin_make
• source devel/setup.bash
• cd src
• cd new_navvis_description
• cd launch
• roslaunch new_display.launch &

Launch Files

• display.launch - has the option to load between a .urdf or .xacro file. Contains the description information of the build parameters for the robot model in rviz using the /robot_description parameter.

• new_pre_display.launch - connects a new ROS package that depends on the ROS package trought its display.launch. This new XACRO file creates additional elements of the platform and joins them to the description from the display.launch

• new_display.launch - contains same functionality of new_pre.siplay.launch but with the included arguments necessary to start the ROS bag files and the map configuration. Also, includes transformation for the wheels.