Added joint state publisher GUI support.

config/rviz/urdf.rviz

@@ -8,7 +8,7 @@ Panels:
         - /Status1
         - /RobotModel1/Description Topic1
       Splitter Ratio: 0.5
-    Tree Height: 719
+    Tree Height: 1096
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -76,6 +76,16 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        camera_holder:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         front_left_wheel:
           Alpha: 1
           Show Axes: false
@@ -95,6 +105,9 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
       Name: RobotModel
       TF Prefix: ""
       Update Interval: 0
@@ -127,12 +140,62 @@ Visualization Manager:
       Topic:
         Depth: 5
         Durability Policy: Volatile
+        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /scan
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        back_left_wheel:
+          Value: true
+        back_right_wheel:
+          Value: true
+        base_link:
+          Value: true
+        camera_holder:
+          Value: true
+        camera_link:
+          Value: true
+        front_left_wheel:
+          Value: true
+        front_right_wheel:
+          Value: true
+        imu_link:
+          Value: true
+        two_d_lidar:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_link:
+          back_left_wheel:
+            {}
+          back_right_wheel:
+            {}
+          camera_holder:
+            camera_link:
+              {}
+          front_left_wheel:
+            {}
+          front_right_wheel:
+            {}
+          imu_link:
+            {}
+          two_d_lidar:
+            {}
+      Update Interval: 0
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -148,6 +211,9 @@ Visualization Manager:
     - Class: rviz_default_plugins/Measure
       Line color: 128; 128; 0
     - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
       Topic:
         Depth: 5
         Durability Policy: Volatile
@@ -176,16 +242,16 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 3.2476859092712402
+      Distance: 0.6049186587333679
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 2.521528959274292
-        Y: -1.4697494506835938
-        Z: 0.991876482963562
+        X: 2.280341625213623
+        Y: -1.7428354024887085
+        Z: 1.045596957206726
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
@@ -199,16 +265,16 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 948
+  Height: 1319
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000006240000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000004d1fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000004d1000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000035a000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000008a4000004d100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1920
+  Width: 2560
   X: 0
-  Y: 27
+  Y: 32

launch/description/rviz.launch.py

@@ -18,7 +18,7 @@ def generate_launch_description():
     """
     # .................. Configurable Arguments .....................
 
-    gui = False
+    gui = True
 
     camera_enabled = True
     two_d_lidar_enabled = True

package.xml

@@ -23,6 +23,7 @@
 	<exec_depend>nav2_controller</exec_depend>
 	<exec_depend>nav2_planner</exec_depend>
   <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
 
   <!-- Custom dependencies -->
   <exec_depend>key_teleop_ros</exec_depend>