Visualization

This section will discuss the interaction and visualization capabilities in MoveIt! using the ROS Rviz visualizer.

Documentation

 * Quick Start with the PR2 - A quick start that will walk you through working with the Rviz visualizer with the PR2.
 * Robot State Display - A simple visualization of kinematic states (robot poses) with C++ code.
 * Interactive Robot Tutorial - Interact with the Rviz RobotState display using C++ code.
 * Collision Contact Vis Tutorial - Visualize collision points interactively using C++ code.
 * Launch file - walks through a launch file that can be used for running Rviz

Links

 * Back to Capabilities
 * Back to the Main Page