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This package provides launchers and rviz configurations to assist with visualizing real or simulated Grizzly from a desktop environment.

For more information on simulating Grizzly, see grizzly_simulator.


View Model

To view the Grizzly model and TF transform tree in isolation, disconnected from a real or simulated robot, use the following launcher:

roslaunch grizzly_viz view_model.launch

You can change joint positions using joint state publisher gui:

rviz_screenshot.png joint-publisher.png

View Robot

To visualize a real or simulated Grizzly, launch:

roslaunch grizzly_viz view_robot.launch

You can click the Interact button in rviz, and use the interactive markers to give Grizzly some motion commands:


2024-07-13 13:16