[ros-users] Best way to view RViz remotely?

Eric Perko wisesage5001 at gmail.com
Sat Nov 6 17:10:04 UTC 2010


Patrick,

You may also need to take a look at
http://www.ros.org/wiki/ROS/EnvironmentVariables#Node_Environment_Variables

I routinely use the method given by Cedric, but I also have to set ROS_IP
and ROS_HOSTNAME because the robot's private network doesn't have DNS
configured and, therefore, ROS is unable to resolve any hostnames.

An example setup (robot is assumed to be 192.168.0.150 and remote rviz
computer is 192.168.0.201). Both of these sets of variables would need set
before roscore, roslaunch and/or rosrun is run on any computer and in all
terminals used to start ROS nodes. You don't need to start up a roscore on
the remote computer before running rviz. The commands:
On robot:

   1. `export ROS_IP=192.168.0.150`
   2. `export ROS_HOSTNAME=192.168.0.150`
   3. `export ROS_MASTER_URI=http://192.168.0.150:11311`

On rviz computer:

   1. `export ROS_IP=192.168.0.201`
   2. `export ROS_HOSTNAME=192.168.0.201`
   3. `export ROS_MASTER_URI=http://192.168.0.150:11311`

Once completed, you can check that everything is working by first doing
`rostopic list` and, if there is output there, `rostopic echo /topic_name`
of some topic that is available and should have data (your laser scanner or
odometry source are probably good candidates). If you see data output by
rostopic echo, everything should be working well. Then just fire up rviz and
enjoy your nice, fast framerates. This is a good method for all the ROS
visualization tools like rxconsole or rxgraph. Just keep in mind that
wireless G may not be all that fast - for example, things will still look
laggy if you try to view an uncompressed camera topic or other large message
over the wireless link.

- Eric


On Sat, Nov 6, 2010 at 12:51 PM, Cedric Pradalier <
cedric.pradalier at mavt.ethz.ch> wrote:

> Hi,
>
> You might want to look at the following page:
> http://www.ros.org/wiki/ROS/Technical%20Overview
>
> ROS is designed to be running on multiple platforms. Just set the
> ROS_MASTER_URI variable to point to your robot, and rviz will be able to
> access all the topics.
>
> Best,
>
> On 11/06/10 16:12, Patrick Goebel wrote:
> > Hello,
> >
> > I am running ROS (latest cturtle) on my robot using an onboard 1.6 Ghz
> > dual-core Zotac ION-ITX with 4Gb RAM.  This setup is fairly snappy when
> > I view RViz through a monitor directly attached to the robot
> > motherboard.  However, I'd like to run the Zotac/robot headless and view
> > RViz on my desktop.  The robot connects to my local LAN via 802.11g and
> > my desktop is hardwired at 100 Mb/s. These are the only two machines on
> > the network and I am running the basic navigation stack with a Hokuyo
> > laser scanner.
> >
> > The best result I've gotten so far is using a VNC connection from my
> > desktop to the robot.  However, updates in RViz are quite sluggish (2-3
> > seconds delay).  The second best is to use "ssh -X" from the desktop to
> > the robot and display RViz back to the desktop.  This is really, really
> > sluggish (3-5 seconds delay).
> >
> > Is there a better way to view the robot data in RViz?
> >
> > Thanks!
> > Patrick Goebel
> > Behavioral Sciences
> > Stanford University
> > _______________________________________________
> > ros-users mailing list
> > ros-users at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
>
> --
> Dr. Cedric Pradalier
> http://www.asl.ethz.ch/people/cedricp
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
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