Running ROS nodes for visualization

Viewing images on the remote computer is the next step to setting up TurtleBot 2. Two ROS tools can be used to visualize the rgb and depth camera images. Image Viewer and rviz are used in the following sections to view the image streams published by the Kinect sensor.

Visual data using Image Viewer

A ROS node can allow us to view images that come from the rgb camera on Kinect. The camera_nodelet_manager node implements a basic camera capture program using OpenCV to handle publishing ROS image messages as a topic. This node publishes the camera images in the /camera namespace.

Three terminal windows will be required to launch the base and camera nodes on TurtleBot and launch the Image Viewer node on the remote computer. The steps are as follows:

1. Terminal Window 1: Minimal launch of TurtleBot:

   $ ssh <username>@<TurtleBot's IP Address>
   $ roslaunch turtlebot_bringup minimal.launch
   

2. Terminal Window 2: Launch freenect camera:

   $ ssh <username>@&lt...