Awesome
Checkout rerun_viz
branch for new/better Rerun based visualization
Online visualization tool for Swarm-SLAM
Installation
- Build the visualization tool in a ROS 2 workspace with
colcon build
. - Install the Zenoh ROS 2 DDS bridge for ROS 2 to avoid flooding the network with discovery messages and unwanted communication.
- If you don't want to use Zenoh, run the following commands without the
ROS_DOMAIN_ID
Run the visualization station
export ROS_DOMAIN_ID=100
ros2 launch cslam_visualization visualization_lidar.launch.py
Run Zenoh
export ROS_DOMAIN_ID=100
zenoh-bridge-ros2dds
Then run Swarm-SLAM on the robots.