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              Tools

              For a list of common ROS libraries, please see the API overview.

              For tips on working with common thirdparty tools, such as Matlab, please see Interoperability.

              3D Visualization: RVIZ

              rviz is a 3D visualization environment that lets you combine sensor data, robot model, and other 3D data into a combined view. You can also send your own 3D markers into rviz from your software.

              Webviz

              A browser-based tool to look at data and ROS bag files, including mixed with live video. See the Webviz ROS Wiki page.

              Screenshot from the live demo:

              • https://user-images.githubusercontent.com/6842199/84357542-ae7cdd80-ab7a-11ea-8065-afac12337c0a.png

              Logging and Visualization Sensor Data: rosbag and rqt_bag

              rosbag is a command-line tool for recording and playing back messages into "bag" files.

              rqt_bag is a visualizer that lets you see data recorded in bag files.

              Live plotting: rqt_plot

              ROS/Tutorials/UnderstandingTopics/rqt_plot.png

              rqt_plot lets you visualize scalar data published to ROS topics.

              System visualization: rqt_graph

              launch top window

              rqt_graph displays a visual graph of the processes running in ROS and their connections.

              Control & Visualization with Mobile Devices: ROS-Mobile

              ROS-Mobile is an Android application designed for dynamic control and visualization of mobile robotic system operated by the Robot Operating System (ROS). The application uses ROS nodes initializing publisher and subscriber with standard ROS messages. The overall code architecture pattern is Model View Model View ViewModel, which stabilizes the application and makes it highly customizable. You can download the application from the Google Playstore or built it from source by downloading the source code from the GitHub page.

              Command Line Tools

              See also:

              Running ROS Systems

              Launching/configuring multiple programs

              roslaunch

              Run a single program

              rosrun

              Bringup core system

              roscore

              Interacting with and debugging running system

              Topics

              rostopic

              Services

              rosservice

              Nodes

              rosnode

              Parameters

              rosparam

              Messages

              rosmsg

              Services

              rossrv

              General debugging

              roswtf

              Install, build and filesystem tools

              Build

              rosmake

              Install from source

              rosinstall

              Searching for packages/stacks

              roslocate

              Install thirdparty libraries

              rosdep

              Packages

              rospack, roscd

              Stacks

              rosstack, roscd

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