Rviz + Real robot

We created a hardware interface and controllers that we will be using for a real robot in RVIZ. kind of like a simulated monitoring program
I want to make synchronization between the rviz and the real robot.
How to control a real robot and simulate it in RVIZ at real time?
Is there a way to operate both simultaneously ?

Hi @Ghayth ,

It’s important to understand that RViz is not a simulator, but a visualization tool for robotics.

Yes, you can have it synchronized with your real robot, as far as you provide the necessary data for RViz to display the information you want.

For example: You’d need the URDF description to display the robot, need to publish the TF’s to show the joint/link positions in real-time, add other topics like camera or laser, etc.


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