RViz Visualization

RViz Visualization

The package includes pre-built RViz 2 configuration files for visualizing each task's output. All debug topics are published as standard RViz-compatible message types.

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Launching RViz

rviz2

To load a pre-configured layout, open RViz and load one of the .rviz files from the package:

r4s/src/perception/perception/rviz/
├── final.rviz           # Combined view — all tasks

Or load directly from the command line:

rviz2 -d $(ros2 pkg prefix perception)/share/perception/rviz/final.rviz

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Debug Topics by Task

Car Object Detection & Screw Detection

Topic	Type	Description
/annotated_images	sensor_msgs/Image	YOLO bounding box overlay
/car/pose	geometry_msgs/PoseStamped	Detected car object 3D pose
/screw/pose	geometry_msgs/PoseStamped	Detected screw 3D pose
/cropped_pointcloud	sensor_msgs/PointCloud2	Point cloud cropped to detection region

Place Object

Topic	Type	Description
/perception/target_place_pose	geometry_msgs/PoseStamped	Safe placement target pose
/perception/debug/table_plane	sensor_msgs/PointCloud2	Segmented table surface
/perception/debug/objects	sensor_msgs/PointCloud2	Detected occupied regions
/perception/debug/viz_sphere	visualization_msgs/Marker	Sphere showing placement zone size
/perception/debug/viz_arrow	visualization_msgs/Marker	Arrow pointing to placement pose

Subdoor Pose

Topic	Type	Description
/body_markers	visualization_msgs/MarkerArray	Corner markers of subdoor panel

Table Height

Topic	Type	Description
/table_height_value	std_msgs/Float32	Estimated height in metres
/perception/table_pose	geometry_msgs/PoseStamped	Table surface pose in robot base frame
/perception/debug/table_height_plane	sensor_msgs/PointCloud2	Segmented table plane
/perception/debug/table_height_viz	visualization_msgs/MarkerArray	Height visualisation markers

Screwdriver (OBB)

Topic	Type	Description
/object_pose_screwdriver	geometry_msgs/PoseStamped	6D pose of screwdriver

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Set the Fixed Frame to eddie_base_footprint when working with robot-frame poses, or camera_link for camera-frame visualizations according to kortex_vision launch file if its set to eddie_camera_link_frame or camera_link frame.