RVC Visualization
*****************


Rviz2 Plugin
=====================

A rviz2 plugin has been implemented to give full control of the use case in the same HMI:

.. image:: /images/html/RvizDynamicUseCase1.png
   :alt: RViz2 Control Panel Custom plugin

- Enable/Disable motion button 

Start and stop motion

- Speed knob

Change the speed of the robot

- TrackOnly/FullCycle

Enable object tracking only, or full pick and place cycle. 

- Track on close

Dynamic tracking is by default disabled while the gripper is closing, this behaviour
can be overridden with this toggle, which will enable object movement
tracking even while the gripper is closing. The reason of the existence of 
this toggle is that, depending on the AI in use, the object 
detection accuracy might lower while the gripper is closing.

- Camera Live stream

Default behaviour is to show the inference topic, which should 
show bounding box, class Id annotation on top of RGB stream. if this 
is missing, then show raw camera output

Rviz execution
=====================

the dynamic use case rviz component can be executed by running

.. code-block:: bash

    ros2 launch rvc_dynamic_motion_controller_use_case rviz2_launch.py