How to Visualize the Kinematics of atlas_plain_pinned

Introduction

Visualizing the kinematics of a robot is useful to determine the name and orientation of each joint. This tutorial describes how to visualize the robot's kinematics in RViz using the Joint State Publisher and Robot State Publisher.

Start the Visualization

To start the visualization:

$ roslaunch atlas_plain_pinned rviz.launch

You should see the robot in RViz and a GUI containing sliders for each joint as shown below.