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I have a Raspberry Pi 4 running Ubuntu 22.04 with ros2 humble. My laptop is running Ubuntu 20.04 with ros1 noetic. I have connected a Slamtec RPLIDAR A3 with my Raspberry Pi and want to view its laser scan in RViz. I have added their ros2 package for my Raspberry Pi board. the launch file in the package opens the rviz2 in the Raspberry Pi, but there is no display connected to my Raspberry Pi.

Can I view the laser scan readings from my raspberry pi using my laptops Rviz? Thank you for your time.

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2 Answers 2

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I was able to set it up after setting x11 server and x11 forwarding. Thank you for all of your support as well.

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  • $\begingroup$ What is an x11 server? How did you set it up? What did you have to forward? As written, this gives future visitors from hints as to what they need to do, but not any details. Please edit this answer to help other people that have your same problem! :) $\endgroup$
    – Chuck
    Jan 31 at 17:30
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The short answer is "no." ROS1 and ROS2 use different middleware for message transport. You can run the ros1_bridge https://github.com/ros2/ros1_bridge on the Raspberry Pi to convert the ROS2 messages to ROS1 messages.

Alternatively, you can grab a desktop version of a ROS2 docker container and run it on your laptop using Rocker https://github.com/osrf/rocker. Then you would have a full RViz2.

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  • $\begingroup$ Thank you very much for your reply $\endgroup$
    – Dinoj
    Dec 12, 2023 at 16:13
  • $\begingroup$ I was able to set it up after setting x11 server and x11 forwarding. Thank you for your support as well. $\endgroup$
    – Dinoj
    Dec 18, 2023 at 5:05
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    $\begingroup$ Why don't you write up your solution and post it here and then accept it as an answer? That way other people with the same question can try your solution. $\endgroup$
    – proan
    Jan 17 at 2:08

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