I am currently collaborating with a mobile robot, as depicted in Image 1.
The robot is equipped with two sick_safety scanners, positioned at the front and rear. The data nodes/topics are publishing from a Docker container. To access the robot's PC, I utilize SSH by entering 'ssh username@ip.' Once inside the container, I can see the topic, and echoing the topic displays the raw text data.
I attempted two different approaches to visualize the data on rviz:
Approach 1: I opened rviz from within the container, enabling me to view the rostopic list. However, upon attempting to open rviz, an error message appeared: 'qt.qpa.xcb: could not connect to display :0' (refer to Image 2).
Approach 2: I configured the IP addresses of both the robot PC and my PC. The robot was connected to a wifi-router via LAN, while my PC was connected via Wi-Fi on the same network (refer to Image 3). Image 3
Although I could see all the topics on my PC, running rviz did not display any data; there was no TF data, and the Fixed Frame option was not available (refer to Image 4). Image 4
Looking ahead, if I plan to integrate a RealSense camera with the robot, how can I visualize the camera data on rviz, whether on the robot's pc (GUI Tool) or my PC's?
Thank you.