Tips about visualization

Record rviz


You can use kazam to record desktop movie easily.

sudo apt-get install kazam


You can use glc to record OpenGL rendering. glc is the best way to record OpenGL application because it can record movie efficiently. glc record OpenGL rendering to a special file called .glc and you can convert the .glc into several movie format. It is also good for irtviewer.


You can install glc via ppa package. (see this tutorial)

sudo add-apt-repository ppa:arand/ppa
sudo apt-get update
sudo apt-get install glc


You can use glc as wrap command like:

glc rviz

If you want to use it in launch file, use launch-prefix attribute:

<node pkg="rviz" type="rviz" name="rviz" launch-prefix="glc" />

You need to type Shift + F8 to start and stop capturing. (see this tutorial for detail)

Convert to movie

You can use under jsk_tools.

rosrun jsk_tools foo.glc