2. Data connection
To start data visualization there are to ways:
- When you open lichtblick choose the data source option that better suits your need:
- Go to lichtblick > file > and choose data source option:
1. Open local file Visualize data directly from your local filesystem. Supported formats: ROS 1 (.bag), MCAP (.mcap), PX4 ULog (.ulog)
2. Open connection Connect to a live robot or server. Supported formats: ROS 1, ROS 2, Custom, MCAP, Velodyne
Once connected, the data source's topics will be displayed in the sidebar:
To load a local file for visualization, there are several options:
- Double-click the file from your file manager
- Drag-and-drop the file into lichtblick directly
- Click "Open local file" in the left hand menu
The configuration option to visualize live data is supported by different data sources:
- FoxGlove Websocket (supported formats: ROS 1, ROS 2, Custom, MCAP) > configuration option: WebSocket URL
- Rosbridge (supported formats: ROS 1, ROS 2) > configuration option: WebSocket URL
- ROS 1 (supported formats: ROS 1 - desktop app only) > configuration option: ROS_MASTER_URI and ROS_HOSTNAME
- Velodyne Lidar (supported formats: Velodyne - desktop app only) > configuration option: UDP port
- Remote File (supported formats: ROS 1, MCAP) > configuration option: Requires CORS setup
Opening a new connection:
