Checkout rerun_viz branch for new/better Rerun based visualization

Online visualization tool for Swarm-SLAM

Installation

• Build the visualization tool in a ROS 2 workspace with colcon build.
• Install the Zenoh ROS 2 DDS bridge for ROS 2 to avoid flooding the network with discovery messages and unwanted communication.
• If you don't want to use Zenoh, run the following commands without the ROS_DOMAIN_ID

Run the visualization station

export ROS_DOMAIN_ID=100 
ros2 launch cslam_visualization visualization_lidar.launch.py

Run Zenoh

export ROS_DOMAIN_ID=100 
zenoh-bridge-ros2dds

Then run Swarm-SLAM on the robots.