From 339b6db16147da2aedc9a9e31610610a30a2bbd1 Mon Sep 17 00:00:00 2001
From: hello-sanchez <asanchez@hello-robot.com>
Date: Fri, 6 Aug 2021 16:49:19 -0700
Subject: [PATCH] Include gif and other resources for rviz.

---
 rviz_basics.md | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/rviz_basics.md b/rviz_basics.md
index 7671ff3..fe4d126 100644
--- a/rviz_basics.md
+++ b/rviz_basics.md
@@ -8,10 +8,8 @@ roslaunch stretch_gazebo stretch_willowgarage_world.launch rviz:=true
 the `rviz` flag will open an RViz window  to visualize a variety of ROS topics.
 ![image](images/willowgarage_with_rviz.png)
 
-If you want the visualize the [tf transform tree](http://wiki.ros.org/rviz/DisplayTypes/TF), you can add this to the your display. First click on the *Add* button and include the TF to the display. You will then see all of the transform frames of the Stretch robot and the visualization can be toggled off and on by clicking the checkbox next the tree. Below if a gif for reference.
+If you want the visualize the [tf transform tree](http://wiki.ros.org/rviz/DisplayTypes/TF), you can add this to the your display. First click on the *Add* button and include the *TF*  type to the display. You will then see all of the transform frames of the Stretch robot and the visualization can be toggled off and on by clicking the checkbox next the tree. Below is a gif for reference.
 
-![image](images/rviz_add_tf.gif)
+![image](images/rviz_adding_tf.gif)
 
-<!-- Bringup the keyboard teleop to drive Stretch around. You will be able to visualize -->
-
-Further tutorials for RViz can be found [here](http://wiki.ros.org/rviz/Tutorials).
+Bringup the [keyboard teleop](teleoperating_stretch.md) to drive Stretch and observe its sensor input. Further tutorials for RViz can be found [here](http://wiki.ros.org/rviz/Tutorials).