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Adding a light feature to rviz probably wouldn't be that hard- it is all Ogre underneath which supports multiple lights and controls easily. It would likely appear as an rviz display type like a Grid, but with light controls. Also there would need to be global options to disable the default light that is attached to the viewer camera.

Also I've been working off and on at a standalone gui-less ros renderer https://github.com/lucasw/bgfx_ros, it is very incomplete and has no interactivity through the display though: the user can set a tf transform of a light upstream of the bgfx node but instead of an interactive window it just publishes the rendered output on an Image topic. The idea is to make multiple lights possible (including casting shadows, which is currently supported for the one light), and all the parameters associated with the light will be exposed via services and/or dynamic reconfigure. It doesn't support many display types yet beyond triangle lists, but with some additional interest/motivation I'll get to it eventually.

Adding a light feature to rviz probably wouldn't be that hard- it is all Ogre Ogre3D underneath which supports multiple lights and controls easily. It would likely appear as an rviz display type like a Grid, but with light controls. Also there would need to be global options to disable the default light that is attached to the viewer camera.

Also I've been working off and on at a standalone gui-less ros renderer https://github.com/lucasw/bgfx_ros, it is very incomplete and has no interactivity through the display though: the user can set a tf transform of a light upstream of the bgfx node but instead of an interactive window it just publishes the rendered output on an Image topic. The idea is to make multiple lights possible (including casting shadows, which is currently supported for the one light), and all the parameters associated with the light will be exposed via services and/or dynamic reconfigure. It doesn't support many display types yet beyond triangle lists, but with some additional interest/motivation I'll get to it eventually.

Adding a light feature to rviz probably wouldn't be that hard- it is all Ogre3D underneath which supports multiple lights and controls easily. It would likely appear as an rviz display type like a Grid, but with light controls. Also there would need to be global options to disable the default light that is attached to the viewer camera.

Also I've been working off and on at a standalone gui-less ros renderer https://github.com/lucasw/bgfx_ros, it is very incomplete and has no interactivity through the display though: the user can set a tf transform of a light upstream of the bgfx node but instead of an interactive window it just publishes the rendered output on an Image topic. The idea is to make multiple lights possible (including casting shadows, which is currently supported for the one light), and all the parameters associated with the light will be exposed via services and/or dynamic reconfigure. It doesn't support many display types yet beyond triangle lists, but with some additional interest/motivation I'll get to it eventually.

Adding a light feature to rviz probably wouldn't be that hard- it is all Ogre3D underneath which supports multiple lights and controls easily. It would likely appear as an rviz display type like a Grid, but with light controls. Also there would need to be global options to disable the default light that is attached to the viewer camera.

Also I've been working off and on at a standalone gui-less ros renderer https://github.com/lucasw/bgfx_ros, it is very incomplete and has no interactivity through the display though: the user can set a tf transform of a light upstream of the bgfx node but instead of an interactive window it just publishes the rendered output on an Image topic. The idea is to make multiple lights possible (including casting shadows, which is currently supported for the one light), and all the parameters associated with the light will be exposed via services and/or dynamic reconfigure. It doesn't support many display types yet beyond triangle lists, but with some additional interest/motivation I'll get to it eventually.

For the short term gazebo probably is the best answer.answer, head over to http://answers.gazebosim.org/questions/ if it isn't clear from existing documentation how to set up lights there.