Hi all, I want to put an wire frame of an alogrithm that means detecting people on a ground plane with RGB-D data (http://pointclouds.org/documentation/tutorials/ground_based_rgbd_people_detection.php) on the Rviz. That means a moving obstacle represented by 3D model on the Rviz. The Rviz on Hydro expresses a turtlebot as 3D-model. I might have to edit package of the Rviz. It will need a 3D costmap in navigation. Does anybody have any idea or have useful information?