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The solution is to use view manager setCurrentViewControllerType
manager_ = new rviz::VisualizationManager( render_panel_ );
render_panel_->initialize( manager_->getSceneManager(), manager_ );
manager_->initialize();
manager_->startUpdate();
QString class_id = "rviz/Orbit";
manager_->getViewManager()->setCurrentViewControllerType(class_id);
Using setViewController leaves the view manager still holding on to the default view controller which gets updated, but is no longer getting rendered.
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