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TF frame names are implicit. If the frame_id in the Header of a message is set, the data is published in that frame. If you manually enter that frame name in Rviz's World Frame
, you will be able to visualize the data from your publisher without needing to do any additional TF setup.
The /world
frame is simply the default frame name in Rviz; it doesn't come from anywhere else.
If you have TF publishers or nodes that publish TF like robot_state_publisher, Rviz will auto-populate the World Frame
dropdown with the names of the frames that is has seen recently.