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There is no built-in touch support in RViz right now, but it is an Ogre application, so I would suggest looking for information on (multi-)touch support there.

Any ideas for panning and zooming the maps are appreciated.

RViz is a mouse-driven application, so if you can somehow convert touch events into mouse events (clicks, drags, wheel, etc), that should allow you to work around the current limitations.

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