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I essentially wonder is if there is something already developed to control rviz from an external node via topics
Yes, there is.
I recently released an rqt plugin, called Rviz Cinematographer, to control the camera within rviz to create smooth camera trajectories for visualizations.
You could add the functionality by extending my plugin, sending your controls and parameters via msgs to the rviz_animated_view_controller, which applies the changes to the rviz view.
Unfortunately, at least to my knowledge, there is no official rviz_animated_view_controller for ros kinetic and newer versions.
I'v adapted an inofficial rviz_animated_view_controller fork for kinetic to fit my needs.
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