RVIZ fixed camera - arm joint

asked 2015-07-08 17:45:42 -0500

kevlarkevlar gravatar image

I have an RVIZ model of a robotic arm with 4 joints and 3 links. The base link can rotate in two directions (z and x) and the other links in one direction (x) to create a robot with a spherical workspace. I want to set a fixed camera on the last link so that it moves when the link moves. I want to watch the end-effector as it moves. This is to simulate a real robot with a camera mounted on the last link of the arm.

Right now I have the rviz view set to FPS with the target_view set to "link3" and a fixed frame set to "base_link". This works except for the base rotation. Then the camera turns to show the rest of the arm turning. The camera is not fixed to only show the end-effector movement.

Do you know how I can go about fixing the camera to totally follow a link as it moves?

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