How to start rviz with a fixed frame
I have come across this question using the static_transform_publisher from the bash, but this is inconvinient.
The arguments seem to offer this but cannot find an example what args -f
acutally takes
pc~/catkin_ws$ rviz -h
[ INFO] [1461508601.744858346]: rviz version 1.11.8
[ INFO] [1461508601.744970393]: compiled against OGRE version 1.8.1 (Byatis)
rviz command line options:
-h [ --help ] Produce this help message
-s [ --splash-screen ] arg A custom splash-screen image to display
--help-file arg A custom html file to show as the help screen
-d [ --display-config ] arg A display config file (.rviz) to load
-f [ --fixed-frame ] arg Set the fixed frame
Could someone post an example for example this frame (no trans, no rot)
rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map my_frame 10
EDIT So what I do is using a launch file to pack both commands together:
<launch>
<!-- set up the cosys -->
<node pkg="tf" type="static_transform_publisher" name="map2frame_0"
args="0.0 0.0 0.0 0 0 0 1 map frame_0 100" />
<!-- start rviz -->
<node pkg="rviz" type="rviz" name="my_rviz"
args="-d $(find rviz_markers)/include/rviz_config.rviz"/>
</launch>