How to show robot tipping over in Rviz
I've created a URDF model of my robot, linked it to Tf and configured Rviz to show my robot and show joint rotations in realtime when the actual robot moves.
My robot also has an IMU that can measure the yaw, pitch and roll. If I tip over my robot, I want this to be reflected in Rviz. How do you accomplish this? The joints are automatically updated based on the URDF and associated JointState messages, but there's no joint between the robot and the ground. How do I make Rviz tilt the model proportional the angles shown in my IMU messages and/or moving around as the IMU and odometry change?