Rviz viewpoint transform

asked 2018-02-22 15:15:59 -0500

rkeatin3 gravatar image

In the views panel on Rviz, I can see the transform of the viewpoint w.r.t. the fixed frame. Is there a way to get these values from outside Rviz (i.e. by another ROS node)?

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That would be a great feature- I recall having a conversation here or on github about that a year or two ago (but I never got around to implementing it myself). I think the viewer ought to publish a tf of where it is, though maybe the rviz tf display would disable visualizing it by default.

lucasw gravatar image lucasw  ( 2018-02-22 16:42:02 -0500 )edit

Yeah, I was hoping to use it for "viewpoint-aware" teleoperation. Unfortunately I don't think I have the time to figure out an implementation, but I can at least create an issue on github to request that feature and see if it gains any traction.

rkeatin3 gravatar image rkeatin3  ( 2018-02-22 18:19:46 -0500 )edit

The rviz_animated_view_controller does the other side of this: it allows controlling the viewpoint using messages. You might be able to add a publisher to it that publishes the current viewpoint.

gvdhoorn gravatar image gvdhoorn  ( 2018-02-23 03:58:41 -0500 )edit
lucasw gravatar image lucasw  ( 2018-02-23 09:43:04 -0500 )edit