Binding RViz' view camera position and orientation to tf frame

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Hello,

I am working on head-tracking application and utilizing RViz for visualization. I have 3 coordinate frames connected as /world -> /base -> /head.

• /world - global frame
• /base - head-tracker frame (fixed to /world)
• /head - user's head frame in /base

The thing I am trying to achive is make user's head to be a 'camera' in 3D environment. Thus, I need to make /head frame to control RViz' viewport camera position and orientation. So far I managed only to bind /head frame position to the RViz camera by setting it to Target Frame. But frame orientation is ignored in this case.

Is there a way to control RViz camera orientation as well?

Thanks in advance,

Boris

UPDATE: Setting fixed frame to /world or /base does not help.

UPDATE 2:

$ rosrun tf tf_echo /world /base
At time 1342851117.156
- Translation: [0.000, 0.000, 0.500]
- Rotation: in Quaternion [0.500, 0.500, 0.500, 0.500]
            in RPY [1.570, -0.000, 1.570]
// -- duplicating messages -- //

$ rosrun tf tf_echo /base /head
At time 1342851130.635
- Translation: [-0.183, 0.029, -0.722]
- Rotation: in Quaternion [0.010, 0.269, -0.049, 0.962]
            in RPY [-0.008, 0.544, -0.104]
At time 1342851131.636
- Translation: [-0.176, 0.028, -0.732]
- Rotation: in Quaternion [0.037, 0.984, -0.176, 0.018]
            in RPY [-2.789, 0.049, 3.075]
At time 1342851132.631
- Translation: [-0.181, 0.020, -0.745]
- Rotation: in Quaternion [0.041, 0.978, -0.201, 0.025]
            in RPY [-2.739, 0.066, 3.072]
// -- and so on -- //