Load Rviz config within rqt_gui from launch file

asked 2021-11-19 08:54:25 -0500

ticotico gravatar image

updated 2021-11-19 08:59:13 -0500

I have a launch file that fires up rqt_gui with a custom perspective, where the (experimental) rviz is one container. Is there a way to not only load the perspective of rqt_gui but also the config of rviz? i.e. something like that:

<node name="my_rqt_dashboard" pkg="rqt_gui" type="rqt_gui" respawn="false" output="screen" args="--perspective-file $(find my_pkg)/cfg/my.perspective -d $(find my_pkg)/cfg/rviz.rviz"/>

Basically embedding this within this. This answer is somewhat close and points into hardcoding this line. Are my findings correct? Is there a way to achieve that already? If not, could this be parametrized such that we can load a config for rviz within rqt?

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@ticotico I believe you are correct, you will need to hardcode to do this as I don't see another way to do this either. Perhaps inherit from rviz.cpp and add the new functionality to resolve your immediate issue, then load the parameters from a config file. Alternatively you can propose improvements and create PR which benefit others as well.

osilva gravatar image osilva  ( 2021-11-19 09:40:10 -0500 )edit