# Revision history [back]

### Does rviz support a viewpoint that follows the robot?

I'm working on a robot that will be performing long out-and-back traverses. I'd like to use rviz to show the local sensor data we're collecting, but I'm stuck trying to figure out how to get the viewpoint to follow the robot.

If I select the fixed frame to be a constant offset from the robot, then all the LaserScans fall right on top of each other. If I set the fixed frame to be a world frame, then the sensor data looks great, but the robot quickly drives off the screen. If I transform the points to the world frame before publishing, it works, but it'd be much more convenient to use raw sensor_msgs/LaserScan messages.

So, is there a way to control where the map is centered independent of which transformation is being used to display the data?

(I'm using Hydro on Ubuntu 12.04)

### Does rviz support a viewpoint that follows the robot?

I'm working on a robot that will be performing long out-and-back traverses. I'd like to use rviz to show the local sensor data we're collecting, but I'm stuck trying to figure out how to get the viewpoint to follow the robot.

If I select the fixed frame to be a constant offset from the robot, then all the LaserScans fall right on top of each other. If I set the fixed frame to be a world frame, then the sensor data looks great, but the robot quickly drives off the screen. If I transform the points to the world frame before publishing, it works, but it'd be much more convenient to use raw sensor_msgs/LaserScan messages.

So, is there a way to control where the map is centered independent of which transformation is being used to display the data?

(I'm using Hydro on Ubuntu 12.04)