# Revision history [back]

### Show in RViZ coordinate of a point with respect to parent

Hi to all,

in my RViZ I visualized two sensors, where each one of them have a different position in my vehicle and different transformation. The position and the transformation of the sensors are placed in a xacro file.

e.g.:

<joint name="radar1" type="fixed">
<origin xyz="5 2 0" rpy="0.5 0 0"/>
</joint>

<origin xyz="5 -2 0" rpy="0.7 0 0"/>
</joint>


I can see the radar "raw" values (before the transformation and the offset of base_link) using select plug-in. What I do not know how to do is to visualized the values after the transformation and the offset of base_link (the one i see in the RViZ visualization.

Is it possible?

 2 retagged jayess 5312 ●17 ●62 ●75

### Show in RViZ coordinate of a point with respect to parent

Hi to all,

in my RViZ I visualized two sensors, where each one of them have a different position in my vehicle and different transformation. The position and the transformation of the sensors are placed in a xacro file.

e.g.:

<joint name="radar1" type="fixed">
<origin xyz="5 2 0" rpy="0.5 0 0"/>
</joint>

<origin xyz="5 -2 0" rpy="0.7 0 0"/>
</joint>


I can see the radar "raw" values (before the transformation and the offset of base_link) using select plug-in. What I do not know how to do is to visualized the values after the transformation and the offset of base_link (the one i see in the RViZ visualization.

Is it possible?

### Show in RViZ coordinate of a point with respect to parent

Hi to all,

in my RViZ I visualized two sensors, where each one of them have a different position in my vehicle and different transformation. The position and the transformation of the sensors are placed in a xacro file.

e.g.:

<link name="base_link">
<visual name="chassis">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(arg mesh_file)" scale="1 1 1"/> </geometry> </visual> </link> <joint name="radar1" type="fixed"> <origin xyz="5 2 0" rpy="0.5 0 0"/> <parent link="base_link"/> </joint> <joint name="radar2" type="fixed"> <origin xyz="5 -2 0" rpy="0.7 0 0"/> <parent link="base_link"/> </joint>  I can see the radar "raw" values (before the transformation and the offset of base_link) using select plug-in. What I do not know how to do is to visualized the values after the transformation and the offset of base_link (the one i see in the RViZ visualization. Is it possible? ### Show in RViZ coordinate of a point with respect to parent Hi to all, in my RViZ I visualized two sensors, where each one of them have a different position in my vehicle and different transformation. The position and the transformation of the sensors are placed in a xacro file. e.g.: <link name="base_link"> <visual name="chassis"> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <mesh filename="file://$(arg mesh_file)" scale="1 1 1"/>
</geometry>
</visual>

<origin xyz="5 2 0" rpy="0.5 0 0"/>
</joint>

<origin xyz="5 -2 0" rpy="0.7 0 0"/>
</joint>


I can see the radar "raw" values (before the transformation and the offset of base_link) using select plug-in. What I do not know how to do is to visualized the values after the transformation and the offset of base_link (the one i see in the RViZ visualization.

Is it possible?

### Show in RViZ coordinate of a point with respect to parent

Hi to all,

in my RViZ I visualized two sensors, where each one of them have a different position in my vehicle and different transformation. The position and the transformation of the sensors are placed in a xacro file.

e.g.:

<link name="base_link">
<visual name="chassis">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://\$(arg mesh_file)" scale="1 1 1"/>
</geometry>
</visual>

<origin xyz="5 2 0" rpy="0.5 0 0"/>