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Hi.

I would like to move the robot in rviz, from left to right, from front to back, etc. I understand that rviz is linked to a reference frame, so this does not look easy.

Is there a way to do this in a clean way?

I can still create 2 orthogonal and planar prismatics joints, but the robot model needs to be modify.


Originally posted by Arn-O on ROS Answers with karma: 107 on 2013-10-15

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1 Answer 1

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You just need to write a node that publishes a transform from some virtual link (e.g. "world") to your robot (e.g. "base_link"), and set the fixed frame in RViz to "world". If you need interaction, take a look at Interactive Markers.


Originally posted by dgossow with karma: 1444 on 2013-10-15

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by Arn-O on 2013-10-16:
Thx for your answer. Could you tell me a little bit more about this transform publisher? Is it related to TF? TF seems to be designed to convert coordinates between frames, not to move them. I may be wrong since a huge piece of software.

Comment by dgossow on 2013-10-16:
I'm talking about tf, which is designed to handle moving coordinate frames. See the tutorials for further explanation: http://wiki.ros.org/tf/Tutorials

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