Hey Felix,

This is the same question I want to ask.

I have been also thinking about whether there is a way of building a
plug-in for RVIZ for user control.  I have been modifying RVIZ so that
it allows the user to rotate a single part.  The function now does not
consider any inverse kinematics.  But I was not able to find a way of
building a plug-in without modifying RVIZ's basic source.  So this is
not an extend-able way.  It would be great if we can figure out a
better way for that.

Hao

On Tue, Jun 22, 2010 at 5:44 AM, Felix Endres
<endres@informatik.uni-freiburg.de> wrote:
>
> Hi all,
>
> I was thinking about writing a teleop node that lets
> me select one of PR2's tf-frames and move the according
> joint graphically. It seems to me, making it an rviz
> plugin would be the right choice, as a lot of
> functionality would be given. I think this wouldn't
> be too complex to implement. However, the wiki says:
>
>> If you're a programmer and are looking to write a plugin,
>> there is no documentation at this time. This is on
>> purpose, as the plugin API is not considered stable,
>> and so is not yet ready to be supported.
>
> So my question is, whether it is indeed a bad idea to
> make such an rviz plugin at this point in time.
> Otherwise, where would I get the necessary documentation?
> I am using latest, are there any plugins I could use as
> a starting point?
>
> Regards,
> Felix
>
> --
> Felix Endres                        Albert Ludwigs University
>                                    Department of Computer Science
> phone: +49 (761) 203-8022           Autonomous Intelligent Systems
> fax  : +49 (761) 203-8007           Georges-Koehler-Allee 79
> endres@informatik.uni-freiburg.de   D-79110 Freiburg, Germany
> http://www.informatik.uni-freiburg.de/~endres/
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