Right now the only things that are pluggable are displays and point cloud
transformers (used mainly for generating color from different channels).
 This makes writing plugins that interact with the scene through
selection/etc. impossible to do nicely (it is possible to hack together, but
only in a way that forces a crash whenever rviz exits).

That said, there are examples of an rviz plugin in the
motion_planning_rviz_plugin and mapping_rviz_plugin packages.  The builtin
displays are also plugins.  While the current API is likely to remain
stable, writing plugins is currently use-at-your-own-risk, and figuring out
how to do things will likely involve delving into the source.

Josh

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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