ROS rviz 帮助文档（help）

Key controls

Switching between tools

These controls work in all modes.

M	Switch to the Move-Camera tool.
I	Switch to the Interact tool.
S	Switch to the Select tool.
G	Switch to the 2D Nav Goal tool.
P	Switch to the 2D Pose Estimate tool.

Controlling the viewpoint

These controls only work while using the Move Camera and Interact tools.

F	Move the focus to the 3D point under the mouse. This does not work for all display objects or all computers (yet).
Z	Jump back to looking at the origin, the default view position.

This control only works while using the Select tool.

F	Move the focus to the centroid of the currently-selected objects.

Modifying Displays list

Ctrl-A	Add a display
Ctrl-X	Remove a display
Ctrl-R	Rename a display

File operations

Ctrl-O	Open a config file
Ctrl-S	Save to a config file (opens file chooser)
Ctrl-Q	Quit RViz, saving current config into ~/.rviz/display_config first.

Mouse controls

Orbit view controller

In this view, the viewpoint is always aimed at a focal point. You can move around the point (orbit it) or you can move the point itself.

Left	Drag to rotate around the focal point.
Middle or Shift-Left	Drag to move the focal point.
Scroll Wheel	Roll up or down to zoom towards or away from the focal point.
Right	Drag up or down to zoom towards or away from the focal point.
Shift-Right	Drag up or down to move the focal point forward or backward.

XYOrbit view controller

Similar to the Orbit view controller, but the focal point is kept on the Z=0 (ground) plane.

Left	Drag to rotate around the focal point.
Middle or Shift-Left	Drag to move the focal point in the ground plane.
Scroll Wheel	Roll up or down to zoom towards or away from the focal point.
Right	Drag up or down to zoom towards or away from the focal point.

FPS view controller

Inspired by first-person shooter games. Drag to point your head.

Left	Dragging rotates the viewpoint in the direction of the drag.
Middle or Shift-Left	Drag to strafe (translate) left/right and up/down.
Scroll Wheel	Roll up or down to move the viewpoint forwards or back.
Right	Drag up or down to move the viewport forwards or back.

TopDownOrtho view controller

Top-down orthographic view.

Left	Dragging left/right rotates the view.
Middle or Shift-Left	Drag to move the viewpoint in the XY plane.
Scroll Wheel	Roll up or down to zoom in or out.
Right	Drag up or down to zoom in or out.