Hands-On ROS for Robotics Programming

Changing the aspect of the model in the RViz window

To control the visual aspect of your model in RViz, you can modify some of the parameters in the Displays window, as shown in the following screenshot:

We have marked the basic changes we've made for this chapter in gray:

• Alpha: This parameter controls the level of opacity of the whole model. The value 1 corresponds to its opaque appearance, while 0 is fully transparent, that is, not visible. There is also an Alpha parameter for each link to control the individual opacity of a single part (under the Links subtree, expand to access it).
• Show Names: If ticked, the name of the links will be ...