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<!--
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See http://developer.qt.nokia.com/doc/qt-4.8/richtext-html-subset.html
for the details.
-->
<html>
<head>
<style type="text/css">
.odd { background-color: #e0e0e0 }
.even { background-color: #f0f0f0 }
.key { font-weight: bold; color: #04597f }
p { margin-left: 10px }
</style>
</head>
<body>
<h2>Key controls</h2>
<h3>Switching between tools</h3>
<p>
<em>These controls work in all modes.</em>
<table border="0" cellspacing="0" cellpadding="3">
<tr class="odd">
<td class="key">M</td>
<td>Switch to the Move-Camera tool.</td>
</tr>
<tr class="even">
<td class="key">I</td>
<td>Switch to the Interact tool.</td>
</tr>
<tr class="odd">
<td class="key">S</td>
<td>Switch to the Select tool.</td>
</tr>
<tr class="even">
<td class="key">G</td>
<td>Switch to the 2D Nav Goal tool.</td>
</tr>
<tr class="odd">
<td class="key">P</td>
<td>Switch to the 2D Pose Estimate tool.</td>
</tr>
</table>
</p>
<h3>Controlling the viewpoint</h3>
<p>
<em>These controls only work while using the <b>Move Camera</b> and <b>Interact</b> tools.</em>
<table border="0" cellspacing="0" cellpadding="3">
<tr class="odd">
<td class="key">F</td>
<td>Move the focus to the 3D point under the mouse. This does not work for all display objects or all computers (yet).</td>
</tr>
<tr class="even">
<td class="key">Z</td>
<td>Jump back to looking at the origin, the default view position.</td>
</tr>
</table>
</p>
<p>
<em>This control only works while using the <b>Select</b> tool.</em>
<table border="0" cellspacing="0" cellpadding="3">
<tr class="odd">
<td class="key">F</td>
<td>Move the focus to the centroid of the currently-selected objects.</td>
</tr>
</table>
</p>
<h3>Modifying Displays list</h3>
<p>
<table border="0" cellspacing="0" cellpadding="3">
<tr class="odd">
<td class="key">Ctrl-A</td>
<td>Add a display</td>
</tr>
<tr class="even">
<td class="key">Ctrl-X</td>
<td>Remove a display</td>
</tr>
<tr class="odd">
<td class="key">Ctrl-R</td>
<td>Rename a display</td>
</tr>
</table>
</p>
<h3>File operations</h3>
<p>
<table border="0" cellspacing="0" cellpadding="3">
<tr class="odd">
<td class="key">Ctrl-O</td>
<td>Open a config file</td>
</tr>
<tr class="even">
<td class="key">Ctrl-S</td>
<td>Save to a config file (opens file chooser)</td>
</tr>
<tr class="odd">
<td class="key">Ctrl-Q</td>
<td>Quit RViz, saving current config into ~/.rviz/display_config first.</td>
</tr>
</table>
</p>
<h2>Mouse controls</h2>
<h3>Orbit view controller</h3>
<p>
<em>
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.
</em>
<table border="0" cellspacing="0" cellpadding="3">
<tr class="odd">
<td class="key">Left</td>
<td>Drag to rotate around the focal point.</td>
</tr>
<tr class="even">
<td><div class="key">Middle</div> or<div class="key">Shift-Left</div></td>
<td>Drag to move the focal point.</td>
</tr>
<tr class="odd">
<td class="key">Scroll Wheel</td>
<td>Roll up or down to zoom towards or away from the focal point.</td>
</tr>
<tr class="even">
<td class="key">Right</td>
<td>Drag up or down to zoom towards or away from the focal point.</td>
</tr>
<tr class="odd">
<td class="key">Shift-Right</td>
<td>Drag up or down to move the focal point forward or backward.</td>
</tr>
</table>
</p>
<h3>XYOrbit view controller</h3>
<p>
<em>
Similar to the Orbit view controller, but the focal point is kept
on the Z=0 (ground) plane.
</em>
<table border="0" cellspacing="0" cellpadding="3">
<tr class="odd">
<td class="key">Left</td>
<td>Drag to rotate around the focal point.</td>
</tr>
<tr class="even">
<td><div class="key">Middle</div> or<div class="key">Shift-Left</div></td>
<td>Drag to move the focal point in the ground plane.</td>
</tr>
<tr class="odd">
<td class="key">Scroll Wheel</td>
<td>Roll up or down to zoom towards or away from the focal point.</td>
</tr>
<tr class="even">
<td class="key">Right</td>
<td>Drag up or down to zoom towards or away from the focal point.</td>
</tr>
</table>
</p>
<h3>FPS view controller</h3>
<p>
<em>
Inspired by first-person shooter games. Drag to point your head.
</em>
<table border="0" cellspacing="0" cellpadding="3">
<tr class="odd">
<td class="key">Left</td>
<td>Dragging rotates the viewpoint in the direction of the drag.</td>
</tr>
<tr class="even">
<td><div class="key">Middle</div> or<div class="key">Shift-Left</div></td>
<td>Drag to strafe (translate) left/right and up/down.</td>
</tr>
<tr class="odd">
<td class="key">Scroll Wheel</td>
<td>Roll up or down to move the viewpoint forwards or back.</td>
</tr>
<tr class="even">
<td class="key">Right</td>
<td>Drag up or down to move the viewport forwards or back.</td>
</tr>
</table>
</p>
<h3>TopDownOrtho view controller</h3>
<p>
<em>
Top-down orthographic view.
</em>
<table border="0" cellspacing="0" cellpadding="3">
<tr class="odd">
<td class="key">Left</td>
<td>Dragging left/right rotates the view.</td>
</tr>
<tr class="even">
<td><div class="key">Middle</div> or<div class="key">Shift-Left</div></td>
<td>Drag to move the viewpoint in the XY plane.</td>
</tr>
<tr class="odd">
<td class="key">Scroll Wheel</td>
<td>Roll up or down to zoom in or out.</td>
</tr>
<tr class="even">
<td class="key">Right</td>
<td>Drag up or down to zoom in or out.</td>
</tr>
</table>
</p>
</body>
</html>
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