# Visualization - H-ROS API

## GLOBAL OPTIONS

To be able to visualize the information published, it is necessary to correctly configure the Global Options:

• Fixed frame: Indicates the name of the frame used as reference for all the other frames. You can select every frame available in the combo box. world is a good option. You will see the world from the sensors of the robot.
• Frame rate: The maximum frequency used to update the 3D view.

## Robot model

This plugin allows you to visualize the Robot Model according to its description from the URDF model. You have two options to select a URDF. You can select Topic or File in the combo box:

• Topic: If you publish the URDF of the robot in the /robot_description topic.
• File: If you write the path of the URDF file.

## TF

This plugins allows you to visualize the position and the orientation of all the frames that compose the TF Hierarchy.

• Show names: Enable/disable the 3D visualization of name of the links
• Show axes: Enable/disable the 3D visualization of the axes of the frames
• Show arrows: Enable/disable the 3D visualization of the arrows that connect the various frames
• Update interval: The update time in seconds. Leave at 0 to see each update Critical to using this plugin is the ability to enable/disable visualizing individual frames. This allows you to concentrate only on the parts that are most important for your current task.