Revision history [back]

You have to hack rviz source and recompile it. Do as follows:

roscd rviz
cd src/rviz

Edit the file visualization_manager.cpp and go to line 215. You will see there:

createTool< InteractionTool >("Interact", "i" );
...
createTool< GoalTool >("2D Nav Goal", "g");
...

Copy the GoalTool line as many times as you need. Syntax:

createTool< TypeOfTheTool >("Label on the button", "shortcut_key");

Save and rosmake rviz. (If you've got precompiled packages remember to delete ROS_NOBUILD before rosmake.)

Now you free to add lines in rviz configuration files .vcg for each tool:

Tool\ Label\ on\ the\ buttonTopic=/robot_n/move_base_simple/goal

Have fun.