Pose Display
PROPosition and orientation readout (x/y/z + roll/pitch/yaw)
When to reach for it
Pose Display is the numeric readout: x, y, z plus roll, pitch, yaw, with optional frame ID and velocity chips. Reach for it when you want exact numbers instead of a picture. For a visual trail and tap-to-send nav goals on the same odometry, Map 2D (Pro) is the better pick.
Worked example: end-effector pose
Topic /ee_pose, schema geometry_msgs/msg/PoseStamped, Pose Path pose: PoseStamped nests position and orientation directly under pose, so a blank path shows nothing. Source Unit Meters, Display System Metric, Display Unit Millimeters, so the readout renders in mm though the topic publishes meters. Show Velocity off, since PoseStamped carries no twist to read.
Watch out for
- An empty Pose Pathdoes not fall back to the message's top level: the widget walks the dot path regardless, so a blank field shows dashes everywhere. The default is
pose.poseon the default/odomtopic. - Source Unit is never checked against the data. Pick the wrong one and the whole display silently rescales, with no error to flag it.
- Show Frame ID surfaces whatever string sits in the header, unvalidated. The default
/odomtopic is a locally-drifting frame, so x/y/z wanders even on a stationary robot unless the source publishes in a globally-consistent frame likemap.
Configuration fields
The topic this widget reads data from. While connected, tap to pick from the topics the robot advertises.
The ROS message type for this topic, e.g. sensor_msgs/msg/Image. Usually auto-filled when you choose a topic.
Which field inside the message to read, as a dot-path, e.g. pose.position.x. Leave blank to use the message main value.
Source coordinate frame from the message header (e.g. odom, map, base_link).
Where to read the frame ID from. Auto walks header.frame_id.
String field path to read as the source frame name.
Linear velocity magnitude in m/s. Requires a message that carries velocity, such as Odometry (twist.twist.linear) or TwistStamped (twist.linear). PoseStamped has no velocity field.
Where to read velocity from. Auto walks twist.twist.linear (Odometry) → twist.linear (TwistStamped). Custom reads any numeric or 3D-vector field path; vector magnitude is computed automatically.
Numeric or 3D vector field path. If the field is an x/y/z vector, the chip plots √(x²+y²+z²).
Show a name on the widget.
The unit the topic publishes positions in. Conversions are computed from this, so it must match your robot's data. Most ROS topics are in meters.
Metric or imperial for the on-screen readout. The data is unchanged; only the displayed unit converts (from Source Unit).