Visualize TF Frames
The MoveIt Pro 3D Visualizer can draw live TF coordinate frames as RGB axes, the same way RViz's TF display does. This is useful for inspecting the live pose of a frame — most commonly the robot's tip frame — without opening RViz, which is often impractical when working on a remote robot.
Frames are read from the /tf and /tf_static topics, so any frame your system publishes is available with no extra configuration.
Turn On TF Visualization
- In a 3D Visualizer pane, open the View menu.
- Under Display, enable Transforms.
Every published frame appears as a set of RGB axes — red for X, green for Y, blue for Z — drawn at the frame's live pose relative to the scene's reference frame.
Choose Which Frames to Show
A robot publishes many frames, so the Transforms column of the View menu lets you narrow the display:
- Frames lists every detected frame with a checkbox. Toggle individual frames on or off, or use the filter box to find a frame by name.
- Show all / Hide all toggle every frame at once — start from Hide all and enable just the frame you care about (for example, the tip frame).
Your selections are remembered across page reloads.
Adjust the Display
The Appearance group of the Transforms column controls how frames are drawn:
- Axis Size — Small, Medium, or Large. Pick the size that reads well for your robot's scale.
- Frame Labels — show or hide each frame's name next to its axes. Labels always face the camera and stay a fixed size on screen.
Frame poses are shown relative to the 3D Visualizer's reference frame. A frame that is not connected to the reference frame in the TF tree is hidden until a transform to it can be resolved.