web_tf_editor

A browser-based, rviz-like viewer for ROS 2 Jazzy. It renders a robot’s URDF, lets you orbit/pan/zoom the scene, and — unlike rviz — lets you author 3D TF frames interactively: click a point on the robot (or in empty space), drag to set a direction, then refine with a 6-DoF gizmo. Authored frames are broadcast on /tf so rviz2, MoveIt, or any other ROS 2 node can consume them immediately.

It’s a normal ROS 2 Jazzy package (colcon build + ros2 launch). The UI is just a web page (no rviz plugin, no X11 forwarding, shareable with a link).

Features

• Live URDF viewer — loads a robot’s URDF/xacro (from a file path, a ROS topic, or the robot_description parameter), drives it from /joint_states, and places the root from /tf when an odom→base transform exists. Multiple robots and static scenes can be loaded side by side (each panel “Add robot” call adds a new instance instead of replacing the current one) — see Multiple robots and scenes.
• Interactive frame authoring — click anywhere (mesh surface, ground plane, or a camera-facing plane as a fallback) and drag to set the new frame’s Z axis, no typing coordinates by hand.
• 6-DoF gizmo — translate/rotate handles (T/R) for precise placement once a frame exists.
• Full frame editor — rename, reparent (world pose is preserved across reparenting), edit position as XYZ and orientation as RPY/quaternion simultaneously (two-way synced), toggle visibility, publish/unpublish to /tf.
• Copy-out for ROS — export any frame as YAML or as a ready-to-run ros2 run tf2_ros static_transform_publisher … command.
• rviz-style navigation — orbit/pan/zoom plus a click-to-snap view cube.

Screenshots

Click a point and drag to set a direction — the new frame’s Z axis follows the drag.	Every frame gets a full editor: reparent, pose, publish, copy out as YAML or a static_transform_publisher command.

Use cases

• Sensor/tool extrinsics — eyeball a camera, LiDAR, or gripper offset on the actual mesh instead of hand-editing numbers in a xacro file, then copy the result straight into a static_transform_publisher launch entry.
• MoveIt goal frames — author a grasp or approach frame relative to a link, publish it live, and drive planning against it without restarting anything.
• Calibration sanity checks — visually confirm a frame estimated by an external calibration pipeline lines up with the robot before trusting it downstream.
• Teaching / demos — a lightweight, browser-only way to show TF concepts (parent/child, world-pose-preserving reparenting) without installing rviz.
• Remote / headless robots — inspect and author frames on a robot with no display attached, from any machine on the network.

Architecture

The browser talks to the ROS 2 graph over two channels: plain HTTP for the static UI, the expanded URDF, and mesh files (web_server_node), and a rosbridge WebSocket for live topics. Authored frames are sent to frame_bridge_node, which is the single source of truth for /tf — it broadcasts all authored frames at 30 Hz and republishes them as a transient-local state topic so a page reload restores them.

Quick start

Requires a sourced ROS 2 Jazzy install on the host, plus this package’s dependencies (rosbridge_server, robot_state_publisher, joint_state_publisher, xacro, and, for the default robot, turtlebot3_manipulation_description).

# clone (or symlink) this package into a colcon workspace
mkdir -p ~/ros2_ws/src
ln -s /path/to/interactive_frame_js ~/ros2_ws/src/web_tf_editor
cd ~/ros2_ws

# install missing ROS dependencies
rosdep install --from-paths src --ignore-src -r -y

# build (the pre-built front end in web/dist/ is committed, so no npm is needed here)
colcon build --symlink-install --packages-select web_tf_editor
source install/setup.bash

ros2 launch web_tf_editor web_tf_editor.launch.py

Then open http://localhost:8080. rosbridge listens on ws://localhost:9090. Both ports are launch arguments (http_port:=, ros_bridge_port:=) if you need to avoid a clash with something else already running on the host. The web server listens on all interfaces by default and serves files from any installed package’s share directory; pass bind_address:=127.0.0.1 to keep it local to the machine.

Default robot is TurtleBot3 + OpenMANIPULATOR-X. To use a different robot:

ros2 launch web_tf_editor web_tf_editor.launch.py urdf:=/path/to/robot.urdf.xacro

This also applies when loading a URDF from a ROS topic or the robot_description parameter via the panel’s “Add robot” controls, not just via urdf:=.

Meshes

File truncated at 100 lines see the full file