view-controller-cpp.cc

view_controller_msgs::CameraPlacement camera_placement;
  camera_placement.interpolation_mode =
      view_controller_msgs::CameraPlacement::LINEAR;
  camera_placement.target_frame = "map";

  ros::NodeHandle node_handle("~");
  ros::Publisher cp_publisher =
      node_handle.advertise<view_controller_msgs::CameraPlacement>(
        "/rviz/camera_placement", 10, true);

  double rate = 4;
  ros::Rate loop_rate(rate);
  while(true) {
    double radius = 30;
    double t = ros::Time::now().toSec();
    geometry_msgs::Point point;
    point.x = radius * cos(2 * M_PI * t / rate);
    point.y = radius * sin( 2 * M_PI * t / rate);
    point.z = 10;

    camera_placement.eye.point = point;
    camera_placement.eye.header.frame_id = "rotating_frame";

    geometry_msgs::Point look_at;
    look_at.x = look_at.y = look_at.z = 0;
    camera_placement.focus.point = look_at;
    camera_placement.focus.header.frame_id = "map";

    geometry_msgs::Vector3 up;
    up.x = 0;
    up.y = 0;
    up.z = 1;
    camera_placement.up.vector = up;
    camera_placement.up.header.frame_id = "map";

    camera_placement.time_from_start = ros::Duration(1/rate);

    ros::spinOnce();
    loop_rate.sleep();
    cp_publisher.publish(camera_placement);
  }