## Key controls

### Switching between tools

These controls work in all modes.

M | Switch to the Move-Camera tool.
I | Switch to the Interact tool.
S | Switch to the Select tool.
G | Switch to the 2D Nav Goal tool.
P | Switch to the 2D Pose Estimate tool.
C | Switch to the Publish Point tool.

### Controlling the viewpoint

These controls only work while using the Move Camera and Interact tools.

F | Move the focus to the 3D point under the mouse. This does not work for all display objects or all computers (yet).
Z | Jump back to looking at the origin, the default view position.

This control only works while using the Select tool.

F | Move the focus to the centroid of the currently-selected objects.

### Modifying Displays list

Ctrl-A | Add a display
Ctrl-X | Remove a display
Ctrl-R | Rename a display

### File operations

Ctrl-O | Open a config file
Ctrl-S | Save to a config file (opens file chooser)
Ctrl-Q | Quit RViz, saving current config into ~/.rviz/display_config first.

## Mouse controls

### Orbit view controller

In this view, the viewpoint is always aimed at a focal point. You can move around the point (orbit it) or you can move the point itself.

Left | Drag to rotate around the focal point.
Middle or Shift-Left | Drag to move the focal point.
Scroll Wheel | Roll up or down to zoom towards or away from the focal point.
Right | Drag up or down to zoom towards or away from the focal point.
Shift-Right | Drag up or down to move the focal point forward or backward.

### XYOrbit view controller

Similar to the Orbit view controller, but the focal point is kept on the Z=0 (ground) plane.

Left | Drag to rotate around the focal point.
Middle or Shift-Left | Drag to move the focal point in the ground plane.
Scroll Wheel | Roll up or down to zoom towards or away from the focal point.
Right | Drag up or down to zoom towards or away from the focal point.

### FPS view controller

Inspired by first-person shooter games. Drag to point your head.

Left | Dragging rotates the viewpoint in the direction of the drag.
Middle or Shift-Left | Drag to strafe (translate) left/right and up/down.
Scroll Wheel | Roll up or down to move the viewpoint forwards or back.
Right | Drag up or down to move the viewport forwards or back.

### TopDownOrtho view controller

Top-down orthographic view.

Left | Dragging left/right rotates the view.
Middle or Shift-Left | Drag to move the viewpoint in the XY plane.
Scroll Wheel | Roll up or down to zoom in or out.
Right | Drag up or down to zoom in or out.