Displays graph point clouds from rtabmap_rviz_plugins/MapData messages. rtabmap_rviz_plugins/msg/MapData Displays graphs from rtabmap_rviz_plugins/MapGraph messages. rtabmap_rviz_plugins/msg/MapGraph Displays information from rtabmap_rviz_plugins/Info messages. rtabmap_rviz_plugins/msg/Info Orbit camera turning with the target frame's yaw, so the view stays behind the robot. Optionally (built with octomap), the camera is moved in front of the octomap obstacles that would hide the target.