The rviz_fps_plugin package contains an additional ViewController and a Tool Plugin to navigate RViz like an FPS-Shooter. To enable the tool press 'q' and enable the 'FPSMotion' ViewController. Use the 'wasd' keys for walking. By pressing 'f' one can switch between walk or fly mode. By pressing 'r' you can reset the view controller.
rviz_fps_plugin
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