点击select
调出选区状态栏：点击Panels，勾选selection
用鼠标拖动矩形框选
来自：wiki.ros.org/rviz/UserGuide
Tools
The visualizer has a number of tools you can use on the toolbar:
Move Camera (Keyboard shortcut: m)
The Move Camera tool is the default tool. When this is selected, the current View gets to do its thing when you click inside the 3d view.
Select (Keyboard shortcut: s)
The Select tool allows you to select items being displayed in the 3D view. It supports single-point selection as well as click/drag box selection.
You can add to a selection with the Shift key, and remove from the selection with the Ctrl key. If you want to move the camera around while selecting without switching back to the Move Camera tool you can hold down the Alt key.
The f key will focus the camera on the current selection.