ros2/rviz

What it solves

RViz is a 3D visualization tool for ROS 2 that allows developers to see what their robots are thinking and sensing. It provides a way to visualize sensor data, robot models, and coordinate frames in a single 3D environment, making it easier to debug and monitor robot behavior.

How it works

RViz processes data from ROS 2 topics and renders it using a variety of of displays and tools. It uses a pluggable architecture where users can add custom displays, panels, and tools. A key feature in the ROS 2 version is the pluggable transformation library, which allows developers to swap out the standard tf2 library for custom coordinate frame transformation behavior.

Who it’s for

It is designed for robotics developers and engineers who need to visualize complex spatial data and robot states in real-time during development and testing.

Highlights

• Extensive Display Library: Supports a wide range of visualizations including Point Clouds, Laser Scans, Robot Models, Odometry, and Maps.
• Pluggable Transformations: Allows dynamic loading of different transformation library plugins via a dedicated Transformation panel.
• Customizable Interface: Users can extend the tool through plugins for displays, panels, tools, and view controllers.
• Integrated Toolset: Includes built-in tools for measuring, interacting with the environment, and setting navigation goals.