rviz2

RViz2 is a 3D visualization tool designed for the Robot Operating System 2 (ROS 2). It provides real-time visualization of sensor data, robot state, planning information, and environmental representations, helping developers debug perception, navigation, and manipulation systems. RViz2 is the ROS 2 port of the original RViz, adapting its functionality to ROS 2’s middleware, message types, and tooling.

The tool uses a plugin-based architecture that presents data through configurable displays and supports interactive tools. Displays correspond to data types such as PointCloud2, LaserScan, Image, Camera, Marker and MarkerArray, OccupancyGrid, and various TF visualization options. Tools enable interaction with the scene, selection, and manipulation of objects. The user interface is built with Qt, and 3D rendering is handled by a render engine underpinning RViz2. Data is received from ROS 2 topics and transformed into the visualization pipeline, often leveraging TF transforms to position data accurately in the scene.

RViz2 enables saving and loading visualization configurations via .rviz files, allowing users to share setups or restore complex views. It can be launched directly with a command such as ros2 run rviz2 rviz2 and integrated into larger ROS 2 launch systems. The package is maintained as part of the ROS 2 ecosystem and supports customization through plugins, allowing developers to add new displays or interaction tools.

Overall, RViz2 serves as a core debugging and visualization aid for ROS 2 developers, offering configurable, real-time visualization of diverse data streams and robot states.