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ROS 2 RViz Visualization Guide 2026
RViz is the primary visualization tool for ROS 2. This guide covers configuration, custom plugins, visualizing sensor data, markers, and debugging robot systems.
Launching RViz
ros2 run rviz2 rviz2 ros2 run rviz2 rviz2 -d my_config.rviz from launch_ros.actions import Node rviz_node = Node( package="rviz2", executable="rviz2", arguments=["-d", "/path/to/config.rviz"])
Display Plugins
TF/Frames: Coordinate frames and transformations
LaserScan: Point clouds from lidar sensors
Camera: Camera feed from image topics
Markers: Custom shapes/text visualization
Robot Model: Display URDF with transforms
Custom Markers
from visualization_msgs.msg import Marker marker = Marker() marker.header.frame_id = "base_link" marker.type = Marker.SPHERE marker.pose.position.x = 1.0 marker.scale.x = marker.scale.y = marker.scale.z = 0.1 marker.color.r = 1.0 marker.color.a = 1.0 pub.publish(marker)
Configuration Tips
Save configuration: File → Save Config As Load configuration: File → Open Config Common displays: - RobotModel: URDF visualization - TF: Coordinate frames - LaserScan: Point cloud data - Image: Camera feed - Odometry: Robot path history
Next Steps
- Save RViz configurations for different setups.
- Create custom marker publishers for debugging.
- Use RViz for motion planning visualization.