Name

Description

Messages Used

Axes

Displays a set of Axes

Effort

Shows the effort being put into each revolute joint of a robot.

sensor_msgs/JointStates

Camera

Creates a new rendering window from the perspective of a camera, and overlays the image on top of it.

sensor_msgs/Image, sensor_msgs/CameraInfo

Grid

Displays a 2D or 3D grid along a plane

Grid Cells

Draws cells from a grid, usually obstacles from a costmap from the navigation stack.

nav_msgs/GridCells

Image

Creates a new rendering window with an Image. Unlike the Camera display, this display does not use a CameraInfo. Version: Diamondback+

sensor_msgs/Image

InteractiveMarker

Displays 3D objects from one or multiple Interactive Marker servers and allows mouse interaction with them. Version: Electric+

visualization_msgs/InteractiveMarker

Laser Scan

Shows data from a laser scan, with different options for rendering modes, accumulation, etc.

sensor_msgs/LaserScan

Map

Displays a map on the ground plane.

nav_msgs/OccupancyGrid

Markers

Allows programmers to display arbitrary primitive shapes through a topic

visualization_msgs/Marker, visualization_msgs/MarkerArray

Path

Shows a path from the navigation stack.

nav_msgs/Path

Point

Draws a point as a small sphere.

geometry_msgs/PointStamped

Pose

Draws a pose as either an arrow or axes.

geometry_msgs/PoseStamped

Pose Array

Draws a "cloud" of arrows, one for each pose in a pose array

geometry_msgs/PoseArray

Point Cloud(2)

Shows data from a point cloud, with different options for rendering modes, accumulation, etc.

sensor_msgs/PointCloud, sensor_msgs/PointCloud2

Polygon

Draws the outline of a polygon as lines.

geometry_msgs/Polygon

Odometry

Accumulates odometry poses from over time.

nav_msgs/Odometry

Range

Displays cones representing range measurements from sonar or IR range sensors. Version: Electric+

sensor_msgs/Range

RobotModel

Shows a visual representation of a robot in the correct pose (as defined by the current TF transforms).

TF

Displays the tf transform hierarchy.

Wrench

Draws a wrench as arrow (force) and arrow + circle (torque)

geometry_msgs/WrenchStamped

Twist

Draws a twist as arrow (linear) and arrow + circle (angular)

geometry_msgs/TwistStamped

Oculus

Renders the RViz scene to an Oculus headset