Visualization
Choose the view from the evidence you need and where it must be viewed. The
viewer is part of the debugging loop, not a decorative dashboard.
Choose the path
- RViz2: local Linux desktop, live ROS 2 graph, and frame- or
message-specific debugging.
- Foxglove or Lichtblick: remote/headless ROS systems, browser access,
shareable layouts, and MCAP playback.
- Rerun: ML rollouts, perception, arbitrary tensors, and custom non-ROS
pipelines.
- Mixed systems may use two views: a ROS viewer for robot state and Rerun for
policy inputs and outputs. Choose per evidence boundary, not per project.
Use the matching rviz2, foxglove, or rerun skill once the path is clear.
Use environments only if the unresolved question is where the viewer or
bridge can run.
Decide live versus recorded
- Use live viewing to interact and form a hypothesis.
- Record before a run when it must be replayed after a crash, compared across
versions, or shared with someone who is not present.
- Scope recordings to the evidence needed, but include enough context to
explain timing and transforms.
- Save the layout or blueprint that makes the recording intelligible.
Always expose useful evidence
- Frames are connected and current.
- Sensor values and rates are plausible, not merely nonzero.
- Commands can be compared with robot response.
- For navigation, show raw sensors alongside costmaps, plan, footprint, and
pose.
- For a learned policy, align observations, actions, and resulting trajectory
on one timeline.
Done
- The selected tool works in the actual local, remote, or headless context.
- The view distinguishes inputs, decisions, and outcomes.
- A recording exists when later comparison or handoff matters.
- Tool-specific setup is delegated to current upstream documentation and the
matching skill.
1---2name: visualization3description: Choose between RViz2, Foxglove, Lichtblick, and Rerun to inspect robot behavior.4---56# Visualization78Choose the view from the evidence you need and where it must be viewed. The9viewer is part of the debugging loop, not a decorative dashboard.1011## Choose the path1213- **RViz2:** local Linux desktop, live ROS 2 graph, and frame- or14 message-specific debugging.15- **Foxglove or Lichtblick:** remote/headless ROS systems, browser access,16 shareable layouts, and MCAP playback.17- **Rerun:** ML rollouts, perception, arbitrary tensors, and custom non-ROS18 pipelines.19- Mixed systems may use two views: a ROS viewer for robot state and Rerun for20 policy inputs and outputs. Choose per evidence boundary, not per project.2122Use the matching `rviz2`, `foxglove`, or `rerun` skill once the path is clear.23Use `environments` only if the unresolved question is where the viewer or24bridge can run.2526## Decide live versus recorded2728- Use live viewing to interact and form a hypothesis.29- Record before a run when it must be replayed after a crash, compared across30 versions, or shared with someone who is not present.31- Scope recordings to the evidence needed, but include enough context to32 explain timing and transforms.33- Save the layout or blueprint that makes the recording intelligible.3435## Always expose useful evidence3637- Frames are connected and current.38- Sensor values and rates are plausible, not merely nonzero.39- Commands can be compared with robot response.40- For navigation, show raw sensors alongside costmaps, plan, footprint, and41 pose.42- For a learned policy, align observations, actions, and resulting trajectory43 on one timeline.4445## Done4647- The selected tool works in the actual local, remote, or headless context.48- The view distinguishes inputs, decisions, and outcomes.49- A recording exists when later comparison or handoff matters.50- Tool-specific setup is delegated to current upstream documentation and the51 matching skill.
robium-ai