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並前往https://books.google.com.tw/books?id=ENzFDwAAQBAJ&pg=PA56&lpg=PA56&dq=rviz2+plugin&source=bl&ots=PAi-oGl3L7&sig=ACfU3U2sp8rNjFiyiV0qBi2xHZ9FlFhVyA&hl=zh-TW&sa=X&ved=2ahUKEwjJ_JaJ_Jn1AhXaqpUCHei4DzYQ6AF6BQjsARAD

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A simple default Rviz2 window looks follows: Rviz2 visualizer Now, let's move on ... Most of the plugins from ROS-1 rqt are ported and reused in ROS-2 rqt.

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