Nav2 RViz Tools and Debug Views

Source: ros2-copilot-skills Nav2 RViz tools skill

Why This Matters

RViz is not just a way to click goals. In Nav2, it is one of the fastest ways to see whether localization, costmaps, transforms, plans, and footprint assumptions all agree with reality.

Distilled Takeaways

• The Nav2 RViz panel exposes lifecycle transitions, navigation control, and waypoint workflows.
• Costmap, plan, footprint, particle cloud, and TF displays are often more revealing than raw logs.
• QoS mismatches can make RViz appear broken even when the stack is publishing correctly.
• Setting an initial pose is part of localization correctness, not just UI interaction.
• A good RViz config is part of the robot toolchain and should be treated as a maintained artifact.

Practical Guidance

• Make costmaps, plans, TF, robot model, and footprint standard displays in your navigation config.
• Check QoS settings whenever a map or costmap display appears blank.
• Use RViz to verify the stack's world model before adjusting planners or controllers.
• Save known-good configs and launch them consistently.

Corroborating References

• Nav2 getting started and RViz docs
• RViz user guide

When to Read the Original Source

Go to the original skill when you want a detailed display checklist, Nav2 panel behavior, QoS fixes for map visualization, and the operational meaning of each recommended RViz display.