Robot Simulation using RViz as part of Custom GUI

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There isn't a whole lot more to it than the tutorial if you are only concerned with Displays- you can take every Display you have in rviz and use it in librviz with createDisplay and subProp and setValue calls. All the names are the same as what is in rviz, to know that 'Grid' has to be 'rviz/Grid' go into the Add | By display type and the first part of the name is the same as the folder the display is in.

I haven't run this code in a while but this https://github.com/lucasw/rviz_camera... was a project to make a librviz panel that was initially blank but could be configured to any display via service calls.

The other parts of rviz I'm not sure about, and probably deserve the own questions (if there aren't already questions and answers here): how to have tools like '2D nav goal' in a librviz panel, or how to programmatically control the type, position, and angle of the camera (there is ViewController documentation about this?).