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You can send markers to rviz from your program. There are different markers available - lines, polygons, cubes, etc. The markers will probably be flexible enough to be able to represent the 2D and 3D data you are interested in.

You can send markers to rviz rviz from your program. There are different markers available - lines, polygons, cubes, etc. The markers will probably be flexible enough to be able to represent the 2D and 3D data you are interested in.