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There is an old Tutorial on how to do it the other way around. Using import librviz Python bindings to get the 3D visualizer and adding your functionality. The tutorial displays a grid of variable line width.

There is an old Tutorial on how to do it the other way around. Using import librviz Python bindings to get the Rviz`s 3D visualizer and adding your functionality. The tutorial displays a grid of variable line width.