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I made a generic librviz node a while ago that has a service interface for adding or removing any rviz display and changing any property.

I'm not sure what the current state of it is, it doesn't really belong in the 'rviz_camera_stream' project. I test it out and perhaps fork it into a different repo, and update this later.

A dynamic dynamic reconfigure system that exposed all the controls would be a nice addition to it.

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