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I think you're best bet would be writing a dockable panel plugin for RVIZ. There is a good tutorial here with source code that should compile and run out of the box. I used this a few months ago to extend RVIZ myself, it's fairly straightforward to make quite powerful add-ons.

You don't have to go through the pain of building a new GUI from scratch and you can link it in to the other tools in RVIZ.

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