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You can use a RViz marker for that, take a look: http://wiki.ros.org/rviz/DisplayTypes/Marker#View-Oriented_Text_.28TEXT_VIEW_FACING.3D9.29_.5B1.1.2B-.5D

And here a publisher example: http://wiki.ros.org/rviz/DisplayTypes/Marker#The_Marker_Message

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