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Beside RViz, you could use:

https://foxglove.dev/ - Foxglove
https://discourse.ros.org/t/create-stunning-uis-for-ros2-using-the-newly-released-qml-ros2-plugin/25906 - QML
https://docs.ros.org/en/humble/Concepts/About-RQt.html - RQt
https://realpython.com/python-gui-tkinter/ - TKinter (or other vanilla Python GUI frameworks)

If you know anything else, please share!

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