I have created a panel plugin for Rviz by following the tutorial here. Right now, my plugin publishes a pointcloud that I manually add to the render window via a PointCloud2 display. Should I instantiate an rviz::MessageFilterDisplay<sensor_msgs::PointCloud2> in my plugin to render directly from the panel?

I also may decide later to render a mesh instead. Would the suggested route be instantiating a custom rviz::Display and overriding its update() function? If so, would I directly make calls to Ogre within that function, or is there a simpler interface?

Any suggestions on how to implement this or example code to check out will be much appreciated!