View compound messages in RViz
I've got some custome message, which contains nav_msgs/OccupancyGrid with some additional information. It there any way to view occupancy grid of this message in RViz?
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As far as I know there is no way to RVIZ to subscribe to a custom message type and extract standard messages from it. You have two choices, make a node to split out the standard msgs and re-publish them (easy) or make a custom RVIZ plugin (not at all easy)
@PeteBlackerThe3rd is correct, and this is one of the reasons why custom messages should be avoided if possible. Existing code won't be able to deal with them, and subscriptions cannot be made against "part of" a msg.
Correlating data from different msgs can be done using timestamps, and ..
.. the wiki/message_filters package.