Visor

A homegrown ROS 2 viewer (an RViz2 alternative) written in Rust that connects directly to a zenoh router as a zenoh client.

visor.mp4

Requirements

• Rust 1.92 or newer (rustup recommended)
• A ROS 2 (Jazzy) environment running rmw_zenoh with a zenoh router
• Linux, macOS or Windows (on Windows: the MSVC toolchain with Visual Studio Build Tools)

Quick start

cargo run                                                          # connect to tcp/localhost:7447
cargo run --release -- --endpoint tcp/<host>:7447 --domain-id 32   # a remote robot
cargo run -- --bag path/to/log.bag                                 # replay a ROS 1 .bag or a ROS 2 bag directory

--bag cannot be combined with --endpoint / --domain-id; the Source menu switches at runtime.

Install

cargo install --path apps/visor --force   # the GUI, with the in-repo plugins
cargo install --path .                    # the probe and baginfo CLIs

On Windows, install the .msi attached to each GitHub Release instead.

Configuration

Variable	Default	Description
ZENOH_ENDPOINT	tcp/localhost:7447	zenoh router endpoint
ROS_DOMAIN_ID	0	ROS 2 domain ID

--endpoint / --domain-id override these, and --config <path> loads a viewer configuration file.

Plugins

Display types and panels are added by implementing visor::plugin::Plugin in a crate; plugins/sample with cargo run -p visor --example visor_with_sample is a working example.

Development

cargo fmt --all --check
cargo clippy --workspace --all-targets -- -D warnings
cargo test --workspace

--workspace is required: a bare cargo command only covers apps/visor.