feat: tidy the RViz display and ship the config with the package

- Rename the displays to semantic names: Map (prior), Live Scan, Local Map,
  Trajectory (/path), Localized Pose (/pcl_pose), and a new TF display so the
  frame chain is visible.
- Render the live scan as a flat white cloud instead of a noisy rainbow, and
  color the prior map / local map consistently.
- Fix a latent bringup bug: rviz/localization.rviz was referenced by
  quickstart.launch.py from package_share but the rviz/ directory was not in
  install(DIRECTORY ...), so the installed package could not load the config.
  Add rviz/ to the install list.
- Add test/test_rviz_config.py (5 checks) pinning the config shape, defaults,
  flat-color scan, install coverage, and the quickstart reference. ctest 96/96.

Author: rsasaki0109

CMakeLists.txt

@@ -313,6 +313,7 @@ install(DIRECTORY
   docs
   experiments
   param
+  rviz
   DESTINATION share/${PROJECT_NAME}/
 )
 
@@ -984,6 +985,12 @@ if(BUILD_TESTING)
     NAME global_localization_query
     COMMAND ${Python3_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/test/test_global_localization_query.py
   )
+  add_test(
+    NAME rviz_config
+    COMMAND ${Python3_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/test/test_rviz_config.py
+  )
+  set_tests_properties(rviz_config PROPERTIES
+    ENVIRONMENT "PYTHONPATH=${CMAKE_CURRENT_SOURCE_DIR}")
   add_test(
     NAME g2_candidate_registration_rank_policy
     COMMAND ${Python3_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/test/test_g2_candidate_registration_rank_policy.py

rviz/localization.rviz

@@ -6,6 +6,10 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
+        - /Map (prior)1
+        - /Live Scan1
+        - /Trajectory (/path)1
+        - /Localized Pose (/pcl_pose)1
       Splitter Ratio: 0.5
     Tree Height: 617
   - Class: rviz_common/Selection
@@ -50,21 +54,21 @@ Visualization Manager:
       Axis: Z
       Channel Name: intensity
       Class: rviz_default_plugins/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: ""
+      Color: 160; 160; 160
+      Color Transformer: FlatColor
       Decay Time: 0
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Max Intensity: 4096
       Min Color: 0; 0; 0
       Min Intensity: 0
-      Name: PointCloud2
-      Position Transformer: ""
+      Name: Map (prior)
+      Position Transformer: XYZ
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.009999999776482582
-      Style: Flat Squares
+      Style: Points
       Topic:
         Depth: 5
         Durability Policy: Volatile
@@ -73,7 +77,7 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /map
       Use Fixed Frame: true
-      Use rainbow: true
+      Use rainbow: false
       Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
@@ -85,15 +89,15 @@ Visualization Manager:
       Channel Name: ring
       Class: rviz_default_plugins/PointCloud2
       Color: 255; 255; 255
-      Color Transformer: Intensity
+      Color Transformer: FlatColor
       Decay Time: 0
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Max Intensity: 31
       Min Color: 0; 0; 0
       Min Intensity: 0
-      Name: PointCloud2
+      Name: Live Scan
       Position Transformer: XYZ
       Selectable: true
       Size (Pixels): 3
@@ -107,7 +111,7 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /velodyne_points
       Use Fixed Frame: true
-      Use rainbow: true
+      Use rainbow: false
       Value: true
     - Alpha: 1
       Buffer Length: 1
@@ -119,7 +123,7 @@ Visualization Manager:
       Length: 0.30000001192092896
       Line Style: Lines
       Line Width: 0.029999999329447746
-      Name: Path
+      Name: Trajectory (/path)
       Offset:
         X: 0
         Y: 0
@@ -146,16 +150,16 @@ Visualization Manager:
       Axis: Z
       Channel Name: intensity
       Class: rviz_default_plugins/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: AxisColor
+      Color: 0; 200; 255
+      Color Transformer: FlatColor
       Decay Time: 0
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Max Intensity: 0
       Min Color: 0; 0; 0
       Min Intensity: 0
-      Name: PointCloud2
+      Name: Local Map
       Position Transformer: XYZ
       Selectable: true
       Size (Pixels): 1
@@ -169,7 +173,7 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /initial_map
       Use Fixed Frame: true
-      Use rainbow: true
+      Use rainbow: false
       Value: true
     - Alpha: 1
       Axes Length: 1
@@ -194,7 +198,7 @@ Visualization Manager:
       Enabled: true
       Head Length: 0.30000001192092896
       Head Radius: 0.10000000149011612
-      Name: PoseWithCovariance
+      Name: Localized Pose (/pcl_pose)
       Shaft Length: 1
       Shaft Radius: 0.05000000074505806
       Shape: Arrow
@@ -206,6 +210,19 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /pcl_pose
       Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Update Interval: 0
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48

test/test_rviz_config.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+"""Regression guards for the user-facing RViz configuration.
+
+The RViz config is the primary visualization surface for quickstart and the
+Nav2/standalone launches. These tests keep it parseable, keep the display names
+semantic, and keep it installed with the package (quickstart.launch.py loads it
+from the package share directory).
+"""
+
+import re
+import unittest
+from pathlib import Path
+
+import yaml
+
+ROOT = Path(__file__).resolve().parents[1]
+RViz_PATH = ROOT / "rviz" / "localization.rviz"
+CMAKELISTS = ROOT / "CMakeLists.txt"
+QUICKSTART_LAUNCH = ROOT / "launch" / "quickstart.launch.py"
+
+
+class TestRvizConfig(unittest.TestCase):
+    def test_config_is_valid_yaml(self):
+        data = yaml.safe_load(RViz_PATH.read_text(encoding="utf-8"))
+        manager = data["Visualization Manager"]
+        self.assertEqual(manager["Global Options"]["Fixed Frame"], "map")
+        displays = manager["Displays"]
+        names = [d.get("Name") for d in displays]
+        self.assertGreaterEqual(len(displays), 6)
+        for expected in ("Map (prior)", "Live Scan", "Local Map",
+                         "Trajectory (/path)", "Localized Pose (/pcl_pose)", "TF"):
+            self.assertIn(expected, names)
+
+    def test_key_displays_are_enabled(self):
+        data = yaml.safe_load(RViz_PATH.read_text(encoding="utf-8"))
+        displays = {d.get("Name"): d for d in data["Visualization Manager"]["Displays"]}
+        for name in ("Live Scan", "Localized Pose (/pcl_pose)", "Trajectory (/path)"):
+            self.assertTrue(displays[name]["Enabled"], f"{name} must be visible by default")
+
+    def test_scan_display_uses_flat_color(self):
+        data = yaml.safe_load(RViz_PATH.read_text(encoding="utf-8"))
+        scan = next(
+            d for d in data["Visualization Manager"]["Displays"]
+            if d.get("Name") == "Live Scan")
+        self.assertEqual(scan["Color Transformer"], "FlatColor")
+        self.assertFalse(scan["Use rainbow"])
+
+    def test_rviz_dir_is_installed_with_package(self):
+        cmake = CMAKELISTS.read_text(encoding="utf-8")
+        match = re.search(r"install\(DIRECTORY\s*(.*?)\s*DESTINATION share/\$\{PROJECT_NAME\}",
+                          cmake, re.DOTALL)
+        self.assertIsNotNone(match, "install(DIRECTORY ... share) block not found")
+        self.assertIn("rviz", match.group(1))
+
+    def test_quickstart_loads_config_from_package_share(self):
+        source = QUICKSTART_LAUNCH.read_text(encoding="utf-8")
+        self.assertIn('os.path.join(package_share, "rviz", "localization.rviz")', source)
+
+
+if __name__ == "__main__":
+    unittest.main()