Hello,

Rviz is a great tool, but some default plugins are missing some features 
very useful in research (and often demanded). In particular:
- Visualization for OccupancyMap should be able to display gray-scale 
values corresponding to occupancy, and not only 3 values.
- Markers lists should be able to handle per-element alpha. I know that 
the web page states otherwise, but frankly I do not see any reason not 
to do it. It is very useful, in particular for triangle lists.

Therefore, I decided to go forward and to implement these two features, 
they are available here:
     https://github.com/ethz-asl/visualization-userfriendly
I might add more features depending on the needs here at ASL. Of course, 
I would be very happy to see these features contributed upstream.

Your comments are welcome,

Kind regards,

Stéphane

-- 
Dr Stéphane Magnenat
http://stephane.magnenat.net