I'm working on rviz for ROS 2 by refactoring rviz from ROS 1 into parts and replacing ROS 1 specific parts only with ROS 2 ones. Here's my plan:
https://github.com/ros-visualization/rviz/issues/1125
I know some other people have already been working on this, so if you are let me know and hopefully we can work together on it!
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