# ROS2-IO in real-time with ROS2 topics (PC2 + IMU data).

**URL:** https://discourse.paraview.org/t/ros2-io-in-real-time-with-ros2-topics-pc2-imu-data/17401
**Category:** LidarView, Lidar, and SLAM
**Created:** [January 15, 2026, 8:33pm UTC](https://discourse.paraview.org/t/ros2-io-in-real-time-with-ros2-topics-pc2-imu-data/17401 "2026-01-15T20:33:20Z")
**Posts on this page:** 6
**Page:** 1

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### Author: ![pierre](https://discourse.paraview.org/letter_avatar_proxy/v4/letter/p/d07c76/32.png) [@pierre](https://discourse.paraview.org/u/pierre)
#### Post date: [January 15, 2026, 8:33pm UTC](https://discourse.paraview.org/t/ros2-io-in-real-time-with-ros2-topics-pc2-imu-data/17401/1 "2026-01-15T20:33:20Z")

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Hello!

I use a custom Lidar system (non-rotating, high speed), and I wanted to explore the possibility of using LidarView with it.

I’m interested in having ROS 2 data directly into LidarView, in real-time. So not only reading ROS2 bags but, for instance, LidarView subscribing to PC2/IMU topics.

Additionally, real-time odometry would be a nice addition.

I’m aware from **[this link](https://discourse.paraview.org/t/how-to-add-a-custom-plugin-and-interpreter-in-lidarview)** that these are _planned_ features. I was just wondering if this will likely be implemented in the near future, or if it is more likely a low-priority project?

Thanks in advance for your help,

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### Author: ![Timothee\_Couble](https://discourse.paraview.org/user_avatar/discourse.paraview.org/timothee_couble/32/9790_2.png) [@Timothee\_Couble](https://discourse.paraview.org/u/Timothee_Couble)
#### Post date: [January 16, 2026, 7:15am UTC](https://discourse.paraview.org/t/ros2-io-in-real-time-with-ros2-topics-pc2-imu-data/17401/2 "2026-01-16T07:15:35Z")

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Hi @pierre,

This feature is [already implemented](https://gitlab.kitware.com/LidarView/plugins/ros2-io) in LidarView (but is not yet part of a release). You can download the nightly version of LidarView following [this link](https://gitlab.kitware.com/LidarView/lidarview-superbuild/-/pipelines?scope=all&source=schedule&ref=master) (click on download artifacts under Actions).

The topics currently supported are:

- `sensor_msgs/msg/PointCloud2`
- `sensor_msgs/msg/Imu`
- `sensor_msgs/msg/NavSatFix`
- `nav_msgs/msg/Odometry`
- `oxts_msgs/msg/NavSatRef`

To create a subscriber you have to create a `ROS 2 PointCloud DDS Subscriber` or `ROS 2 Table DDS Subscriber` source.

Let me know if you encounter any issue or if you have any feedback / feature ideas.

Timothée

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### Author: ![pierre](https://discourse.paraview.org/letter_avatar_proxy/v4/letter/p/d07c76/32.png) [@pierre](https://discourse.paraview.org/u/pierre)
#### Post date: [January 16, 2026, 4:06pm UTC](https://discourse.paraview.org/t/ros2-io-in-real-time-with-ros2-topics-pc2-imu-data/17401/3 "2026-01-16T16:06:34Z")

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Thanks you @Timothee_Couble.

I’ll give it a try soon and come back to you with some feedback.

Pierre

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### Author: ![pierre](https://discourse.paraview.org/letter_avatar_proxy/v4/letter/p/d07c76/32.png) [@pierre](https://discourse.paraview.org/u/pierre)
#### Post date: [January 16, 2026, 8:46pm UTC](https://discourse.paraview.org/t/ros2-io-in-real-time-with-ros2-topics-pc2-imu-data/17401/4 "2026-01-16T20:46:06Z")

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@Timothee_Couble

First of all, thank you again for your help.

I tried the LidarView Nightly build, and was able to subscribe to both PC2/IMU ROS2 topics:

- Data were displayed correctly on the 3D view panel.

- PC2 data were reported in **ROS2PointCloudDDSSubscriber1–\>Point Data** , and IMU data were reported in **ROS2TableDDSSubscriber1–\> Row Data**.

- Regarding IMU data, I tried both _raw_ IMU data, and also IMU data coming from _Madgwick_ filter (ROS package).

–\> I am wondering if there is a way to enable _Odometry_ in real time already, in the Nightly build? (with data from PC2 + Madgwick filter for instance, via ROS 2 topics)

Pierre

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### Author: ![Timothee\_Couble](https://discourse.paraview.org/user_avatar/discourse.paraview.org/timothee_couble/32/9790_2.png) [@Timothee\_Couble](https://discourse.paraview.org/u/Timothee_Couble)
#### Post date: [January 19, 2026, 9:32am UTC](https://discourse.paraview.org/t/ros2-io-in-real-time-with-ros2-topics-pc2-imu-data/17401/5 "2026-01-19T09:32:27Z")

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Hi @pierre,

Odometry should be available with the [nav\_msg/msg/Odometry](https://docs.ros2.org/foxy/api/nav_msgs/msg/Odometry.html) topic (using `Table DDS Subscriber` source).

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### Author: ![pierre](https://discourse.paraview.org/letter_avatar_proxy/v4/letter/p/d07c76/32.png) [@pierre](https://discourse.paraview.org/u/pierre)
#### Post date: [January 19, 2026, 10:20pm UTC](https://discourse.paraview.org/t/ros2-io-in-real-time-with-ros2-topics-pc2-imu-data/17401/6 "2026-01-19T22:20:47Z")

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Thank you @Timothee_Couble, I’ll give it a try.