We can view each type of sensor data from the robotic car in Rviz. Just run Rviz and open the catvehicle.rviz configuration from chapter_10_codes. You can see the Velodyne points and robot car model from Rviz, as shown here:
Figure 33: Complete robot car simulation in Rviz
You can also add a camera view in Rviz. There are two cameras, on the left and right side of the vehicle. We have added some obstacles in Gazebo to check whether the sensor is detecting obstacles. You can add more sensors, such as SICK laser and IMU, to Rviz.