We can visualize Leap Motion data in Rviz too. There is a ROS package called leap_client (https://github.com/qboticslabs/leap_client). You can install this package by setting the following environment variable in .bashrc:

    export LEAPSDK=$LEAPSDK:$HOME/LeapSDK

Note that, when we add new variables in .bashrc, you may need to open new Terminal or type bash in the existing Terminal.

Now, we can clone the code in a ROS workspace and build the package using catkin_make.

Let's play around with this package. To launch nodes, we have to start LeapControlPanel:

    $ sudo LeapControlPanel

Then start the ROS Leap driver launch file:

    $ roslaunch leap_motion sensor_sender.launch

Now launch the leap_client launch file to start the visualization nodes. This node will subscribe to the leap_motion driver and convert it into visualization markers in Rviz.

    $ roslaunch leap_client leap_client.launch

Now, you can open Rviz using the following command and select the leap_client/launch/leap_client.rviz configuration file to visualize the markers properly:

    $ rosrun rviz rviz

If you load the leap_client.rviz configuration, you may get hand data like the following (you have to put your hand over the Leap):