nathanshankar/terminal_rviz — reverse-engineered prompt

Build me a terminal based 3D viewer for ROS 2 that feels like a lightweight RViz I can use over SSH or on a headless robot. I want it to run fully inside the terminal and still be useful for real debugging, with a clean text UI, camera controls, zoom, pan, topic picking, and plugin panels I can click or drive with the keyboard.

It should be able to show the common stuff I’d expect during robot work, like robot models from URDF, TF frames, occupancy maps, point clouds, laser scans, images, markers, marker arrays, and odometry trails. Please also include the more interactive pieces mentioned in the repo, like Nav2 waypoint sending, motion planning support, teleop from the keyboard, rosbag recording and playback, and saving and loading viewer configs.

Make it fast enough to feel smooth in a terminal, including color rendering and decent 3D projection. Please wire up sensible shortcuts and mouse interaction, and give me simple build and run steps for ROS 2. If anything is unclear, look up the current docs online and make it work end to end.