RViz is a standard ROS tool for visualizing messages. This tutorial explains how to run RViz2 to display the WAM-V and sensors that you are simulating with Gazebo. Documentation for RViz2 has not been updated on the wiki, so for additional details you may be interested in looking at the codebase

Run the simulation:

ros2 launch vrx_gz competition.launch.py world:=sydney_regatta 

Leave this simulation running for the remainder of the tutorial.

To open RViz with a configuration made for the WAM-V, open a new terminal and run:

ros2 launch vrx_gazebo rviz.launch.py

RViz should open and display the WAM-V and a camera! Try driving around to see the different sensor measurements in RViz.

The example launch file above runs RViz with a preconfigured set of topics. You can add, remove, and edit topics and more from within the RViz GUI to better visualize your robot.