How to visualize SLAM data by remote pc

[allegorywrite]

Thank you for the great SLAM system.
I'm currently trying to run D2SLAM on Xavier NX, but am struggling with how to visualize it.
If I run a ROS node on Xavier NX, is there a launch file or something to visualize the data remotely?
Furthermore, if I create a map using a depth camera, is there a pipeline to remotely visualize the resulting point cloud or map? At first glance, it doesn't seem like there is any pub/sub of point clouds in the LCM system.

[xuhao1]

You may take a look at https://github.com/HKUST-Swarm/swarm_gcs

[allegorywrite]

Thank you! It looks like swarm_gcs receives ROS topics directly and visualizes them. Am I correct in my understanding that you are not using lcm for visualization in your project (or are using lcm and ROS together)?