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Perhaps QML could suit you:

https://discourse.ros.org/t/create-stunning-uis-for-ros2-using-the-newly-released-qml-ros2-plugin/25906
https://github.com/StefanFabian/qml_ros2_plugin

Connects QML and ROS2 enabling the simple creation of great looking Graphical User Interfaces for robotics applications.

I would also like to see other answers with pure RViz and ROS2 launch files

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