We support mcap (the data container format that ROS2 uses) and Foxglove for viz. Shoutout to Foxglove, it's a much nicer experience than rviz. Something like tf is on the todo list - I recognize it's important.
That's cool to hear! I'll follow the project and fingers crossed it works out. Since I still kind of rely on legacy packages I probably won't/can't move to it in the nearest future but it would definitely be great when "prototyping" and production could be merged to one (without headache)