While the ROS 2 core utility programs are fantastic for debugging, there are additional tools that can help us debug by taking a closer look at our data.
PlotJuggler is a tool that can allow for visualizing data in real time or from logs.
Lichtblick Suite is a fork of the 1.x version of Foxglove Studio which was open source.
Foxglove Studio is a closed source robotics data visualization tool.