The UFO example shows how to use Drake-ROS and the Drake systems framework to enable controlling a flying object with RViz.
It publishes the following topics:
/tf(all scene frames)/scene_markers/collision(all collision geometries)/scene_markers/visual(all visual geometries)
It subscribes to the following topic
/goal_pose(commands where the object should fly to)
Run the ufo executable.
ros2 run drake_ros_examples ufo
Run RViz in a different terminal with your ROS installation sourced to visualize the station.
ros2 run rviz2 rviz2 -d ufo.rviz
Use the 2D Goal Pose button in RViz to set the location to which the object
should fly to.