RViz2 is unreliable, need to transition to Foxglove

[yaukaizhi]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I'm convinced that this is not my fault but a bug.

Description

RViz sometimes freezes when loading, pointcloud doesnt show up, or cannot give init pose Need to customize foxglove to accept autoware_msg so it can visualize

Expected behavior

Perfect visualization

Actual behavior

RViz sometimes freezes when loading, pointcloud doesnt show up, or cannot give init pose

Steps to reproduce

launch autoware, then launch rviz2 on separate device

Versions

No response

Possible causes

No response

Additional context

No response

[yaukaizhi]

Issue solved with using Rviz, but changing the robot router to CPE. Other routers seem to not work