In my free time over the last month I have been building AR-RViz, an open source tool that allows you to view robot data in augmented reality.
The app is available for iOS and Android(untested) and works with ROS and ROS 2(limited testing) with the only robot side dependency being ros-tcp-endpoint.
Any topic type that has a visualizer can be viewed in AR, however, I only updated and tested the LaserScan and PointCloud2 visualizers. Find more information about visualizers in the README.
There are also a couple of interactive features that allow you to send msgs to ROS. The pose selector mode allows you to send PoseStamped msg for any 2d pose on the ground plane. The manipulate mode allows you to control interactive markers with the motion of your device.
There has been a lot of AR/MR news recently with the announcement of the Apple Vision Pro and Meta Quest 3. When these devices become available I am hoping to add support along with addition features that become possible with an AR headset.
If you have any questions or comments feel free to reach out!