If you are searching for real-time visualization of neural networks with ROS interface.
You may check NeuroVis
NeuroVis is a neural dynamic visualizer that connects to the robot operating system (ROS). It acts as a ROS node named “NeuroVis” that receives six topics as inputs: neuron name, connection, updated weight, neuron activity, normalization gain, and bias (some of them are optional); therefore, the visualizer is compatible with ROS-supported programming languages, including C++, python, and Lua. In addition, the program can be employed along with a simulation, such as CoppeliaSim (VREP), and operate in parallel to the real robot.
The code can be seen at zumoarthicha / NeuroVis · GitLab
The detail of NeuroVis can be seen at Frontiers | NeuroVis: Real-Time Neural Information Measurement and Visualization of Embodied Neural Systems | Frontiers in Neural Circuits