performing another " air tap " gesture, the arrow is fixed, and its pose is sent to be published in a user-specified ROS topic. The Voice Command Tool Plugin extends the speech handling capabilities of the Mixed Reality Toolkit and allows users to interact with the ROS application through speech commands. When the user says a predefined keyword, which is identified by the AR device, the plugin will publish the corresponding command code into a topic specified by the user. Use Cases In this section, we present a use case demonstration in the " Mobile Robot Navigation " section. The " Visualizing Occluded Robots and Communicating Motion Intent " and " Visualizing Robotic Arm's Goal Pose During Object's Handover " sections highlight two studies utilizing ARviz and demonstrate the usability and benefits of the platform for robotics research studies. Full details of the studies mentioned in the " Visualizing Occluded Robots and Communicating Motion ARviz Plugins In ARviz In RViz tf Display VisualizationMarkerArray Display Stamped Pose Display 2D Arrow Tool Voice Command Tool N/A Figure 5. A summary of available plugins, comparing the similarity between ARviz in AR and Rviz in ROS. MARCH 2022 * IEEE ROBOTICS & AUTOMATION MAGAZINE * 63