Much of our visualization is based on the older sensor_msgs/PointCloud message type (costmap has a number of data visualization topics that use it, as does the DWB controller). In ROS Foxy this message has been deprecated. I'm not sure when they anticipate removing it, but we should probably update to PointCloud2 at some point.

I don't have time to work on this right yet, but figured I would give it some visibility, and maybe work on a PR this fall.