how to get 3D Goal Pose?

[bingquanLi]

In the example, how is the 3D Goal Pose in RViz2 implemented?
If I am not using Docker, how can I install or enable this plugin?
At the moment, I only see "2D Goal Pose" and "Publish Point" in RViz2.

[tsengapola]

We strongly recommend using docker. So that the development environment will be the same as ours, which facilitate debugging and enable seamless integration with future release.

If you don't have docker, you need to successfully compile dddmr_rviz_tools, then you will find 3D goal pose.
3D goal pose is implemented as a plugin in dddmr_rviz_tools:
https://github.com/dfl-rlab/dddmr_navigation/blob/main/src/dddmr_rviz_tools/dddmr_rviz_default_plugins/src/dddmr_rviz_default_plugins/tools/goal_pose/goal_tool.cpp

You will need to compile dddmr_rviz_tools and then you can add a new tool in Rviz panel: