Options/best practice for evaluating the simulation rate in drake

Question

On Ubuntu 20.04 (focal) I used to use drake_visualizer for evaluating the simulation/realtime rate. With the dropped support for drake_visualizer in favor of meldis on jammy, is there an equivalent/similar functionality somewhere?

I can use lcm-spy to watch channels with known publish rates but that is a bit crude and noisy.

Answer 1

Drake's Meshcat does have a nice realtime rate visualization which is available already if you use MeshcatVisualizer. There is an open issue to make it available from meldis, too.