This fork is a lightly modified version of https://github.com/andreasBihlmaier/gazebo2rviz. It's adapted to work with our structures of models (works fine out of the box) and our .world files, which contain several generated buoy models. A minimal time investment was made into getting this, pysdf, and our Gazebo models/worlds to mesh together.
RyanDraves/gazebo2rviz
Automatically import all entities simulated in ROS-enabled Gazebo or described in a set of SDF files into rviz through the TF and Marker plugin. Furthermore add objects from a SDF as MoveIt collision objects.
Python