It's just the Rviz "measure tool" but with visualizations for the X, Y, and Z component of the selected vector.
Improvements welcome.
If you have ROS Kinetic+ and Rviz, you should just be able to clone and build.
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Jmeyer1292/rviz_distance_tool
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Like the default measurement tool, but with X, Y, and Z distances as well.
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