iviz is a simple app for ROS data visualization made for iOS. It uses a point and click interface and has direct support for augmented reality. It can visualize messages like TF, markers, point clouds, occupancy grids, and grid maps. Robots can be loaded from the robot description parameter, but an additional model loader service is provided to copy meshes into the device.
The code is open source and released under the MIT license. Feel free to post any questions or issues in the GitHub repository.