Once we have robot data being published, we can use one of the Dashboard tools to display that data while the robot program is running. WPILib includes three dashboards plus one third party tool which is included in the software installation.
SmartDashboard - The oldest tool with basic functions
Shuffleboard - A newer tool that comes with a companion software library for managing formatting of the display including grouping fields onto tabs.
Glass - The newest tool which adds widgets for displaying some of the simulated mechanisms.
AdvantageScope - Tool developed by FRC Team 6328 (Mechanical Advantage) that can be used as a dashboard or to view log files. It provides better visualization of complex dynamic data of all types and has special displays for swerve drive.
References:
https://docs.wpilib.org/en/stable/docs/software/dashboards/index.html