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.. _mir_planning_visualisation:
Planning Visualisation
======================
Visualise the planning related knowledge in RViz.
**Knowledge base and plan visualised**
.. image:: ../../../mir_planning/mir_planning_visualisation/docs/kb_plus_plan_vis_labelled.png
1. ``move_base`` actions according to current plan
2. Unfinished goals (object that needs to be placed) [Green]
3. Objects that need to be picked according to current plan [Blue]
4. Normal objects that need not be interacted with
5. Objects stored on robot's platform
**Knowledge base visualised without plan with fake objects**
.. image:: ../../../mir_planning/mir_planning_visualisation/docs/kb_fake_obj.png
Configuration
-------------
Configuration file for generating a marker from a 3D model is defined as follows
.. literalinclude:: ../../../mir_planning/mir_planning_visualisation/ros/config/model_to_marker.yaml
:language: yaml
:lines: 4-17
The marker should be created at the bottom center of the given position. (See
:meth:`mir_planning_visualisation.utils.Utils.get_marker_from_obj_name_and_pos` for more info)
Test
----
.. code-block:: bash
roscore
roslaunch mir_planning_core task_planning_components.launch
roslaunch mir_task_planning upload_problem.launch
rosrun mir_planner_executor planner_executor_mockup
roslaunch mir_planning_visualisation test_planning_visualiser.launch
roslaunch mir_planning_core task_planning_sm.launch
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