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