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Chart visualization

The Chart visualization client listens to a given ROS topic for data_vis_msgs and displays them as a chart. Currently, donut charts and bar charts are supported.

Publishing messages from KnowRob

$ rosrun rosprolog rosprolog knowrob_vis
?- diagram_canvas.
?- add_diagram(id, title, type, xlabel, ylabel, [[[a,b],['1','2']],[[a,b],['1','2']],[[a,b],['1','2']]]).

This publishes the following message on the topic 'data_vis_msgs':

id: id
type: 0
title: title
xlabel: xlabel
ylabel: ylabel
values: 
  - 
    value1: ['a', 'b']
    value2: ['1', '2']
  - 
    value1: ['a', 'b']
    value2: ['1', '2']
  - 
    value1: ['a', 'b']
    value2: ['1', '2']

An example of the receiving side can be found here.

Visualization in the Browser

Example

This simple web site subscribes to the topic 'data_vis_msgs' and adds diagrams to the div 'chart'.

<!DOCTYPE html>
<head>
  <meta charset="utf-8">
 
  <script type="text/javascript" src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
  <script type="text/javascript" src="http://cdn.robotwebtools.org/ColladaAnimationCompress/current/ColladaLoader2.min.js"></script>
  <script type="text/javascript" src="http://cdn.robotwebtools.org/roslibjs/current/roslib.min.js"></script>
  <script type="text/javascript" src="DonutChart.js"></script>
  <script type="text/javascript" src="BarChart.js"></script>
  <script type="text/javascript" src="DataVisClient.js"></script>
  <script src="http://d3js.org/d3.v3.min.js"></script>
 
  <script type="text/javascript" type="text/javascript">
    function init() {
 
      var ros = new ROSLIB.Ros({
        url : 'ws://localhost:9090'
      });
 
      var options = {
        ros: ros,
        containerId: '#chart',
        topic: 'data_vis_msgs'
      };
      var dataVisClient = new DataVisClient(options);
    }
  </script>
</head>
<style>
</style>
 
<body onload="init()">
 
<div id="top">
<h1>DataVis Demo</h1>
<div id="chart">
 
</div>
</div>
</body>

Make sure DonutChart.js, BarChart.js and DataVisClient.js are in the same directory as the html file and you run

$ roslaunch knowrob_vis knowrob_vis.launch

on your localhost. Messages can now be published to the same topic via rostopic

$ rostopic pub /data_vis_msgs data_vis_msgs/DataVis '
  {
    id: "arbitrary_id_string",
    type: 0,
    title: "some title",
    xlabel: "x",
    ylabel: "y",
    values: [{
      value1: ["a","b","c"],
      value2: ["3","8","5"]
    }]
  }
'

for testing purpose or by using prolog queries.
Type 0 means donut chart, type 1 bar chart. To update data in an already existing diagram simply publish the message again with the same id and new data in value1 and value2. The chart will update immediately.
To remove a chart, publish a message with its id and an empty array for value2.

By now, only the first element of the 'values'-array is recognized.