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--- doc:knowrob_basics [2021/02/18 09:25] – [Loading and querying environment information] daniel86
+++ doc:knowrob_basics [2021/02/18 09:25] (current) – [Visualizing objects] daniel86
@@ Line 53: / Line 53: @@
  O = kitchen_island_left_lower_drawer_handle ;
  [...]
-</code>
-===== Visualizing objects =====
-KnowRob includes a browser-based visualization canvas that can display 3D data such as the environment map or the robot itself. The canvas is based on [[http://rosbridge.org/|rosbridge]] and the [[http://robotwebtools.org/|robotwebtools]] libraries that provide tools for displaying information from ROS in a browser. To forward information from the ROS world to the browser, you need to launch the rosbridge websocket server in another terminal using the following command:
-<code bash>
-roslaunch rosbridge_server rosbridge_websocket.launch
-</code>
-You can just leave the rosbridge node running in the background while you are working on KnowRob. The following queries load a semantic environment map with a set of objects inside and push them to the 3D canvas. The result should look like the image below.
-{{ :tutorial:map-ccrl2-plain.png?nolink&300|}}
-<code prolog>
-% Load the visualization Prolog module
-?- register_ros_package(knowrob_vis).
-% Load an environment map to get some example objects
-?- owl_parse('package://knowrob_map_data/owl/ccrl2_semantic_map.owl').
-% Start the KnowRob side of the visualization canvas. This will start
-% a web server at http://localhost:1111 -- open that page in a browser
-?- visualisation_server.
-% Select the map instance of type 'SemanticEnvironmentMap'
-% and add it to the 3D canvas
-?- owl_individual_of(A, knowrob:'SemanticEnvironmentMap'),
-   marker_update(object(A)).
 </code>