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Web-based visualization tools

Prolog query console & query library

The block in the upper left is a Prolog console that interacts with a KnowRob instance via the json_prolog service. You can send queries as you would send via the terminal by pasting them into the lower field; the upper one contains a history and query results. The queries can contain predicates that, as side-effect, update the other visualization windows. For demonstration purposes, there is a library of prepared queries that can be inserted into the query window by clicking on the entries in the 'library' block. They can then be adapted and sent to KnowRob as any other query.

Marker-based 3D visualization canvas

The block in the upper center is a 3D visualization canvas similar to rviz. By default, it however does not visualize the current state of the robot, but usually the state at other points in time. It therefore reads information about the positions of objects and robot parts from logged data and publishes them as markers. This allows to visualize e.g. the robot pose at multiple points in time. More information on this canvas can be found here.

Chart visualization

This area can accomodate a set of charts that visualize statistical data. They are filled by messages published on the 'data_vis_msgs' topic. More information on the use of this visualization can be found here.

Designator visualization

The designator visualization block displays the nested structure of the different designators as indented grey boxes. It listens to the /logged_designators topic and always displays the latest designator message received.

Image canvas

The canvas in the lower left displays images sent as ROS messages via the /logged_images topic. When logging data during plan execution, the PR2 regularly takes snapshots of its camera image at important points in time and save them via this topic, so they will automatically be updated when a plan is executed. To use this canvas for subsequent queries, you need to publish the image as message on the given topic.

Installation

Launching the system