Visualization of task descriptions

PlanVis is used to visualize planned actions of a robot. This visualization includes support of expanding actions and showing subactions. PlanVis is part of the mod_vis package. This package has not been updated to the catkin-based version of KnowRob.

Start mod_vis

 rosrun rosprolog rosprolog mod_vis

Load knowrob actions

 register_ros_package(knowrob_actions)

Parse owl file containing the plan

 owl_parse('/path/to/plan.owl', false, false, true).

Open PlanVis applet

 planvis_create(Pv).

Load a plan and all it subactions. The main action is identified by the first parameter

  planvis_load('http://www.roboearth.org/kb/serve_drink.owl#ServeADrink',$Pv).

You can highlight an action with the following command. This action must be a child action of the current loaded action.

 planvis_highlight('http://ias.cs.tum.edu/kb/knowrob.owl#TakingSomething',$Pv).

Clear the highlight is done by

 planvis_clear_highlight($Pv).