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doc:web_visualization [2014/02/25 10:31] – [Chart visualization] admin | doc:web_visualization [2014/11/28 17:06] – [Web-based visualization tools] admin | ||
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====== Web-based visualization tools ====== | ====== Web-based visualization tools ====== | ||
+ | ~~NOTOC~~ | ||
+ | KnowRob comes with a range of web-based visualization tools for different kinds of information. All of these tools are accessible from within the knowledge base via Prolog predicates that send the data to the user's browser. When launching the KnowRob visualization canvas, a Web server is automatically started that serves the HTML pages and JavaScript files for this interface. It can be reached at http:// | ||
+ | <code bash> | ||
+ | roslaunch rosbridge_server rosbridge_websocket.launch | ||
+ | </ | ||
- | ===== Prolog query console & query library ===== | + | {{ : |
===== Marker-based 3D visualization canvas ===== | ===== Marker-based 3D visualization canvas ===== | ||
+ | The block in the upper center is a 3D visualization canvas similar to the [[http:// | ||
- | 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 [[http:// | ||
- | ===== Chart visualization ===== | ||
- | This area can accomodate | + | ===== Prolog query console & query library ===== |
- | ===== Designator visualization ===== | + | The block in the upper left is a Prolog console that interacts with a KnowRob instance via the [[doc/ |
- | ===== Image canvas | + | ===== Chart visualization |
+ | This area can accommodate a set of charts that visualize statistical data. They are filled by [[https:// | ||
+ | ===== Designator visualization ===== | ||
+ | The designator visualization block displays the nested structure of designators as indented grey boxes. Designators are the main datastructure of the CRAM executive. The visualization listens to the / | ||
- | ===== Installation ===== | ||
- | ===== Launching the system | + | ===== Image canvas |
+ | The canvas in the lower right displays images whose URL is sent as ROS messages via the / | ||