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Web-based visualization tools
Prolog query console & query library
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.