The ROS-based tool RViz defines a commonly used message format for 3D scene visualization supported by KnowRob. Knowledge about objects is used to generate marker visualization messages and tools such as RViz will then be able to visiualize a 3D scene accordingly. In particular, knowledge about certain qualities of objects is exploited such as the color or shape of the object.
For example, this code can be used to generate visualization markers for the PR2 robot in initial pose using "map" as root frame of the world:
load_owl('package://knowrob/owl/robots/PR2.owl'),
urdf_load('http://knowrob.org/kb/PR2.owl#PR2_0', 'package://knowrob/urdf/pr2_for_unit_tests.urdf', [load_rdf]),
urdf_set_pose_to_origin('http://knowrob.org/kb/PR2.owl#PR2_0',map),
marker:republish.
| __init__.pl | ||
|---|---|---|
| marker.pl | ||
| hide_marker/1 | Remove a visualization marker. | |
| marker_action/2 | Maps action term to type id. | |
| marker_type/2 | Maps type term to type id. | |
| show_marker/2 | Same as show_marker/2 with empty options list. | |
| show_marker/3 | Add a visualization marker. | |
| object_marker.pl | ||