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planvis [2013/01/07 11:41] – created tenorthplanvis [2014/06/05 11:38] (current) – external edit 127.0.0.1
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-PlanVis is used to visualize planned actions of a robot. +#REDIRECT doc:plan_visualization
-This visualization includes support of expanding actions and showing subactions. +
-PlanVis is part of the mod_vis package. +
- +
-= Quick use = +
-This should be a quick start guide for using PlanVis in knowrob. Please refer to the main knowrob tutorial ([[Tutorial:_KnowRob_basics]]) for getting started. +
- +
-== Initializing package == +
-* 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 into PlanVis === +
- +
-* 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',$Pv). +
- +
-=== Highlight an action === +
- +
-* You can highlight an action with the following command. This action must be a child action of the current loaded action. +
- planvis_highlight('http://ias.cs.tum.edu/kb/knowrob.owl#TakingSomething',$Pv). +
- +
-* Clear the highlight is done by +
- planvis_clear_highlight($Pv). +
- +
-= Screenshot of loaded action = +
-[[File:PlanVis_ServeADrink.png|700px|alt=PlanVis ServeADrink|ServeADrink example]]+