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planvis [2013/02/12 17:41] – external edit 127.0.0.1planvis [2014/06/05 11:38] (current) – external edit 127.0.0.1
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-====== Visualization of task descriptions ====== +#REDIRECT doc:plan_visualization
- +
-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. +
- +
-{{ :planvis_serveadrink.png?900 |}} +
- +
- +
-===== Usage ===== +
- +
-Start mod_vis +
-<code> +
- rosrun rosprolog rosprolog mod_vis +
-</code> +
- +
-Load knowrob actions +
-<code> +
- register_ros_package(knowrob_actions) +
-</code> +
- +
-Parse owl file containing the plan +
-<code> +
- owl_parse('/path/to/plan.owl', false, false, true). +
-</code> +
- +
-Open PlanVis applet +
-<code> +
- planvis_create(Pv). +
-</code> +
- +
-Load a plan and all it subactions. The main action is identified by the first parameter +
-<code> +
-  planvis_load('http://www.roboearth.org/kb/serve_drink.owl#ServeADrink',$Pv). +
-</code> +
- +
-You can highlight an action with the following command. This action must be a child action of the current loaded action. +
-<code> +
- planvis_highlight('http://ias.cs.tum.edu/kb/knowrob.owl#TakingSomething',$Pv). +
-</code> +
- +
-Clear the highlight is done by +
-<code> +
- planvis_clear_highlight($Pv). +
-</code> +
- +