Visualization

Displaying the planning process in rviz

During planning the current best path and viewpoints are outputted to rviz. To run rviz type

rosrun rviz rviz

in a shell. Add the necessary displays:

• ‘Path’ on topic ‘visualization_marker’
• ‘Marker’ on topic ‘viewpoint_marker’
• ‘Path’ on topic ‘stl_mesh’
• ‘Marker’ on topic ‘scenario’

To display the progress, chose ‘/kopt_frame’ as fixed frame or publish a suitable transform.

Displaying the results in MATLAB

Use the supplied MATLAB script “inspectionPathVisualization.m” together with the generated file “inspectionScenario.m” to visualize the planning results. Both files can be found in the folder request/visualization/ in the request package. The folder koptplanner/data/ in the package koptplanner contains the files “latestPath.m” with the current best path during execution, as well as “tourlength.m” containing the tourlength history together with the time at which each path was found.