Posted by @b-Tomas:
I read in the rmf_visualization documentation that the visualization modules get the data from the following topics:
- /fleet_states
- /map
- /floorplan
- /nav_graphs
- /rmf_obstacles
But when launching any of the demos (or my projects) with visualization enabled, I only get subscribers on those topics coming from rmf_visualization, but no publishers. What nodes are supposed to be launched to get data publishers I can listen to? How do I spawn them? Has the publishing of this data migrated to the websocket architecture and if so, what client will emit that data?
The reason I ask this is that we want to build some kind of visualizer for my particular robot management situation, in some aspects similar to rmf-web. Reading the code of the api-server and other packages I could not get much of a grasp on how does it get info besides the fleet_state_update, task_log_update and task_state_update messages that my fleet adapter and the task-dispatcher nodes emit, if it does at all. We are very interested in getting real time updates on fleet, lane and task states, and predicted trajectories, but unfortunately there is no documentation I could find in the book or repositories. If there is, I would appreciate if you can point out where.
Thanks in advance for your help. Great work on this project!
Edited by @b-Tomas at 2023-03-08T00:17:20Z