Set visualization of LocalPlanner in createConfig

source/armarx/navigation/components/navigator/Component.cpp

@@ -67,9 +67,6 @@
 #include <RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.h>
 #include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
 
-#include <armarx/navigation/memory/client/costmap/Reader.h>
-#include <armarx/navigation/server/execution/ExecutorInterface.h>
-#include <armarx/navigation/server/scene_provider/SceneProvider.h>
 #include <armarx/navigation/algorithms/Costmap.h>
 #include <armarx/navigation/algorithms/CostmapBuilder.h>
 #include <armarx/navigation/algorithms/astar/util.h>
@@ -84,9 +81,12 @@
 #include <armarx/navigation/conversions/eigen.h>
 #include <armarx/navigation/core/types.h>
 #include <armarx/navigation/factories/NavigationStackFactory.h>
+#include <armarx/navigation/memory/client/costmap/Reader.h>
 #include <armarx/navigation/server/Navigator.h>
 #include <armarx/navigation/server/event_publishing/MemoryPublisher.h>
+#include <armarx/navigation/server/execution/ExecutorInterface.h>
 #include <armarx/navigation/server/introspection/MemoryIntrospector.h>
+#include <armarx/navigation/server/scene_provider/SceneProvider.h>
 #include <armarx/navigation/util/util.h>
 
 namespace armarx::navigation::components::navigator
@@ -257,6 +257,9 @@ namespace armarx::navigation::components::navigator
         server::NavigationStack stack =
             fac::NavigationStackFactory::create(stackConfig, sceneProvider->scene());
 
+        // set visualization of LocalPlanner
+        stack.localPlanner->setVisualization(&getArvizClient());
+
         memoryIntrospectors.emplace_back(
             std::make_unique<server::MemoryIntrospector>(resultsWriterPlugin->get(), callerId));
 
@@ -278,12 +281,12 @@ namespace armarx::navigation::components::navigator
             std::forward_as_tuple(
                 server::Navigator::Config{.stack = std::move(stack),
                                           .general = server::Navigator::Config::General{}},
-                server::Navigator::InjectedServices{.executor = executorPtr,
-                                                    .publisher =
-                                                        memoryPublishers.at(callerId).get(),
-                                                    .introspector = &(introspector.value()),
-                                                    .debugObserverHelper = &getDebugObserverComponentPlugin(),
-                                                    .sceneProvider = &sceneProvider.value()}));
+                server::Navigator::InjectedServices{
+                    .executor = executorPtr,
+                    .publisher = memoryPublishers.at(callerId).get(),
+                    .introspector = &(introspector.value()),
+                    .debugObserverHelper = &getDebugObserverComponentPlugin(),
+                    .sceneProvider = &sceneProvider.value()}));
     }
 
     void
@@ -319,7 +322,7 @@ namespace armarx::navigation::components::navigator
     Component::updateMoveTo(const std::vector<Eigen::Matrix4f>& waypoints,
                             const std::string& navigationMode,
                             const std::string& callerId,
-                            const Ice::Current&  /*c*/)
+                            const Ice::Current& /*c*/)
     {
         ARMARX_TRACE;
 
@@ -535,9 +538,9 @@ namespace armarx::navigation::components::navigator
     server::Navigator*
     Component::activeNavigator()
     {
-        
+
         const auto navigatorId = activeNavigatorId();
-        if(not navigatorId.has_value())
+        if (not navigatorId.has_value())
         {
             return nullptr;
         }