visu

source/armarx/navigation/components/Navigator/Navigator.cpp

@@ -59,10 +59,7 @@
 #include "ArmarXGui/libraries/RemoteGui/Client/Widgets.h"
 
 #include <RobotAPI/components/ArViz/Client/Client.h>
-#include <RobotAPI/components/ArViz/Client/Elements.h>
-#include <RobotAPI/components/ArViz/Client/elements/Color.h>
 #include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
-#include <RobotAPI/interface/ArViz/Elements.h>
 #include <RobotAPI/libraries/armem/core/MemoryID.h>
 #include <RobotAPI/libraries/armem/core/Time.h>
 #include <RobotAPI/libraries/armem_vision/OccupancyGridHelper.h>

source/armarx/navigation/server/introspection/ArvizIntrospector.cpp

@@ -60,6 +60,8 @@ namespace armarx::navigation::server
         std::lock_guard g{mtx};
 
         drawLocalTrajectory(result.trajectory);
+        arviz.commit(layers);
+
     }
 
     // void
@@ -164,7 +166,7 @@ namespace armarx::navigation::server
                               [](const core::LocalTrajectoryPoint& pt) -> Eigen::Vector3f
                               { return pt.pose.translation(); });
 
-        layer.add(viz::Path("path").points(points).color(simox::Color::blue()));
+        layer.add(viz::Path("path").points(points).color(simox::Color::green()));
 
         layers.emplace_back(std::move(layer));
     }