Particle array visualization using rviz.
See ./example/randomposes.py for python example. C++ is similar. The hardest part is to assemble the PoseArray message. Rviz is able to visualize it as an arrows.
The visualization.launch file also starts mapserver which publishes the map.
Running an example
roslaunch ps7_rviz visualization.launch
In separate terminal:
rosrun ps7_rviz randomposes.py