Example of how to use rviz to visualize PoseArray (usefull for mcl localization)
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README.md

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