Example of how to use rviz to visualize PoseArray (usefull for mcl localization)
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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.
roslaunch ps7_rviz visualization.launch
In separate terminal:
rosrun ps7_rviz randomposes.py
Example of how to use rviz to visualize PoseArray (usefull for mcl localization)