Visualization

The following visuals are provided, they can be enabled for example through RVIZ.

Input: Visualizing roadmap/input_map shows the waypoints as large cubes with the color indicating the type of road (i.e., sidewalk, sidewalk edge, road, road edge, etc.).
Output: Visualizing roadmap/output_map shows the output splines and the segments with small cubes with colors indicating the type of road.
Output Directions: Visualizing roadmap/output_map_arrows shows the direction of the splines for debugging purposes.