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Visuallizing a set of states in real time in Gazebo.


I am trying to stimulate in 2D a simple robot, and I want to visualize a portion of the state space (the set of inevitable collision states for instance) that changes in real time. I didn't try rviz as of yet (which would probably be able to do that), but I would love to get this visualization live in Gazebo, how do you think this could be done?

Thanks in advance.