  To support Industry 4.0 applications with haptics and human-machine
interaction, 6G requires a new framework that is fully autonomous, visual, and
interactive. In this paper, we provide an end-to-end solution, HARU, for
private network planning services, especially industrial networks. The solution
consists of the following functions: collecting visual and sensory data from
the user device, reconstructing 3D radio propagation environment and conducting
network planning on a server, and visualizing network performance with AR on
the user device with enabled haptic feedback. The functions are empowered by
three key technical components: 1) vision- and sensor fusion-based 3D
environment reconstruction, 2) ray tracing-based radio map generation and
network planning, and 3) AR-assisted network visualization enabled by real-time
camera relocalization. We conducted the proof-of-concept in a Bosch plant in
Germany and showed good network coverage of the optimized antenna location, as
well as high accuracy in both environment reconstruction and camera
relocalization. We also achieved real-time AR-supported network monitoring with
an end-to-end latency of about $32$ ms per frame.
