Add static transform (/tf_static) to 3DViz Panel #336
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Changelog: - Parse messages commonly published at the /tf_static topic to include them in the transform tree - Thereby correctly building tf tree for most robot descriptions (sensor placements, fixed joints, ...)
janpaul123
reviewed
Jan 30, 2020
| if (tfs_static) { | ||
| for (const msg of tfs_static) { | ||
| for (const tf of msg.message.transforms) { | ||
| if (tf.child_frame_id !== getGlobalHooks().perPanelHooks().ThreeDimensionalViz.skipTranformFrame) { |
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We probably don't need this line, since we only need this for /tf for our internal version. Better to keep this complication out of this new code.
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I see, I'll get rid of it in a moment
Anyways if I look at it correctly there's a typo in the other line ^^ (skipTranformFrame is missing an 's' I guess) so this should be undefined either way
janpaul123
approved these changes
Jan 30, 2020
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This is cool! My only concern is that in the new topic tree (which you can enable by going to "Experimental features" these transforms will show up under "/tf", since currently it's hardcoded that way. That's probably not a super big deal but it might be mildly confusing. It might be good to at least add some comments around where we hardcode that, to say that these also include transforms from "/tf_static", e.g. at
TRANSFORM_TOPIC there as well, instead of just writing "/tf" 😱 cc @vidaaudrey)
Anyway, this looks good to me after making those changes. 👍 Thanks for the contribution!
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@lwohlhart ah I totally forgot about this. CI seems to be failing because it's a PR to a fork, but that's OK. I'll pull this into our internal repo and then I'll soon do a sync to push this out to this open source repo again. Thanks! |
janpaul123
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Apr 9, 2020
Changelog: - Added support for streaming a second bag using the `remote-bag-url-2` query parameter in the URL. #374 - Fixed crashing on bags with topics that don't have a message definition. #373 - Various performance improvements. - Improved caching of deserialized messages should result in fewer browser crashes. - Added `unlimitedMemoryCache` experimental feature to load everything in memory without regard for caching limits. Useful for when you have a machine with lots of memory and you're explicitly OK with Webviz taking up a lot of it. Use at your own risk; this might crash your browser! - Included an "Add Topics" option for adding markers to the Image panel. - Made performance improvements to the Plot and State Transitions panels. If you notice any issues, these performance improvements can be disabled in the Experimental Features menu, under "Use a web worker to render the Plot panel". - In the Image panel, we again filter available marker topics by the namespace of the currently selected camera. - Added support for publishing messages over the Websocket connection using a Publish panel. #323 - Added layout undo/redo shortcuts. - Added support for transforms from [`/tf_static`](http://wiki.ros.org/tf2/Tutorials/Writing%20a%20tf2%20static%20broadcaster%20%28C%2B%2B%29). #336 - Deployed a faster format for displaying text in the 3D panel. You can now use `ctrl-f` (or Mac equivalent) to physically move the camera to matched text. If you notice any issues, this change can be disabled in the Experimental Features menu, under "Faster 3D Text". - Fixed Webviz getting stuck in a reloading loop. - Added support for streaming a second bag using the `remote-bag-url-2` query parameter in the URL. #374 - Fixed crashing on bags with topics that don't have a message definition. #373 - Fixed not always loading messages when subscribing to a new topic when paused ("backfilling"). - Improved caching of deserialized messages should result in fewer browser crashes. - Improved startup time by not making multiple requests with different topics when loading the page. - Fix some cases in which "syncing" 3d panels could cause panels to display a blank screen. - Fixed not always loading messages when subscribing to a new topic when paused ("backfilling"). - Switched Websocket message encoding to [cbor-raw](RobotWebTools/rosbridge_suite#452). #361
janpaul123
added a commit
that referenced
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Apr 9, 2020
Changelog: - Added support for streaming a second bag using the `remote-bag-url-2` query parameter in the URL. #374 - Fixed crashing on bags with topics that don't have a message definition. #373 - Various performance improvements. - Improved caching of deserialized messages should result in fewer browser crashes. - Added `unlimitedMemoryCache` experimental feature to load everything in memory without regard for caching limits. Useful for when you have a machine with lots of memory and you're explicitly OK with Webviz taking up a lot of it. Use at your own risk; this might crash your browser! - Included an "Add Topics" option for adding markers to the Image panel. - Made performance improvements to the Plot and State Transitions panels. If you notice any issues, these performance improvements can be disabled in the Experimental Features menu, under "Use a web worker to render the Plot panel". - In the Image panel, we again filter available marker topics by the namespace of the currently selected camera. - Added support for publishing messages over the Websocket connection using a Publish panel. #323 - Added layout undo/redo shortcuts. - Added support for transforms from [`/tf_static`](http://wiki.ros.org/tf2/Tutorials/Writing%20a%20tf2%20static%20broadcaster%20%28C%2B%2B%29). #336 - Deployed a faster format for displaying text in the 3D panel. You can now use `ctrl-f` (or Mac equivalent) to physically move the camera to matched text. If you notice any issues, this change can be disabled in the Experimental Features menu, under "Faster 3D Text". - Fixed Webviz getting stuck in a reloading loop. - Fixed not always loading messages when subscribing to a new topic when paused ("backfilling"). - Improved startup time by not making multiple requests with different topics when loading the page. - Fix some cases in which "syncing" 3d panels could cause panels to display a blank screen. - Switched Websocket message encoding to [cbor-raw](RobotWebTools/rosbridge_suite#452). #361
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I included these changes in #396. Thanks again! |
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yay thx ! |
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Summary
The visualisation of the TF tree currently doesn't include static transformations published at the /tf_static topic.
Since many robot descriptions (and also environment models) are built using this concept it is necessary to include these transformations.
Therefore I simply added the messages received on /tf_static to the transform consumer in the ThreeDimensionalViz panel.
Test plan
The change can be tested and verified replaying the example.bag file from packages/webviz-core/public/fixtures/
The 'turtle1' frame actually has a 'carrot' frame statically attach to it at 1 meter in x direction.
Prior to the change the carrot frame doesn't show up at all.
Now the frame is available an correctly linked to its parent.
Versioning impact
Most probably this can be handled as a patch update. Or maybe a minor if your versioning policy requires a minor for a new 'feature'.
Thank you for the nice tool!