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Add static transform (/tf_static) to 3DViz Panel #336

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Add static transform (/tf_static) to 3DViz Panel #336

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7b73c24
Add static transform (/tf_static) to 3DViz Panel
lwohlhart Jan 30, 2020
96dc426
remove unnecessary skipTransformFrame check
lwohlhart Jan 31, 2020
b3f8ee8
Merge branch 'master' into fix-add-3dviz-tf-static
lwohlhart Mar 26, 2020
b4627a4
Merge branch 'master' into fix-add-3dviz-tf-static
vidaaudrey Mar 27, 2020
1e6e134
Merge branch 'master' into fix-add-3dviz-tf-static
lwohlhart Mar 30, 2020
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3 changes: 2 additions & 1 deletion packages/webviz-core/src/panels/ThreeDimensionalViz/index.js
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ import Transforms from "webviz-core/src/panels/ThreeDimensionalViz/Transforms";
import withTransforms from "webviz-core/src/panels/ThreeDimensionalViz/withTransforms";
import type { Frame, Topic } from "webviz-core/src/players/types";
import type { SaveConfig } from "webviz-core/src/types/panels";
import { TRANSFORM_TOPIC } from "webviz-core/src/util/globalConstants";
import { TRANSFORM_TOPIC, TRANSFORM_STATIC_TOPIC } from "webviz-core/src/util/globalConstants";

export type ThreeDimensionalVizConfig = {
enableTopicTree?: boolean,
Expand Down Expand Up @@ -259,6 +259,7 @@ export default hot(
FrameCompatibilityDEPRECATED(withTransforms(Renderer), [
...getGlobalHooks().perPanelHooks().ThreeDimensionalViz.topics,
TRANSFORM_TOPIC,
TRANSFORM_STATIC_TOPIC,
])
)
);
10 changes: 9 additions & 1 deletion packages/webviz-core/src/panels/ThreeDimensionalViz/withTransforms.js
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ import * as React from "react";
import { getGlobalHooks } from "../../loadWebviz";
import Transforms from "webviz-core/src/panels/ThreeDimensionalViz/Transforms";
import type { Frame } from "webviz-core/src/players/types";
import { TRANSFORM_TOPIC } from "webviz-core/src/util/globalConstants";
import { TRANSFORM_TOPIC, TRANSFORM_STATIC_TOPIC } from "webviz-core/src/util/globalConstants";

type State = {| transforms: Transforms |};

Expand Down Expand Up @@ -44,6 +44,14 @@ function withTransforms<Props: *>(ChildComponent: React.ComponentType<Props>) {
}
}
}
const tfs_static = frame[TRANSFORM_STATIC_TOPIC];
if (tfs_static) {
for (const msg of tfs_static) {
for (const tf of msg.message.transforms) {
transforms.consume(tf);
}
}
}
return { transforms };
}

Expand Down
1 change: 1 addition & 0 deletions packages/webviz-core/src/util/globalConstants.js
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Expand Up @@ -25,6 +25,7 @@ export const TEST_EVERYTHING_LAYOUT_QUERY_VAL = "_integration-test-everything-la
export const DEFAULT_WEBVIZ_NODE_PREFIX = "/webviz_node/";

export const TRANSFORM_TOPIC = "/tf";
export const TRANSFORM_STATIC_TOPIC = "/tf_static";
export const DIAGNOSTIC_TOPIC = "/diagnostics";
export const ROSOUT_TOPIC = "/rosout";
export const SOCKET_KEY = "dataSource.websocket";
Expand Down