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RoboStack / jupyterlab-zethus

Zethus integrated into JupyterLab
Apache License 2.0
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Visualization of meshes for marker messages #19

Open sasjonge opened 2 years ago

sasjonge commented 2 years ago

Hello,

in our organization, we would like to use jupyterlab-zethus, but we have a problem with the visualization of markers. If I run jupyterlab with jupyterlab-zethus I can connect to my roscore and jupyterlab receives the TF and visualization_marker_array messages, but the meshes of the robot are not visualized in Zethus. In RVIZ I can visualize it and see the robot with the meshes.

Is it in general possible to visualize Markers with meshes in jupyterlab-zethus (or also in Zethus in general)?

seadeep42 commented 2 years ago

Hi,

No. Zethus currently doesn't support markers of type mesh. If you have a sample rosbag, I can try adding it but that might take some time.

sasjonge commented 2 years ago

Thanks for the fast answer! I could provide a rosbag, but if you give me a hint where to implement it, I could also try to add this type of markers myself and create a PR.

seadeep42 commented 2 years ago

That'll be great :) The marker code for each type is available here. Need to add a primitive for the marker mesh in this folder.

There's code in the example folder to visualize a marker. You'll need to run the examples locally and update the topic name in the above file.

There's an incomplete branch with updated code I tried a few months ago but couldn't find the time to complete. It is a more recent version but some of the visualizations have issues since threejs moved from Geometry to BufferGeometry.

If any of it is not clear, please let me know. I will try to clarify and provide more details.

Thank you