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Model-based design and verification for robotics.
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Clarify doxygen of Meshcat::PublishRecording() about sending objects separately #21059

Open DamrongGuoy opened 8 months ago

DamrongGuoy commented 8 months ago

What happened?

Currently the documentation says "... the objects that they modify must be sent to the visualizer separately (e.g. by calling Publish())." like this:

https://drake.mit.edu/doxygen_cxx/classdrake_1_1geometry_1_1_meshcat.html#a455ab0b35fdab06f2cc5e0cb9b1b2845 image

I'm not sure what "(e.g. by calling Publish())" means. Is it about the publish event in the system framework? Is it about SetObject() ?

When I click on Publish(), it went to drake::lcm::Publish(), which I think doesn't make sense, like this:

https://drake.mit.edu/doxygen_cxx/namespacedrake_1_1lcm.html#a7f10e39fd5048940095d76f21bdf760d image

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jwnimmer-tri commented 8 months ago

I think that's a leftover from https://github.com/RobotLocomotion/drake/pull/18433. The animation functions used to be part of the MeshcatVisualizer class, which was a LeafSystem with a Publish function.

DamrongGuoy commented 8 months ago

Thank you, Jeremy. It's very helpful to see #18433.

CC: @SeanCurtis-TRI . Thanks for the prior discussion.