Cannot assign to read only property 'quaternion' of object '#<OccupancyGrid>'

RobotWebTools / ros3djs

3D Visualization Library for use with the ROS JavaScript Libraries

https://robotwebtools.github.io/ros3djs

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Cannot assign to read only property 'quaternion' of object '#<OccupancyGrid>' #230

Closed LukasGombar closed 5 years ago

LukasGombar commented 6 years ago

I need to run map from mapping in 3D OccupancyGrid. I am trying to make run new version of builded ros3djs with my existing html code, previous version of ros3djs works without problem. I have an issue when loading occupancy grid for map, with error:

@	Ros3D.js:52482
processMessage	@	Ros3D.js:52571
EventEmitter.emit	@	roslib.js:329
Topic._messageCallback	@	roslib.js:2473
EventEmitter.emit	@	roslib.js:329
handleMessage	@	roslib.js:2306
image.onload	@	roslib.js:3679

Tested already from example with the same error at: https://github.com/RobotWebTools/ros3djs/blob/develop/examples/map.html

derme302 commented 6 years ago

src/navigation/OccupancyGrid.js

  this.quaternion = new THREE.Quaternion(
      message.info.origin.orientation.x,
      message.info.origin.orientation.y,
      message.info.origin.orientation.z,
      message.info.origin.orientation.w
  );

In r68 of THREE.js position, rotation, quaternion and scale properties were made immutable so you can't do this assignment after that version. A better approach would be:

 var q = new THREE.Quaternion(
    message.info.origin.orientation.x,
    message.info.origin.orientation.y,
    message.info.origin.orientation.z,
    message.info.origin.orientation.w
  );

  this.quaternion.copy(q);

The grid is still not rendering correctly, but it solves this specific error message.

LukasGombar commented 6 years ago

Thank you very much. That solved an issue. Now everything is working. I just changed this in ROS3D.js file directly.

Now I have question who can edit this in file directly on github branch?