World Model 3D

This is a composite widget that displays the URDF model from /robot_description and transforms from /tf and /tf_static. Model files are discovered on the robot, uploaded to the Cloud Bridge and cached there. Supported mesh formats are STL and DAE.

The URDF model ca be meshed with additional data from sensor_msgs/msg/CameraInfo, vision_msgs/msg/Detection3DArray, sensor_msgs/msg/LaserScan and sensor_msgs/msg/Range topics, as shown on the screenshots below. See CameraInfo and Detection3DArray for configuration options.

TODO: note on /tf, /tf_static and /robot_description: reliability, auto subscribe, standards

../_images/widget-scene-view-1.gif
[1/3] Laser scan, range detection, colliders, camera frustum
../_images/widget-scene-view-2.gif
[2/3] Transforms + camera frustum
../_images/widget-scene-view-3.gif
[3/3] Spatial detections

The URDF model only updates when /robot_description changes, or on page reload. Call the /phntm_bridge/clear_cloud_file_cache service to invalidate the model cache on Cloud Bridge, then reload the page. (More features will be added to this widget, such as support for interactive visualization markers and path planning)