diff --git a/.gitignore b/.gitignore index 992504cf..2452b8d4 100644 --- a/.gitignore +++ b/.gitignore @@ -28,3 +28,4 @@ clangd/ # generated compose files compose.yml compose_pytest.yml +foxglove.json diff --git a/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link0.glb b/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link0.glb new file mode 100644 index 00000000..ccf83fab Binary files /dev/null and b/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link0.glb differ diff --git a/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link1.glb b/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link1.glb new file mode 100644 index 00000000..ed09c4d2 Binary files /dev/null and b/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link1.glb differ diff --git a/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link2.glb b/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link2.glb new file mode 100644 index 00000000..91284cb5 Binary files /dev/null and b/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link2.glb differ diff --git a/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link3.glb b/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link3.glb new file mode 100644 index 00000000..61873841 Binary files /dev/null and b/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link3.glb differ diff --git a/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link4.glb b/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link4.glb new file mode 100644 index 00000000..4c189653 Binary files /dev/null and b/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link4.glb differ diff --git a/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link5.glb b/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link5.glb new file mode 100644 index 00000000..360e6417 Binary files /dev/null and b/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link5.glb differ diff --git a/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link6.glb b/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link6.glb new file mode 100644 index 00000000..8137fd7f Binary files /dev/null and b/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link6.glb differ diff --git a/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link7.glb b/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link7.glb new file mode 100644 index 00000000..090436cc Binary files /dev/null and b/alliander_core/src/alliander_description/franka/meshes/robot_arms/fr3/visual/link7.glb differ diff --git a/alliander_core/src/alliander_description/franka/meshes/robot_ee/franka_hand_white/visual/finger.glb b/alliander_core/src/alliander_description/franka/meshes/robot_ee/franka_hand_white/visual/finger.glb new file mode 100644 index 00000000..efc9d784 Binary files /dev/null and b/alliander_core/src/alliander_description/franka/meshes/robot_ee/franka_hand_white/visual/finger.glb differ diff --git a/alliander_core/src/alliander_description/franka/meshes/robot_ee/franka_hand_white/visual/hand.glb b/alliander_core/src/alliander_description/franka/meshes/robot_ee/franka_hand_white/visual/hand.glb new file mode 100644 index 00000000..7954728e Binary files /dev/null and b/alliander_core/src/alliander_description/franka/meshes/robot_ee/franka_hand_white/visual/hand.glb differ diff --git a/alliander_core/src/alliander_description/husarion/meshes/WH01/fl_wheel.glb b/alliander_core/src/alliander_description/husarion/meshes/WH01/fl_wheel.glb new file mode 100644 index 00000000..076fcd60 Binary files /dev/null and b/alliander_core/src/alliander_description/husarion/meshes/WH01/fl_wheel.glb differ diff --git a/alliander_core/src/alliander_description/husarion/meshes/WH01/fr_wheel.glb b/alliander_core/src/alliander_description/husarion/meshes/WH01/fr_wheel.glb new file mode 100644 index 00000000..fe414959 Binary files /dev/null and b/alliander_core/src/alliander_description/husarion/meshes/WH01/fr_wheel.glb differ diff --git a/alliander_core/src/alliander_description/husarion/meshes/WH01/rl_wheel.glb b/alliander_core/src/alliander_description/husarion/meshes/WH01/rl_wheel.glb new file mode 100644 index 00000000..076fcd60 Binary files /dev/null and b/alliander_core/src/alliander_description/husarion/meshes/WH01/rl_wheel.glb differ diff --git a/alliander_core/src/alliander_description/husarion/meshes/WH01/rr_wheel.glb b/alliander_core/src/alliander_description/husarion/meshes/WH01/rr_wheel.glb new file mode 100644 index 00000000..fe414959 Binary files /dev/null and b/alliander_core/src/alliander_description/husarion/meshes/WH01/rr_wheel.glb differ diff --git a/alliander_core/src/alliander_description/husarion/meshes/WH05/fl_wheel.glb b/alliander_core/src/alliander_description/husarion/meshes/WH05/fl_wheel.glb new file mode 100644 index 00000000..73d4de20 Binary files /dev/null and b/alliander_core/src/alliander_description/husarion/meshes/WH05/fl_wheel.glb differ diff --git a/alliander_core/src/alliander_description/husarion/meshes/WH05/fr_wheel.glb b/alliander_core/src/alliander_description/husarion/meshes/WH05/fr_wheel.glb new file mode 100644 index 00000000..4f7c8969 Binary files /dev/null and b/alliander_core/src/alliander_description/husarion/meshes/WH05/fr_wheel.glb differ diff --git a/alliander_core/src/alliander_description/husarion/meshes/WH05/rl_wheel.glb b/alliander_core/src/alliander_description/husarion/meshes/WH05/rl_wheel.glb new file mode 100644 index 00000000..73d4de20 Binary files /dev/null and b/alliander_core/src/alliander_description/husarion/meshes/WH05/rl_wheel.glb differ diff --git a/alliander_core/src/alliander_description/husarion/meshes/WH05/rr_wheel.glb b/alliander_core/src/alliander_description/husarion/meshes/WH05/rr_wheel.glb new file mode 100644 index 00000000..4f7c8969 Binary files /dev/null and b/alliander_core/src/alliander_description/husarion/meshes/WH05/rr_wheel.glb differ diff --git a/alliander_core/src/alliander_description/husarion/meshes/lynx/base.glb b/alliander_core/src/alliander_description/husarion/meshes/lynx/base.glb new file mode 100644 index 00000000..91116138 Binary files /dev/null and b/alliander_core/src/alliander_description/husarion/meshes/lynx/base.glb differ diff --git a/alliander_core/src/alliander_description/husarion/meshes/lynx/base_collision.glb b/alliander_core/src/alliander_description/husarion/meshes/lynx/base_collision.glb new file mode 100644 index 00000000..e435c161 Binary files /dev/null and b/alliander_core/src/alliander_description/husarion/meshes/lynx/base_collision.glb differ diff --git a/alliander_core/src/alliander_description/husarion/meshes/panther/base.glb b/alliander_core/src/alliander_description/husarion/meshes/panther/base.glb new file mode 100644 index 00000000..688992c2 Binary files /dev/null and b/alliander_core/src/alliander_description/husarion/meshes/panther/base.glb differ diff --git a/alliander_core/src/alliander_description/husarion/meshes/panther/base_collision.glb b/alliander_core/src/alliander_description/husarion/meshes/panther/base_collision.glb new file mode 100644 index 00000000..577644d5 Binary files /dev/null and b/alliander_core/src/alliander_description/husarion/meshes/panther/base_collision.glb differ 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196 193 165 196 165 198 199 201 165 165 201 200 165 200 198 191 195 165 165 195 197 165 197 199 174 182 165 165 182 189 165 189 191 157 162 165 165 162 168 165 168 174 138 140 165 165 140 149 165 149 157 130 132 165 165 132 135 165 135 138 131 129 165 165 129 128 165 128 130 139 136 165 165 136 133 165 133 131 158 151 165 165 151 142 165 142 139 176 170 165 165 170 163 165 163 158 193 190 165 165 190 183 165 183 176 94 198 96 96 198 200 96 200 98 98 200 201 98 201 99 99 201 199 99 199 97 97 199 197 97 197 95 95 197 195 95 195 93 93 195 191 93 191 87 87 191 189 87 189 81 81 189 182 81 182 77 77 182 174 77 174 73 73 174 168 73 168 69 69 168 162 69 162 64 64 162 157 64 157 60 60 157 149 60 149 56 56 149 140 56 140 51 51 140 138 51 138 47 47 138 135 47 135 41 41 135 132 41 132 37 37 132 130 37 130 35 35 130 128 35 128 33 33 128 129 33 129 34 34 129 131 34 131 36 36 131 133 36 133 38 38 133 136 38 136 42 42 136 139 42 139 48 48 139 142 48 142 53 53 142 151 53 151 57 57 151 158 57 158 62 62 158 163 62 163 66 66 163 170 66 170 70 70 170 176 70 176 74 74 176 183 74 183 78 78 183 190 78 190 83 83 190 193 83 193 88 88 193 196 88 196 94 94 196 198 67 70 71 71 70 74 71 74 75 75 74 78 75 78 79 79 78 83 79 83 82 82 83 88 82 88 85 85 88 94 85 94 89 89 94 96 89 96 91 91 96 98 91 98 92 92 98 99 92 99 90 90 99 97 90 97 86 46 37 44 44 37 35 44 35 40 40 35 33 40 33 39 39 33 34 39 34 43 43 34 36 43 36 45 45 36 38 45 38 49 49 38 42 49 42 52 52 42 48 52 48 55 55 48 53 55 53 59 59 53 57 59 57 63 63 57 62 63 62 67 67 62 66 67 66 70 97 95 86 86 95 93 86 93 84 84 93 87 84 87 80 80 87 81 80 81 76 76 81 77 76 77 72 72 77 73 72 73 68 68 73 69 68 69 65 65 69 64 65 64 61 61 64 60 61 60 58 58 60 56 58 56 54 54 56 51 54 51 50 50 51 47 50 47 46 46 47 41 46 41 37 27 89 29 29 89 91 29 91 31 31 91 92 31 92 32 32 92 90 32 90 30 30 90 86 30 86 28 28 86 84 28 84 26 26 84 80 26 80 24 24 80 76 24 76 22 22 76 72 22 72 20 20 72 68 20 68 18 18 68 65 18 65 15 15 65 61 15 61 13 13 61 58 13 58 11 11 58 54 11 54 9 9 54 50 9 50 7 7 50 46 7 46 5 5 46 44 5 44 3 3 44 40 3 40 1 1 40 39 1 39 0 0 39 43 0 43 2 2 43 45 2 45 4 4 45 49 4 49 6 6 49 52 6 52 8 8 52 55 8 55 10 10 55 59 10 59 12 12 59 63 12 63 14 14 63 67 14 67 17 17 67 71 17 71 19 19 71 75 19 75 21 21 75 79 21 79 23 23 79 82 23 82 25 25 82 85 25 85 27 27 85 89 27 29 16 27 16 25 19 21 16 16 21 23 16 23 25 12 14 16 16 14 17 16 17 19 6 8 16 16 8 10 16 10 12 0 2 16 16 2 4 16 4 6 5 3 16 16 3 1 16 1 0 11 9 16 16 9 7 16 7 5 18 15 16 16 15 13 16 13 11 24 22 16 16 22 20 16 20 18 30 28 16 16 28 26 16 26 24 29 31 16 16 31 32 16 32 30 102 103 100 100 103 101 124 109 205 205 109 103 205 103 112 112 103 102 112 102 108 559 581 579 120 224 124 124 224 222 124 222 109 109 222 106 109 106 103 103 106 104 215 206 225 225 206 223 206 205 223 223 205 112 223 112 107 112 108 107 107 108 102 107 102 105 105 102 100 105 100 104 104 100 101 104 101 103 579 581 583 583 581 629 583 629 626 627 628 582 582 628 580 579 563 559 559 563 543 559 543 541 541 543 539 541 539 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930 930 654 632 930 632 599 428 404 445 445 404 380 445 380 364 316 300 365 365 300 276 365 276 260 812 796 834 834 796 774 834 774 856 856 774 752 856 752 736 916 714 930 930 714 692 930 692 676 492 468 445 445 468 444 445 444 428 260 246 365 365 246 238 365 238 239 317 261 301 301 261 277 239 247 365 365 247 261 365 261 341 341 261 317

+ + + + + + + + + + + + + + + diff --git a/alliander_core/src/alliander_description/velodyne/meshes/VLP16_base_1.glb b/alliander_core/src/alliander_description/velodyne/meshes/VLP16_base_1.glb new file mode 100644 index 00000000..a08bd4aa Binary files /dev/null and b/alliander_core/src/alliander_description/velodyne/meshes/VLP16_base_1.glb differ diff --git a/alliander_core/src/alliander_description/velodyne/meshes/VLP16_base_2.dae b/alliander_core/src/alliander_description/velodyne/meshes/VLP16_base_2.dae new file mode 100644 index 00000000..2da2a751 --- /dev/null +++ b/alliander_core/src/alliander_description/velodyne/meshes/VLP16_base_2.dae @@ -0,0 +1,45 @@ + + + + + ctmconv + VCG + + 2026-02-24T13:30:59 + 2026-02-24T13:30:59 + Z_UP + + + + + + -0.0508371 0.00251741 0.053975 -0.0507856 -0.00340144 0.053975 -0.0507146 0.00251134 0.053848 -0.0506632 -0.00339325 0.053848 -0.0506421 -0.000440544 0.0686023 -0.0505949 -0.000440133 0.068924 -0.050546 0.0025036 0.0686023 -0.0505055 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18 2 16 2 0 0 2 3 0 3 1 1 3 25 1 25 20 20 25 60 20 60 56 56 60 87 56 87 84 84 87 116 84 116 114 114 116 139 114 139 138 138 139 169 138 169 167 167 169 193 167 193 192 192 193 219 192 219 217 217 219 247 217 247 246 246 247 267 246 267 266 266 267 301 266 301 300 300 301 321 300 321 320 320 321 353 320 353 354

+ + + + + + + + + + + + + + + diff --git a/alliander_core/src/alliander_description/velodyne/meshes/VLP16_base_2.glb b/alliander_core/src/alliander_description/velodyne/meshes/VLP16_base_2.glb new file mode 100644 index 00000000..5e335171 Binary files /dev/null and b/alliander_core/src/alliander_description/velodyne/meshes/VLP16_base_2.glb differ diff --git a/alliander_core/src/alliander_description/velodyne/meshes/VLP16_scan.dae b/alliander_core/src/alliander_description/velodyne/meshes/VLP16_scan.dae new file mode 100644 index 00000000..cd8d10c6 --- /dev/null +++ b/alliander_core/src/alliander_description/velodyne/meshes/VLP16_scan.dae @@ -0,0 +1,45 @@ + + + + + ctmconv + ______________________________________________________________________ + + 2026-02-24T13:31:11 + 2026-02-24T13:31:11 + Z_UP + + + + + + -0.0514649 0.000138856 0.015748 -0.0511064 -0.00606556 0.015748 -0.0510729 0.00634125 0.015748 -0.0507998 0.000137062 0.053848 -0.050446 -0.00598718 0.053848 -0.0504129 0.0062593 0.053848 -0.0500026 -0.0121815 0.015748 -0.0499361 0.0124512 0.015748 -0.0493565 -0.0120241 0.053848 -0.0492909 0.0122903 0.053848 -0.0481697 -0.0181199 0.015748 -0.0480712 0.0183795 0.015748 -0.0475473 -0.0178857 0.053848 -0.0474501 0.018142 0.053848 -0.0456344 -0.023794 0.015748 -0.0455053 0.0240399 0.015748 -0.0450447 -0.0234865 0.053848 -0.0449173 0.0237292 0.053848 -0.0424336 -0.0291211 0.015748 -0.0422759 0.0293496 0.015748 -0.0418853 -0.0287448 0.053848 -0.0417296 0.0289704 0.053848 -0.0386141 -0.0340236 0.015748 -0.0384299 0.0342314 0.015748 -0.0381151 -0.0335839 0.053848 -0.0379333 0.0337891 0.053848 -0.0342314 -0.0384299 0.015748 -0.0340236 0.0386141 0.015748 -0.0337891 -0.0379333 0.053848 -0.0335839 0.0381151 0.053848 -0.0293496 -0.0422759 0.015748 -0.0291211 0.0424336 0.015748 -0.0289704 -0.0417296 0.053848 -0.0287448 0.0418853 0.053848 -0.0240399 -0.0455053 0.015748 -0.023794 0.0456344 0.015748 -0.0237292 -0.0449173 0.053848 -0.0234865 0.0450447 0.053848 -0.0183795 -0.0480712 0.015748 -0.018142 -0.0474501 0.053848 -0.0181199 0.0481697 0.015748 -0.0178857 0.0475473 0.053848 -0.0124512 -0.0499361 0.015748 -0.0122903 -0.0492909 0.053848 -0.0121815 0.0500026 0.015748 -0.0120241 0.0493565 0.053848 -0.00634125 -0.0510729 0.015748 -0.0062593 -0.0504129 0.053848 -0.00606556 0.0511064 0.015748 -0.00598718 0.050446 0.053848 -0.000138856 -0.0514649 0.015748 -0.000137062 -0.0507998 0.053848 0.000137062 0.0507998 0.053848 0.000138856 0.0514649 0.015748 0.00598718 -0.050446 0.053848 0.00606556 -0.0511064 0.015748 0.0062593 0.0504129 0.053848 0.00634125 0.0510729 0.015748 0.0120241 -0.0493565 0.053848 0.0121815 -0.0500026 0.015748 0.0122903 0.0492909 0.053848 0.0124512 0.0499361 0.015748 0.0178857 -0.0475473 0.053848 0.0181199 -0.0481697 0.015748 0.018142 0.0474501 0.053848 0.0183795 0.0480712 0.015748 0.0234865 -0.0450447 0.053848 0.0237292 0.0449173 0.053848 0.023794 -0.0456344 0.015748 0.0240399 0.0455053 0.015748 0.0287448 -0.0418853 0.053848 0.0289704 0.0417296 0.053848 0.0291211 -0.0424336 0.015748 0.0293496 0.0422759 0.015748 0.0335839 -0.0381151 0.053848 0.0337891 0.0379333 0.053848 0.0340236 -0.0386141 0.015748 0.0342314 0.0384299 0.015748 0.0379333 -0.0337891 0.053848 0.0381151 0.0335839 0.053848 0.0384299 -0.0342314 0.015748 0.0386141 0.0340236 0.015748 0.0417296 -0.0289704 0.053848 0.0418853 0.0287448 0.053848 0.0422759 -0.0293496 0.015748 0.0424336 0.0291211 0.015748 0.0449173 -0.0237292 0.053848 0.0450447 0.0234865 0.053848 0.0455053 -0.0240399 0.015748 0.0456344 0.023794 0.015748 0.0474501 -0.018142 0.053848 0.0475473 0.0178857 0.053848 0.0480712 -0.0183795 0.015748 0.0481697 0.0181199 0.015748 0.0492909 -0.0122903 0.053848 0.0493565 0.0120241 0.053848 0.0499361 -0.0124512 0.015748 0.0500026 0.0121815 0.015748 0.0504129 -0.0062593 0.053848 0.050446 0.00598718 0.053848 0.0507998 -0.000137062 0.053848 0.0510729 -0.00634125 0.015748 0.0511064 0.00606556 0.015748 0.0514649 -0.000138856 0.015748 + + + + + + + + + + + + + +

100 103 102 100 102 99 99 102 97 99 97 95 95 97 93 95 93 91 91 93 89 91 89 87 87 89 85 87 85 83 83 85 81 83 81 79 79 81 77 79 77 75 75 77 73 75 73 71 71 73 69 71 69 67 67 69 65 67 65 64 64 65 61 64 61 60 60 61 57 60 57 56 56 57 53 56 53 52 52 53 48 52 48 49 49 48 44 49 44 45 45 44 40 45 40 41 41 40 35 41 35 37 37 35 31 37 31 33 33 31 27 33 27 29 29 27 23 29 23 25 25 23 19 25 19 21 21 19 15 21 15 17 17 15 11 17 11 13 13 11 7 13 7 9 9 7 2 9 2 5 5 2 0 5 0 3 3 0 1 3 1 4 4 1 6 4 6 8 8 6 10 8 10 12 12 10 14 12 14 16 16 14 18 16 18 20 20 18 22 20 22 24 24 22 26 24 26 28 28 26 30 28 30 32 32 30 34 32 34 36 36 34 38 36 38 39 39 38 42 39 42 43 43 42 46 43 46 47 47 46 50 47 50 51 51 50 55 51 55 54 54 55 59 54 59 58 58 59 63 58 63 62 62 63 68 62 68 66 66 68 72 66 72 70 70 72 76 70 76 74 74 76 80 74 80 78 78 80 84 78 84 82 82 84 88 82 88 86 86 88 92 86 92 90 90 92 96 90 96 94 94 96 101 94 101 98 98 101 103 98 103 100

+ + + + + + + + + + + + + + + diff --git a/alliander_core/src/alliander_description/velodyne/meshes/VLP16_scan.glb b/alliander_core/src/alliander_description/velodyne/meshes/VLP16_scan.glb new file mode 100644 index 00000000..16ff9c76 Binary files /dev/null and b/alliander_core/src/alliander_description/velodyne/meshes/VLP16_scan.glb differ diff --git a/alliander_core/src/alliander_description/velodyne/urdf/velodyne.urdf.xacro b/alliander_core/src/alliander_description/velodyne/urdf/velodyne.urdf.xacro index 83092302..f84be32b 100644 --- a/alliander_core/src/alliander_description/velodyne/urdf/velodyne.urdf.xacro +++ b/alliander_core/src/alliander_description/velodyne/urdf/velodyne.urdf.xacro @@ -38,12 +38,12 @@ Based on: - + - + @@ -69,7 +69,7 @@ Based on: - + diff --git a/alliander_core/src/alliander_description/zed/meshes/zed2i.glb b/alliander_core/src/alliander_description/zed/meshes/zed2i.glb new file mode 100644 index 00000000..79ab8090 Binary files /dev/null and b/alliander_core/src/alliander_description/zed/meshes/zed2i.glb differ diff --git a/alliander_core/src/alliander_utilities/alliander_utilities/config_objects.py b/alliander_core/src/alliander_utilities/alliander_utilities/config_objects.py index 54760b5a..dd5c6018 100644 --- a/alliander_core/src/alliander_utilities/alliander_utilities/config_objects.py +++ b/alliander_core/src/alliander_utilities/alliander_utilities/config_objects.py @@ -358,10 +358,12 @@ class VisualizationConfig(Config): Attributes: rviz (bool): Whether to enable RViz visualization. + foxglove (bool): Whether to enable Foxglove visualization. vizanti (bool): Whether to enable Vizanti visualization. gui (bool): Whether to enable GUI. """ - rviz: bool = True + rviz: bool = False + foxglove: bool = True vizanti: bool = False gui: bool = False diff --git a/alliander_core/src/alliander_utilities/alliander_utilities/launch_utils.py b/alliander_core/src/alliander_utilities/alliander_utilities/launch_utils.py index 028a11bf..b21a7fa9 100644 --- a/alliander_core/src/alliander_utilities/alliander_utilities/launch_utils.py +++ b/alliander_core/src/alliander_utilities/alliander_utilities/launch_utils.py @@ -27,6 +27,8 @@ def state_publisher_node( xacro_arguments = {} xacro_path = get_file_path("alliander_description", [platform, "urdf"], xacro) robot_description = get_robot_description(xacro_path, xacro_arguments) + change_meshes(robot_description) + return Node( package="robot_state_publisher", executable="robot_state_publisher", @@ -40,6 +42,39 @@ def state_publisher_node( ) +def change_meshes(robot_description: dict) -> None: + """Change .dae and .stl mesh files to .glb in the robot description. + + Args: + robot_description (dict): The robot description dictionary. + """ + robot_description_str = str(robot_description["robot_description"]) + robot_description_str = robot_description_str.replace(".dae", ".glb") + robot_description_str = robot_description_str.replace(".stl", ".glb") + + for original, replacement in [ + ("husarion_ugv_description", "husarion"), + ("franka_description", "franka"), + ("realsense2_description", "realsense"), + ("zed_msgs", "zed"), + ("husarion_components_description", "nmea_gps"), + ]: + robot_description_str = robot_description_str.replace( + rf' None: + """Create the Foxglove layout file.""" + panels = list(Foxglove.layout["configById"].keys()) + + layout = {"first": {}, "second": {}, "direction": "row"} + references = [layout] + + if len(panels) == 1: + layout = panels.pop() + + places = 2 + while len(panels) > 0: + reference = references[0] + direction = "row" if reference["direction"] == "column" else "column" + if places < len(panels): + if reference["second"] == {}: + reference["second"] = { + "first": {}, + "second": {}, + "direction": direction, + } + references.append(reference["second"]) + else: + reference["first"] = { + "first": {}, + "second": {}, + "direction": direction, + } + references.append(reference["first"]) + references.pop(0) + places += 1 + elif reference["second"] == {}: + reference["second"] = panels.pop() + else: + reference["first"] = panels.pop() + references.pop(0) + + Foxglove.layout["layout"] = layout + with open("/foxglove.json", "w", encoding="utf-8") as outfile: + json.dump(Foxglove.layout, outfile) + + @staticmethod + def add_platform_model(namespace: str) -> None: + """Add a robot model to the Foxglove layout. + + Args: + namespace (str): The namespace of the robot. + """ + Foxglove.topics.append([f"/{namespace}/robot_description"]) + Foxglove.layout["configById"]["3D"]["layers"][f"urdf-{namespace}"] = { + "layerId": "foxglove.Urdf", + "sourceType": "topic", + "topic": f"/{namespace}/robot_description", + "framePrefix": f"{namespace}/", + } + + @staticmethod + def add_street_map(namespace: str) -> None: + """Add a street map to the Foxglove 3D panel. + + Args: + namespace (str): The namespace of the platform. + """ + Foxglove.topics.append(f"/{namespace}/gps/fix") + Foxglove.topics.append(f"/{namespace}/gps/filtered") + Foxglove.layout["configById"]["3D"]["layers"]["map"] = { + "layerId": "foxglove.TiledMap", + "visible": True, + "serverConfig": "map", + "label": "Map", + } + + @staticmethod + def add_image(namespace: str) -> None: + """Add a camera feed to the Foxglove layout. + + Args: + namespace (str): The namespace of the platform. + """ + Foxglove.topics.append(f"/{namespace}/color/image_raw") + Foxglove.topics.append(f"/{namespace}/color/camera_info") + Foxglove.layout["configById"][f"Image!{namespace}"] = { + "imageMode": { + "imageTopic": f"/{namespace}/color/image_raw", + "calibrationTopic": f"/{namespace}/color/camera_info", + } + } + + @staticmethod + def add_pointcloud(namespace: str) -> None: + """Add a pointcloud to the Foxglove 3D panel. + + Args: + namespace (str): The namespace of the platform. + """ + Foxglove.topics.append(f"/{namespace}/scan/points") + Foxglove.layout["configById"]["3D"]["topics"][f"/{namespace}/scan/points"] = { + "visible": True, + "colorMode": "colormap", + "colorMap": "rainbow", + "colorField": "intensity", + } + + @staticmethod + def add_map(topic: str) -> None: + """Add a map to the Foxglove 3D panel. + + Args: + topic (str): The topic of the costmap. + """ + Foxglove.topics.append(topic) + Foxglove.layout["configById"]["3D"]["topics"][topic] = { + "visible": True, + "colorMode": "costmap", + } + + @staticmethod + def add_path(topic: str) -> None: + """Add a path to the Foxglove 3D panel. + + Args: + topic (str): The topic of the path. + """ + Foxglove.topics.append(topic) + Foxglove.layout["configById"]["3D"]["topics"][topic] = { + "visible": True, + "lineWidth": 0.03, + "gradient": ["#00ff00ff", "#00ff00ff"], + } + + @staticmethod + def add_polygon(topic: str) -> None: + """Add a polygon to the Foxglove 3D panel. + + Args: + topic (str): The topic of the polygon. + """ + Foxglove.topics.append(topic) + + @staticmethod + def add_trigger_service(name: str, service: str) -> None: + """Add a service call panel to the Foxglove layout. + + Args: + name (str): The name of the button. + service (str): The service to call when the button is pressed. + """ + Foxglove.services.append(service) + Foxglove.layout["configById"][f"CallService!{name}"] = { + "serviceName": service, + "foxglovePanelTitle": service, + "editingMode": False, + "buttonText": name, + } + + @staticmethod + def add_joystick(namespace: str) -> None: + """Add a virtual joystick to the Foxglove layout. + + Args: + namespace (str): The namespace of the robot. + """ + Foxglove.layout["configById"]["virtual-joystick.Virtual Joystick"]["topic"] = ( + f"/{namespace}/cmd_vel" + ) diff --git a/alliander_visualization/src/alliander_visualization/alliander_visualization/tool_manager.py b/alliander_visualization/src/alliander_visualization/alliander_visualization/tool_manager.py index 49100f4e..dc4ccdc6 100644 --- a/alliander_visualization/src/alliander_visualization/alliander_visualization/tool_manager.py +++ b/alliander_visualization/src/alliander_visualization/alliander_visualization/tool_manager.py @@ -13,6 +13,7 @@ VisualizationConfig, ) +from alliander_visualization.foxglove import Foxglove from alliander_visualization.rviz import Rviz from alliander_visualization.vizanti import Vizanti @@ -40,6 +41,7 @@ def __init__(self, config: VisualizationConfig, platform_list: PlatformList): for platform in platform_list.platforms: Rviz.add_platform_model(platform.namespace) + Foxglove.add_platform_model(platform.namespace) match platform.platform_type: case "Arm": self.add_arm(Arm.from_str(platform.to_str())) @@ -59,6 +61,9 @@ def __init__(self, config: VisualizationConfig, platform_list: PlatformList): if config.rviz: Rviz.create_rviz_file() + if config.foxglove: + Foxglove.create_layout_file() + if config.vizanti: Vizanti.create_config_file() @@ -123,6 +128,9 @@ def add_vehicle(platform: Vehicle) -> None: ns = platform.namespace nav2 = platform.nav2_config Vizanti.add_platform_model(ns) + Foxglove.topics.append(f"/{ns}/cmd_vel") + Foxglove.add_trigger_service("E-Stop Trigger", f"/{ns}/hardware/e_stop_trigger") + Foxglove.add_trigger_service("E-Stop Reset", f"/{ns}/hardware/e_stop_reset") if (nav2.navigation or nav2.slam) and not nav2.gps: Rviz.add_map(f"/{ns}/map") @@ -130,6 +138,11 @@ def add_vehicle(platform: Vehicle) -> None: if nav2.navigation: Rviz.add_map(f"/{ns}/global_costmap/costmap") Rviz.add_path(f"/{ns}/plan") + + Foxglove.add_map(f"/{ns}/global_costmap/costmap") + Foxglove.add_path(f"/{ns}/plan") + Foxglove.add_trigger_service("Stop", f"/{ns}/nav2_manager/stop") + Vizanti.add_button("Stop", f"/{ns}/waypoint_follower_controller/stop") Vizanti.add_initial_pose() Vizanti.add_goal_pose() @@ -145,6 +158,9 @@ def add_vehicle(platform: Vehicle) -> None: Rviz.add_polygon(f"/{ns}/polygon_slower") Rviz.add_polygon(f"/{ns}/velocity_polygon_stop") + Foxglove.add_polygon(f"/{ns}/polygon_slower") + Foxglove.add_polygon(f"/{ns}/velocity_polygon_stop") + @staticmethod def add_lidar(platform: Lidar) -> None: """Add lidar configurations to RViz and Vizanti. @@ -153,6 +169,7 @@ def add_lidar(platform: Lidar) -> None: platform (Lidar): The lidar platform configuration. """ Rviz.add_laser_scan(platform.namespace) + Foxglove.add_pointcloud(platform.namespace) @staticmethod def add_depth_camera(platform: Camera) -> None: @@ -168,6 +185,8 @@ def add_depth_camera(platform: Camera) -> None: f"/{platform.namespace}/depth/image_rect_raw", ) + Foxglove.add_image(platform.namespace) + @staticmethod def add_gps(platform: GPS) -> None: """Add GPS configurations to RViz and Vizanti. @@ -176,3 +195,4 @@ def add_gps(platform: GPS) -> None: platform (GPS): The GPS platform configuration. """ Rviz.add_satellite(f"/{platform.namespace}/gps/fix") + Foxglove.add_street_map(platform.namespace) diff --git a/alliander_visualization/src/alliander_visualization/config/foxglove_layout.json b/alliander_visualization/src/alliander_visualization/config/foxglove_layout.json new file mode 100644 index 00000000..54dab9cb --- /dev/null +++ b/alliander_visualization/src/alliander_visualization/config/foxglove_layout.json @@ -0,0 +1,33 @@ +{ + "configById": { + "3D": { + "cameraState": {}, + "followMode": "follow-pose", + "followTf": "map", + "fixedFrame": "map", + "scene": { + "transforms": { + "visible": false + }, + "backgroundColor": "#454545" + }, + "transforms": {}, + "topics": {}, + "layers": { + "grid": { + "layerId": "foxglove.Grid", + "visible": true + } + }, + "publish": { + "type": "pose", + "poseTopic": "/goal_pose" + } + }, + "virtual-joystick.Virtual Joystick": { + "topic": "/cmd_vel", + "messageSchema": "geometry_msgs/msg/TwistStamped" + } + }, + "layout": {} +} \ No newline at end of file diff --git a/alliander_visualization/src/alliander_visualization/config/foxglove_layout.json.license b/alliander_visualization/src/alliander_visualization/config/foxglove_layout.json.license new file mode 100644 index 00000000..b4d18b04 --- /dev/null +++ b/alliander_visualization/src/alliander_visualization/config/foxglove_layout.json.license @@ -0,0 +1,3 @@ +SPDX-FileCopyrightText: Alliander N. V. + +SPDX-License-Identifier: Apache-2.0 \ No newline at end of file diff --git a/alliander_visualization/src/alliander_visualization/launch/visualization.launch.py b/alliander_visualization/src/alliander_visualization/launch/visualization.launch.py index 6e675420..2eff3d9b 100644 --- a/alliander_visualization/src/alliander_visualization/launch/visualization.launch.py +++ b/alliander_visualization/src/alliander_visualization/launch/visualization.launch.py @@ -1,13 +1,12 @@ # SPDX-FileCopyrightText: Alliander N. V. # # SPDX-License-Identifier: Apache-2.0 - from alliander_utilities.config_objects import PlatformList, VisualizationConfig from alliander_utilities.launch_argument import LaunchArgument from alliander_utilities.launch_utils import SKIP from alliander_utilities.register import Register, RegisteredLaunchDescription from alliander_utilities.ros_utils import get_file_path -from alliander_visualization.tool_manager import ApplyConfigurations +from alliander_visualization.tool_manager import ApplyConfigurations, Foxglove from launch import LaunchContext, LaunchDescription from launch.actions import OpaqueFunction from launch_ros.actions import Node, SetParameter @@ -45,11 +44,25 @@ def launch_setup(context: LaunchContext) -> list: parameters=[{"platform_list": platforms.to_str()}], ) + foxglove = Node( + package="foxglove_bridge", + executable="foxglove_bridge", + parameters=[ + { + "topic_whitelist": Foxglove.topics, + "service_whitelist": Foxglove.services, + "param_whitelist": [""], + "client_topic_whitelist": [""], + } + ], + ) + return [ SetParameter(name="use_sim_time", value=simulation), Register.group(rviz, context) if config.rviz else SKIP, Register.group(vizanti, context) if config.vizanti else SKIP, Register.on_start(gui, context) if config.gui else SKIP, + Register.on_start(foxglove, context), ]