Try foxglove

.gitignore

@@ -28,3 +28,4 @@ clangd/
 # generated compose files
 compose.yml
 compose_pytest.yml
+foxglove.json

alliander_core/src/alliander_description/velodyne/meshes/VLP16_scan.dae

@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>ctmconv</authoring_tool>
+            <comments>______________________________________________________________________          </comments>
+        </contributor>
+        <created>2026-02-24T13:31:11</created>
+        <modified>2026-02-24T13:31:11</modified>
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="Mesh-1" name="Mesh-1">
+            <mesh>
+                <source id="Mesh-1-positions" name="position">
+                    <float_array id="Mesh-1-positions-array" count="312">-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 </float_array>
+                    <technique_common>
+                        <accessor count="104" offset="0" source="#Mesh-1-positions-array" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="Mesh-1-vertices">
+                    <input semantic="POSITION" source="#Mesh-1-positions" />
+                </vertices>
+                <triangles count="104">
+                    <input offset="0" semantic="VERTEX" source="#Mesh-1-vertices" />
+                    <p>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 </p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="Scene-1" name="Scene-1">
+            <node id="Object-1" name="Object-1">
+                <instance_geometry url="#Mesh-1" />
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#Scene-1" />
+    </scene>
+</COLLADA>

alliander_core/src/alliander_description/velodyne/urdf/velodyne.urdf.xacro

@@ -38,12 +38,12 @@ Based on:
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://velodyne_description/meshes/VLP16_base_1.dae" />
+          <mesh filename="package://alliander_description/velodyne/meshes/VLP16_base_1.dae" />
         </geometry>
       </visual>
       <visual>
         <geometry>
-          <mesh filename="package://velodyne_description/meshes/VLP16_base_2.dae" />
+          <mesh filename="package://alliander_description/velodyne/meshes/VLP16_base_2.dae" />
         </geometry>
       </visual>
       <collision>
@@ -69,7 +69,7 @@ Based on:
       <visual>
         <origin xyz="0 0 -0.0377" />
         <geometry>
-          <mesh filename="package://velodyne_description/meshes/VLP16_scan.dae" />
+          <mesh filename="package://alliander_description/velodyne/meshes/VLP16_scan.dae" />
         </geometry>
       </visual>
     </link>

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

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'<mesh filename="package://{original}',
+            rf'<mesh filename="package://alliander_description/{replacement}',
+        )
+        robot_description_str = robot_description_str.replace(
+            rf'<mesh filename="file:///opt/ros/jazzy/share/{original}',
+            rf'<mesh filename="package://alliander_description/{replacement}',
+        )
+        robot_description_str = robot_description_str.replace(
+            rf'<mesh filename="file:///alliander/external/install/{original}/share/{original}',
+            rf'<mesh filename="package://alliander_description/{replacement}',
+        )
+
+    robot_description["robot_description"] = robot_description_str
+
+
 def static_tf_node(
     parent_frame: str,
     child_frame: str,

alliander_visualization/alliander_visualization.Dockerfile

@@ -16,6 +16,7 @@ RUN apt update && apt install -y --no-install-recommends \
   ros-$ROS_DISTRO-rqt-tf-tree \
   ros-$ROS_DISTRO-moveit-ros-visualization \
   ros-$ROS_DISTRO-rviz-satellite \
+  ros-$ROS_DISTRO-foxglove-bridge \
   && rm -rf /var/lib/apt/lists/* \
   && apt autoremove -y \
   && apt clean

alliander_visualization/docker-compose.yml

@@ -15,4 +15,5 @@ services:
     volumes:
       - "/tmp/.X11-unix:/tmp/.X11-unix"
       - "/dev:/dev"
+      - "./foxglove.json:/foxglove.json"
     command: ["/bin/bash", "-c", "ros2 launch alliander_visualization visualization.launch.py"]

alliander_visualization/src/alliander_visualization/alliander_visualization/foxglove.py

@@ -0,0 +1,193 @@
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+import json
+
+from alliander_utilities.ros_utils import get_file_path
+
+
+class Foxglove:
+    """A class to dynammically manage the Foxglove layout.
+
+    Attributes:
+        topics (list): The topics to bridge.
+        services (list): The services to bridge.
+        layout (dict): The Foxglove layout.
+    """
+
+    topics: list = ["/clock", "/tf", "/tf_static"]
+    services: list = [""]
+    layout: dict
+
+    with open(
+        get_file_path("alliander_visualization", ["config"], "foxglove_layout.json"),
+        encoding="utf-8",
+    ) as json_file:
+        layout = json.load(json_file)
+
+    @staticmethod
+    def create_layout_file() -> 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"
+        )