Clients for Radix Server Communicaiton

This repository provides client nodes for requesting data from or sending data to a running Radix server (see radix_ros2_pkg) via the defined services of radix_msgs_ros2_pkg.

See radix_examples for more detailed examples of how to use the client nodes, including setting corresponding parameters.

Provided Clients

• BirdsEyeViewClient: birds_eye_view_client.py
• ChunkClientBasic: chunk_client_basic.py
• ChunkClientGaussian: chunk_client_gaussian.py
• ChunkClientSemantic: chunk_client_semantic.py
• ConfigClient: config_client.py
• PublishClient: publish_client.py
• RayHitClient: ray_hit_client.py
• RenderClient: render_client.py

Installation

Clone repo(s) and install radix_clients using uv

git clone https://github.com/ProjectVERUM/ros2_numpy.git  # requirement: ros2_numpy
git clone https://github.com/ProjectVERUM/radix_clients.git
cd radix_clients
sudo uv pip install . --system

Birds-Eye-View Render

# BEV render
from radix_clients import BirdsEyeViewClient
images: dict[str, np.ndarray] = BirdsEyeViewClient.get_render(params)
# images consists of keys "semantic", "semantic_prob", "depth", "depth_prob"

Chunk

from radix_clients import ChunkClientSemantic
# from radix_clients import ChunkClientBasic
# from radix_clients import ChunkClientGaussian
chunk: dict[str, np.ndarray] = ChunkClientSemantic.get_chunk(params)

Config

from radix_clients import ConfigClient
config_parameters: dict = client.send_request()

Publish Point Cloud (e.g. prior map) to Radix

from radix_clients import PublishClient
ack_received = PublishClient.publish(
        points=points,
        labels=labels,
        pc_topic="/semantic_cloud",  # must be equal to cloud_in_topic of Radix server
        frame_id_header="map",  # must be equal to world_frame_id of Radix server
    )

RayHit

from radix_clients import ConfigClient
config_parameters: dict = client.send_request()

Render

# render
from radix_clients import RayHitClient
hit_xyz: ndarray | None = client.send_request(params)

Code

Before commit, run

ruff check . --fix