viz

Usage

import { ClassName } from `amphion`;

const vizInstance = new ClassName(
  ros,
  '/topicName',
  options
);

viewer.addVisualization(vizInstance);

For the full syntax on viewer and ros, checkout the basic example in examples folder

Available classes

CollisionObject

Message type
moveit_msgs/CollisionObject

DisplayTrajectory

Message type
moveit_msgs/DisplayTrajectory

PlanningScene

Message type
moveit_msgs/PlanningScene

PointCloud

Message type
sensor_msgs/PointCloud2

Polygon

Message type
geometry_msgs/PolygonStamped

Pose

Message type
geometry_msgs/PoseStamped

PoseArray

Message type
geometry_msgs/PoseArray

Tf

Message type
tf2_msgs/TFMessage, tf/tfMessage

RobotModel

MarkerArray

Message type
visualization_msgs/MarkerArray

LaserScan

Message type
sensor_msgs/LaserScan

Map

Message type
nav_msgs/OccupancyGrid

Odometry

Message type
nav_msgs/Odometry

Path

Message type
nav_msgs/Path

Image

Message type
sensor_msgs/Image

Marker

Message type
visualization_msgs/Marker

Interactive Marker

Message type
visualization_msgs/InteractiveMarkerInit

visualization_msgs/InteractiveMarkerUpdate

visualization_msgs/InteractiveMarkerFeedback

Signature

new Amphion.InteractiveMarkers(
  ros,
  initTopicName,
  { camera, orbitControlsToDisableWhileDragging, renderer, scene },
  {
    feedbackTopicName: {
      name: "string",
      messageType: "visualization_msgs/InteractiveMarkerFeedback"
    },
    updateTopicName: {
      name: "string",
      messageType: "visualization_msgs/InteractiveMarkerUpdate"
    }
  }
);