Merge branch 'develop' into support-custom-resolutions-properly

CHANGELOG.md

@@ -1,5 +1,21 @@
 ## Change Log
 
+### 1.0.0 (2019/01/16 14:48 +00:00)
+- [#245](https://github.com/RobotWebTools/ros3djs/pull/245) Update and normalize EventEmitter2 dependency (@mvollrath)
+- [#244](https://github.com/RobotWebTools/ros3djs/pull/244) Fix PointCloud2 buffers (@mvollrath)
+- [#239](https://github.com/RobotWebTools/ros3djs/pull/239) Use CBOR compression for PointCloud2 (@mvollrath)
+- [#238](https://github.com/RobotWebTools/ros3djs/pull/238) Add quaternion copy method call to avoid read-only exception (@epaezrubio)
+- [#235](https://github.com/RobotWebTools/ros3djs/pull/235) Use DataTexture for OccupancyGrid (@mvollrath)
+- [#232](https://github.com/RobotWebTools/ros3djs/pull/232) add initial support for 3d markers with plane movement (@duwke)
+- [#229](https://github.com/RobotWebTools/ros3djs/pull/229) Adding an ES6 only branch (@keego)
+- [#223](https://github.com/RobotWebTools/ros3djs/pull/223) fix: pointRatio option in PointCloud2 and LaserScan (@mbredif)
+- [#221](https://github.com/RobotWebTools/ros3djs/pull/221) NavSatFix support (@mbredif)
+- [#219](https://github.com/RobotWebTools/ros3djs/pull/219) NavSatFix support (@mbredif)
+- [#218](https://github.com/RobotWebTools/ros3djs/pull/218) PointCloud2 and LaserScan (@mbredif)
+- [#214](https://github.com/RobotWebTools/ros3djs/pull/214) Add ES6 module support (@keego)
+- [#210](https://github.com/RobotWebTools/ros3djs/pull/210) add error reporting to MeshResource (@T045T)
+- [#206](https://github.com/RobotWebTools/ros3djs/pull/206) Fix links in example and readme (@jihoonl)
+
 ### 0.18.0 (2018/01/04 16:00 +00:00)
 - [#203](https://github.com/RobotWebTools/ros3djs/pull/203) fix highlighting with Three.js r88 (@T045T)
 - [#202](https://github.com/RobotWebTools/ros3djs/pull/202) Update coadebase to use Three.js version r88 (@jihoonl)

bower.json

@@ -2,7 +2,7 @@
   "name": "ros3d",
   "homepage": "https://www.robotwebtools.org",
   "description": "(BOWER IS DEPRECATING! Please use npm version of ros3d). The standard ROS Javascript Visualization Library",
-  "version": "0.18.0",
+  "version": "1.0.0",
   "license": "BSD-3-Clause",
   "main": "./src/Ros3D.js",
   "repository": {
@@ -21,8 +21,8 @@
      "Robot Webtools Team <robot-web-tools@googlegroups.com> (http://robotwebtools.org)"
   ],
   "dependencies": {
-    "eventemitter2": "asyncly/EventEmitter2#^0.4.14",
+    "eventemitter2": "^4.1.0",
     "threejs": "mrdoob/three.js#r88",
-    "roslibjs": "RobotWebTools/roslibjs#0.14.0"
+    "roslibjs": "RobotWebTools/roslibjs#1.0.0"
   }
 }

package.json

@@ -2,13 +2,13 @@
   "name": "ros3d",
   "homepage": "https://www.robotwebtools.org",
   "description": "The standard ROS Javascript Visualization Library",
-  "version": "0.18.0",
+  "version": "1.0.0",
   "license": "BSD-3-Clause",
   "main": "./build/ros3d.cjs.js",
   "module": "./build/ros3d.esm.js",
   "dependencies": {
-    "eventemitter2": "~2.2.0",
-    "roslib": ">=0.14.0",
+    "eventemitter2": "^4.1.0",
+    "roslib": "^1.0.0",
     "three": "^0.88.0"
   },
   "devDependencies": {

src/Ros3D.js

@@ -4,7 +4,7 @@
  */
 
 var ROS3D = ROS3D || {
-  REVISION : '0.18.0'
+  REVISION : '1.0.0'
 };
 
 // Marker types

src/sensors/PointCloud2.js

@@ -48,6 +48,7 @@ for(var i=0;i<64;i++){decode64.e[decode64.S.charAt(i)]=i;}
  *  * ros - the ROSLIB.Ros connection handle
  *  * topic - the marker topic to listen to (default: '/points')
  *  * tfClient - the TF client handle to use
+ *  * compression (optional) - message compression (default: 'cbor')
  *  * rootObject (optional) - the root object to add this marker to use for the points.
  *  * max_pts (optional) - number of points to draw (default: 10000)
  *  * pointRatio (optional) - point subsampling ratio (default: 1, no subsampling)
@@ -60,8 +61,11 @@ ROS3D.PointCloud2 = function(options) {
   options = options || {};
   this.ros = options.ros;
   this.topicName = options.topic || '/points';
+  this.compression = options.compression || 'cbor';
+  this.max_pts = options.max_pts || 10000;
   this.points = new ROS3D.Points(options);
   this.rosTopic = undefined;
+  this.buffer = null;
   this.subscribe();
 };
 ROS3D.PointCloud2.prototype.__proto__ = THREE.Object3D.prototype;
@@ -80,7 +84,8 @@ ROS3D.PointCloud2.prototype.subscribe = function(){
   this.rosTopic = new ROSLIB.Topic({
     ros : this.ros,
     name : this.topicName,
-    messageType : 'sensor_msgs/PointCloud2'
+    messageType : 'sensor_msgs/PointCloud2',
+    compression: this.compression
   });
   this.rosTopic.subscribe(this.processMessage.bind(this));
 };
@@ -91,16 +96,20 @@ ROS3D.PointCloud2.prototype.processMessage = function(msg){
   }
 
   var n, pointRatio = this.points.pointRatio;
+  var bufSz = this.max_pts * msg.point_step;
 
   if (msg.data.buffer) {
-    this.points.buffer = msg.data.buffer;
-    n = msg.height*msg.width / pointRatio;
+    this.buffer = msg.data.slice(0, Math.min(msg.data.byteLength, bufSz));
+     n = Math.min(msg.height*msg.width / pointRatio, this.points.positions.array.length / 3);
   } else {
-    n = decode64(msg.data, this.points.buffer, msg.point_step, pointRatio);
+    if (!this.buffer || this.buffer.byteLength < bufSz) {
+      this.buffer = new Uint8Array(bufSz);
+    }
+    n = decode64(msg.data, this.buffer, msg.point_step, pointRatio);
     pointRatio = 1;
   }
 
-  var dv = new DataView(this.points.buffer.buffer);
+  var dv = new DataView(this.buffer.buffer);
   var littleEndian = !msg.is_bigendian;
   var x = this.points.fields.x.offset;
   var y = this.points.fields.y.offset;

src/sensors/Points.js

@@ -40,18 +40,13 @@ ROS3D.Points = function(options) {
   }
 
   this.sn = null;
-  this.buffer = null;
 };
 
 ROS3D.Points.prototype.__proto__ = THREE.Object3D.prototype;
 
 ROS3D.Points.prototype.setup = function(frame, point_step, fields)
 {
     if(this.sn===null){
-        // scratch space to decode base64 buffers
-        if(point_step) {
-            this.buffer = new Uint8Array( this.max_pts * point_step );
-        }
         // turn fields to a map
         fields = fields || [];
         this.fields = {};