WIP Visualization using Foxglove #201
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…a frame data to foxglove-studio
…ed in foxglove-studio)
…s (both as rgb frame and point cloud), also cleaned up some code
…me code to be removed
…ll some pygame code in other files
…nt_cloud.py, and segmented_frame.py
…Publisher.py to ros_lidar_publisher.py and adjusted import statement in visualizer operator
pschafhalter
requested changes
Jul 12, 2021
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Nice work!
In addition to the comments, a few more things need to be done:
- Fix merge conflicts. A quick way to do this is to add this repo as the upstream repository
git fetch upstream masterand thengit rebase upstream/master - Push changes to
operator_creator.py. I think you have some locally that haven't been pushed. - Fix the Dockerfile.
- Fix the code formatting. An easy way to do this is to pip install yapf and run
yapf -i <myfile.py>to automatically format. - Automatically start and shutdown ROS/Foxglove in the visualizer operator.
Also, I was having some issues running Foxglove on a remote machine. Running foxglove-studio --no-sandbox as you suggested helped, but the content of the window doesn't render. It could be an issue with my internet speeds/X-server being slow. We need to look into this before merging this PR.
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Rosbridge provides a potential work-around for the rendering issue I ran into:
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Co-authored-by: Peter Schafhalter <pschafhalter@berkeley.edu>
Co-authored-by: Peter Schafhalter <pschafhalter@berkeley.edu>
Co-authored-by: Peter Schafhalter <pschafhalter@berkeley.edu>
…and methods, and added comments to visualizer operator
…a frame data to foxglove-studio
…ed in foxglove-studio)
…s (both as rgb frame and point cloud), also cleaned up some code
…me code to be removed
…ll some pygame code in other files
…nt_cloud.py, and segmented_frame.py
…Publisher.py to ros_lidar_publisher.py and adjusted import statement in visualizer operator
…and methods, and added comments to visualizer operator
Co-authored-by: Peter Schafhalter <pschafhalter@berkeley.edu>
Co-authored-by: Peter Schafhalter <pschafhalter@berkeley.edu>
Co-authored-by: Peter Schafhalter <pschafhalter@berkeley.edu>
merge required to incorporate suggested changes on the WIP foxglove visualization pull request
ICGog
reviewed
Jul 27, 2021
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Just checking, if I rebased onto master earlier, would there be any way to avoid resolving the same merge conflicts again? |
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Uses ROS publishers to send data to Foxglove for visualization. Removed pygame dependencies in the visualizer operator and operator creator. Additionally, removed the run_visualizer_control_loop() method in utils.py (and its calls) and the visualize() method in frame classes (camera_frame.py, point_cloud.py, etc.).
Dockerfile needs to be updated to install foxglove studio and ROS correctly.
Should the control_display_stream be kept or deleted?
Example screenshot (visualizing detected obstacles and depth camera (both depth frame and point cloud):
