Cambios que hacen funcionar la visualización en ROS2 Galactic. Los ca…

build/ros3d.cjs.js

@@ -53363,7 +53363,7 @@ eventemitter2.exports;
 	    var obj = {};
 	    var key;
 	    var len = keys.length;
-	    var valuesCount = values ? value.length : 0;
+	    var valuesCount = values ? values.length : 0;
 	    for (var i = 0; i < len; i++) {
 	      key = keys[i];
 	      obj[key] = i < valuesCount ? values[i] : undefined$1;

build/ros3d.esm.js

@@ -53339,7 +53339,7 @@ eventemitter2.exports;
 	    var obj = {};
 	    var key;
 	    var len = keys.length;
-	    var valuesCount = values ? value.length : 0;
+	    var valuesCount = values ? values.length : 0;
 	    for (var i = 0; i < len; i++) {
 	      key = keys[i];
 	      obj[key] = i < valuesCount ? values[i] : undefined$1;
@@ -55084,15 +55084,17 @@ InteractiveMarkerClient.prototype.subscribe = function subscribe (topic) {
     ros : this.ros,
     name : topic + '/tunneled/update',
     messageType : 'visualization_msgs/InteractiveMarkerUpdate',
-    compression : 'png'
+    // compression : 'png'
+	compression : 'cbor'
   });
   this.updateTopic.subscribe(this.processUpdate.bind(this));
 
   this.feedbackTopic = new ROSLIB.Topic({
     ros : this.ros,
     name : topic + '/feedback',
     messageType : 'visualization_msgs/InteractiveMarkerFeedback',
-    compression : 'png'
+    // compression : 'png'
+	compression : 'cbor'
   });
   this.feedbackTopic.advertise();
 
@@ -55330,7 +55332,8 @@ var MarkerArrayClient = /*@__PURE__*/(function (EventEmitter2) {
       ros : this.ros,
       name : this.topicName,
       messageType : 'visualization_msgs/MarkerArray',
-      compression : 'png'
+    //   compression : 'png'
+	compression : 'cbor'
     });
     this.rosTopic.subscribe(this.processMessage.bind(this));
   };
@@ -55449,7 +55452,8 @@ var MarkerClient = /*@__PURE__*/(function (EventEmitter2) {
       ros : this.ros,
       name : this.topicName,
       messageType : 'visualization_msgs/Marker',
-      compression : 'png'
+    //   compression : 'png'
+	compression : 'cbor'
     });
     this.rosTopic.subscribe(this.processMessage.bind(this));
   };

build/ros3d.js

@@ -53429,7 +53429,7 @@ var ROS3D = (function (exports, ROSLIB) {
 		    var obj = {};
 		    var key;
 		    var len = keys.length;
-		    var valuesCount = values ? value.length : 0;
+		    var valuesCount = values ? values.length : 0;
 		    for (var i = 0; i < len; i++) {
 		      key = keys[i];
 		      obj[key] = i < valuesCount ? values[i] : undefined$1;
@@ -55207,24 +55207,31 @@ var ROS3D = (function (exports, ROSLIB) {
 
 	    this.updateTopic = new ROSLIB__namespace.Topic({
 	      ros : this.ros,
-	      name : topic + '/tunneled/update',
-	      messageType : 'visualization_msgs/InteractiveMarkerUpdate',
-	      compression : 'png'
+	    //   name : topic + '/tunneled/update',		
+	    //   messageType : 'visualization_msgs/InteractiveMarkerUpdate',
+		  name : topic + '/update',
+		  messageType : 'visualization_msgs/msg/InteractiveMarkerUpdate',
+	      // compression : 'png'
+		  compression : 'cbor'
 	    });
 	    this.updateTopic.subscribe(this.processUpdate.bind(this));
 
 	    this.feedbackTopic = new ROSLIB__namespace.Topic({
 	      ros : this.ros,
 	      name : topic + '/feedback',
-	      messageType : 'visualization_msgs/InteractiveMarkerFeedback',
-	      compression : 'png'
+	    //   messageType : 'visualization_msgs/InteractiveMarkerFeedback',
+		  messageType : 'visualization_msgs/msg/InteractiveMarkerFeedback',
+	      // compression : 'png'
+		  compression : 'cbor'
 	    });
 	    this.feedbackTopic.advertise();
 
 	    this.initService = new ROSLIB__namespace.Service({
 	      ros : this.ros,
-	      name : topic + '/tunneled/get_init',
-	      serviceType : 'demo_interactive_markers/GetInit'
+	    //   name : topic + '/tunneled/get_init',
+	    //   serviceType : 'demo_interactive_markers/GetInit'
+		  name : topic + '/simple_marker/get_interactive_markers',
+	      serviceType : 'visualization_msgs/srv/GetInteractiveMarkers'
 	    });
 	    var request = new ROSLIB__namespace.ServiceRequest({});
 	    this.initService.callService(request, this.processInit.bind(this));
@@ -55482,7 +55489,8 @@ var ROS3D = (function (exports, ROSLIB) {
 	      ros : this.ros,
 	      name : this.topicName,
 	      messageType : 'visualization_msgs/MarkerArray',
-	      compression : 'png'
+	      // compression : 'png'
+		  compression : 'cbor'
 	    });
 	    this.rosTopic.subscribe(this.processMessage.bind(this));
 	  };
@@ -55619,7 +55627,8 @@ var ROS3D = (function (exports, ROSLIB) {
 	      ros : this.ros,
 	      name : this.topicName,
 	      messageType : 'visualization_msgs/Marker',
-	      compression : 'png'
+	      // compression : 'png'
+		  compression : 'cbor'
 	    });
 	    this.rosTopic.subscribe(this.processMessage.bind(this));
 	  };

examples/continuousmap.html

@@ -15,7 +15,8 @@
   function init() {
     // Connect to ROS.
     var ros = new ROSLIB.Ros({
-      url : 'ws://localhost:9090'
+      url : 'ws://localhost:9090',
+      groovyCompatibility: false
     });
 
     // Create the main viewer.

examples/interactivemarkers.html

@@ -15,7 +15,8 @@
   function init() {
     // Connect to ROS.
     var ros = new ROSLIB.Ros({
-      url : 'ws://localhost:9090'
+      url : 'ws://localhost:9090',
+      groovyCompatibility: false,
     });
 
     // Create the main viewer.
@@ -33,14 +34,14 @@
       angularThres : 0.01,
       transThres : 0.01,
       rate : 10.0,
-      fixedFrame : '/rotating_frame'
+      fixedFrame : 'base_link'
     });
 
     // Setup the marker client.
     var imClient = new ROS3D.InteractiveMarkerClient({
       ros : ros,
       tfClient : tfClient,
-      topic : '/basic_controls',
+      topic : '/simple_marker',
       camera : viewer.camera,
       rootObject : viewer.selectableObjects
     });

examples/intermarker.py

@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2011, Willow Garage, Inc.
+# All rights reserved.
+#
+# Software License Agreement (BSD License 2.0)
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#     * Redistributions of source code must retain the above copyright
+#       notice, this list of conditions and the following disclaimer.
+#     * Redistributions in binary form must reproduce the above copyright
+#       notice, this list of conditions and the following disclaimer in the
+#       documentation and/or other materials provided with the distribution.
+#     * Neither the name of the Willow Garage, Inc. nor the names of its
+#       contributors may be used to endorse or promote products derived from
+#       this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import sys
+
+from interactive_markers import InteractiveMarkerServer
+import rclpy
+from visualization_msgs.msg import InteractiveMarker
+from visualization_msgs.msg import InteractiveMarkerControl
+from visualization_msgs.msg import Marker
+
+
+def processFeedback(feedback):
+    p = feedback.pose.position
+    print(f'{feedback.marker_name} is now at {p.x}, {p.y}, {p.z}')
+
+
+if __name__ == '__main__':
+    rclpy.init(args=sys.argv)
+    node = rclpy.create_node('simple_marker')
+
+    # create an interactive marker server on the namespace simple_marker
+    server = InteractiveMarkerServer(node, 'simple_marker')
+
+    # create an interactive marker for our server
+    int_marker = InteractiveMarker()
+    int_marker.header.frame_id = 'base_link'
+    int_marker.name = 'my_marker'
+    int_marker.description = 'Simple 1-DOF Control'
+
+    # create a grey box marker
+    box_marker = Marker()
+    box_marker.type = Marker.CUBE
+    box_marker.scale.x = 0.45
+    box_marker.scale.y = 0.45
+    box_marker.scale.z = 0.45
+    box_marker.color.r = 0.0
+    box_marker.color.g = 0.5
+    box_marker.color.b = 0.5
+    box_marker.color.a = 1.0
+
+    # create a non-interactive control which contains the box
+    box_control = InteractiveMarkerControl()
+    box_control.always_visible = True
+    box_control.markers.append(box_marker)
+
+    # add the control to the interactive marker
+    int_marker.controls.append(box_control)
+
+    # create a control which will move the box
+    # this control does not contain any markers,
+    # which will cause RViz to insert two arrows
+    rotate_control = InteractiveMarkerControl()
+    rotate_control.name = 'move_x'
+    rotate_control.interaction_mode = InteractiveMarkerControl.MOVE_AXIS
+
+    # add the control to the interactive marker
+    int_marker.controls.append(rotate_control)
+
+    # add the interactive marker to our collection &
+    # tell the server to call processFeedback() when feedback arrives for it
+    server.insert(int_marker, feedback_callback=processFeedback)
+
+    # 'commit' changes and send to all clients
+    server.applyChanges()
+
+    rclpy.spin(node)
+    server.shutdown()

examples/mappa.py

@@ -0,0 +1,33 @@
+import rclpy
+from rclpy.node import Node
+from nav_msgs.msg import OccupancyGrid
+
+class MapPublisher(Node):
+    def __init__(self):
+        super().__init__('map_publisher')
+        self.publisher_ = self.create_publisher(OccupancyGrid, '/map', 10)
+        self.timer_ = self.create_timer(1.0, self.publish_map)  # Publicar cada 1 segundo
+        self.map_ = OccupancyGrid()
+        self.map_.header.frame_id = 'map'
+        self.map_.info.width = 100  # Ancho del mapa
+        self.map_.info.height = 100  # Alto del mapa
+        self.map_.info.resolution = 0.1  # Resolución del mapa (metros/píxel)
+        self.map_.data = [0] * (self.map_.info.width * self.map_.info.height)  # Datos de ocupación del mapa
+
+    def publish_map(self):
+        # Generar datos realistas del mapa (aquí puedes inventar tus propios datos)
+        for i in range(len(self.map_.data)):
+            self.map_.data[i] = 100  # Valor de ocupación máximo (totalmente ocupado)
+
+        self.publisher_.publish(self.map_)
+
+def main(args=None):
+    rclpy.init(args=args)
+    publisher = MapPublisher()
+    rclpy.spin(publisher)
+    publisher.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
+

examples/markers.html

@@ -15,7 +15,8 @@
   function init() {
     // Connect to ROS.
     var ros = new ROSLIB.Ros({
-      url : 'ws://localhost:9090'
+      url : 'ws://localhost:9090',
+      groovyCompatibility: false,
     });
 
     // Create the main viewer.
@@ -32,7 +33,7 @@
       angularThres : 0.01,
       transThres : 0.01,
       rate : 10.0,
-      fixedFrame : '/my_frame'
+      fixedFrame : 'my_frame'
     });
 
     // Setup the marker client.