Updated dependencies

.gitignore

@@ -8,3 +8,4 @@ node_modules
 examples/**/*.js
 build/
 dist/
+package-lock.json

package.json

@@ -1,6 +1,6 @@
 {
-  "name": "amphion",
-  "version": "0.1.20",
+  "name": "@robostack/amphion",
+  "version": "0.1.21",
   "description": "roslibjs based web visualization library",
   "main": "./build/amphion.js",
   "repository": {
@@ -21,22 +21,21 @@
   },
   "dependencies": {
     "@juggle/resize-observer": "^2.2.1",
+    "@robostack/roslib": "^1.0.1",
     "lodash.debounce": "^4.0.8",
     "pcl-decoder": "^0.1.7",
     "randomcolor": "^0.5.4",
     "rosbag": "^2.2.1",
-    "roslib": "^1.0.1",
     "stats-js": "^1.0.1",
+    "three": "^0.117.0",
     "three-freeform-controls": "0.0.18",
     "three-spritetext": "^1.1.1",
     "urdf-js": "^0.0.14",
     "xstream": "^11.11.0"
   },
-  "peerDependencies": {
-    "three": "^0.109.0"
-  },
   "scripts": {
     "build": "rollup -c rollup.config.prod.js",
+    "clean": "rm -rf node_modules build package-lock.json",
     "postbuild": "rollup -c rollup.wasmless.config.prod.js",
     "examples": "webpack-dev-server --config webpack.config.js",
     "lint": "tslint --fix --config tslint.json --project tsconfig.json -t codeFrame 'src/**/*'",
@@ -49,21 +48,19 @@
     "@babel/preset-env": "^7.5.4",
     "@types/lodash.debounce": "^4.0.6",
     "@types/randomcolor": "^0.5.3",
-    "@types/roslib": "^1.0.0",
     "babel-loader": "^8.0.6",
     "html-webpack-plugin": "^3.2.0",
     "husky": "^3.0.2",
     "lint-staged": "^9.2.5",
     "prettier": "^1.18.2",
     "prettier-sort-destructure": "0.0.4",
-    "rollup": "^1.16.7",
+    "rollup": "^2.0.0",
     "rollup-plugin-babel": "^4.3.3",
     "rollup-plugin-babel-minify": "^9.1.1",
     "rollup-plugin-commonjs": "^10.1.0",
     "rollup-plugin-ignore-import": "^1.3.2",
     "rollup-plugin-replace": "^2.2.0",
     "rollup-plugin-typescript2": "^0.25.2",
-    "three": "^0.109.0",
     "tslib": "^1.10.0",
     "tslint": "^5.20.1",
     "tslint-config-prettier": "^1.18.0",

rollup.config.prod.js

@@ -9,7 +9,7 @@ export default {
   input: 'src/index.ts',
   plugins: [
     replace({
-      'process.env.NODE_ENV': JSON.stringify('production'),
+      'process.env.NODE_ENV': JSON.stringify('production')
     }),
     typescript({ useTsconfigDeclarationDir: true }),
     commonjs({ extensions: ['.js', '.ts'] }),

src/core/index.ts

@@ -1,5 +1,5 @@
 import { RosTopicDataSource } from '../data/rosTopic';
-import { Ros } from 'roslib';
+import { Ros } from '@robostack/roslib';
 import { Object3D } from 'three';
 import { assertIsDefined } from '../utils/helpers';
 import { DataSource } from '../data';

src/core/urdf.ts

@@ -1,6 +1,6 @@
 import { DefaultLoadingManager, LoadingManager, Object3D } from 'three';
 import { assertIsDefined } from '../utils/helpers';
-import ROSLIB, { Ros } from 'roslib';
+import ROSLIB, { Ros } from '@robostack/roslib';
 import { DEFAULT_OPTIONS_ROBOTMODEL } from '../utils/constants';
 // @ts-ignore
 import URDFLoader from 'urdf-js/umd/URDFLoader';

src/data/rosBag.ts

@@ -1,5 +1,5 @@
 import { DataSource } from './index';
-import { Message } from 'roslib';
+import { Message } from '@robostack/roslib';
 import xs, { Listener, Producer, Stream } from 'xstream';
 import RosbagBucket, { BagReadResult } from '../core/rosbagBucket';
 

src/data/rosTopic.ts

@@ -1,9 +1,9 @@
 import { DataSource } from './index';
-import { Message, Ros, Topic } from 'roslib';
+import ROSLIB from '@robostack/roslib';
 import xs, { Listener, Producer, Stream } from 'xstream';
 
 interface RosTopicDataSourceOptions {
-  ros: Ros;
+  ros: ROSLIB.Ros;
   topicName: string;
   messageType: string;
   memory?: boolean;
@@ -16,16 +16,16 @@ interface RosTopicDataSourceOptions {
   queueLength?: number;
 }
 
-export class RosTopicDataSource<T extends Message> implements DataSource<T> {
+export class RosTopicDataSource<T extends ROSLIB.Message> implements DataSource<T> {
   public readonly createdAt: Date = new Date();
   public readonly hasMemory: boolean;
-  private readonly ros: Ros;
-  private readonly topic: Topic;
+  private readonly ros: ROSLIB.Ros;
+  private readonly topic: ROSLIB.Topic;
   private readonly producer: Producer<T>;
   private stream: Stream<T>;
   private isStreamLive: boolean = false;
   private isStreamPaused: boolean = false;
-  private internalListener: ((message: Message) => void) | null = null;
+  private internalListener: ((message: ROSLIB.Message) => void) | null = null;
   private readonly listeners = new Set<Listener<T>>();
   private readonly rosConnectionHook: (() => void) | null = null;
   private rosCloseHook: (() => void) | null = null;
@@ -49,13 +49,13 @@ export class RosTopicDataSource<T extends Message> implements DataSource<T> {
     if (options.queueLength) {
       topicOptions.queue_length = options.queueLength;
     }
-    this.topic = new Topic(topicOptions);
+    this.topic = new ROSLIB.Topic(topicOptions);
     this.producer = {
       start: listener => {
         if (!this.rosCloseHook && !this.rosErrorHook) {
           this.addRosHealthHooks();
         }
-        this.internalListener = (message: Message) => {
+        this.internalListener = (message: ROSLIB.Message) => {
           if (this.isStreamPaused) {
             return;
           }

src/primitives/ArrowWithCircle.ts

@@ -1,4 +1,4 @@
-import { Math as THREEMath, MeshStandardMaterial, TorusGeometry } from 'three';
+import { MathUtils as THREEMath, MeshStandardMaterial, TorusGeometry } from 'three';
 import Arrow from './Arrow';
 import Cone from './Cone';
 import {

src/primitives/DepthCloudObject.ts

@@ -296,16 +296,16 @@ class DepthCloudObject extends Object3D {
 
       this.material = new ShaderMaterial({
         uniforms: {
-          map: { type: 't', value: this.texture },
-          width: { type: 'f', value: halfWidth },
-          height: { type: 'f', value: halfHeight },
-          focallength: { type: 'f', value: f },
-          pointSize: { type: 'f', value: pointSize },
-          zOffset: { type: 'f', value: 0 },
-          whiteness: { type: 'f', value: whiteness },
-          varianceThreshold: { type: 'f', value: varianceThreshold },
-          maxDepthPerTile: { type: 'f', value: maxDepthPerTile },
-          resolutionFactor: { type: 'f', value: resolutionFactor },
+          map: { value: this.texture },
+          width: { value: halfWidth },
+          height: { value: halfHeight },
+          focallength: { value: f },
+          pointSize: { value: pointSize },
+          zOffset: { value: 0 },
+          whiteness: { value: whiteness },
+          varianceThreshold: { value: varianceThreshold },
+          maxDepthPerTile: { value: maxDepthPerTile },
+          resolutionFactor: { value: resolutionFactor },
         },
         vertexShader,
         fragmentShader,

src/primitives/LineSegment.ts

@@ -16,8 +16,7 @@ class LineSegments extends ThreeLineSegments {
   constructor(color = DEFAULT_COLOR_LINE, linewidth = 5) {
     super();
     this.geometry = new Geometry();
-    this.material = new LineBasicMaterial({ linewidth });
-    this.material.vertexColors = VertexColors;
+    this.material = new LineBasicMaterial({ linewidth, color: VertexColors });
   }
 
   setColor(color: string | number | RosMessage.Color) {

src/primitives/Mesh.ts

@@ -1,4 +1,4 @@
-import { Math, Mesh as THREEMesh } from 'three';
+import { MathUtils, Mesh as THREEMesh } from 'three';
 
 import * as TransformUtils from '../utils/transform';
 
@@ -25,10 +25,10 @@ class Mesh extends THREEMesh {
   setAlpha(alpha: number) {
     if (Array.isArray(this.material)) {
       this.material.forEach(material => {
-        material.opacity = Math.clamp(alpha, 0, 1);
+        material.opacity = MathUtils.clamp(alpha, 0, 1);
       });
     } else {
-      this.material.opacity = Math.clamp(alpha, 0, 1);
+      this.material.opacity = MathUtils.clamp(alpha, 0, 1);
     }
   }
 }

src/primitives/Points.ts

@@ -17,7 +17,7 @@ class Points extends ThreePoints {
     super();
     this.geometry = new Geometry();
     this.material = new PointsMaterial({
-      vertexColors: VertexColors,
+      color: VertexColors,
     });
   }
 

src/primitives/TriangleList.ts

@@ -18,7 +18,7 @@ class TriangleList extends Mesh {
     super();
     this.geometry = new Geometry();
     this.material = new MeshBasicMaterial({
-      vertexColors: FaceColors,
+      color: FaceColors,
     });
     this.material.side = DoubleSide;
   }
@@ -29,7 +29,7 @@ class TriangleList extends Mesh {
     options: { scale: RosMessage.Point },
   ) {
     const vertices: Vector3[] = [];
-    const faces = [];
+    const faces: Face3[] = [];
     const {
       scale: { x, y, z },
     } = options;

src/utils/points.ts

@@ -5,7 +5,7 @@ import {
   Points as ThreePoints,
   PointsMaterial,
   TextureLoader,
-  VertexColors,
+  DynamicDrawUsage
 } from 'three';
 import { LASERSCAN_STYLES } from './constants';
 import { assertIsDefined } from './helpers';
@@ -54,15 +54,17 @@ class Points {
     }
 
     this.geometry = new BufferGeometry();
-    this.geometry.addAttribute('position', this.positions.setDynamic(true));
-    this.geometry.addAttribute('color', this.colors.setDynamic(true));
+    this.positions.usage = DynamicDrawUsage;
+    this.geometry.addAttribute('position', this.positions);
+    this.colors.usage = DynamicDrawUsage;
+    this.geometry.addAttribute('color', this.colors);
 
     this.material = new PointsMaterial({
       color: 0x888888,
       size,
       ...options,
     });
-    this.material.vertexColors = VertexColors;
+
     this.material.transparent = true;
     this.material.opacity = alpha;
 

src/viewers/Tf.ts

@@ -1,5 +1,5 @@
 import { Group, Object3D, Quaternion, Vector3 } from 'three';
-import ROSLIB, { Ros } from 'roslib';
+import ROSLIB, { Ros } from '@robostack/roslib';
 
 import Viewer3d from './3d';
 import { DEFAULT_OPTIONS_TF_VIEWER } from '../utils/constants';

src/viz/CollisionObject.ts

@@ -7,7 +7,7 @@ import {
 } from '../utils/constants';
 import Group from '../primitives/Group';
 import Box from '../primitives/Box';
-import { Ros } from 'roslib';
+import { Ros } from '@robostack/roslib';
 import { Object3D } from 'three';
 
 class CollisionObject extends LegacyCore {

src/viz/DisplayTrajectory.ts

@@ -6,7 +6,7 @@ import {
   MESSAGE_TYPE_DISPLAYTRAJECTORY,
 } from '../utils/constants';
 import Group from '../primitives/Group';
-import { Ros } from 'roslib';
+import { Ros } from '@robostack/roslib';
 import { URDFJoint, URDFRobot } from 'urdf-js/src/URDFClasses';
 
 class DisplayTrajectory extends LegacyCore {

src/viz/InteractiveMarkers.ts

@@ -1,6 +1,6 @@
 import debounce from 'lodash.debounce';
 import { ControlsManager, RAYCASTER_EVENTS } from 'three-freeform-controls';
-import ROSLIB, { Ros, Topic } from 'roslib';
+import ROSLIB, { Ros, Topic } from '@robostack/roslib';
 import LegacyCore from '../core';
 import {
   DEFAULT_OPTIONS_INTERACTIVE_MARKER,

src/viz/LaserScan.ts

@@ -154,8 +154,8 @@ class LaserScan extends LiveCore<RosMessage.LaserScan, Group> {
     const { size } = this.options;
     const { intensities, ranges } = message;
     const n = ranges.length;
-    const positions = [];
-    const colors = [];
+    const positions: any[] = [];
+    const colors: any[] = [];
 
     if (size < 0.001 || !size) {
       return;

src/viz/Map.ts

@@ -98,7 +98,7 @@ class Map extends LiveCore<RosMessage.OccupancyGrid, Plane> {
     } = message;
 
     const imageData = new ImageData(width, height);
-    let bitmapCanvas = null;
+    let bitmapCanvas:any = null;
 
     switch (colorScheme) {
       case MAP_COLOR_SCHEMES.MAP:

src/viz/Odometry.ts

@@ -1,4 +1,4 @@
-import { Math, Object3D, Quaternion, Vector3 } from 'three';
+import { MathUtils, Object3D, Quaternion, Vector3 } from 'three';
 import {
   DEFAULT_OPTIONS_ODOMETRY,
   ODOMETRY_OBJECT_TYPES,
@@ -34,7 +34,7 @@ class Odometry extends LiveCore<RosMessage.Odometry, Group> {
   }
 
   setKeepSize(size: number) {
-    let newKeepList = [];
+    let newKeepList: Object3D[] = [];
 
     if (size === 0) {
       this.keepSize = 0;
@@ -47,7 +47,7 @@ class Odometry extends LiveCore<RosMessage.Odometry, Group> {
         this.object?.remove(this.objectPool[i]);
       }
 
-      const slicedList = this.objectPool.slice(
+      const slicedList: Object3D[] = this.objectPool.slice(
         this.objectPool.length - size,
         this.objectPool.length,
       );
@@ -174,7 +174,7 @@ class Odometry extends LiveCore<RosMessage.Odometry, Group> {
 
       this.objectPool.push(newObject);
       this.currentObjectIndex += 1;
-      this.currentObjectIndex = Math.clamp(
+      this.currentObjectIndex = MathUtils.clamp(
         this.currentObjectIndex,
         0,
         this.keepSize - 1,

src/viz/PlanningScene.ts

@@ -6,7 +6,7 @@ import {
 } from '../utils/constants';
 import Group from '../primitives/Group';
 import CollisionObject from './CollisionObject';
-import { Ros } from 'roslib';
+import { Ros } from '@robostack/roslib';
 import { assertIsDefined } from '../utils/helpers';
 import { URDFJoint } from 'urdf-js/src/URDFClasses';