Visualization of meshes for marker messages

[sasjonge]

Hello,

in our organization, we would like to use jupyterlab-zethus, but we have a problem with the visualization of markers. If I run jupyterlab with jupyterlab-zethus I can connect to my roscore and jupyterlab receives the TF and visualization_marker_array messages, but the meshes of the robot are not visualized in Zethus. In RVIZ I can visualize it and see the robot with the meshes.

Is it in general possible to visualize Markers with meshes in jupyterlab-zethus (or also in Zethus in general)?

[seadeep42]

Hi,

No. Zethus currently doesn't support markers of type mesh. If you have a sample rosbag, I can try adding it but that might take some time.

[sasjonge]

Thanks for the fast answer! I could provide a rosbag, but if you give me a hint where to implement it, I could also try to add this type of markers myself and create a PR.

[seadeep42]

That'll be great :)
The marker code for each type is available here. Need to add a primitive for the marker mesh in this folder.

There's code in the example folder to visualize a marker. You'll need to run the examples locally and update the topic name in the above file.

There's an incomplete branch with updated code I tried a few months ago but couldn't find the time to complete. It is a more recent version but some of the visualizations have issues since threejs moved from Geometry to BufferGeometry.

If any of it is not clear, please let me know. I will try to clarify and provide more details.

Thank you