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Add PCD to WorldStateStore service fake with color visualization #5311

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Add PCD to WorldStateStore service fake with color visualization #5311

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714594f
Add pcd to wss fake with color visualization
DTCurrie Sep 22, 2025
7545618
cleanup and update animation to add noise to 1000 points per tick
DTCurrie Sep 30, 2025
99458f7
Update noise and apply color by height on update
DTCurrie Sep 30, 2025
b61b3cc
persist changes
DTCurrie Sep 30, 2025
914069e
Update chunk sizes based on fps, restrict fps to reasonable range
DTCurrie Oct 1, 2025
848e35d
cleanup, generate terrain to avoid embedding large pcd file
DTCurrie Oct 6, 2025
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4 changes: 4 additions & 0 deletions go.mod
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Original file line number Diff line number Diff line change
Expand Up @@ -4,8 +4,10 @@ go 1.25.1

require (
github.com/AlekSi/gocov-xml v1.0.0
github.com/Auburn/FastNoiseLite v1.1.1
github.com/Masterminds/semver/v3 v3.3.0
github.com/a8m/envsubst v1.4.2
github.com/aquilax/go-perlin v1.1.0
github.com/axw/gocov v1.1.0
github.com/aybabtme/uniplot v0.0.0-20151203143629-039c559e5e7e
github.com/benbjohnson/clock v1.3.5
Expand Down Expand Up @@ -460,3 +462,5 @@ require (
github.com/ziutek/mymysql v1.5.4 // indirect
golang.org/x/exp v0.0.0-20241009180824-f66d83c29e7c
)

replace go.viam.com/api => ../api
6 changes: 4 additions & 2 deletions go.sum
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Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,8 @@ github.com/Antonboom/nilnil v0.1.9 h1:eKFMejSxPSA9eLSensFmjW2XTgTwJMjZ8hUHtV4s/S
github.com/Antonboom/nilnil v0.1.9/go.mod h1:iGe2rYwCq5/Me1khrysB4nwI7swQvjclR8/YRPl5ihQ=
github.com/Antonboom/testifylint v1.4.3 h1:ohMt6AHuHgttaQ1xb6SSnxCeK4/rnK7KKzbvs7DmEck=
github.com/Antonboom/testifylint v1.4.3/go.mod h1:+8Q9+AOLsz5ZiQiiYujJKs9mNz398+M6UgslP4qgJLA=
github.com/Auburn/FastNoiseLite v1.1.1 h1:ezkEt1+MJUcZa4+7uXONiztapr+IJ9NMY0EMhkn+7VE=
github.com/Auburn/FastNoiseLite v1.1.1/go.mod h1:L4QQUME0Wkn7Rq5S0oif42SLLpSCk224uw4AbF2H9sc=
github.com/Azure/go-ansiterm v0.0.0-20230124172434-306776ec8161 h1:L/gRVlceqvL25UVaW/CKtUDjefjrs0SPonmDGUVOYP0=
github.com/Azure/go-ansiterm v0.0.0-20230124172434-306776ec8161/go.mod h1:xomTg63KZ2rFqZQzSB4Vz2SUXa1BpHTVz9L5PTmPC4E=
github.com/BurntSushi/toml v0.3.1/go.mod h1:xHWCNGjB5oqiDr8zfno3MHue2Ht5sIBksp03qcyfWMU=
Expand Down Expand Up @@ -143,6 +145,8 @@ github.com/apache/arrow/go/arrow v0.0.0-20201229220542-30ce2eb5d4dc h1:zvQ6w7Kwt
github.com/apache/arrow/go/arrow v0.0.0-20201229220542-30ce2eb5d4dc/go.mod h1:c9sxoIT3YgLxH4UhLOCKaBlEojuMhVYpk4Ntv3opUTQ=
github.com/apache/thrift v0.12.0/go.mod h1:cp2SuWMxlEZw2r+iP2GNCdIi4C1qmUzdZFSVb+bacwQ=
github.com/apache/thrift v0.13.0/go.mod h1:cp2SuWMxlEZw2r+iP2GNCdIi4C1qmUzdZFSVb+bacwQ=
github.com/aquilax/go-perlin v1.1.0 h1:Gg+3jQ24wT4Y5GI7TCRLmYarzUG0k+n/JATFqOimb7s=
github.com/aquilax/go-perlin v1.1.0/go.mod h1:z9Rl7EM4BZY0Ikp2fEN1I5mKSOJ26HQpk0O2TBdN2HE=
github.com/armon/circbuf v0.0.0-20150827004946-bbbad097214e/go.mod h1:3U/XgcO3hCbHZ8TKRvWD2dDTCfh9M9ya+I9JpbB7O8o=
github.com/armon/go-metrics v0.0.0-20180917152333-f0300d1749da/go.mod h1:Q73ZrmVTwzkszR9V5SSuryQ31EELlFMUz1kKyl939pY=
github.com/armon/go-radix v0.0.0-20180808171621-7fddfc383310/go.mod h1:ufUuZ+zHj4x4TnLV4JWEpy2hxWSpsRywHrMgIH9cCH8=
Expand Down Expand Up @@ -1532,8 +1536,6 @@ go.uber.org/zap v1.18.1/go.mod h1:xg/QME4nWcxGxrpdeYfq7UvYrLh66cuVKdrbD1XF/NI=
go.uber.org/zap v1.23.0/go.mod h1:D+nX8jyLsMHMYrln8A0rJjFt/T/9/bGgIhAqxv5URuY=
go.uber.org/zap v1.27.0 h1:aJMhYGrd5QSmlpLMr2MftRKl7t8J8PTZPA732ud/XR8=
go.uber.org/zap v1.27.0/go.mod h1:GB2qFLM7cTU87MWRP2mPIjqfIDnGu+VIO4V/SdhGo2E=
go.viam.com/api v0.1.477 h1:huAOmn3iejrRapzlYSyB3R0S47itXTUkQ3+kt0Yx02I=
go.viam.com/api v0.1.477/go.mod h1:p/am76zx8SZ74V/F4rEAYQIpHaaLUwJgY2q3Uw3FIWk=
go.viam.com/test v1.2.4 h1:JYgZhsuGAQ8sL9jWkziAXN9VJJiKbjoi9BsO33TW3ug=
go.viam.com/test v1.2.4/go.mod h1:zI2xzosHdqXAJ/kFqcN+OIF78kQuTV2nIhGZ8EzvaJI=
go.viam.com/utils v0.1.167 h1:OnuC5u2YcLTMuwbvyky5yjNDEbQjf0kpoUHoLXhJWz8=
Expand Down
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