rapyuta-robotics / amphion Goto Github PK

It could introduce bugs since the objects are used in scene outside the class functions. The update function in class should only update the objects it's concerned with

currently the material is set after the font is loaded. This leads to a crash in threejs where the vertexshader is undefined.
This was crashing Zethus when adding a Tf view.

The fix is to assign the material before the callback.

We have a fix in our master branch: devel...RoboStack:master

Do you guys still work on Amphion & Zethus?

• Twist
• Vector 3
• Wrench

Since subscribing to tf changes the object hierarchy any updates to joint angle from jointstate message does not affect the actual child link

Currently the updates are done with setTimeout on message receive.
b831a2e#diff-268b0d1e97cece63edabb90c566a0cf6R65

Investigate better implementation with async.series or similar
https://caolan.github.io/async/v3/docs.html#series

Previous PR on planning scene and collision objects only handles the case for box
https://github.com/rapyuta-robotics/amphion/pull/28/files#diff-259532ccdf4ceced74d881964d73a0acR63

Related to description on #32

The lifetime is currently ignored. Objects are not removed from the scene after the duration.
http://docs.ros.org/melodic/api/visualization_msgs/html/msg/Marker.html

#32

Extends #63

RViz has an axis viz which is quite useful to show the origin and orientation of the world coordinate frame.
It's just a Red/Green/Blue cylinder in x - y - z direction at 0, 0, 0.

Would be nice to have it! E.g. for point clouds in the sensor frame let's you tell where the center of the point cloud is etc.