Merge branch 'feature/rework_mesh_loading' into 'main'

Adding stuff from testing with Pete

See merge request !12

public/configs/evaluation/config.json

+{
+  "robots": [
+    "./robots/crawler.json"
+  ],
+  "ship": {
+    "rosbridge": {
+      "uri": "wss://localhost/rosbridge"
+    },
+    "topics": {
+      "streamed_mesh": "/mesh_publisher/get_mesh"
+    }
+  },
+  "transformTree": {
+    "rosbridge": {
+      "uri": "wss://localhost/rosbridge"
+    }
+  }
+}
\ No newline at end of file

public/configs/evaluation/robots/crawler.json

+{
+  "rosbridge": {
+    "uri": "wss://localhost/rosbridge"
+  },
+  "type": "SMV",
+  "name": "Crawler",
+  "topics": {
+    "pose": "",
+    "images": [
+      {
+        "topic": "/IFM/color/image_raw/compressed",
+        "name": "Camera"
+      }
+    ]
+  },
+  "mesh": {
+    "uri": "meshes/crawler/Altiscan.gltf",
+    "transform": {
+      "translation": [
+        0,
+        0.06,
+        0
+      ],
+      "rotation": [
+        0,
+        -90,
+        180
+      ],
+      "scale": [
+        1,
+        1,
+        1
+      ]
+    }
+  },
+  "services": {
+    "prepareMission": "/mission_manager/prepare_missions",
+    "executeMission": "/mission_manager/execute_missions"
+  },
+  "missionFrame": "world",
+  "poseFrame": "base_footprint"
+}
\ No newline at end of file

public/configs/simulator/config.json

 {
   "robots": [
-    "./robots/uib_drone.json"
+    "./robots/crawler.json"
   ],
   "ship": {
     "rosbridge": {
       "uri": "ws://127.0.0.1:9090"
     },
-    "static_mesh": {
-      "uri": "meshes/Porto_230616_122018.gltf",
-      "tf_frame": "mesh_ref",
-      "transform": {
-        "rotation": [
-          -90,
-          0,
-          180
-        ]
-      }
+    "topics": {
+      "streamed_mesh": "/mesh_publisher/get_mesh"
     }
   },
   "transformTree": {

public/configs/simulator/robots/crawler.json

@@ -5,15 +5,20 @@
   "type": "SMV",
   "name": "Crawler",
   "topics": {
-    "pose": "/mesh_pf1/pose",
-    "images": []
+    "pose": "",
+    "images": [
+      {
+        "topic": "/IFM/color/image_raw/compressed",
+        "name": "Camera"
+      }
+    ]
   },
   "mesh": {
     "uri": "meshes/crawler/Altiscan.gltf",
     "transform": {
       "translation": [
         0,
-        0.1,
+        0.06,
         0
       ],
       "rotation": [
@@ -29,9 +34,9 @@
     }
   },
   "services": {
-    "prepareMission": "foo",
-    "executeMission": "foo"
+    "prepareMission": "/mission_manager/prepare_missions",
+    "executeMission": "/mission_manager/execute_missions"
   },
   "missionFrame": "world",
-  "poseFrame": "world"
+  "poseFrame": "base_footprint"
 }
\ No newline at end of file

public/meshes/crawler/Altiscan2t.obj.mtl

-#
-# Wavefront material file
-# Converted by Meshlab Group
-#
-
-newmtl material_0
-Ka 0.200000 0.200000 0.200000
-Kd 1.000000 1.000000 1.000000
-Ks 1.000000 1.000000 1.000000
-Tr 1.000000
-illum 2
-Ns 0.000000
-map_Kd Altiscan2_color.png
-

src/common/BugWright2.ts

 import { Messages } from "./ROS"
 import geometry_msgs from "./ROS/geometry_msgs";
+import mesh_msgs from "./ROS/mesh_msgs";
 import { Service } from "./service";
 
 export enum MissionType {
@@ -32,4 +33,12 @@ export type Services = {
       response: boolean
     },
   },
+  GetGeometry: {
+    Request: {
+      uuid: string
+    },
+    Response: {
+      mesh_geometry_stamped: mesh_msgs['MeshGeometryStamped']
+    }
+  }
 }

src/common/service.ts

-import { useEffect, useState } from "react";
+import { useCallback, useEffect, useState } from "react";
 import { Service as ROSService } from "roslib";
 import { Services } from "./BugWright2";
 import { useConnection } from "./store";
@@ -27,9 +27,11 @@ export function useService<ServiceType extends string & keyof Services>(uri?: st
     [connection?.rosbridge, name, serviceType]
   );
 
-  return (request: Services[ServiceType]['Request']) => {
+  const callback = useCallback((request: Services[ServiceType]['Request']) => {
     return new Promise<Services[ServiceType]['Response']>((resolve, reject) => {
       service?.callService(request, (response) => resolve(response), reject);
     });
-  };
+  }, [service]);
+
+  return callback;
 }

src/features/viewport/Mesh.tsx

 import { EventHandlers } from "@react-three/fiber/dist/declarations/src/core/events";
-import { useEffect, useState } from "react";
+import { useEffect, useMemo, useState } from "react";
 import { BufferGeometry, DoubleSide, Float32BufferAttribute, Uint32BufferAttribute } from "three";
 import { Messages } from "../../common/ROS";
+import { useService } from "../../common/service";
+import mesh_msgs from "../../common/ROS/mesh_msgs";
 import { useTopic } from "../../common/store";
 
+
 export interface StreamedMeshProps extends EventHandlers {
     rosbridgeURI: string;
     topic: string;
@@ -11,7 +14,19 @@ export interface StreamedMeshProps extends EventHandlers {
 }
 
 const StreamedMesh = (props: StreamedMeshProps) => {
-    const mesh = useTopic(props.rosbridgeURI, props.topic, 'mesh_msgs/MeshGeometryStamped');
+
+    const getGeometry = useService(props.rosbridgeURI, props.topic, 'GetGeometry');
+    const [mesh, setMesh] = useState<mesh_msgs['MeshGeometryStamped']>();
+
+    useEffect(() => {
+        console.log("UseEffect");
+        if (mesh) return;
+        getGeometry({ uuid: "" })
+            .then((value: { mesh_geometry_stamped: mesh_msgs['MeshGeometryStamped'] }) => { setMesh(value.mesh_geometry_stamped); })
+            .catch((reason) => { console.log("Error loading Mesh: " + reason); });
+    }, [getGeometry]);
+
+    // const mesh2 = useTopic(props.rosbridgeURI, props.topic, 'mesh_msgs/MeshGeometryStamped');
     const [geometry, setGeometry] = useState<BufferGeometry>();
 
     useEffect(() => {

src/features/viewport/Robot.tsx

 import { PropsWithoutRef, useEffect, useMemo, useRef, useState } from 'react';
-import { Euler, Group, Object3D, Quaternion, Vector3 } from 'three';
+import { Euler, Group, MathUtils, Object3D, Quaternion, Vector3 } from 'three';
 import { useTopic } from '../../common/store';
 import { Robot as RobotConfig } from '../../schemas/Robot.schema';
 import { Frame } from './TF2';
@@ -19,7 +19,7 @@ export default function Robot(props: PropsWithoutRef<RobotProps>) {
 
   const static_quaternion = new Quaternion();
   if (props.config.mesh?.transform?.rotation) {
-    static_quaternion.setFromEuler(new Euler(props.config.mesh.transform.rotation[0], props.config.mesh.transform.rotation[1], props.config.mesh.transform.rotation[2]), true);
+    static_quaternion.setFromEuler(new Euler(MathUtils.degToRad(props.config.mesh.transform.rotation[0]), MathUtils.degToRad(props.config.mesh.transform.rotation[1]), MathUtils.degToRad(props.config.mesh.transform.rotation[2]), "XYZ"), true);
   }
 
   return (