Adjusting robot to be rendered with either the pose or the tf-frame

public/configs/deploy/config.json

@@ -6,8 +6,16 @@
     "rosbridge": {
       "uri": "wss://bugwright.vr.rwth-aachen.de/rosbridge"
     },
-    "topics": {
-      "mesh": "/mesh_publisher/shape"
+    "static_mesh": {
+      "uri": "meshes/Porto_230616_122018.gltf",
+      "tf_frame": "mesh_ref",
+      "transform": {
+        "rotation": [
+          -90,
+          0,
+          180
+        ]
+      }
     }
   },
   "transformTree": {

public/configs/deploy/robots/uib_drone.json

@@ -5,7 +5,6 @@
   "type": "UAV",
   "name": "UIB Drone",
   "topics": {
-    "pose": "/mesh_pf1/pose",
     "images": [
       {
         "topic": "/mussol/camera/image_raw/compressed",

public/configs/ntnu/config.json

@@ -6,8 +6,16 @@
     "rosbridge": {
       "uri": "ws://172.23.7.1:9090"
     },
-    "topics": {
-      "mesh": "/mesh_publisher/shape"
+    "static_mesh": {
+      "uri": "meshes/Porto_230616_122018.gltf",
+      "tf_frame": "mesh_ref",
+      "transform": {
+        "rotation": [
+          -90,
+          0,
+          180
+        ]
+      }
     }
   },
   "transformTree": {

public/configs/simulator/robots/uib_drone.json

@@ -5,7 +5,6 @@
   "type": "UAV",
   "name": "UIB Drone",
   "topics": {
-    "pose": "/mesh_pf1/pose",
     "images": [
       {
         "topic": "/mussol/camera/image_raw/compressed",

src/features/viewport/Robot.tsx

@@ -17,11 +17,6 @@ export default function Robot(props: PropsWithoutRef<RobotProps>) {
   const gltf = useLoader(GLTFLoader, props.config.mesh?.uri || "");
   const modelClone = useMemo<Object3D>(() => { return gltf.scene.clone(true); }, [gltf]);
 
-  // If we haven't received a pose yet: do not render the robot.
-  if (!poseStamped) {
-    return null;
-  }
-
   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);
@@ -29,6 +24,10 @@ export default function Robot(props: PropsWithoutRef<RobotProps>) {
 
   return (
     <>
+      {
+        props.config.topics.pose != "" && poseStamped ?
+
+          // Pose based
           <group
             position={[-poseStamped.pose.position.x, poseStamped.pose.position.z, poseStamped.pose.position.y]}
             quaternion={[-poseStamped.pose.orientation.x, poseStamped.pose.orientation.z, poseStamped.pose.orientation.y, poseStamped.pose.orientation.w]}
@@ -42,7 +41,10 @@ export default function Robot(props: PropsWithoutRef<RobotProps>) {
               <primitive object={modelClone} />
             </group>
           </group>
-      {/* <Frame frameId={props.config.poseFrame}>
+          :
+
+          // tf-Frame
+          <Frame frameId={props.config.poseFrame}>
             <group
               position={props.config.mesh?.transform?.translation}
               quaternion={static_quaternion}
@@ -50,7 +52,9 @@ export default function Robot(props: PropsWithoutRef<RobotProps>) {
             >
               <primitive object={modelClone} />
             </group>
-      </Frame> */}
+          </Frame>
+
+      }
     </>
   );
 }