From 0d1162d0d45e3379ef5655a485693c5ce2dcb312 Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Fri, 18 Jul 2025 14:11:06 +0100 Subject: [PATCH 01/27] [deps] update rerun-sdk to 0.24.0 --- pixi.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pixi.toml b/pixi.toml index dd269bc..7f128cc 100644 --- a/pixi.toml +++ b/pixi.toml @@ -112,7 +112,7 @@ cwd = "humble_ws" # Install Rerun and URDF loader manually via pip3, this should be replaced with direct pypi dependencies in the future. [tasks.rerun_viewer] -cmd = "pip install rerun-sdk==0.23.4" +cmd = "pip install rerun-sdk==0.24.0" [tasks.rerun_urdf_loader] cmd = "pip install git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git" From a9f2f9bc2690c4176b6d5f98524a13b1e80b6f02 Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Fri, 18 Jul 2025 14:11:32 +0100 Subject: [PATCH 02/27] remove obsolete rerun urdf-loader --- pixi.toml | 3 --- 1 file changed, 3 deletions(-) diff --git a/pixi.toml b/pixi.toml index 7f128cc..682072f 100644 --- a/pixi.toml +++ b/pixi.toml @@ -106,7 +106,6 @@ depends_on = [ "go2_ros2_sdk", "rosbag2_storage_mcap", "rerun_viewer", - "rerun_urdf_loader", ] cwd = "humble_ws" @@ -114,8 +113,6 @@ cwd = "humble_ws" [tasks.rerun_viewer] cmd = "pip install rerun-sdk==0.24.0" -[tasks.rerun_urdf_loader] -cmd = "pip install git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git" [dependencies] pip = ">=24.0,<25" # To install rerun-sdk and rerun-loader-python-example-urdf From 472dd8c444a812ef929c422a75259ad25420c979 Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Fri, 18 Jul 2025 14:41:32 +0100 Subject: [PATCH 03/27] example works now --- README.md | 2 +- pixi.toml | 5 +- rerun_bridge/CMakeLists.txt | 2 +- .../rerun_bridge/rerun_ros_interface.hpp | 6 ++ rerun_bridge/launch/carla_example_params.yaml | 2 + rerun_bridge/launch/go2_example_params.yaml | 4 ++ .../src/rerun_bridge/rerun_ros_interface.cpp | 60 ++++++++++++++--- .../src/rerun_bridge/visualizer_node.cpp | 66 ++++++++++++++++++- .../src/rerun_bridge/visualizer_node.hpp | 5 ++ scripts/view_urdf.sh | 29 ++++++++ 10 files changed, 164 insertions(+), 17 deletions(-) create mode 100755 scripts/view_urdf.sh diff --git a/README.md b/README.md index 4d60f21..40c4c3f 100644 --- a/README.md +++ b/README.md @@ -8,7 +8,7 @@ It works by subscribing to all topics with supported types, converting the messa | --- | --- | | ![carla](https://github.com/rerun-io/cpp-example-ros2-bridge/assets/9785832/f4e91f4b-18b4-4890-b2cc-ff00880ca65c) | ![go2](https://github.com/rerun-io/cpp-example-ros2-bridge/assets/9785832/2856b5af-d02b-426b-8e23-2cf6f7c2bfd8) | -This example is built for ROS 2. For more ROS examples, also check out the [ROS 2 example](https://www.rerun.io/docs/howto/ros2-nav-turtlebot), the [URDF data-loader](https://github.com/rerun-io/rerun-loader-python-example-urdf), and the [ROS 1 bridge](https://github.com/rerun-io/cpp-example-ros-bridge). +This example is built for ROS 2. For more ROS examples, also check out the [ROS 2 example](https://www.rerun.io/docs/howto/ros2-nav-turtlebot) and the [ROS 1 bridge](https://github.com/rerun-io/cpp-example-ros-bridge). URDF support is now built into Rerun 0.24.0+ natively. > NOTE: Currently only some of the most common messages are supported (see https://github.com/rerun-io/cpp-example-ros2-bridge/issues/4 for an overview). However, extending to other messages should be straightforward. diff --git a/pixi.toml b/pixi.toml index 682072f..45a4b40 100644 --- a/pixi.toml +++ b/pixi.toml @@ -109,13 +109,12 @@ depends_on = [ ] cwd = "humble_ws" -# Install Rerun and URDF loader manually via pip3, this should be replaced with direct pypi dependencies in the future. +# Install Rerun 0.24.0 with native URDF support [tasks.rerun_viewer] cmd = "pip install rerun-sdk==0.24.0" - [dependencies] -pip = ">=24.0,<25" # To install rerun-sdk and rerun-loader-python-example-urdf +pip = ">=24.0,<25" # To install rerun-sdk # C++ build-tools: cmake = "3.27.6" diff --git a/rerun_bridge/CMakeLists.txt b/rerun_bridge/CMakeLists.txt index eae0938..db378ee 100644 --- a/rerun_bridge/CMakeLists.txt +++ b/rerun_bridge/CMakeLists.txt @@ -22,7 +22,7 @@ find_package(OpenCV REQUIRED) find_package(yaml-cpp REQUIRED) include(FetchContent) -FetchContent_Declare(rerun_sdk URL https://github.com/rerun-io/rerun/releases/download/0.23.4/rerun_cpp_sdk.zip) +FetchContent_Declare(rerun_sdk URL https://github.com/rerun-io/rerun/releases/download/0.24.0/rerun_cpp_sdk.zip) FetchContent_MakeAvailable(rerun_sdk) # setup targets (has to be done before ament_package call) diff --git a/rerun_bridge/include/rerun_bridge/rerun_ros_interface.hpp b/rerun_bridge/include/rerun_bridge/rerun_ros_interface.hpp index 850d775..d5d5335 100644 --- a/rerun_bridge/include/rerun_bridge/rerun_ros_interface.hpp +++ b/rerun_bridge/include/rerun_bridge/rerun_ros_interface.hpp @@ -9,6 +9,7 @@ #include #include #include +#include #include #include @@ -66,3 +67,8 @@ void log_point_cloud2( const rerun::RecordingStream& rec, const std::string& entity_path, const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg, const PointCloud2Options& options ); + +void log_joint_state( + const rerun::RecordingStream& rec, const std::string& entity_path, + const sensor_msgs::msg::JointState::ConstSharedPtr& msg +); diff --git a/rerun_bridge/launch/carla_example_params.yaml b/rerun_bridge/launch/carla_example_params.yaml index bc333de..56c038e 100644 --- a/rerun_bridge/launch/carla_example_params.yaml +++ b/rerun_bridge/launch/carla_example_params.yaml @@ -37,5 +37,7 @@ topic_options: /carla/ego_vehicle/rgb_right/camera_info: entity_path: /map/ego_vehicle/ego_vehicle/rgb_right urdf: + # URDF support using Rerun 0.24.0+ native URDF loader + # Leave file_path empty if no URDF is available (e.g., for Carla simulation) file_path: "" entity_path: "odom" diff --git a/rerun_bridge/launch/go2_example_params.yaml b/rerun_bridge/launch/go2_example_params.yaml index 2506506..ddebfc9 100644 --- a/rerun_bridge/launch/go2_example_params.yaml +++ b/rerun_bridge/launch/go2_example_params.yaml @@ -51,5 +51,9 @@ topic_options: /go2_camera/color/image: entity_path: /map/odom/base_link/Head_upper/front_camera/image urdf: + # URDF support using Rerun 0.24.0+ native URDF loader + # Supports ROS package:// paths which are automatically resolved when ROS2 environment is sourced + # Note: To view this URDF standalone with `rerun`, use: + # cd humble_ws && source ./install/local_setup.bash && rerun install/go2_robot_sdk/share/go2_robot_sdk/urdf/go2.urdf file_path: "package://go2_robot_sdk/urdf/go2.urdf" entity_path: "/" # the root of this urdf is map diff --git a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp index 6f781d7..f6f0e1b 100644 --- a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp +++ b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp @@ -91,21 +91,21 @@ void log_imu( const rerun::RecordingStream& rec, const std::string& entity_path, const sensor_msgs::msg::Imu::ConstSharedPtr& msg ) { - rec.set_time_seconds( + rec.set_time_timestamp_secs_since_epoch( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); - rec.log(entity_path + "/x", rerun::Scalar(msg->linear_acceleration.x)); - rec.log(entity_path + "/y", rerun::Scalar(msg->linear_acceleration.y)); - rec.log(entity_path + "/z", rerun::Scalar(msg->linear_acceleration.z)); + rec.log(entity_path + "/x", rerun::Scalars(rerun::Collection::take_ownership({rerun::components::Scalar(msg->linear_acceleration.x)}))); + rec.log(entity_path + "/y", rerun::Scalars(rerun::Collection::take_ownership({rerun::components::Scalar(msg->linear_acceleration.y)}))); + rec.log(entity_path + "/z", rerun::Scalars(rerun::Collection::take_ownership({rerun::components::Scalar(msg->linear_acceleration.z)}))); } void log_image( const rerun::RecordingStream& rec, const std::string& entity_path, const sensor_msgs::msg::Image::ConstSharedPtr& msg, const ImageOptions& options ) { - rec.set_time_seconds( + rec.set_time_timestamp_secs_since_epoch( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); @@ -143,7 +143,7 @@ void log_pose_stamped( const rerun::RecordingStream& rec, const std::string& entity_path, const geometry_msgs::msg::PoseStamped::ConstSharedPtr& msg ) { - rec.set_time_seconds( + rec.set_time_timestamp_secs_since_epoch( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); @@ -191,7 +191,7 @@ void log_tf_message( continue; } - rec.set_time_seconds( + rec.set_time_timestamp_secs_since_epoch( "timestamp", rclcpp::Time(transform.header.stamp.sec, transform.header.stamp.nanosec).seconds() ); @@ -219,7 +219,7 @@ void log_odometry( const rerun::RecordingStream& rec, const std::string& entity_path, const nav_msgs::msg::Odometry::ConstSharedPtr& msg ) { - rec.set_time_seconds( + rec.set_time_timestamp_secs_since_epoch( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); @@ -269,7 +269,7 @@ void log_transform( const rerun::RecordingStream& rec, const std::string& entity_path, const geometry_msgs::msg::TransformStamped::ConstSharedPtr& msg ) { - rec.set_time_seconds( + rec.set_time_timestamp_secs_since_epoch( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); @@ -296,7 +296,7 @@ void log_point_cloud2( const rerun::RecordingStream& rec, const std::string& entity_path, const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg, const PointCloud2Options& options ) { - rec.set_time_seconds( + rec.set_time_timestamp_secs_since_epoch( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); @@ -403,3 +403,43 @@ void log_point_cloud2( rec.log(entity_path, rerun::Points3D(points).with_colors(colors)); } + +void log_joint_state( + const rerun::RecordingStream& rec, const std::string& entity_path, + const sensor_msgs::msg::JointState::ConstSharedPtr& msg +) { + // Log joint angles as time series scalars using the new Rerun 0.24.0 API + // This follows the pattern from the Rust and Python examples + for (size_t i = 0; i < msg->name.size() && i < msg->position.size(); ++i) { + const std::string& joint_name = msg->name[i]; + double joint_position = msg->position[i]; + + // Log each joint angle as a separate time series scalar + // Entity path format: /joint_angles/joint_name + std::string joint_entity_path = entity_path + "/joint_angles/" + joint_name; + + rec.log(joint_entity_path, rerun::Scalars(rerun::Collection::take_ownership({rerun::components::Scalar(joint_position)}))); + } + + // Also log joint velocities if available + if (!msg->velocity.empty() && msg->velocity.size() == msg->name.size()) { + for (size_t i = 0; i < msg->name.size(); ++i) { + const std::string& joint_name = msg->name[i]; + double joint_velocity = msg->velocity[i]; + + std::string velocity_entity_path = entity_path + "/joint_velocities/" + joint_name; + rec.log(velocity_entity_path, rerun::Scalars(rerun::Collection::take_ownership({rerun::components::Scalar(joint_velocity)}))); + } + } + + // Log joint efforts/torques if available + if (!msg->effort.empty() && msg->effort.size() == msg->name.size()) { + for (size_t i = 0; i < msg->name.size(); ++i) { + const std::string& joint_name = msg->name[i]; + double joint_effort = msg->effort[i]; + + std::string effort_entity_path = entity_path + "/joint_efforts/" + joint_name; + rec.log(effort_entity_path, rerun::Scalars(rerun::Collection::take_ownership({rerun::components::Scalar(joint_effort)}))); + } + } +} diff --git a/rerun_bridge/src/rerun_bridge/visualizer_node.cpp b/rerun_bridge/src/rerun_bridge/visualizer_node.cpp index 412b1af..78decc7 100644 --- a/rerun_bridge/src/rerun_bridge/visualizer_node.cpp +++ b/rerun_bridge/src/rerun_bridge/visualizer_node.cpp @@ -242,11 +242,36 @@ void RerunLoggerNode::_read_yaml_config(std::string yaml_path) { if (urdf_file_path.size()) { RCLCPP_INFO( this->get_logger(), - "Logging URDF from file path %s", + "Logging URDF from file path %s using native Rerun 0.24.0+ URDF loader", urdf_file_path.c_str() ); - _rec.log_file_from_path(urdf_file_path, urdf_entity_path, true); + try { + // Log URDF file using Rerun 0.24.0+ native URDF support + // The static=true parameter ensures the URDF is logged as a static resource + _rec.log_file_from_path(urdf_file_path, urdf_entity_path, true); + RCLCPP_INFO( + this->get_logger(), + "Successfully logged URDF file to entity path: %s", + urdf_entity_path.empty() ? "default" : urdf_entity_path.c_str() + ); + } catch (const std::exception& e) { + RCLCPP_ERROR( + this->get_logger(), + "Failed to log URDF file: %s", + e.what() + ); + } + } else { + RCLCPP_WARN( + this->get_logger(), + "URDF file path resolved to empty string" + ); } + } else { + RCLCPP_WARN( + this->get_logger(), + "URDF configuration found but no file_path specified" + ); } } } @@ -314,6 +339,9 @@ void RerunLoggerNode::_create_subscriptions() { } else if (topic_type == "sensor_msgs/msg/PointCloud2") { _topic_to_subscription[topic_name] = _create_point_cloud2_subscription(topic_name, topic_options); + } else if (topic_type == "sensor_msgs/msg/JointState") { + _topic_to_subscription[topic_name] = + _create_joint_state_subscription(topic_name, topic_options); } } } @@ -560,6 +588,40 @@ std::shared_ptr> ); } +std::shared_ptr> + RerunLoggerNode::_create_joint_state_subscription( + const std::string& topic, const TopicOptions& topic_options + ) { + std::string entity_path = _resolve_entity_path(topic, topic_options); + bool lookup_transform = (topic_options.find("entity_path") == topic_options.end()); + bool restamp = false; + if (topic_options.find("restamp") != topic_options.end()) { + restamp = topic_options.at("restamp").as(); + } + + rclcpp::SubscriptionOptions subscription_options; + subscription_options.callback_group = _parallel_callback_group; + + RCLCPP_INFO( + this->get_logger(), + "Subscribing to JointState topic %s, logging to entity path %s", + topic.c_str(), + entity_path.c_str() + ); + + return this->create_subscription( + topic, + 1000, + [&, entity_path, lookup_transform, restamp]( + const sensor_msgs::msg::JointState::SharedPtr msg + ) { + _handle_msg_header(restamp, lookup_transform, entity_path, msg->header); + log_joint_state(_rec, entity_path, msg); + }, + subscription_options + ); +} + void RerunLoggerNode::_handle_msg_header( bool restamp, bool lookup_transform, const std::string& entity_path, std_msgs::msg::Header& header diff --git a/rerun_bridge/src/rerun_bridge/visualizer_node.hpp b/rerun_bridge/src/rerun_bridge/visualizer_node.hpp index 6c4f902..58c9576 100644 --- a/rerun_bridge/src/rerun_bridge/visualizer_node.hpp +++ b/rerun_bridge/src/rerun_bridge/visualizer_node.hpp @@ -13,6 +13,7 @@ #include #include #include +#include #include #include @@ -87,4 +88,8 @@ class RerunLoggerNode : public rclcpp::Node { _create_point_cloud2_subscription( const std::string& topic, const TopicOptions& topic_options ); + std::shared_ptr> + _create_joint_state_subscription( + const std::string& topic, const TopicOptions& topic_options + ); }; diff --git a/scripts/view_urdf.sh b/scripts/view_urdf.sh new file mode 100755 index 0000000..bf86fb2 --- /dev/null +++ b/scripts/view_urdf.sh @@ -0,0 +1,29 @@ +#!/bin/bash +# Convenience script to view URDF files with Rerun in ROS2 environment + +if [ $# -eq 0 ]; then + echo "Usage: $0 " + echo "Example: $0 package://go2_robot_sdk/urdf/go2.urdf" + echo " $0 install/go2_robot_sdk/share/go2_robot_sdk/urdf/go2.urdf" + exit 1 +fi + +URDF_PATH="$1" + +# Change to the ROS workspace directory +cd "$(dirname "$0")/../humble_ws" || exit 1 + +# Source the ROS2 environment +source ./install/local_setup.bash + +# If it's a package:// URI, convert it to a relative path +if [[ "$URDF_PATH" == package://* ]]; then + # Extract package name and path from package://package_name/path + PACKAGE_PATH="${URDF_PATH#package://}" + PACKAGE_NAME="${PACKAGE_PATH%%/*}" + RELATIVE_PATH="${PACKAGE_PATH#*/}" + URDF_PATH="install/${PACKAGE_NAME}/share/${PACKAGE_NAME}/${RELATIVE_PATH}" +fi + +echo "Loading URDF: $URDF_PATH" +rerun "$URDF_PATH" From d7822ff1cdd536e1dd9309d222c94d39ffc22b48 Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Fri, 18 Jul 2025 14:52:45 +0100 Subject: [PATCH 04/27] fix transform lookup errors --- rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp | 8 ++++++++ rerun_bridge/src/rerun_bridge/visualizer_node.cpp | 2 +- 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp index f6f0e1b..abeb42c 100644 --- a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp +++ b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp @@ -408,6 +408,14 @@ void log_joint_state( const rerun::RecordingStream& rec, const std::string& entity_path, const sensor_msgs::msg::JointState::ConstSharedPtr& msg ) { + // Set timestamp if available, otherwise skip timestamp logging to use current time + if (msg->header.stamp.sec != 0 || msg->header.stamp.nanosec != 0) { + rec.set_time_timestamp_secs_since_epoch( + "timestamp", + rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() + ); + } + // Log joint angles as time series scalars using the new Rerun 0.24.0 API // This follows the pattern from the Rust and Python examples for (size_t i = 0; i < msg->name.size() && i < msg->position.size(); ++i) { diff --git a/rerun_bridge/src/rerun_bridge/visualizer_node.cpp b/rerun_bridge/src/rerun_bridge/visualizer_node.cpp index 78decc7..3252745 100644 --- a/rerun_bridge/src/rerun_bridge/visualizer_node.cpp +++ b/rerun_bridge/src/rerun_bridge/visualizer_node.cpp @@ -593,7 +593,7 @@ std::shared_ptr> const std::string& topic, const TopicOptions& topic_options ) { std::string entity_path = _resolve_entity_path(topic, topic_options); - bool lookup_transform = (topic_options.find("entity_path") == topic_options.end()); + bool lookup_transform = false; // Joint states don't need coordinate transformations bool restamp = false; if (topic_options.find("restamp") != topic_options.end()) { restamp = topic_options.at("restamp").as(); From d64ec2de404f06a9e646dfce5ac50a9958434af7 Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Fri, 18 Jul 2025 16:03:03 +0100 Subject: [PATCH 05/27] restore old time logging --- .../src/rerun_bridge/rerun_ros_interface.cpp | 90 ++++++++++++++----- 1 file changed, 67 insertions(+), 23 deletions(-) diff --git a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp index abeb42c..6413471 100644 --- a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp +++ b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp @@ -63,7 +63,8 @@ constexpr float TurboBytes[256][3] = { {169, 22, 1}, {167, 20, 1}, {164, 19, 1}, {161, 18, 1}, {158, 16, 1}, {155, 15, 1}, {152, 14, 1}, {149, 13, 1}, {146, 11, 1}, {142, 10, 1}, {139, 9, 2}, {136, 8, 2}, {133, 7, 2}, {129, 6, 2}, {126, 5, 2}, - {122, 4, 3}}; + {122, 4, 3} +}; std::vector colormap( const std::vector& values, std::optional min_value, std::optional max_value @@ -81,7 +82,8 @@ std::vector colormap( auto idx = static_cast( 255 * (value - min_value.value()) / (max_value.value() - min_value.value()) ); - colors.emplace_back(rerun::Color(TurboBytes[idx][0], TurboBytes[idx][1], TurboBytes[idx][2]) + colors.emplace_back( + rerun::Color(TurboBytes[idx][0], TurboBytes[idx][1], TurboBytes[idx][2]) ); } return colors; @@ -91,21 +93,42 @@ void log_imu( const rerun::RecordingStream& rec, const std::string& entity_path, const sensor_msgs::msg::Imu::ConstSharedPtr& msg ) { - rec.set_time_timestamp_secs_since_epoch( + rec.set_time_seconds( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); - rec.log(entity_path + "/x", rerun::Scalars(rerun::Collection::take_ownership({rerun::components::Scalar(msg->linear_acceleration.x)}))); - rec.log(entity_path + "/y", rerun::Scalars(rerun::Collection::take_ownership({rerun::components::Scalar(msg->linear_acceleration.y)}))); - rec.log(entity_path + "/z", rerun::Scalars(rerun::Collection::take_ownership({rerun::components::Scalar(msg->linear_acceleration.z)}))); + rec.log( + entity_path + "/x", + rerun::Scalars( + rerun::Collection::take_ownership( + {rerun::components::Scalar(msg->linear_acceleration.x)} + ) + ) + ); + rec.log( + entity_path + "/y", + rerun::Scalars( + rerun::Collection::take_ownership( + {rerun::components::Scalar(msg->linear_acceleration.y)} + ) + ) + ); + rec.log( + entity_path + "/z", + rerun::Scalars( + rerun::Collection::take_ownership( + {rerun::components::Scalar(msg->linear_acceleration.z)} + ) + ) + ); } void log_image( const rerun::RecordingStream& rec, const std::string& entity_path, const sensor_msgs::msg::Image::ConstSharedPtr& msg, const ImageOptions& options ) { - rec.set_time_timestamp_secs_since_epoch( + rec.set_time_seconds( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); @@ -143,7 +166,7 @@ void log_pose_stamped( const rerun::RecordingStream& rec, const std::string& entity_path, const geometry_msgs::msg::PoseStamped::ConstSharedPtr& msg ) { - rec.set_time_timestamp_secs_since_epoch( + rec.set_time_seconds( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); @@ -191,7 +214,7 @@ void log_tf_message( continue; } - rec.set_time_timestamp_secs_since_epoch( + rec.set_time_seconds( "timestamp", rclcpp::Time(transform.header.stamp.sec, transform.header.stamp.nanosec).seconds() ); @@ -219,7 +242,7 @@ void log_odometry( const rerun::RecordingStream& rec, const std::string& entity_path, const nav_msgs::msg::Odometry::ConstSharedPtr& msg ) { - rec.set_time_timestamp_secs_since_epoch( + rec.set_time_seconds( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); @@ -269,7 +292,7 @@ void log_transform( const rerun::RecordingStream& rec, const std::string& entity_path, const geometry_msgs::msg::TransformStamped::ConstSharedPtr& msg ) { - rec.set_time_timestamp_secs_since_epoch( + rec.set_time_seconds( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); @@ -296,7 +319,7 @@ void log_point_cloud2( const rerun::RecordingStream& rec, const std::string& entity_path, const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg, const PointCloud2Options& options ) { - rec.set_time_timestamp_secs_since_epoch( + rec.set_time_seconds( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); @@ -410,44 +433,65 @@ void log_joint_state( ) { // Set timestamp if available, otherwise skip timestamp logging to use current time if (msg->header.stamp.sec != 0 || msg->header.stamp.nanosec != 0) { - rec.set_time_timestamp_secs_since_epoch( + rec.set_time_seconds( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); } - + // Log joint angles as time series scalars using the new Rerun 0.24.0 API // This follows the pattern from the Rust and Python examples for (size_t i = 0; i < msg->name.size() && i < msg->position.size(); ++i) { const std::string& joint_name = msg->name[i]; double joint_position = msg->position[i]; - + // Log each joint angle as a separate time series scalar // Entity path format: /joint_angles/joint_name std::string joint_entity_path = entity_path + "/joint_angles/" + joint_name; - - rec.log(joint_entity_path, rerun::Scalars(rerun::Collection::take_ownership({rerun::components::Scalar(joint_position)}))); + + rec.log( + joint_entity_path, + rerun::Scalars( + rerun::Collection::take_ownership( + {rerun::components::Scalar(joint_position)} + ) + ) + ); } - + // Also log joint velocities if available if (!msg->velocity.empty() && msg->velocity.size() == msg->name.size()) { for (size_t i = 0; i < msg->name.size(); ++i) { const std::string& joint_name = msg->name[i]; double joint_velocity = msg->velocity[i]; - + std::string velocity_entity_path = entity_path + "/joint_velocities/" + joint_name; - rec.log(velocity_entity_path, rerun::Scalars(rerun::Collection::take_ownership({rerun::components::Scalar(joint_velocity)}))); + rec.log( + velocity_entity_path, + rerun::Scalars( + rerun::Collection::take_ownership( + {rerun::components::Scalar(joint_velocity)} + ) + ) + ); } } - + // Log joint efforts/torques if available if (!msg->effort.empty() && msg->effort.size() == msg->name.size()) { for (size_t i = 0; i < msg->name.size(); ++i) { const std::string& joint_name = msg->name[i]; double joint_effort = msg->effort[i]; - + std::string effort_entity_path = entity_path + "/joint_efforts/" + joint_name; - rec.log(effort_entity_path, rerun::Scalars(rerun::Collection::take_ownership({rerun::components::Scalar(joint_effort)}))); + rec.log( + effort_entity_path, + rerun::Scalars( + rerun::Collection::take_ownership( + {rerun::components::Scalar(joint_effort)} + ) + ) + ); } } } From ec8c1f77bdaf081882f2480a04be8093f7f4771a Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Fri, 18 Jul 2025 16:04:52 +0100 Subject: [PATCH 06/27] remove unused comments --- rerun_bridge/launch/go2_example_params.yaml | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/rerun_bridge/launch/go2_example_params.yaml b/rerun_bridge/launch/go2_example_params.yaml index ddebfc9..3109137 100644 --- a/rerun_bridge/launch/go2_example_params.yaml +++ b/rerun_bridge/launch/go2_example_params.yaml @@ -48,12 +48,8 @@ topic_options: colormap: turbo colormap_field: z restamp: true - /go2_camera/color/image: + /go2_camera/color/image: entity_path: /map/odom/base_link/Head_upper/front_camera/image urdf: - # URDF support using Rerun 0.24.0+ native URDF loader - # Supports ROS package:// paths which are automatically resolved when ROS2 environment is sourced - # Note: To view this URDF standalone with `rerun`, use: - # cd humble_ws && source ./install/local_setup.bash && rerun install/go2_robot_sdk/share/go2_robot_sdk/urdf/go2.urdf file_path: "package://go2_robot_sdk/urdf/go2.urdf" entity_path: "/" # the root of this urdf is map From 697523fc6d8559708726bd546534067a577ea7e4 Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Fri, 18 Jul 2025 16:08:17 +0100 Subject: [PATCH 07/27] restore old logging --- .../src/rerun_bridge/rerun_ros_interface.cpp | 27 +++---------------- 1 file changed, 3 insertions(+), 24 deletions(-) diff --git a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp index 6413471..05174d6 100644 --- a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp +++ b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp @@ -97,31 +97,10 @@ void log_imu( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); + rec.log(entity_path + "/x", rerun::Scalars(msg->linear_acceleration.x)); + rec.log(entity_path + "/y", rerun::Scalars(msg->linear_acceleration.y)); + rec.log(entity_path + "/z", rerun::Scalars(msg->linear_acceleration.z)); - rec.log( - entity_path + "/x", - rerun::Scalars( - rerun::Collection::take_ownership( - {rerun::components::Scalar(msg->linear_acceleration.x)} - ) - ) - ); - rec.log( - entity_path + "/y", - rerun::Scalars( - rerun::Collection::take_ownership( - {rerun::components::Scalar(msg->linear_acceleration.y)} - ) - ) - ); - rec.log( - entity_path + "/z", - rerun::Scalars( - rerun::Collection::take_ownership( - {rerun::components::Scalar(msg->linear_acceleration.z)} - ) - ) - ); } void log_image( From cd0d234303965c676370e18988facbb427d8fa2c Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Fri, 18 Jul 2025 16:09:15 +0100 Subject: [PATCH 08/27] restore old formatting --- rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp index 05174d6..71fc331 100644 --- a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp +++ b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp @@ -82,8 +82,7 @@ std::vector colormap( auto idx = static_cast( 255 * (value - min_value.value()) / (max_value.value() - min_value.value()) ); - colors.emplace_back( - rerun::Color(TurboBytes[idx][0], TurboBytes[idx][1], TurboBytes[idx][2]) + colors.emplace_back(rerun::Color(TurboBytes[idx][0], TurboBytes[idx][1], TurboBytes[idx][2]) ); } return colors; From 988664b0bc407d7b0c728054b2dd4b2883e90b18 Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Fri, 18 Jul 2025 16:29:00 +0100 Subject: [PATCH 09/27] use simple scalar logging instead of taking ownership --- .../src/rerun_bridge/rerun_ros_interface.cpp | 29 +++---------------- 1 file changed, 4 insertions(+), 25 deletions(-) diff --git a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp index 71fc331..50a3396 100644 --- a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp +++ b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp @@ -96,10 +96,10 @@ void log_imu( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); + rec.log(entity_path + "/x", rerun::Scalars(msg->linear_acceleration.x)); rec.log(entity_path + "/y", rerun::Scalars(msg->linear_acceleration.y)); rec.log(entity_path + "/z", rerun::Scalars(msg->linear_acceleration.z)); - } void log_image( @@ -427,14 +427,7 @@ void log_joint_state( // Entity path format: /joint_angles/joint_name std::string joint_entity_path = entity_path + "/joint_angles/" + joint_name; - rec.log( - joint_entity_path, - rerun::Scalars( - rerun::Collection::take_ownership( - {rerun::components::Scalar(joint_position)} - ) - ) - ); + rec.log(joint_entity_path, rerun::Scalars(joint_position)); } // Also log joint velocities if available @@ -444,14 +437,7 @@ void log_joint_state( double joint_velocity = msg->velocity[i]; std::string velocity_entity_path = entity_path + "/joint_velocities/" + joint_name; - rec.log( - velocity_entity_path, - rerun::Scalars( - rerun::Collection::take_ownership( - {rerun::components::Scalar(joint_velocity)} - ) - ) - ); + rec.log(velocity_entity_path, rerun::Scalars(joint_velocity)); } } @@ -462,14 +448,7 @@ void log_joint_state( double joint_effort = msg->effort[i]; std::string effort_entity_path = entity_path + "/joint_efforts/" + joint_name; - rec.log( - effort_entity_path, - rerun::Scalars( - rerun::Collection::take_ownership( - {rerun::components::Scalar(joint_effort)} - ) - ) - ); + rec.log(effort_entity_path, rerun::Scalars(joint_effort)); } } } From 6dcd1d3bca2c54889946c3ef646d0fc0ef24d029 Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Fri, 18 Jul 2025 16:40:45 +0100 Subject: [PATCH 10/27] factor out common code in log_joint_state --- .../src/rerun_bridge/rerun_ros_interface.cpp | 43 +++++-------------- 1 file changed, 11 insertions(+), 32 deletions(-) diff --git a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp index 50a3396..1880801 100644 --- a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp +++ b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp @@ -417,38 +417,17 @@ void log_joint_state( ); } - // Log joint angles as time series scalars using the new Rerun 0.24.0 API - // This follows the pattern from the Rust and Python examples - for (size_t i = 0; i < msg->name.size() && i < msg->position.size(); ++i) { - const std::string& joint_name = msg->name[i]; - double joint_position = msg->position[i]; - - // Log each joint angle as a separate time series scalar - // Entity path format: /joint_angles/joint_name - std::string joint_entity_path = entity_path + "/joint_angles/" + joint_name; - - rec.log(joint_entity_path, rerun::Scalars(joint_position)); - } - - // Also log joint velocities if available - if (!msg->velocity.empty() && msg->velocity.size() == msg->name.size()) { - for (size_t i = 0; i < msg->name.size(); ++i) { - const std::string& joint_name = msg->name[i]; - double joint_velocity = msg->velocity[i]; - - std::string velocity_entity_path = entity_path + "/joint_velocities/" + joint_name; - rec.log(velocity_entity_path, rerun::Scalars(joint_velocity)); + // Helper lambda to log joint data arrays + auto log_joint_array = [&](const std::vector& values, const std::string& suffix) { + if (!values.empty() && values.size() == msg->name.size()) { + for (size_t i = 0; i < msg->name.size(); ++i) { + rec.log(entity_path + "/" + suffix + "/" + msg->name[i], rerun::Scalars(values[i])); + } } - } - - // Log joint efforts/torques if available - if (!msg->effort.empty() && msg->effort.size() == msg->name.size()) { - for (size_t i = 0; i < msg->name.size(); ++i) { - const std::string& joint_name = msg->name[i]; - double joint_effort = msg->effort[i]; + }; - std::string effort_entity_path = entity_path + "/joint_efforts/" + joint_name; - rec.log(effort_entity_path, rerun::Scalars(joint_effort)); - } - } + // Log joint data using the helper lambda + log_joint_array(msg->position, "joint_positions"); + log_joint_array(msg->velocity, "joint_velocities"); + log_joint_array(msg->effort, "joint_efforts"); } From b0f335743023350e96380b0b24691db1b8494a2f Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Fri, 18 Jul 2025 16:44:07 +0100 Subject: [PATCH 11/27] remove comments --- rerun_bridge/launch/carla_example_params.yaml | 16 +++++++--------- 1 file changed, 7 insertions(+), 9 deletions(-) diff --git a/rerun_bridge/launch/carla_example_params.yaml b/rerun_bridge/launch/carla_example_params.yaml index 56c038e..860d7e5 100644 --- a/rerun_bridge/launch/carla_example_params.yaml +++ b/rerun_bridge/launch/carla_example_params.yaml @@ -5,7 +5,7 @@ tf: # We need to predefine the tf-tree currently to define the entity paths # See: https://github.com/rerun-io/rerun/issues/5242 - tree: + tree: map: ego_vehicle: ego_vehicle/depth_front: null @@ -24,20 +24,18 @@ tf: topic_options: /carla/ego_vehicle/depth_front/image: max_depth: 100.0 - /carla/ego_vehicle/rgb_front/image: + /carla/ego_vehicle/rgb_front/image: entity_path: /map/ego_vehicle/ego_vehicle/rgb_front - /carla/ego_vehicle/rgb_front/camera_info: + /carla/ego_vehicle/rgb_front/camera_info: entity_path: /map/ego_vehicle/ego_vehicle/rgb_front - /carla/ego_vehicle/rgb_left/image: + /carla/ego_vehicle/rgb_left/image: entity_path: /map/ego_vehicle/ego_vehicle/rgb_left - /carla/ego_vehicle/rgb_left/camera_info: + /carla/ego_vehicle/rgb_left/camera_info: entity_path: /map/ego_vehicle/ego_vehicle/rgb_left - /carla/ego_vehicle/rgb_right/image: + /carla/ego_vehicle/rgb_right/image: entity_path: /map/ego_vehicle/ego_vehicle/rgb_right - /carla/ego_vehicle/rgb_right/camera_info: + /carla/ego_vehicle/rgb_right/camera_info: entity_path: /map/ego_vehicle/ego_vehicle/rgb_right urdf: - # URDF support using Rerun 0.24.0+ native URDF loader - # Leave file_path empty if no URDF is available (e.g., for Carla simulation) file_path: "" entity_path: "odom" From fb7260116d358801a9060f52a66e396053fb4e8f Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Fri, 18 Jul 2025 16:44:16 +0100 Subject: [PATCH 12/27] remove try catches --- .../src/rerun_bridge/visualizer_node.cpp | 29 ++----------------- 1 file changed, 2 insertions(+), 27 deletions(-) diff --git a/rerun_bridge/src/rerun_bridge/visualizer_node.cpp b/rerun_bridge/src/rerun_bridge/visualizer_node.cpp index 3252745..7e0ca52 100644 --- a/rerun_bridge/src/rerun_bridge/visualizer_node.cpp +++ b/rerun_bridge/src/rerun_bridge/visualizer_node.cpp @@ -242,36 +242,11 @@ void RerunLoggerNode::_read_yaml_config(std::string yaml_path) { if (urdf_file_path.size()) { RCLCPP_INFO( this->get_logger(), - "Logging URDF from file path %s using native Rerun 0.24.0+ URDF loader", + "Logging URDF from file path %s", urdf_file_path.c_str() ); - try { - // Log URDF file using Rerun 0.24.0+ native URDF support - // The static=true parameter ensures the URDF is logged as a static resource - _rec.log_file_from_path(urdf_file_path, urdf_entity_path, true); - RCLCPP_INFO( - this->get_logger(), - "Successfully logged URDF file to entity path: %s", - urdf_entity_path.empty() ? "default" : urdf_entity_path.c_str() - ); - } catch (const std::exception& e) { - RCLCPP_ERROR( - this->get_logger(), - "Failed to log URDF file: %s", - e.what() - ); - } - } else { - RCLCPP_WARN( - this->get_logger(), - "URDF file path resolved to empty string" - ); + _rec.log_file_from_path(urdf_file_path, urdf_entity_path, true); } - } else { - RCLCPP_WARN( - this->get_logger(), - "URDF configuration found but no file_path specified" - ); } } } From fd596d6ac6daa8ee7027e0efd9a4c47a5746d8a2 Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Fri, 18 Jul 2025 16:46:10 +0100 Subject: [PATCH 13/27] restore yaml to originals --- rerun_bridge/launch/carla_example_params.yaml | 14 +++++++------- rerun_bridge/launch/go2_example_params.yaml | 2 +- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/rerun_bridge/launch/carla_example_params.yaml b/rerun_bridge/launch/carla_example_params.yaml index 860d7e5..bc333de 100644 --- a/rerun_bridge/launch/carla_example_params.yaml +++ b/rerun_bridge/launch/carla_example_params.yaml @@ -5,7 +5,7 @@ tf: # We need to predefine the tf-tree currently to define the entity paths # See: https://github.com/rerun-io/rerun/issues/5242 - tree: + tree: map: ego_vehicle: ego_vehicle/depth_front: null @@ -24,17 +24,17 @@ tf: topic_options: /carla/ego_vehicle/depth_front/image: max_depth: 100.0 - /carla/ego_vehicle/rgb_front/image: + /carla/ego_vehicle/rgb_front/image: entity_path: /map/ego_vehicle/ego_vehicle/rgb_front - /carla/ego_vehicle/rgb_front/camera_info: + /carla/ego_vehicle/rgb_front/camera_info: entity_path: /map/ego_vehicle/ego_vehicle/rgb_front - /carla/ego_vehicle/rgb_left/image: + /carla/ego_vehicle/rgb_left/image: entity_path: /map/ego_vehicle/ego_vehicle/rgb_left - /carla/ego_vehicle/rgb_left/camera_info: + /carla/ego_vehicle/rgb_left/camera_info: entity_path: /map/ego_vehicle/ego_vehicle/rgb_left - /carla/ego_vehicle/rgb_right/image: + /carla/ego_vehicle/rgb_right/image: entity_path: /map/ego_vehicle/ego_vehicle/rgb_right - /carla/ego_vehicle/rgb_right/camera_info: + /carla/ego_vehicle/rgb_right/camera_info: entity_path: /map/ego_vehicle/ego_vehicle/rgb_right urdf: file_path: "" diff --git a/rerun_bridge/launch/go2_example_params.yaml b/rerun_bridge/launch/go2_example_params.yaml index 3109137..2506506 100644 --- a/rerun_bridge/launch/go2_example_params.yaml +++ b/rerun_bridge/launch/go2_example_params.yaml @@ -48,7 +48,7 @@ topic_options: colormap: turbo colormap_field: z restamp: true - /go2_camera/color/image: + /go2_camera/color/image: entity_path: /map/odom/base_link/Head_upper/front_camera/image urdf: file_path: "package://go2_robot_sdk/urdf/go2.urdf" From 0d28d60a9fe28e06e61d586ab07fda173f9db404 Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Fri, 18 Jul 2025 16:46:42 +0100 Subject: [PATCH 14/27] remove view urdf.sh script --- scripts/view_urdf.sh | 29 ----------------------------- 1 file changed, 29 deletions(-) delete mode 100755 scripts/view_urdf.sh diff --git a/scripts/view_urdf.sh b/scripts/view_urdf.sh deleted file mode 100755 index bf86fb2..0000000 --- a/scripts/view_urdf.sh +++ /dev/null @@ -1,29 +0,0 @@ -#!/bin/bash -# Convenience script to view URDF files with Rerun in ROS2 environment - -if [ $# -eq 0 ]; then - echo "Usage: $0 " - echo "Example: $0 package://go2_robot_sdk/urdf/go2.urdf" - echo " $0 install/go2_robot_sdk/share/go2_robot_sdk/urdf/go2.urdf" - exit 1 -fi - -URDF_PATH="$1" - -# Change to the ROS workspace directory -cd "$(dirname "$0")/../humble_ws" || exit 1 - -# Source the ROS2 environment -source ./install/local_setup.bash - -# If it's a package:// URI, convert it to a relative path -if [[ "$URDF_PATH" == package://* ]]; then - # Extract package name and path from package://package_name/path - PACKAGE_PATH="${URDF_PATH#package://}" - PACKAGE_NAME="${PACKAGE_PATH%%/*}" - RELATIVE_PATH="${PACKAGE_PATH#*/}" - URDF_PATH="install/${PACKAGE_NAME}/share/${PACKAGE_NAME}/${RELATIVE_PATH}" -fi - -echo "Loading URDF: $URDF_PATH" -rerun "$URDF_PATH" From d9ce9a2f64033e902e283df8ab8bfe5a0255cd63 Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Fri, 18 Jul 2025 17:09:32 +0100 Subject: [PATCH 15/27] update set_time_seconds -> set_time_timestamp_secs_since_epoch to remove deprecation warning --- .../src/rerun_bridge/rerun_ros_interface.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp index 1880801..a84519b 100644 --- a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp +++ b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp @@ -92,7 +92,7 @@ void log_imu( const rerun::RecordingStream& rec, const std::string& entity_path, const sensor_msgs::msg::Imu::ConstSharedPtr& msg ) { - rec.set_time_seconds( + rec.set_time_timestamp_secs_since_epoch( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); @@ -106,7 +106,7 @@ void log_image( const rerun::RecordingStream& rec, const std::string& entity_path, const sensor_msgs::msg::Image::ConstSharedPtr& msg, const ImageOptions& options ) { - rec.set_time_seconds( + rec.set_time_timestamp_secs_since_epoch( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); @@ -144,7 +144,7 @@ void log_pose_stamped( const rerun::RecordingStream& rec, const std::string& entity_path, const geometry_msgs::msg::PoseStamped::ConstSharedPtr& msg ) { - rec.set_time_seconds( + rec.set_time_timestamp_secs_since_epoch( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); @@ -192,7 +192,7 @@ void log_tf_message( continue; } - rec.set_time_seconds( + rec.set_time_timestamp_secs_since_epoch( "timestamp", rclcpp::Time(transform.header.stamp.sec, transform.header.stamp.nanosec).seconds() ); @@ -220,7 +220,7 @@ void log_odometry( const rerun::RecordingStream& rec, const std::string& entity_path, const nav_msgs::msg::Odometry::ConstSharedPtr& msg ) { - rec.set_time_seconds( + rec.set_time_timestamp_secs_since_epoch( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); @@ -270,7 +270,7 @@ void log_transform( const rerun::RecordingStream& rec, const std::string& entity_path, const geometry_msgs::msg::TransformStamped::ConstSharedPtr& msg ) { - rec.set_time_seconds( + rec.set_time_timestamp_secs_since_epoch( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); @@ -297,7 +297,7 @@ void log_point_cloud2( const rerun::RecordingStream& rec, const std::string& entity_path, const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg, const PointCloud2Options& options ) { - rec.set_time_seconds( + rec.set_time_timestamp_secs_since_epoch( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); @@ -411,7 +411,7 @@ void log_joint_state( ) { // Set timestamp if available, otherwise skip timestamp logging to use current time if (msg->header.stamp.sec != 0 || msg->header.stamp.nanosec != 0) { - rec.set_time_seconds( + rec.set_time_timestamp_secs_since_epoch( "timestamp", rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds() ); From e0a4196dec94edc1e3d8b3878ee77ca9d93028ea Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Fri, 18 Jul 2025 17:28:47 +0100 Subject: [PATCH 16/27] clang format --- rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp index a84519b..9eb3b9f 100644 --- a/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp +++ b/rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp @@ -63,8 +63,7 @@ constexpr float TurboBytes[256][3] = { {169, 22, 1}, {167, 20, 1}, {164, 19, 1}, {161, 18, 1}, {158, 16, 1}, {155, 15, 1}, {152, 14, 1}, {149, 13, 1}, {146, 11, 1}, {142, 10, 1}, {139, 9, 2}, {136, 8, 2}, {133, 7, 2}, {129, 6, 2}, {126, 5, 2}, - {122, 4, 3} -}; + {122, 4, 3}}; std::vector colormap( const std::vector& values, std::optional min_value, std::optional max_value From 2d0f8c5c1b5041ffde20742447532bc802c2a1b6 Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Sat, 19 Jul 2025 09:54:08 +0100 Subject: [PATCH 17/27] update depends_on to depends-on to remove deprecation warnings in pixi 0.49 --- pixi.toml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/pixi.toml b/pixi.toml index 45a4b40..e0ba0e2 100644 --- a/pixi.toml +++ b/pixi.toml @@ -50,7 +50,7 @@ cwd = "." [tasks.build] cmd = "colcon build --packages-select rerun_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON" -depends_on = ["ws"] +depends-on = ["ws"] cwd = "humble_ws" # Get mcap support from source since its not available in robostack channel @@ -61,7 +61,7 @@ cmd = """ (test -d src/rosbag2_storage_mcap || git clone https://github.com/ros-tooling/rosbag2_storage_mcap.git src/rosbag2_storage_mcap) && colcon build --packages-select mcap_vendor rosbag2_storage_mcap_testdata rosbag2_storage_mcap --cmake-args -DCMAKE_BUILD_TYPE=Release """ -depends_on = ["ws"] +depends-on = ["ws"] cwd = "humble_ws" # ------------------------------------------------------------------------------------------ @@ -71,11 +71,11 @@ cwd = "humble_ws" cmd = "curl -L -C - -O https://storage.googleapis.com/rerun-example-datasets/carla_ros2.zip && unzip carla_ros2.zip" cwd = "humble_ws/install/rerun_bridge/share/rerun_bridge" outputs = ["humble_ws/install/rerun_bridge/share/rerun_bridge/carla_ros2"] -depends_on = ["build"] +depends-on = ["build"] [tasks.carla_example] cmd = "bash -c 'source ./install/local_setup.bash && ros2 launch rerun_bridge carla_example.launch'" -depends_on = ["build", "rerun_viewer", "carla_example_data"] +depends-on = ["build", "rerun_viewer", "carla_example_data"] cwd = "humble_ws" # ------------------------------------------------------------------------------------------ @@ -85,7 +85,7 @@ cwd = "humble_ws" cmd = "curl -L -C - -O https://storage.googleapis.com/rerun-example-datasets/go2_ros2.zip && unzip go2_ros2.zip" cwd = "humble_ws/install/rerun_bridge/share/rerun_bridge" outputs = ["humble_ws/install/rerun_bridge/share/rerun_bridge/go2_ros2"] -depends_on = ["build"] +depends-on = ["build"] # Get the go2_ros2_sdk package # @@ -96,11 +96,11 @@ cmd = """ && colcon build --packages-select unitree_go go2_interfaces go2_robot_sdk --cmake-args -DCMAKE_BUILD_TYPE=Release """ cwd = "humble_ws" -depends_on = ["ws"] +depends-on = ["ws"] [tasks.go2_example] cmd = "bash -c 'source ./install/local_setup.bash && ros2 launch rerun_bridge go2_example.launch'" -depends_on = [ +depends-on = [ "build", "go2_example_data", "go2_ros2_sdk", From 74c6ffc97a4e19da306f3759ca44d3875d50d259 Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Sat, 19 Jul 2025 10:35:39 +0100 Subject: [PATCH 18/27] fix pixi ambiuous version specifier warnings --- pixi.toml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/pixi.toml b/pixi.toml index e0ba0e2..a05cda2 100644 --- a/pixi.toml +++ b/pixi.toml @@ -117,10 +117,10 @@ cmd = "pip install rerun-sdk==0.24.0" pip = ">=24.0,<25" # To install rerun-sdk # C++ build-tools: -cmake = "3.27.6" +cmake = "==3.27.6" clang-tools = ">=15,<16" # clang-format cxx-compiler = "1.6.0.*" -ninja = "1.11.1" +ninja = "==1.11.1" # ROS 2 build-tools: colcon-core = ">=0.16.0,<0.17" From f1efae5ac2cfb4d7f2334e896816b71305448792 Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Sat, 19 Jul 2025 09:54:08 +0100 Subject: [PATCH 19/27] update depends_on to depends-on to remove deprecation warnings in pixi 0.49 --- pixi.toml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/pixi.toml b/pixi.toml index dd269bc..e171813 100644 --- a/pixi.toml +++ b/pixi.toml @@ -50,7 +50,7 @@ cwd = "." [tasks.build] cmd = "colcon build --packages-select rerun_bridge --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON" -depends_on = ["ws"] +depends-on = ["ws"] cwd = "humble_ws" # Get mcap support from source since its not available in robostack channel @@ -61,7 +61,7 @@ cmd = """ (test -d src/rosbag2_storage_mcap || git clone https://github.com/ros-tooling/rosbag2_storage_mcap.git src/rosbag2_storage_mcap) && colcon build --packages-select mcap_vendor rosbag2_storage_mcap_testdata rosbag2_storage_mcap --cmake-args -DCMAKE_BUILD_TYPE=Release """ -depends_on = ["ws"] +depends-on = ["ws"] cwd = "humble_ws" # ------------------------------------------------------------------------------------------ @@ -71,11 +71,11 @@ cwd = "humble_ws" cmd = "curl -L -C - -O https://storage.googleapis.com/rerun-example-datasets/carla_ros2.zip && unzip carla_ros2.zip" cwd = "humble_ws/install/rerun_bridge/share/rerun_bridge" outputs = ["humble_ws/install/rerun_bridge/share/rerun_bridge/carla_ros2"] -depends_on = ["build"] +depends-on = ["build"] [tasks.carla_example] cmd = "bash -c 'source ./install/local_setup.bash && ros2 launch rerun_bridge carla_example.launch'" -depends_on = ["build", "rerun_viewer", "carla_example_data"] +depends-on = ["build", "rerun_viewer", "carla_example_data"] cwd = "humble_ws" # ------------------------------------------------------------------------------------------ @@ -85,7 +85,7 @@ cwd = "humble_ws" cmd = "curl -L -C - -O https://storage.googleapis.com/rerun-example-datasets/go2_ros2.zip && unzip go2_ros2.zip" cwd = "humble_ws/install/rerun_bridge/share/rerun_bridge" outputs = ["humble_ws/install/rerun_bridge/share/rerun_bridge/go2_ros2"] -depends_on = ["build"] +depends-on = ["build"] # Get the go2_ros2_sdk package # @@ -96,11 +96,11 @@ cmd = """ && colcon build --packages-select unitree_go go2_interfaces go2_robot_sdk --cmake-args -DCMAKE_BUILD_TYPE=Release """ cwd = "humble_ws" -depends_on = ["ws"] +depends-on = ["ws"] [tasks.go2_example] cmd = "bash -c 'source ./install/local_setup.bash && ros2 launch rerun_bridge go2_example.launch'" -depends_on = [ +depends-on = [ "build", "go2_example_data", "go2_ros2_sdk", From 4b36b888768ac8b406a4a509dbbe7c0c140c49ea Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Sat, 19 Jul 2025 10:35:39 +0100 Subject: [PATCH 20/27] fix pixi ambiuous version specifier warnings --- pixi.toml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/pixi.toml b/pixi.toml index e171813..bb9c2da 100644 --- a/pixi.toml +++ b/pixi.toml @@ -121,10 +121,10 @@ cmd = "pip install git+https://github.com/rerun-io/rerun-loader-python-example-u pip = ">=24.0,<25" # To install rerun-sdk and rerun-loader-python-example-urdf # C++ build-tools: -cmake = "3.27.6" +cmake = "==3.27.6" clang-tools = ">=15,<16" # clang-format cxx-compiler = "1.6.0.*" -ninja = "1.11.1" +ninja = "==1.11.1" # ROS 2 build-tools: colcon-core = ">=0.16.0,<0.17" From ef7c4bc6217dc3c039fd77b8a35f64bc43c014f4 Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Mon, 21 Jul 2025 09:27:14 +0100 Subject: [PATCH 21/27] update pixi.lock --- pixi.lock | 58101 +++++++++++++++++++--------------------------------- 1 file changed, 20992 insertions(+), 37109 deletions(-) diff --git a/pixi.lock b/pixi.lock index e446af1..3c24fd1 100644 --- a/pixi.lock +++ b/pixi.lock @@ -1,4 +1,4 @@ -version: 5 +version: 6 environments: default: channels: @@ -8,42 +8,42 @@ environments: linux-64: - 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-O https://storage.googleapis.com/rerun-example-datasets/go2_ros2.zip && unzip go2_ros2.zip" +cmd = "curl -L -C - -O https://storage.googleapis.com/rerun-example-datasets/go2_ros2.zip && unzip -n go2_ros2.zip" cwd = "humble_ws/install/rerun_bridge/share/rerun_bridge" outputs = ["humble_ws/install/rerun_bridge/share/rerun_bridge/go2_ros2"] depends-on = ["build"] @@ -120,7 +120,7 @@ cmd = "pip install git+https://github.com/rerun-io/rerun-loader-python-example-u [dependencies] python = "3.11.*" -numpy = "1.24.*" #1.26.x fails during go2_interface compile +numpy = "1.26.*" #1.26.x fails during go2_interface compile pip = ">=24.0,<25" # To install rerun-sdk # C++ build-tools: From a194e38a6236013e52c4ca501c602967f9a4f271 Mon Sep 17 00:00:00 2001 From: Austin Gregg-Smith Date: Tue, 22 Jul 2025 14:09:32 +0100 Subject: [PATCH 27/27] add outputs for rosbag2_storage_mcap and go2_interfaces to avoid numpy 2 errors on second compilation --- pixi.toml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/pixi.toml b/pixi.toml index 420bde0..fe3293f 100644 --- a/pixi.toml +++ b/pixi.toml @@ -61,6 +61,8 @@ cmd = """ (test -d src/rosbag2_storage_mcap || git clone https://github.com/ros-tooling/rosbag2_storage_mcap.git src/rosbag2_storage_mcap) && colcon build --packages-select mcap_vendor rosbag2_storage_mcap_testdata rosbag2_storage_mcap --cmake-args -DCMAKE_BUILD_TYPE=Release """ + +outputs = ["humble_ws/install/mcap_vendor", "humble_ws/install/rosbag2_storage_mcap"] depends-on = ["ws"] cwd = "humble_ws" @@ -95,6 +97,8 @@ cmd = """ (test -d src/go2_ros2_sdk || git clone --recurse-submodules https://github.com/abizovnuralem/go2_ros2_sdk.git src/go2_ros2_sdk) && colcon build --packages-select unitree_go go2_interfaces go2_robot_sdk --cmake-args -DCMAKE_BUILD_TYPE=Release """ +# Only track go2_interfaces output to prevent rebuilds that cause numpy header compilation errors +outputs = ["humble_ws/install/go2_interfaces"] cwd = "humble_ws" depends-on = ["ws"]