Feature/rerun 0.24

.github/workflows/cpp.yml

@@ -12,7 +12,7 @@ jobs:
 
       - uses: prefix-dev/[email protected]
         with:
-          pixi-version: v0.26.1
+          pixi-version: v0.49.0
           cache: true
 
       - run: pixi run cpp-fmt-check

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.
 

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 +61,9 @@ 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"]
+
+outputs = ["humble_ws/install/mcap_vendor", "humble_ws/install/rosbag2_storage_mcap"]
+depends-on = ["ws"]
 cwd = "humble_ws"
 
 # ------------------------------------------------------------------------------------------
@@ -71,21 +73,21 @@ 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"
 
 # ------------------------------------------------------------------------------------------
 # Go2 example:
 
 [tasks.go2_example_data]
-cmd = "curl -L -C - -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"]
+depends-on = ["build"]
 
 # Get the go2_ros2_sdk package
 #
@@ -95,12 +97,14 @@ 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"]
+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",
@@ -110,21 +114,24 @@ 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==0.23.4"
+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"
 
 [dependencies]
-pip = ">=24.0,<25" # To install rerun-sdk and rerun-loader-python-example-urdf
+python = "3.11.*"
+numpy = "1.26.*" #1.26.x fails during go2_interface compile
+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"

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)

rerun_bridge/include/rerun_bridge/rerun_ros_interface.hpp

@@ -9,6 +9,7 @@
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/imu.hpp>
+#include <sensor_msgs/msg/joint_state.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tf2_msgs/msg/tf_message.hpp>
 
@@ -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
+);

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(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(
     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 +403,30 @@ 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
+) {
+    // 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()
+        );
+    }
+
+    // Helper lambda to log joint data arrays
+    auto log_joint_array = [&](const std::vector<double>& 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 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");
+}

rerun_bridge/src/rerun_bridge/visualizer_node.cpp

@@ -314,6 +314,9 @@ 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 +563,40 @@ std::shared_ptr<rclcpp::Subscription<sensor_msgs::msg::PointCloud2>>
     );
 }
 
+std::shared_ptr<rclcpp::Subscription<sensor_msgs::msg::JointState>>
+    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 = 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<bool>();
+    }
+
+    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<sensor_msgs::msg::JointState>(
+        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

rerun_bridge/src/rerun_bridge/visualizer_node.hpp

@@ -13,6 +13,7 @@
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/imu.hpp>
+#include <sensor_msgs/msg/joint_state.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tf2_msgs/msg/tf_message.hpp>
 
@@ -87,4 +88,8 @@ class RerunLoggerNode : public rclcpp::Node {
         _create_point_cloud2_subscription(
             const std::string& topic, const TopicOptions& topic_options
         );
+    std::shared_ptr<rclcpp::Subscription<sensor_msgs::msg::JointState>>
+        _create_joint_state_subscription(
+            const std::string& topic, const TopicOptions& topic_options
+        );
 };