Merge pull request #15 from rctoris/stable

r2 release

CHANGELOG

@@ -1,2 +1,9 @@
+2013-04-03 - **r2**
+* Examples now use CDN version of DAE files (rctoris)
+* Maps module added with OccupancyGrid and client (rctoris)
+* SceneNode now takes an optional pose (rctoris)
+* Bugfix in InteractiveMarkerClient path option (rctoris)
+* Bugfix in interactive marker feedback (rctoris)
+
 2013-03-17 - **r1**
 * Initial development of ROS3D (rctoris)

README.md

@@ -0,0 +1,46 @@
+ros3djs
+========
+
+#### 3D Visualization Library for use with the ROS JavaScript Libraries ####
+
+For full documentation, see [the ROS wiki](http://ros.org/wiki/ros3djs) or check out some [working demos](http://robotwebtools.org/).
+
+[JSDoc](http://robotwebtools.org/jsdoc/ros3djs/current/) can be found on the Robot Web Tools website.
+
+This project is released as part of the [Robot Web Tools](http://robotwebtools.org/) effort.
+
+### Usage ###
+Pre-built files can be found in either [ros3d.js](build/ros3d.js) or [ros3d.min.js](build/ros3d.min.js).
+
+Alternatively, you can use the current release via the Robot Web Tools CDN ([full](http://cdn.robotwebtools.org/ros3djs/current/ros3d.js)) | ([min](http://cdn.robotwebtools.org/ros3djs/current/ros3d.min.js))
+
+### Dependencies ###
+ros3djs depends on:
+
+[EventEmitter2](https://github.com/hij1nx/EventEmitter2). The current supported version is 0.4.11.
+The current supported version can be found [in this project](include/EventEmitter2/eventemitter2.js) or on the Robot Web Tools CDN ([full](http://cdn.robotwebtools.org/EventEmitter2/0.4.11/eventemitter2.js)) | ([min](http://cdn.robotwebtools.org/EventEmitter2/0.4.11/eventemitter2.min.js))
+
+[three.js](https://github.com/mrdoob/three.js/). The current supported version is r56.
+The current supported version can be found [in this project](include/threejs/three.js) or on the Robot Web Tools CDN ([full](http://cdn.robotwebtools.org/threejs/r56/three.js)) | ([min](http://cdn.robotwebtools.org/threejs/r56/three.minjs)).
+
+[roslibjs](https://github.com/RobotWebTools/roslibjs). The current supported version is r4.
+The current supported version can be found [in this project](include/roslibjs/roslib.js) or on the Robot Web Tools CDN ([full](http://cdn.robotwebtools.org/roslibjs/r4/roslib.js)) | ([min](http://cdn.robotwebtools.org/roslibjs/r4/roslib.min.js)).
+
+### Build ###
+To build from source, use the provided [ANT script](utils/build.xml).
+
+The script requires ANT, YUI Compressor, and JSDoc. To install these on an Ubuntu machine, use the following:
+
+    sudo apt-get install ant yui-compressor jsdoc-toolkit
+
+To run the build script, use the following:
+
+    cd utils/
+    ant
+
+### License ###
+ros3djs is released with a BSD license. For full terms and conditions, see the [LICENSE](LICENSE) file.
+
+### Authors ###
+See the [AUTHORS](AUTHORS) file for a full list of contributors.
+

build/ros3d.js

@@ -4,7 +4,7 @@
 */
 
 var ROS3D = ROS3D || {
-  REVISION : '1'
+  REVISION : '2'
 };
 
 // Marker types
@@ -490,7 +490,7 @@ ROS3D.InteractiveMarkerClient = function(options) {
   this.ros = options.ros;
   this.tfClient = options.tfClient;
   this.topic = options.topic;
-  this.path = '';
+  this.path = options.path || '/';
   this.camera = options.camera;
   this.rootObject = options.rootObject || new THREE.Object3D();
 
@@ -997,8 +997,8 @@ ROS3D.InteractiveMarkerHandle.prototype.sendFeedback = function(eventType, click
     event_type : eventType,
     pose : this.pose,
     mouse_point : clickPosition,
-    mousePointValid : mousePointValid,
-    menuEntryID : menuEntryID
+    mouse_point_valid : mousePointValid,
+    menu_entry_id : menuEntryID
   };
   this.feedbackTopic.publish(feedback);
 };
@@ -1233,7 +1233,7 @@ ROS3D.OccupancyGrid.prototype.__proto__ = THREE.Mesh.prototype;
  */
 
 /**
- * A marker client that listens to a given marker topic.
+ * An occupancy grid client that listens to a given map topic.
  * 
  * Emits the following events:
  *  * 'change' - there was an update or change in the marker
@@ -1242,15 +1242,15 @@ ROS3D.OccupancyGrid.prototype.__proto__ = THREE.Mesh.prototype;
  * @param options - object with following keys:
  *   * ros - the ROSLIB.Ros connection handle
  *   * topic (optional) - the map topic to listen to
- *   * rootObject (optional) - the root object to add this marker to
  *   * continuous (optional) - if the map should be continuously loaded (e.g., for SLAM)
+ *   * rootObject (optional) - the root object to add this marker to
  */
 ROS3D.OccupancyGridClient = function(options) {
   var that = this;
   var options = options || {};
   var ros = options.ros;
   var topic = options.topic || '/map';
-  this.tfClient = options.tfClient;
+  this.continuous = options.continuous;
   this.rootObject = options.rootObject || new THREE.Object3D();
 
   // current grid that is displayed
@@ -1264,7 +1264,7 @@ ROS3D.OccupancyGridClient = function(options) {
     compression : 'png'
   });
   rosTopic.subscribe(function(message) {
-    // check for an old marker
+    // check for an old map
     if (that.currentGrid) {
       that.rootObject.remove(that.currentGrid);
     }
@@ -1275,6 +1275,11 @@ ROS3D.OccupancyGridClient = function(options) {
     that.rootObject.add(that.currentGrid);
 
     that.emit('change');
+
+    // check if we should unsubscribe
+    if(!that.continuous) {
+      rosTopic.unsubscribe();
+    }
   });
 };
 ROS3D.OccupancyGridClient.prototype.__proto__ = EventEmitter2.prototype;
@@ -1855,6 +1860,7 @@ ROS3D.Urdf = function(options) {
           // create a scene node with the model
           var sceneNode = new ROS3D.SceneNode({
             frameID : frameID,
+            pose : link.visual.origin,
             tfClient : tfClient,
             object : new ROS3D.MeshResource({
               path : path,
@@ -1928,6 +1934,7 @@ ROS3D.UrdfClient = function(options) {
  * @param options - object with following keys:
  *  * tfClient - a handle to the TF client
  *  * frameID - the frame ID this object belongs to
+ *  * pose (optional) - the pose associated with this object
  *  * object - the THREE 3D object to be rendered
  */
 ROS3D.SceneNode = function(options) {
@@ -1936,6 +1943,7 @@ ROS3D.SceneNode = function(options) {
   var tfClient = options.tfClient;
   var frameID = options.frameID;
   var object = options.object;
+  this.pose = options.pose || new ROSLIB.Pose();
 
   THREE.Object3D.call(this);
   this.useQuaternion = true;
@@ -1948,7 +1956,7 @@ ROS3D.SceneNode = function(options) {
       function(msg) {
         // apply the transform
         var tf = new ROSLIB.Transform(msg);
-        var poseTransformed = new ROSLIB.Pose();
+        var poseTransformed = new ROSLIB.Pose(that.pose);
         poseTransformed.applyTransform(tf);
 
         // update the world