MORE 3D OBJECTS

src/navigation/Odometry.js

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+/**
+ * @author David V. Lu!! - [email protected]
+ */
+
+/**
+ * An Odometry client
+ *
+ * @constructor
+ * @param options - object with following keys:
+ *
+ *  * ros - the ROSLIB.Ros connection handle
+ *  * topic - the marker topic to listen to
+ *  * tfClient - the TF client handle to use
+ *  * rootObject (optional) - the root object to add this marker to
+ *  * keep (optional) - number of markers to keep around (default: 1)
+ *  * color (optional) - color for line (default: 0xcc00ff)
+ *  * length (optional) - the length of the arrow (default: 1.0)
+ *  * headLength (optional) - the head length of the arrow (default: 0.2)
+ *  * shaftDiameter (optional) - the shaft diameter of the arrow (default: 0.05)
+ *  * headDiameter (optional) - the head diameter of the arrow (default: 0.1)
+ */
+ROS3D.Odometry = function(options) {
+  this.options = options || {};
+  var ros = options.ros;
+  var topic = options.topic || '/particlecloud';
+  this.tfClient = options.tfClient;
+  this.color = options.color || 0xcc00ff;
+  this.length = options.length || 1.0;
+  this.rootObject = options.rootObject || new THREE.Object3D();
+  this.keep = options.keep || 1;
+  var that = this;
+  THREE.Object3D.call(this);
+
+  this.sns = [];
+
+  var rosTopic = new ROSLIB.Topic({
+      ros : ros,
+      name : topic,
+      messageType : 'nav_msgs/Odometry'
+  });
+
+    rosTopic.subscribe(function(message) {
+        if(that.sns.length >= that.keep) {
+            that.rootObject.remove(that.sns[0]);
+            that.sns.shift();
+        }
+
+        that.options.origin = new THREE.Vector3( message.pose.pose.position.x, message.pose.pose.position.y,
+                                      message.pose.pose.position.z);
+
+        var rot = new THREE.Quaternion(message.pose.pose.orientation.x, message.pose.pose.orientation.y,
+                                       message.pose.pose.orientation.z, message.pose.pose.orientation.w);
+        that.options.direction = new THREE.Vector3(1,0,0);
+        that.options.direction.applyQuaternion(rot);
+        that.options.material = new THREE.MeshBasicMaterial({color: that.color});
+        var arrow = new ROS3D.Arrow(that.options);
+
+        that.sns.push(new ROS3D.SceneNode({
+              frameID : message.header.frame_id,
+              tfClient : that.tfClient,
+              object : arrow
+        }));
+
+        that.rootObject.add(that.sns[ that.sns.length - 1]);
+    });
+
+
+};
+ROS3D.Odometry.prototype.__proto__ = THREE.Object3D.prototype;

src/navigation/Path.js

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+/**
+ * @author David V. Lu!! - [email protected]
+ */
+
+/**
+ * A Path client that listens to a given topic and displays a line connecting the poses.
+ *
+ * @constructor
+ * @param options - object with following keys:
+ *
+ *  * ros - the ROSLIB.Ros connection handle
+ *  * topic - the marker topic to listen to
+ *  * tfClient - the TF client handle to use
+ *  * rootObject (optional) - the root object to add this marker to
+ *  * color (optional) - color for line (default: 0xcc00ff)
+ */
+ROS3D.Path = function(options) {
+  options = options || {};
+  var ros = options.ros;
+  var topic = options.topic || '/path';
+  this.tfClient = options.tfClient;
+  this.color = options.color || 0xcc00ff;
+  this.rootObject = options.rootObject || new THREE.Object3D();
+  var that = this;
+  THREE.Object3D.call(this);
+
+  this.sn = null;
+  this.line = null;
+
+  var rosTopic = new ROSLIB.Topic({
+      ros : ros,
+      name : topic,
+      messageType : 'nav_msgs/Path'
+  });
+
+    rosTopic.subscribe(function(message) {
+        if(that.sn!==null){
+            that.rootObject.remove(that.sn);
+        }
+
+        var lineGeometry = new THREE.Geometry();
+        for(var i=0; i<message.poses.length;i++){
+            var v3 = new THREE.Vector3( message.poses[i].pose.position.x, message.poses[i].pose.position.y,
+                                      message.poses[i].pose.position.z);
+            lineGeometry.vertices.push(v3);
+        }
+
+        lineGeometry.computeLineDistances();
+        var lineMaterial = new THREE.LineBasicMaterial( { color: that.color } );
+        var line = new THREE.Line( lineGeometry, lineMaterial );
+
+        that.sn = new ROS3D.SceneNode({
+              frameID : message.header.frame_id,
+              tfClient : that.tfClient,
+              object : line
+        });
+
+        that.rootObject.add(that.sn);
+    });
+
+
+};
+ROS3D.Path.prototype.__proto__ = THREE.Object3D.prototype;

src/navigation/Point.js

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+/**
+ * @author David V. Lu!! - [email protected]
+ */
+
+/**
+ * A PointStamped client
+ *
+ * @constructor
+ * @param options - object with following keys:
+ *
+ *  * ros - the ROSLIB.Ros connection handle
+ *  * topic - the marker topic to listen to
+ *  * tfClient - the TF client handle to use
+ *  * rootObject (optional) - the root object to add this marker to
+ *  * color (optional) - color for line (default: 0xcc00ff)
+ *  * radius (optional) - radius of the point (default: 0.2)
+ */
+ROS3D.Point = function(options) {
+  this.options = options || {};
+  var ros = options.ros;
+  var topic = options.topic || '/point';
+  this.tfClient = options.tfClient;
+  this.color = options.color || 0xcc00ff;
+  this.rootObject = options.rootObject || new THREE.Object3D();
+  this.radius = options.radius || 0.2;
+  var that = this;
+  THREE.Object3D.call(this);
+
+  this.sn = null;
+
+  var rosTopic = new ROSLIB.Topic({
+      ros : ros,
+      name : topic,
+      messageType : 'geometry_msgs/PointStamped'
+  });
+
+    rosTopic.subscribe(function(message) {
+        if(that.sn!==null){
+            that.rootObject.remove(that.sn);
+        }
+
+        var sphereGeometry = new THREE.SphereGeometry( that.radius );
+        var sphereMaterial = new THREE.MeshBasicMaterial( {color: that.color} );
+        var sphere = new THREE.Mesh(sphereGeometry, sphereMaterial);
+        sphere.position.set(message.point.x, message.point.y, message.point.z);
+
+        that.sn = new ROS3D.SceneNode({
+              frameID : message.header.frame_id,
+              tfClient : that.tfClient,
+              object : sphere
+        });
+
+        that.rootObject.add(that.sn);
+    });
+
+
+};
+ROS3D.Point.prototype.__proto__ = THREE.Object3D.prototype;

src/navigation/Polygon.js

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+/**
+ * @author David V. Lu!! - [email protected]
+ */
+
+/**
+ * A PolygonStamped client that listens to a given topic and displays the polygon
+ *
+ * @constructor
+ * @param options - object with following keys:
+ *
+ *  * ros - the ROSLIB.Ros connection handle
+ *  * topic - the marker topic to listen to
+ *  * tfClient - the TF client handle to use
+ *  * rootObject (optional) - the root object to add this marker to
+ *  * color (optional) - color for line (default: 0xcc00ff)
+ */
+ROS3D.Polygon = function(options) {
+  options = options || {};
+  var ros = options.ros;
+  var topic = options.topic || '/path';
+  this.tfClient = options.tfClient;
+  this.color = options.color || 0xcc00ff;
+  this.rootObject = options.rootObject || new THREE.Object3D();
+  var that = this;
+  THREE.Object3D.call(this);
+
+  this.sn = null;
+  this.line = null;
+
+  var rosTopic = new ROSLIB.Topic({
+      ros : ros,
+      name : topic,
+      messageType : 'geometry_msgs/PolygonStamped'
+  });
+
+    rosTopic.subscribe(function(message) {
+        if(that.sn!==null){
+            that.rootObject.remove(that.sn);
+        }
+
+        var lineGeometry = new THREE.Geometry();
+        var v3;
+        for(var i=0; i<message.polygon.points.length;i++){
+            v3 = new THREE.Vector3( message.polygon.points[i].x, message.polygon.points[i].y,
+                                      message.polygon.points[i].z);
+            lineGeometry.vertices.push(v3);
+        }
+        v3 = new THREE.Vector3( message.polygon.points[0].x, message.polygon.points[0].y,
+                                  message.polygon.points[0].z);
+        lineGeometry.vertices.push(v3);
+
+
+        lineGeometry.computeLineDistances();
+        var lineMaterial = new THREE.LineBasicMaterial( { color: that.color } );
+        var line = new THREE.Line( lineGeometry, lineMaterial );
+
+        that.sn = new ROS3D.SceneNode({
+              frameID : message.header.frame_id,
+              tfClient : that.tfClient,
+              object : line
+        });
+
+        that.rootObject.add(that.sn);
+    });
+
+
+};
+ROS3D.Polygon.prototype.__proto__ = THREE.Object3D.prototype;

src/navigation/Pose.js

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+/**
+ * @author David V. Lu!! - [email protected]
+ */
+
+/**
+ * A PoseStamped client
+ *
+ * @constructor
+ * @param options - object with following keys:
+ *
+ *  * ros - the ROSLIB.Ros connection handle
+ *  * topic - the marker topic to listen to
+ *  * tfClient - the TF client handle to use
+ *  * rootObject (optional) - the root object to add this marker to
+ *  * color (optional) - color for line (default: 0xcc00ff)
+ *  * length (optional) - the length of the arrow (default: 1.0)
+ *  * headLength (optional) - the head length of the arrow (default: 0.2)
+ *  * shaftDiameter (optional) - the shaft diameter of the arrow (default: 0.05)
+ *  * headDiameter (optional) - the head diameter of the arrow (default: 0.1)
+ */
+ROS3D.Pose = function(options) {
+  this.options = options || {};
+  var ros = options.ros;
+  var topic = options.topic || '/pose';
+  this.tfClient = options.tfClient;
+  this.color = options.color || 0xcc00ff;
+  this.rootObject = options.rootObject || new THREE.Object3D();
+  var that = this;
+  THREE.Object3D.call(this);
+
+  this.sn = null;
+
+  var rosTopic = new ROSLIB.Topic({
+      ros : ros,
+      name : topic,
+      messageType : 'geometry_msgs/PoseStamped'
+  });
+
+    rosTopic.subscribe(function(message) {
+        if(that.sn!==null){
+            that.rootObject.remove(that.sn);
+        }
+
+        that.options.origin = new THREE.Vector3( message.pose.position.x, message.pose.position.y,
+                                      message.pose.position.z);
+
+        var rot = new THREE.Quaternion(message.pose.orientation.x, message.pose.orientation.y,
+                                       message.pose.orientation.z, message.pose.orientation.w);
+        that.options.direction = new THREE.Vector3(1,0,0);
+        that.options.direction.applyQuaternion(rot);
+        that.options.material = new THREE.MeshBasicMaterial({color: that.color});
+        var arrow = new ROS3D.Arrow(that.options);
+
+        that.sn = new ROS3D.SceneNode({
+              frameID : message.header.frame_id,
+              tfClient : that.tfClient,
+              object : arrow
+        });
+
+        that.rootObject.add(that.sn);
+    });
+
+
+};
+ROS3D.Pose.prototype.__proto__ = THREE.Object3D.prototype;