From 4b2d3c8ac0c2f1b5dc77ef62dda5a4688c17cdf0 Mon Sep 17 00:00:00 2001 From: Leonard Bruns Date: Mon, 29 Apr 2024 20:58:15 +0200 Subject: [PATCH] Add ROS 2 bridge example --- examples/cpp/ros2_bridge/README.md | 27 +++++++++++++++++++++++++++ examples/cpp/ros_bridge/README.md | 4 +++- examples/manifest.toml | 2 ++ 3 files changed, 32 insertions(+), 1 deletion(-) create mode 100644 examples/cpp/ros2_bridge/README.md diff --git a/examples/cpp/ros2_bridge/README.md b/examples/cpp/ros2_bridge/README.md new file mode 100644 index 000000000000..292f557b7ce8 --- /dev/null +++ b/examples/cpp/ros2_bridge/README.md @@ -0,0 +1,27 @@ + + +A proof-of-concept Rerun bridge for ROS 2 that subscribes to all supported topics and visualizes the messages in Rerun. + +https://vimeo.com/940929187?autoplay=1&loop=1&autopause=0&background=1&muted=1&ratio=2696:1552 + +## Background + +This is an example that shows how to use Rerun's C++ API to log and visualize [ROS 2](https://www.ros.org/) messages. + +It works by subscribing to all topics with supported types, converting the messages, and logging the data to Rerun. It further allows to remap topic names to specific entity paths, specify additional timeless transforms, and pinhole parameters via an external config file. See the [launch](https://github.com/rerun-io/cpp-example-ros2-bridge/tree/main/rerun_bridge/launch) directory for usage examples. + +## Run the code + +This is an external example, check the [repository](https://github.com/rerun-io/cpp-example-ros2-bridge) for more information. + +In a nutshell, clone the repo and run a demo with: + +``` +pixi run carla_example +``` diff --git a/examples/cpp/ros_bridge/README.md b/examples/cpp/ros_bridge/README.md index 82c4221e1b16..7c808a88a771 100644 --- a/examples/cpp/ros_bridge/README.md +++ b/examples/cpp/ros_bridge/README.md @@ -6,6 +6,8 @@ thumbnail = "https://static.rerun.io/ros_bridge/121f72ebaea57a1b895196a5587fd1a4 thumbnail_dimensions = [480, 480] --> +A proof-of-concept Rerun bridge for ROS 1 that subscribes to all supported topics and visualizes the messages in Rerun. + ## Background This is an example that shows how to use Rerun's C++ API to log and visualize [ROS](https://www.ros.org/) messages. @@ -28,7 +30,7 @@ This is an external example, check the [repository](https://github.com/rerun-io/ In a nutshell, clone the repo and run a demo with: ``` -pixi run example +pixi run {spot_,drone_}example ``` Note that this example currently supports Linux only. diff --git a/examples/manifest.toml b/examples/manifest.toml index beaeb4231d75..e07bf505659c 100644 --- a/examples/manifest.toml +++ b/examples/manifest.toml @@ -34,6 +34,7 @@ examples = [ # display order, most interesting first "ros_node", "nuscenes_dataset", + "ros2_bridge", "ros_bridge", "kiss-icp", "urdf_loader", @@ -102,6 +103,7 @@ Integration with 3rd party tools, formats, libraries, and APIs. examples = [ # display order, most interesting first "ros_node", + "ros2_bridge", "ros_bridge", "urdf_loader", "vrs",