WVIZ - 3D Robot Web Visualizer

The goal of this project is to provide a ROS(Robot Operating System) web 3d visualization library using WebGL.

Usage

Required Components in Backend

A robot powered by ROS, Rosbridge, TF2 Web Republisher

• ROS : http://www.ros.org
• rosbridge : https://www.rosbridge.org
• TF2 WebRepublisher : https://github.com/RobotWebTools/tf2_web_republisher

> roslaunch rosbridge_server rosbridge_websocket.launch
> rosrun tf2_web_republisher tf2_web_republisher

Frontend

Libraries in use

• Three.js : https://github.com/mrdoob/three.js
• RobotWebtools : https://github.com/RobotWebtools
• Require.js : http://requirejs.org/

Available URDFs

• PR2
• Youbot
• Kobuki
• Turtlebot

Current Status

• Collada : Done
• URDF : Done

Goal

• De-couple with a 3D library
• Support URDF, Marker, IMMarker, Map, Pointclod, and Laserscan
• Support topic re-configuration api
• Support multi-canvas visualization(Ex : overlayview + full 3d view)
• Support dynamic fixed frame

Design decision

• Support three.js as default 3D library
• Support AMD
• Scene - Model separation
• Have own math library

TODO

• Get Merged with ROS3DJS !

Pictures!