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!