Skip to content

Allow for duplicate meshes in ROS bridge #69

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
Yadunund merged 4 commits into from
Dec 3, 2025
Merged

Allow for duplicate meshes in ROS bridge #69

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
6bf225c
Allow for duplicate meshes in ROS bridge
luca-della-vedova Nov 19, 2025
83d4353
Remove unnecessary code
luca-della-vedova Nov 20, 2025
5192ed2
Remove extra insert
luca-della-vedova Nov 20, 2025
e00e335
Minor cleanup
luca-della-vedova Nov 20, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
38 changes: 20 additions & 18 deletions flowstate_ros_bridge/src/bridges/world_bridge.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -191,26 +191,28 @@ absl::Status WorldBridge::Data::SendObjectVisualizationMessages(
"gltf/%s_%s.glb",
geometry.geometry_storage_refs().geometry_ref().substr(9),
geometry.geometry_storage_refs().renderable_ref().substr(9));
if (renderables_.contains(std::string("/") + gltf_path)) {
continue;
}

const absl::StatusOr<std::string> gltf = world_->GetGltf(
geometry.geometry_storage_refs().geometry_ref(),
geometry.geometry_storage_refs().renderable_ref());
if (!gltf.ok()) {
LOG(ERROR) << "Unable to fetch renderable for " << tf_frame_name
<< ": " << gltf.status();
continue;
const auto renderable_name = std::string("/") + gltf_path;
auto renderables_it = renderables_.find(renderable_name);

if (renderables_it == renderables_.end()) {
const absl::StatusOr<std::string> gltf = world_->GetGltf(
geometry.geometry_storage_refs().geometry_ref(),
geometry.geometry_storage_refs().renderable_ref());
if (!gltf.ok()) {
LOG(ERROR) << "Unable to fetch renderable for " << tf_frame_name
<< ": " << gltf.status();
continue;
}
total_gltf_size += gltf->size();
std::vector<uint8_t> gltf_data;
gltf_data.resize(gltf->size());
memcpy(&gltf_data[0], gltf->data(), gltf->size());

LOG(INFO) << "Fetched " << gltf->size() << " bytes for "
<< tf_frame_name;
renderables_it = renderables_.emplace(renderable_name, std::move(gltf_data)).first;
}
total_gltf_size += gltf->size();
std::vector<uint8_t> gltf_data;
gltf_data.resize(gltf->size());
memcpy(&gltf_data[0], gltf->data(), gltf->size());

renderables_[std::string("/") + gltf_path] = std::move(gltf_data);
LOG(INFO) << "Fetched " << gltf->size() << " bytes for "
<< tf_frame_name;

const absl::StatusOr<intrinsic::eigenmath::MatrixXd> transform_xd =
intrinsic_proto::FromProto(geometry.ref_t_shape_aff());
Expand Down
Loading