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Data are accumulated on the source frame instead of the display frame when decay time > 0

See original GitHub issue

Description In the 3D panel, the accumulation of laser scan (not sure about other types) seems to be problematic when setting a positive value of decay time. I expect its points to be accumulated on the display frame, like in RViz. But it seems to be accumulating on the data source frame or other way.

Version: 1.32.0-dev
OS: Windows 11
Data source (e.g. bag file, mcap file, rosbridge, ROS 1/2 native):
ROS distro (if applicable):

Steps To Reproduce

Open a bag that has a laser scan topic, where the scan data are associated on a sensor frame (e.g. “laser”), and the sensor frame is moving w.r.t. a world frame (e.g. “world”), with correct transformations on /tf. Open a 3D panel, in its settings, set the Display frame to be the world frame and the Follow mode to be Fixed. Then turn on the scan topic, and set its decay time to a positive number such as 100.

Expected Behavior The scan points are accumulated on the world frame, so that they form the shape of the environment when the robot is moving.

Actual Behavior The accumulated points move with the robot.

See an example below: (on the right hand side there is the accumulation of the same data in RViz, for comparison)

foxglove3

Issue Analytics

State:
Created 10 months ago
Comments:6 (3 by maintainers)

Top GitHub Comments

1reaction

jtbandescommented, Dec 15, 2022

Thanks for the report. I’ve fixed some issues in #4986 and I believe it’s now behaving correctly! Here’s what your sample data looks like now:

https://user-images.githubusercontent.com/14237/207955675-0ffb7406-3bff-4a8e-8db9-2ffaca5133f8.mov

1reaction

cedrusxcommented, Dec 13, 2022

Hi @jtbandes , this is the bag used in the exmple: foxglove-issue4892.zip

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