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b079a1f94d
New scenarios demonstrating the scene graph and providing examples for the platform coordiante frame orientation. scenario-arm: demonstrates a robotic arm like linkage built using the scene graph scenario-transforms: provides a structured set of planes demonstrating the effects of various tranforms
2.0 KiB
2.0 KiB
xvizserver Tool
The xvizserver tool serves XVIZ data over a websocket. It supports multiple directories and
various sources for XVIZ data. It also will support the full XVIZ protocol.
Running the tool
If you have build the modules, then you can run the tool directly.
./modules/ros/bin/xvizserver -d xvizFolder
It can be useful to run the tool against the modules directly instead of the built modules.
./modules/ros/bin/babel-xvizserver -d xvizFolder
To see the details on the available commands and options run ./modules/ros/bin/babel-xvizserver -h
Viewing applications
Either the Getting Started App or Test Viewer.
Note that the Getting Started App defaults to port: 8081 while the default for this tool is 3000.
Host Options
--directory, -d <path>- Adds a path to be search for any URL paths passed to the server (required)--port #- The port on which the server will listen (default: 3000)
General Options
--verbose, -v- Display additional information. Repeat for additional information, ex: -vv--format <format>- One of the following strings JSON_STRING, JSON_BUFFER, BINARY_GLB (default: BINARY_GLB)--live- Support a live session which sends data immediately upon connection--delay #- The number of milliseconds to delay between sending messages (default: 50)
Scenarios
There are built-in XVIZ scenarios the server supports, mainly for testing.
URL Paths
/scenario-circle/scenario-straight/scenario-orbit/scenario-transforms/scenario-arm
Example
http://localhost:8081/scenario-circle
Options
--scenarios <true/false>- Enable or disables Scenario support (default: true)--duration #- The number of seconds to generate data for the XVIZ scenario (default: 30)--hz #- The rate to send scenario updates (default: 10)