example works now

Author: blooop

README.md

@@ -8,7 +8,7 @@ It works by subscribing to all topics with supported types, converting the messa
 | --- | --- |
 | ![carla](https://github.com/rerun-io/cpp-example-ros2-bridge/assets/9785832/f4e91f4b-18b4-4890-b2cc-ff00880ca65c) | ![go2](https://github.com/rerun-io/cpp-example-ros2-bridge/assets/9785832/2856b5af-d02b-426b-8e23-2cf6f7c2bfd8) |
 
-This example is built for ROS 2. For more ROS examples, also check out the [ROS 2 example](https://www.rerun.io/docs/howto/ros2-nav-turtlebot), the [URDF data-loader](https://github.com/rerun-io/rerun-loader-python-example-urdf), and the [ROS 1 bridge](https://github.com/rerun-io/cpp-example-ros-bridge).
+This example is built for ROS 2. For more ROS examples, also check out the [ROS 2 example](https://www.rerun.io/docs/howto/ros2-nav-turtlebot) and the [ROS 1 bridge](https://github.com/rerun-io/cpp-example-ros-bridge). URDF support is now built into Rerun 0.24.0+ natively.
 
 > NOTE: Currently only some of the most common messages are supported (see https://github.com/rerun-io/cpp-example-ros2-bridge/issues/4 for an overview). However, extending to other messages should be straightforward.
 

pixi.toml

@@ -109,13 +109,12 @@ depends_on = [
 ]
 cwd = "humble_ws"
 
-# Install Rerun and URDF loader manually via pip3, this should be replaced with direct pypi dependencies in the future.
+# Install Rerun 0.24.0 with native URDF support
 [tasks.rerun_viewer]
 cmd = "pip install rerun-sdk==0.24.0"
 
-
 [dependencies]
-pip = ">=24.0,<25" # To install rerun-sdk and rerun-loader-python-example-urdf
+pip = ">=24.0,<25" # To install rerun-sdk
 
 # C++ build-tools:
 cmake = "3.27.6"

rerun_bridge/CMakeLists.txt

@@ -22,7 +22,7 @@ find_package(OpenCV REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
 include(FetchContent)
-FetchContent_Declare(rerun_sdk URL https://github.com/rerun-io/rerun/releases/download/0.23.4/rerun_cpp_sdk.zip)
+FetchContent_Declare(rerun_sdk URL https://github.com/rerun-io/rerun/releases/download/0.24.0/rerun_cpp_sdk.zip)
 FetchContent_MakeAvailable(rerun_sdk)
 
 # setup targets (has to be done before ament_package call)

rerun_bridge/include/rerun_bridge/rerun_ros_interface.hpp

@@ -9,6 +9,7 @@
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/imu.hpp>
+#include <sensor_msgs/msg/joint_state.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tf2_msgs/msg/tf_message.hpp>
 
@@ -66,3 +67,8 @@ void log_point_cloud2(
     const rerun::RecordingStream& rec, const std::string& entity_path,
     const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg, const PointCloud2Options& options
 );
+
+void log_joint_state(
+    const rerun::RecordingStream& rec, const std::string& entity_path,
+    const sensor_msgs::msg::JointState::ConstSharedPtr& msg
+);

rerun_bridge/launch/carla_example_params.yaml

@@ -37,5 +37,7 @@ topic_options:
   /carla/ego_vehicle/rgb_right/camera_info: 
     entity_path: /map/ego_vehicle/ego_vehicle/rgb_right
 urdf:
+  # URDF support using Rerun 0.24.0+ native URDF loader
+  # Leave file_path empty if no URDF is available (e.g., for Carla simulation)
   file_path: ""
   entity_path: "odom"

rerun_bridge/launch/go2_example_params.yaml

@@ -51,5 +51,9 @@ topic_options:
   /go2_camera/color/image: 
     entity_path: /map/odom/base_link/Head_upper/front_camera/image
 urdf:
+  # URDF support using Rerun 0.24.0+ native URDF loader
+  # Supports ROS package:// paths which are automatically resolved when ROS2 environment is sourced
+  # Note: To view this URDF standalone with `rerun`, use: 
+  #   cd humble_ws && source ./install/local_setup.bash && rerun install/go2_robot_sdk/share/go2_robot_sdk/urdf/go2.urdf
   file_path: "package://go2_robot_sdk/urdf/go2.urdf"
   entity_path: "/"  # the root of this urdf is map

rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp

@@ -91,21 +91,21 @@ void log_imu(
     const rerun::RecordingStream& rec, const std::string& entity_path,
     const sensor_msgs::msg::Imu::ConstSharedPtr& msg
 ) {
-    rec.set_time_seconds(
+    rec.set_time_timestamp_secs_since_epoch(
         "timestamp",
         rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds()
     );
 
-    rec.log(entity_path + "/x", rerun::Scalar(msg->linear_acceleration.x));
-    rec.log(entity_path + "/y", rerun::Scalar(msg->linear_acceleration.y));
-    rec.log(entity_path + "/z", rerun::Scalar(msg->linear_acceleration.z));
+    rec.log(entity_path + "/x", rerun::Scalars(rerun::Collection<rerun::components::Scalar>::take_ownership({rerun::components::Scalar(msg->linear_acceleration.x)})));
+    rec.log(entity_path + "/y", rerun::Scalars(rerun::Collection<rerun::components::Scalar>::take_ownership({rerun::components::Scalar(msg->linear_acceleration.y)})));
+    rec.log(entity_path + "/z", rerun::Scalars(rerun::Collection<rerun::components::Scalar>::take_ownership({rerun::components::Scalar(msg->linear_acceleration.z)})));
 }
 
 void log_image(
     const rerun::RecordingStream& rec, const std::string& entity_path,
     const sensor_msgs::msg::Image::ConstSharedPtr& msg, const ImageOptions& options
 ) {
-    rec.set_time_seconds(
+    rec.set_time_timestamp_secs_since_epoch(
         "timestamp",
         rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds()
     );
@@ -143,7 +143,7 @@ void log_pose_stamped(
     const rerun::RecordingStream& rec, const std::string& entity_path,
     const geometry_msgs::msg::PoseStamped::ConstSharedPtr& msg
 ) {
-    rec.set_time_seconds(
+    rec.set_time_timestamp_secs_since_epoch(
         "timestamp",
         rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds()
     );
@@ -191,7 +191,7 @@ void log_tf_message(
             continue;
         }
 
-        rec.set_time_seconds(
+        rec.set_time_timestamp_secs_since_epoch(
             "timestamp",
             rclcpp::Time(transform.header.stamp.sec, transform.header.stamp.nanosec).seconds()
         );
@@ -219,7 +219,7 @@ void log_odometry(
     const rerun::RecordingStream& rec, const std::string& entity_path,
     const nav_msgs::msg::Odometry::ConstSharedPtr& msg
 ) {
-    rec.set_time_seconds(
+    rec.set_time_timestamp_secs_since_epoch(
         "timestamp",
         rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds()
     );
@@ -269,7 +269,7 @@ void log_transform(
     const rerun::RecordingStream& rec, const std::string& entity_path,
     const geometry_msgs::msg::TransformStamped::ConstSharedPtr& msg
 ) {
-    rec.set_time_seconds(
+    rec.set_time_timestamp_secs_since_epoch(
         "timestamp",
         rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds()
     );
@@ -296,7 +296,7 @@ void log_point_cloud2(
     const rerun::RecordingStream& rec, const std::string& entity_path,
     const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg, const PointCloud2Options& options
 ) {
-    rec.set_time_seconds(
+    rec.set_time_timestamp_secs_since_epoch(
         "timestamp",
         rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds()
     );
@@ -403,3 +403,43 @@ void log_point_cloud2(
 
     rec.log(entity_path, rerun::Points3D(points).with_colors(colors));
 }
+
+void log_joint_state(
+    const rerun::RecordingStream& rec, const std::string& entity_path,
+    const sensor_msgs::msg::JointState::ConstSharedPtr& msg
+) {
+    // Log joint angles as time series scalars using the new Rerun 0.24.0 API
+    // This follows the pattern from the Rust and Python examples
+    for (size_t i = 0; i < msg->name.size() && i < msg->position.size(); ++i) {
+        const std::string& joint_name = msg->name[i];
+        double joint_position = msg->position[i];
+        
+        // Log each joint angle as a separate time series scalar
+        // Entity path format: /joint_angles/joint_name
+        std::string joint_entity_path = entity_path + "/joint_angles/" + joint_name;
+        
+        rec.log(joint_entity_path, rerun::Scalars(rerun::Collection<rerun::components::Scalar>::take_ownership({rerun::components::Scalar(joint_position)})));
+    }
+    
+    // Also log joint velocities if available
+    if (!msg->velocity.empty() && msg->velocity.size() == msg->name.size()) {
+        for (size_t i = 0; i < msg->name.size(); ++i) {
+            const std::string& joint_name = msg->name[i];
+            double joint_velocity = msg->velocity[i];
+            
+            std::string velocity_entity_path = entity_path + "/joint_velocities/" + joint_name;
+            rec.log(velocity_entity_path, rerun::Scalars(rerun::Collection<rerun::components::Scalar>::take_ownership({rerun::components::Scalar(joint_velocity)})));
+        }
+    }
+    
+    // Log joint efforts/torques if available
+    if (!msg->effort.empty() && msg->effort.size() == msg->name.size()) {
+        for (size_t i = 0; i < msg->name.size(); ++i) {
+            const std::string& joint_name = msg->name[i];
+            double joint_effort = msg->effort[i];
+            
+            std::string effort_entity_path = entity_path + "/joint_efforts/" + joint_name;
+            rec.log(effort_entity_path, rerun::Scalars(rerun::Collection<rerun::components::Scalar>::take_ownership({rerun::components::Scalar(joint_effort)})));
+        }
+    }
+}

rerun_bridge/src/rerun_bridge/visualizer_node.cpp

@@ -242,11 +242,36 @@ void RerunLoggerNode::_read_yaml_config(std::string yaml_path) {
             if (urdf_file_path.size()) {
                 RCLCPP_INFO(
                     this->get_logger(),
-                    "Logging URDF from file path %s",
+                    "Logging URDF from file path %s using native Rerun 0.24.0+ URDF loader",
                     urdf_file_path.c_str()
                 );
-                _rec.log_file_from_path(urdf_file_path, urdf_entity_path, true);
+                try {
+                    // Log URDF file using Rerun 0.24.0+ native URDF support
+                    // The static=true parameter ensures the URDF is logged as a static resource
+                    _rec.log_file_from_path(urdf_file_path, urdf_entity_path, true);
+                    RCLCPP_INFO(
+                        this->get_logger(),
+                        "Successfully logged URDF file to entity path: %s", 
+                        urdf_entity_path.empty() ? "default" : urdf_entity_path.c_str()
+                    );
+                } catch (const std::exception& e) {
+                    RCLCPP_ERROR(
+                        this->get_logger(),
+                        "Failed to log URDF file: %s", 
+                        e.what()
+                    );
+                }
+            } else {
+                RCLCPP_WARN(
+                    this->get_logger(),
+                    "URDF file path resolved to empty string"
+                );
             }
+        } else {
+            RCLCPP_WARN(
+                this->get_logger(),
+                "URDF configuration found but no file_path specified"
+            );
         }
     }
 }
@@ -314,6 +339,9 @@ void RerunLoggerNode::_create_subscriptions() {
         } else if (topic_type == "sensor_msgs/msg/PointCloud2") {
             _topic_to_subscription[topic_name] =
                 _create_point_cloud2_subscription(topic_name, topic_options);
+        } else if (topic_type == "sensor_msgs/msg/JointState") {
+            _topic_to_subscription[topic_name] =
+                _create_joint_state_subscription(topic_name, topic_options);
         }
     }
 }
@@ -560,6 +588,40 @@ std::shared_ptr<rclcpp::Subscription<sensor_msgs::msg::PointCloud2>>
     );
 }
 
+std::shared_ptr<rclcpp::Subscription<sensor_msgs::msg::JointState>>
+    RerunLoggerNode::_create_joint_state_subscription(
+        const std::string& topic, const TopicOptions& topic_options
+    ) {
+    std::string entity_path = _resolve_entity_path(topic, topic_options);
+    bool lookup_transform = (topic_options.find("entity_path") == topic_options.end());
+    bool restamp = false;
+    if (topic_options.find("restamp") != topic_options.end()) {
+        restamp = topic_options.at("restamp").as<bool>();
+    }
+
+    rclcpp::SubscriptionOptions subscription_options;
+    subscription_options.callback_group = _parallel_callback_group;
+
+    RCLCPP_INFO(
+        this->get_logger(),
+        "Subscribing to JointState topic %s, logging to entity path %s",
+        topic.c_str(),
+        entity_path.c_str()
+    );
+
+    return this->create_subscription<sensor_msgs::msg::JointState>(
+        topic,
+        1000,
+        [&, entity_path, lookup_transform, restamp](
+            const sensor_msgs::msg::JointState::SharedPtr msg
+        ) {
+            _handle_msg_header(restamp, lookup_transform, entity_path, msg->header);
+            log_joint_state(_rec, entity_path, msg);
+        },
+        subscription_options
+    );
+}
+
 void RerunLoggerNode::_handle_msg_header(
     bool restamp, bool lookup_transform, const std::string& entity_path,
     std_msgs::msg::Header& header

rerun_bridge/src/rerun_bridge/visualizer_node.hpp

@@ -13,6 +13,7 @@
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/imu.hpp>
+#include <sensor_msgs/msg/joint_state.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tf2_msgs/msg/tf_message.hpp>
 
@@ -87,4 +88,8 @@ class RerunLoggerNode : public rclcpp::Node {
         _create_point_cloud2_subscription(
             const std::string& topic, const TopicOptions& topic_options
         );
+    std::shared_ptr<rclcpp::Subscription<sensor_msgs::msg::JointState>>
+        _create_joint_state_subscription(
+            const std::string& topic, const TopicOptions& topic_options
+        );
 };

scripts/view_urdf.sh

@@ -0,0 +1,29 @@
+#!/bin/bash
+# Convenience script to view URDF files with Rerun in ROS2 environment
+
+if [ $# -eq 0 ]; then
+    echo "Usage: $0 <urdf_file_path>"
+    echo "Example: $0 package://go2_robot_sdk/urdf/go2.urdf"
+    echo "         $0 install/go2_robot_sdk/share/go2_robot_sdk/urdf/go2.urdf"
+    exit 1
+fi
+
+URDF_PATH="$1"
+
+# Change to the ROS workspace directory
+cd "$(dirname "$0")/../humble_ws" || exit 1
+
+# Source the ROS2 environment
+source ./install/local_setup.bash
+
+# If it's a package:// URI, convert it to a relative path
+if [[ "$URDF_PATH" == package://* ]]; then
+    # Extract package name and path from package://package_name/path
+    PACKAGE_PATH="${URDF_PATH#package://}"
+    PACKAGE_NAME="${PACKAGE_PATH%%/*}"
+    RELATIVE_PATH="${PACKAGE_PATH#*/}"
+    URDF_PATH="install/${PACKAGE_NAME}/share/${PACKAGE_NAME}/${RELATIVE_PATH}"
+fi
+
+echo "Loading URDF: $URDF_PATH"
+rerun "$URDF_PATH"