Fix error when multiple visualization key is active and when urdf_transform env variable is not present (#1016)

This add couple of fixes within the rerun visualization

node-hub/dora-rerun/src/lib.rs

@@ -10,7 +10,7 @@ use dora_node_api::{
     dora_core::config::DataId,
     into_vec, DoraNode, Event, Parameter,
 };
-use eyre::{eyre, Context, Result};
+use eyre::{bail, eyre, Context, Result};
 
 use rerun::{
     components::ImageBuffer, external::log::warn, ImageFormat, Points2D, Points3D, SpawnOptions,
@@ -21,6 +21,19 @@ pub mod urdf;
 use series::update_series;
 use urdf::{init_urdf, update_visualization};
 
+static KEYS: &[&str] = &[
+    "image",
+    "depth",
+    "text",
+    "boxes2d",
+    "masks",
+    "jointstate",
+    "pose",
+    "series",
+    "points3d",
+    "points2d",
+];
+
 pub fn lib_main() -> Result<()> {
     // rerun `serve()` requires to have a running Tokio runtime in the current context.
     let rt = tokio::runtime::Builder::new_current_thread()
@@ -102,6 +115,22 @@ pub fn lib_main() -> Result<()> {
 
     while let Some(event) = events.recv() {
         if let Event::Input { id, data, metadata } = event {
+            // Check if the id contains more than one key
+            if KEYS
+                .iter()
+                .filter(|&&key| id.as_str().contains(key))
+                .count()
+                > 1
+            {
+                bail!(
+                    "Event id `{}` contains more than one visualization keyword: {:?}, please only use one of them.",
+                    id,
+                    KEYS.iter()
+                        .filter(|&&key| id.as_str().contains(key))
+                        .collect::<Vec<_>>()
+                );
+            }
+
             if id.as_str().contains("image") {
                 let height =
                     if let Some(Parameter::Integer(height)) = metadata.parameters.get("height") {
@@ -348,7 +377,7 @@ pub fn lib_main() -> Result<()> {
 
                     update_visualization(&rec, chain, &id, &positions)?;
                 } else {
-                    println!("Could not find chain for {}", id);
+                    println!("Could not find chain for {}. You may not have set its", id);
                 }
             } else if id.as_str().contains("series") {
                 update_series(&rec, id, data).context("could not plot series")?;

node-hub/dora-rerun/src/urdf.rs

@@ -101,6 +101,9 @@ pub fn init_urdf(rec: &RecordingStream) -> Result<HashMap<String, Chain<f32>>> {
             ));
             chain.set_origin(pose);
             chains.insert(path, chain);
+        } else {
+            // If no transform is set, use the default origin
+            chains.insert(path, chain);
         }
     }
 
@@ -124,8 +127,7 @@ pub fn update_visualization(
         let link_to_world = link
             .world_transform()
             .context("Could not get world transform")?;
-        let link_to_parent = if link_name != "base_link" {
-            let parent = link.parent().context("could not get parent")?;
+        let link_to_parent = if let Some(parent) = link.parent() {
             parent
                 .world_transform()
                 .context("Could not get world transform")?