dora/node-hub/dora-rerun

• dora-rerun
• • Getting Started
  • Adding to existing graph:
  • Input definition
  • (Experimental) For plotting 3D URDF
  • Configurations

dora-rerun

dora visualization using rerun

This nodes is still experimental and format for passing Images, Bounding boxes, and text are probably going to change in the future.

Getting Started

cargo install --force rerun-cli@0.15.1

## To install this package
git clone git@github.com:dora-rs/dora.git
cargo install --git https://github.com/dora-rs/dora dora-rerun

Adding to existing graph:

- id: rerun
  custom:
    source: dora-rerun
    inputs:
      image: webcam/image
      text: webcam/text
      boxes2d: object_detection/bbox
    envs:
      RERUN_MEMORY_LIMIT: 25%

Input definition

• image: UInt8Array + metadata { "width": int, "height": int, "encoding": str }
• boxes2D: StructArray + metadata { "format": str }
• text: StringArray
• jointstate: Float32Array

(Experimental) For plotting 3D URDF

pip install git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git

Make sure to name the dataflow as follows:

- id: rerun
  path: dora-rerun
  inputs:
    jointstate_<ENTITY_NAME>: <ENTITY_NAME>/jointstate
  env:
    <ENTITY_NAME>_urdf: /path/to/<ENTITY_NAME>.urdf
    <ENTITY_NAME>_transform: 0 0.3 0

[!IMPORTANT]
Make sure that the urdf file name correspond to your dataflow object name otherwise, it will not be able to link to the corresponding entity.

[!WARNING]
Please make sure to review the following gotchas:

• Filename included in URDF are going to be relative to your dataflow working directory instead of the URDF path: https://github.com/rerun-io/rerun-loader-python-example-urdf/issues/13
• URDF loader is not on pip and so you need to install it yourself https://github.com/rerun-io/rerun-loader-python-example-urdf/issues/12
• There is no warning if a file is not logged properly. https://github.com/rerun-io/rerun-loader-python-example-urdf/pull/14
• There is no transparent color in rerun. https://github.com/rerun-io/rerun/issues/1611

Configurations

• RERUN_MEMORY_LIMIT: Rerun memory limit