notebooks/ROS_3D_Laser_Scan.ipynb

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   "source": [
    "# ROS: Laser Scan\n",
    "---\n",
    "\n",
    "### Requirements:\n",
    "- `ros-noetic-rosbridge-server`\n",
    "- `ros-noetic-tf2-web-republisher`\n",
    "\n",
    "Make sure that the websocket rosbridge and the tf2_web_republisher are running on your host computer, and that you publish a laser scan on the `/scan` topic.\n",
    "\n",
    "`roslaunch {Notebook Example Folder}/launch/bridge.launch`"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "try:\n",
    "    from sidecar import Sidecar\n",
    "except:\n",
    "    pass\n",
    "    \n",
    "from jupyros.ros1 import ros3d"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "v = ros3d.Viewer()\n",
    "rc = ros3d.ROSConnection()\n",
    "tf_client = ros3d.TFClient(ros=rc, fixed_frame='')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "try:\n",
    "    sc = Sidecar(title='Sidecar Output')\n",
    "    with sc:\n",
    "        display(v)\n",
    "except:\n",
    "    display(v)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "v.layout.height= '1000px'"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "laser_view = ros3d.LaserScan(topic=\"/laser_scan\", ros=rc, tf_client=tf_client)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "g = ros3d.GridModel()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "v.objects = [g, laser_view]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "g.color = '#CCC'"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "laser_view.point_size = 0.01"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "laser_view.static_color = \"green\""
   ]
  }
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