Position (3D Viewer)

In the 3D viewer it is possible to show position and gps information of the following types

• Pose
• PoseStamped
• PoseWithCovariance
• PoseWithCovarianceStamped
• NavSatFix

Pose Centering Controls

When selecting a pose layer to be used as a reference layer

• First activation locks the camera position on the layer.
• Second activation also locks the camera orientation so the layer stays centered and facing forward.

Pose Layer Settings and Device Display

For Pose Layer Settings, you can configure the Device Display to control how the robot appears in the scene:

• Public Device: Default model shared across organizations.
• Organization Device: Models specific to your organization.
• File on the Robot:
  • Switches the dropdown to a text input field.
  • Enter the file path relative to /home/cloud-user/.
  • Supported format: .zip with a valid URDF structure (see below).
  • 

Device Mesh from Robot File

• The URDF .zip file on the robot can be selected as a Device Display source (see the structure below).

URDF Zip File Structure (Device Mesh)

robot_name/
  robot_name.urdf
  meshes/
    base_link.stl
    camera_mount.dae