examples

Examples

Running the examples locally

Running the examples locally requires a websocket connection.
All the examples run smoothly with a publicly available backend available at this repository:
https://github.com/rapyuta-robotics/zethus-demo-backend

The simplest way to run the backend is through docker

docker run -it -p 9090:9090 -p 8888:8888 rrdockerhub/zethus-backend:v1

This exposes a rosbridge server endpoint at port 9090.
Once the backend is running, please navigate to the root directory and run the following commands

npm install
npm start

Visit http://localhost:9000/examples/

Contents of the folder

Basic Example

Showcases the capabilities of inbuilt classes in Amphion to get started with minimal effort.
In this example, we initialize a ROS instance and Amphion.TfViewer. Then add visualizations for path, marker and a robot model in less than 20 lines of code

3D Viewer

An example of Amphion.Viewer3d which works similar to Amphion.TfViewer but does not subscribe to /tf and /tf_static.
Visualizations added are placed at the origin

2D Viewer

An example of Amphion.Viewer2d which has a top down camera with controls to zoom, pan and rotate in the 2d context

Custom View

An example of Amphion.Scene used with a custom renderer and controls

Custom Scene

An example of visualizations added to THREE.Scene with custom controls

Multiple views

An example of a single Amphion.Scene used with Amphion.Viewer2d and Amphion.Viewer3d rendered independently on two different containers