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The code snippet I ended up to solve this is as follows. This uses ros3djs
instead of ros2djs
.
let viewer = new ROS3D.Viewer({
divID : 'map',
width : 600,
height : 600,
antialias : true,
intensity : 1.0,
cameraPose : {x : -1, y : 0, z : 20},
displayPanAndZoomFrame : true
});
let tfClient = new ROSLIB.TFClient({
ros : this.ros,
angularThres : 0.01,
transThres : 0.01,
rate : 10.0,
fixedFrame : '/map'
});
let mapClient = new ROS3D.OccupancyGridClient({
ros : this.ros,
rootObject : viewer.scene,
continuous : true
});