Question: Feasibility of Rendering a 3D Map in ROS3D.js Similar to Gazebo

[Ji-Sung05]

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1. Select the TurtleBot3 model.

   • Burger
   • Waffle Pi

2. Which SBC(Single Board Computer) is installed on TurtleBot3?

   • Raspberry Pi 3 B+
   • Raspberry Pi 4 (specify RAM size: 2/4/8GB)
   • other (specify the product)

3. Which OS is installed on the TurtleBot3 SBC?

   • RPi Recovery image by ROBOTIS
   • Ubuntu preinstalled server 18.04
   • Ubuntu preinstalled server 20.04
   • Ubuntu preinstalled server 22.04
   • other (specify the OS)

4. Which OS is installed on Remote PC?

   • Ubuntu 16.04 LTS (Xenial Xerus)
   • Ubuntu 18.04 LTS (Bionic Beaver)
   • Ubuntu 20.04 LTS (Focal Fossa)
   • Ubuntu 22.04 LTS (Jammy Jellyfish)
   • other (specify the OS)

5. Which ROS version do you use?

   • ROS Kinetic Kame (EOL)
   • ROS2 Dashing Diademata (EOL)
   • ROS2 Eloquent Elusor (EOL)
   • ROS Melodic Morenia
   • ROS Noetic Ninjemys
   • ROS2 Foxy Fitzroy
   • ROS2 Galactic Geochelone
   • ROS2 Humble Hawksbill
   • ROS2 Rolling Ridley

6. Please describe the issue.
   Hello,

I am currently using ROS3D.js to visualize a robot in a web-based interface and successfully receive real-time topic information from the robot. I would like to extend this functionality to render a 3D map, similar to what is visualized in Gazebo, within the web interface. Here are my specific questions:

Support for 3D Map Visualization:

Is it possible to use ROS3D.js to render a 3D map or environment, similar to what is displayed in Gazebo or SLAM-based maps, in a web interface?
Can ROS3D.js handle data from topics such as /map, /pointcloud, or /tf to create a 3D environment visualization?
Additional Configuration Requirements:

What specific topics (e.g., /pointcloud, /scan, or others) are required to render a 3D map in ROS3D.js?
Is it possible to use Gazebo's 3D environment data directly in ROS3D.js? If so, what is the recommended method to achieve this?
Are there additional ROS packages or tools (e.g., rosbridge_server, tf2_web_republisher, or preprocessing tools) needed for this purpose?
Performance and Limitations:

Can ROS3D.js handle large-scale data, such as high-resolution PointClouds or complex Gazebo environments, for real-time 3D map visualization?
Are there any recommended configurations or optimization techniques to improve performance when visualizing 3D maps in ROS3D.js?
Implementation Feasibility and Examples:

Could you provide an example or workflow for rendering a Gazebo-like 3D environment in ROS3D.js?
Are there additional considerations when implementing real-time 3D map visualization in a ROS2 environment using ROS3D.js?
I would appreciate any guidance on how to use ROS3D.js to render a Gazebo-like 3D map in a web-based interface.

Thank you!