Use rerun GridMap archetype for grid visualisation#14
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Bump rerun 0.29 -> 0.33 and migrate log_costmap / log_occupancy_grid from hand-textured Mesh3D planes to the native GridMap archetype. Grids are now logged as single-channel L/U8 buffers coloured by Rerun's built-in RvizCostmap / RvizMap colormaps, removing the local RGB byte builders and the log_textured_plane_mesh3d helper. Orientation matches the GridMap renderer (image row 0 = north, the GridMap origin at the lower-left corner), so the existing vertical flip is preserved and grid geometry is unchanged. The rerun feature now requires rustc 1.92, recorded via rust-version. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Rerun's RvizCostmap colormap is a port of the RViz costmap palette, which is indexed by nav2's *published* cost values (free 0, inscribed 99, lethal 100, unknown 255, gradient 1-98), not raw costmap_2d costs (253/254/255). Feeding raw costs sent lethal/inscribed and the inflation gradient onto the colormap's 99/100/101-127 special bands, producing spurious cyan/magenta/ green artifacts. Translate raw costs via nav2's cost translation table before logging so RvizCostmap renders correctly. Occupancy/RvizMap already matches our 0-100 + unknown convention, so it is unchanged. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
The local_costmap_lidar example logged the global map once before the frame timeline existed, so on newer rerun it only latched before frame 0 and vanished during playback. Add log_costmap_static / log_occupancy_grid_static (backed by rec.log_static) alongside the per-frame log_costmap / log_occupancy_grid, and use the static variant for the unchanging global map so it stays visible across the whole recording. GridMap construction is factored into a shared helper so each entry point just chooses rec.log vs rec.log_static. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
RvizCostmap makes free cells (cost 0) transparent, but that alpha comes from the colormap in the shader; the source texture is single-channel L/U8 with no alpha channel. Rerun's rectangle renderer only uses the blended (transparent) draw phase when the texture has an alpha channel or opacity tint < 1.0 -- at exactly 1.0 it takes the opaque path, ignoring the colormap's per-texel alpha, so free space rendered as solid black and hid the map beneath it. Log costmaps at opacity 0.85: this both forces the transparent phase and gives the classic RViz costmap-over-map overlay, where the coloured cells are slightly translucent so an underlying map shows through them too. Occupancy/RvizMap has no transparent class, so it stays fully opaque. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Migrate Rerun visualisation from hand-textured
Mesh3Dplanes to the nativeGridMaparchetype (rerun 0.29 → 0.33).Changes
log_costmap/log_occupancy_gridnow log single-channel L/U8 grids coloured by rerun's built-inRvizCostmap/RvizMapcolormaps. Orientation matches the GridMap renderer (image row 0 = north, origin at the lower-left corner); the prior vertical flip is preserved so geometry is unchanged. Removed the now-deadlog_textured_plane_mesh3dhelper.costmap_2dcosts (253/254/255) are translated to nav2's published convention (free 0, inscribed 99, lethal 100, unknown 255, gradient 1-98) soRvizCostmaprenders correctly instead of producing spurious green/magenta artifacts.log_costmap_static/log_occupancy_grid_static(backed byrec.log_static); the unchanging global map inlocal_costmap_lidaruses it so it stays visible across the timeline (newer rerun no longer latches pre-timeline data).opacity = 0.85, which forces rerun's transparent draw phase (soRvizCostmap's transparent free cells work instead of rendering black) and gives the classic RViz costmap-over-map overlay.Maintainer decisions (intentionally NOT done here)
log_textured_plane_mesh3d; rerun types are in the public API), so a release should bump 0.2.0 → 0.3.0. Left unbumped per request.rerunfeature now requires rustc 1.92 (recorded viarust-version); the default build still works on 1.90. CI does not compile thererunfeature.Testing
cargo test(default),cargo +1.92 test --features rerun, clippy, fmt, and all fourrerunexamples build clean.🤖 Generated with Claude Code