schiebung-rerun

Rerun visualization adapter for the schiebung transform buffer.

RerunObserver implements BufferObserver and bulk-logs every batched buffer update to a Rerun recording stream via the columnar send_columns API — one call per entity path per batch — so a full robot-pose snapshot becomes a single bulk write rather than N row-oriented logs.

• Documentation: https://maximaerz.github.io/schiebung/
• Repository: https://github.com/MaxiMaerz/schiebung
• Rerun API guide: https://maximaerz.github.io/schiebung/schiebung-visualizer/rust/

At a glance

use rerun::RecordingStreamBuilder;
use schiebung::BufferTree;
use schiebung_rerun::RerunObserver;

let rec = RecordingStreamBuilder::new("my_app").spawn()?;
let mut buffer = BufferTree::new();

let observer = RerunObserver::new(rec.clone(), true, "stable_time".to_string());
buffer.register_observer(Box::new(observer));

// Every `buffer.update(&[...])` now also gets logged to Rerun.
# Ok::<(), Box<dyn std::error::Error>>(())

Examples

See the examples/ directory in the repo for a Sun-Earth-Moon demo and a URDF-loaded 6-DOF arm demo.

License

MIT