SceneEntity
A visual element in a 3D scene. An entity may be composed of multiple primitives which all share the same frame of reference.
Parent schema
SceneEntity appears in the SceneUpdate message schema.
Schema
| field | type | description |
|---|---|---|
timestamp | time | Timestamp of the entity |
frame_id | string | Frame of reference |
id | string | Identifier for the entity. A entity will replace any prior entity on the same topic with the same id. |
lifetime | duration | Length of time (relative to timestamp) after which the entity should be automatically removed. Zero value indicates the entity should remain visible until it is replaced or deleted. |
frame_locked | boolean | Whether the entity should keep its location in the fixed frame (false) or follow the frame specified in frame_id as it moves relative to the fixed frame (true) |
metadata | KeyValuePair[] | Additional user-provided metadata associated with the entity. Keys must be unique. |
arrows | ArrowPrimitive[] | Arrow primitives |
cubes | CubePrimitive[] | Cube primitives |
spheres | SpherePrimitive[] | Sphere primitives |
cylinders | CylinderPrimitive[] | Cylinder primitives |
lines | LinePrimitive[] | Line primitives |
triangles | TriangleListPrimitive[] | Triangle list primitives |
texts | TextPrimitive[] | Text primitives |
models | ModelPrimitive[] | Model primitives |
Reference implementations
Foxglove schemas are framework-agnostic, and can be implemented using any supported message encoding:
| encoding | schema |
|---|---|
| ROS 1 | foxglove_msgs/SceneEntity |
| ROS 2 | foxglove_msgs/msg/SceneEntity |
| JSON | foxglove.SceneEntity |
| Protobuf | foxglove.SceneEntity |
| FlatBuffers | foxglove.SceneEntity |
| OMG IDL | foxglove::SceneEntity |
You must use the schema names specified above for Foxglove to recognize the schema.