feat(lms): add ROS connection status workspace view

src/renderer/public/slam-viewer/index.html

@@ -480,7 +480,7 @@ const SENSOR_POINT_CLOUD_MAX_AGE_MS = 3_000;
 const ENABLE_CAMERA_PREVIEW = false;
 const CUSTOM_WORLD = !REAL_RUNTIME && viewerMapKey === 'nav2-custom';
 const activeWorldModel = viewerMapKey === 'nav2-turtlebot3-house' ? 'turtlebot3_house' : 'turtlebot3_world';
-const MKMINI_WORLD_SPACING_SCALE = USE_MKMINI_MODEL && activeWorldModel === 'turtlebot3_world' ? 1.6 : 1;
+const MKMINI_WORLD_SINGLE_PILLAR = USE_MKMINI_MODEL && activeWorldModel === 'turtlebot3_world';
 const MKMINI_RENDER_LENGTH = 0.84;
 const MKMINI_RENDER_WIDTH = 0.61;
 const MKMINI_RENDER_HEIGHT = 0.6575;
@@ -1066,14 +1066,10 @@ function applySdfPose(obj, pose) {
   obj.rotation.set(pose.roll, pose.pitch, pose.yaw, 'XYZ');
 }
 function applyWorldSdfPose(obj, pose) {
-  applySdfPose(obj, {
-    ...pose,
-    x: pose.x * MKMINI_WORLD_SPACING_SCALE,
-    y: pose.y * MKMINI_WORLD_SPACING_SCALE,
-  });
+  applySdfPose(obj, pose);
 }
 function isMkMiniWorldPillar(visual) {
-  return MKMINI_WORLD_SPACING_SCALE > 1
+  return MKMINI_WORLD_SINGLE_PILLAR
     && /^(one|two|three)_/.test(visual.getAttribute('name') || '');
 }
 function shouldRenderWorldVisual(visual) {
@@ -1141,9 +1137,6 @@ async function addMesh(parent, visual, geometry) {
   if (!uri) return;
   const url = gazeboUriToPath(uri);
   const scale = parseScale(getDirectText(meshEl, 'scale', '1 1 1'));
-  if (MKMINI_WORLD_SPACING_SCALE > 1 && uri.endsWith('/wall.dae')) {
-    scale.multiplyScalar(MKMINI_WORLD_SPACING_SCALE);
-  }
   const material = materialFromVisual(visual);
 
   if (/\.stl$/i.test(url)) {
@@ -1942,7 +1935,19 @@ function updatePointCloud(payload) {
   // loaded navigation map after localization starts.
   if (frameId !== 'map' && hasGlobalMapPointCloud) return;
   updatePointGeometry(pointCloudGeometry, payload?.points);
-  if (frameId === 'map') hasGlobalMapPointCloud = true;
+  if (frameId === 'map') {
+    hasGlobalMapPointCloud = true;
+    // The saved 3D cloud is now available. The occupancy grid was only a
+    // startup fallback while the exported cloud was loading.
+    if (navigationMapMesh && SHOW_POINT_CLOUD) {
+      navigationMapRoot.remove(navigationMapMesh);
+      navigationMapMesh.geometry.dispose();
+      navigationMapMesh.material.dispose();
+      navigationMapMesh = null;
+      navigationMapTexture?.dispose();
+      navigationMapTexture = null;
+    }
+  }
   const transform = payload?.transform;
   if (!transform || !Number.isFinite(Number(transform.x)) || !Number.isFinite(Number(transform.y))) {
     // A cloud already authored in `map` does not need a transform. Hide
@@ -2216,7 +2221,10 @@ function drawMiniMap(state) {
 
 function updateMiniMapMetadata(map) {
   if (!map?.width || !map?.height) return;
-  if (navigationMapLocked) return;
+  // MAP1 and its metadata are sent as separate WebSocket frames. Accept the
+  // first metadata frame even when its binary payload arrived first; only a
+  // fully rendered saved navigation map is locked against later local maps.
+  if (navigationMapLocked && navigationMapMesh) return;
   latestMiniMapGrid = {
     ...(latestMiniMapGrid || {}),
     ...map,
@@ -2314,9 +2322,10 @@ function updateRemoteNavigationRoomTransform() {
 
 function renderNavigationOccupancyMap() {
   const grid = latestMiniMapGrid;
-  // A 3D SLAM session uses RTAB-Map's accumulated point cloud as the scene
-  // itself. Keep the occupancy grid for the minimap only, not as a floor plane.
-  if (SHOW_POINT_CLOUD || NAV2_VIEW_MODE !== 'navigation' || !grid?.data?.length || !grid.width || !grid.height || !grid.resolution) return;
+  if (NAV2_VIEW_MODE !== 'navigation' || !grid?.data?.length || !grid.width || !grid.height || !grid.resolution || !grid.origin) return false;
+  // The occupancy grid is a short-lived fallback for a saved 3D map. It
+  // keeps the scene usable if the point-cloud export is still starting.
+  if (SHOW_POINT_CLOUD && hasGlobalMapPointCloud) return false;
 
   const canvas = document.createElement('canvas');
   canvas.width = grid.width;
@@ -2379,6 +2388,7 @@ function renderNavigationOccupancyMap() {
     camera.lookAt(center);
     navigationMapFocused = true;
   }
+  return true;
 }
 
 function applyMapBinary(buffer) {
@@ -2410,6 +2420,9 @@ function applyMapBinary(buffer) {
     data,
   };
   miniMapBitmap = null;
+  // Do not lock a selected navigation map before its separate metadata frame
+  // supplies resolution and origin. Otherwise Three.js receives valid /map
+  // data but cannot construct a plane from it.
   renderNavigationOccupancyMap();
   drawMiniMap(latestSlamState);
   downloadMapButton.disabled = false;