add sim mode..

2026-08-20 13:22:27 +09:00
parent f29b44da07
commit e1d7b7d532
20 changed files with 1079 additions and 14828 deletions
@@ -239,7 +239,6 @@
 	    #downloadMap,
 	    #pathToggle,
 	    #sensorToggle,
-	    #splatToggle,
 	    #poseToggle,
 	    #goalToggle,
 	    #obstacleToggle,
@@ -258,7 +257,6 @@
 	    #downloadMap,
 	    #pathToggle,
 	    #sensorToggle,
-	    #splatToggle,
 	    #poseToggle,
 	    #goalToggle,
 	    #obstacleToggle {
@@ -269,25 +267,6 @@
 	      align-items:center;
 	      gap:6px;
 	    }
-	    #splatToggle {
-	      display:inline-flex;
-	      align-items:center;
-	      justify-content:center;
-	      position:absolute;
-	      top:16px;
-	      left:16px;
-	      z-index:10;
-	      width:14px;
-	      min-width:14px;
-	      min-height:14px;
-	      height:14px;
-	      padding:0;
-	      border-color:rgba(203,213,225,.3);
-	      border-radius:2px;
-	      background:rgba(148,163,184,.3);
-	      box-shadow:none;
-	    }
-	    #splatToggle:hover { background:rgba(148,163,184,.5); border-color:rgba(226,232,240,.45); }
 	    #cameraPresetSelect {
 	      min-width:86px;
 	      padding:0 24px 0 9px;
@@ -301,7 +280,6 @@
 	    #downloadMap:hover,
 	    #pathToggle:hover,
 	    #sensorToggle:hover,
-	    #splatToggle:hover,
 	    #poseToggle:hover,
 	    #goalToggle:hover,
 	    #obstacleToggle:hover,
@@ -332,10 +310,6 @@
 	      border-color:rgba(103,232,249,.55);
 	      color:#fff;
 	    }
-	    #splatToggle.active {
-	      background:rgba(148,163,184,.62);
-	      border-color:rgba(226,232,240,.58);
-	    }
 	    #goalToggle.active {
 	      background:rgba(22,163,74,.62);
 	      border-color:rgba(134,239,172,.55);
@@ -388,13 +362,11 @@
      .editor-mode #rosTopicStatusWrap {
 	      display:none;
 	    }
-    #splatToggle { display:none; }
    .nav2-slam #goalToggle, .nav2-slam #poseToggle { display:none; }
    .nav2-navigation #downloadWrap { display:none; }
    .nav2-navigation #topLeftControls { display:block; }
    .nav2-navigation #keyGuide { display:none; }
    .nav2-navigation #rosTopicStatusWrap { bottom:16px; }
-    .nav2-navigation.real-runtime #splatToggle { display:inline-flex; }
    .real-runtime #topLeftControls { display:none; }
    .real-runtime #keyGuide { display:none; }
  </style>
@@ -403,7 +375,6 @@
 <div id="topLeftControls">
  <button id="obstacleToggle" title="벽 배치" aria-label="벽 배치" aria-pressed="false">Wall</button>
 </div>
-<button id="splatToggle" title="3D 맵 표시" aria-label="3D 맵 표시" aria-pressed="false"></button>
 <div id="topRightControls">
  <div id="downloadWrap">
    <button id="downloadMap" title="맵 저장" aria-label="맵 저장" disabled><span>SAVE</span></button>
@@ -452,8 +423,7 @@
 {
 	  "imports": {
 	    "three": "../vendor/three/build/three.module.js",
-	    "three/addons/": "../vendor/three/examples/jsm/",
-    "@mkkellogg/gaussian-splats-3d": "./vendor/gaussian-splats-3d.module.js"
+	    "three/addons/": "../vendor/three/examples/jsm/"
 	  }
 	}
 	</script>
@@ -464,7 +434,6 @@ import { TransformControls } from 'three/addons/controls/TransformControls.js';
 import { ColladaLoader } from 'three/addons/loaders/ColladaLoader.js';
 import { GLTFLoader } from 'three/addons/loaders/GLTFLoader.js';
 import { STLLoader } from 'three/addons/loaders/STLLoader.js';
-import * as GaussianSplats3D from '@mkkellogg/gaussian-splats-3d';

 const viewerMapKey = new URLSearchParams(window.location.search).get('mapKey');
 const params = new URLSearchParams(location.search);
@@ -479,6 +448,7 @@ const SENSOR_POINT_CLOUD_MAX_AGE_MS = 3_000;
 // regular visualization sessions never poll `/camera-frame`.
 const ENABLE_CAMERA_PREVIEW = false;
 const CUSTOM_WORLD = !REAL_RUNTIME && viewerMapKey === 'nav2-custom';
+const SAVED_GAZEBO_MAP_WORLD = !REAL_RUNTIME && viewerMapKey === 'nav2-saved-gazebo-map';
 const activeWorldModel = viewerMapKey === 'nav2-turtlebot3-house' ? 'turtlebot3_house' : 'turtlebot3_world';
 const MKMINI_WORLD_SINGLE_PILLAR = USE_MKMINI_MODEL && activeWorldModel === 'turtlebot3_world';
 const MKMINI_RENDER_LENGTH = 0.84;
@@ -502,7 +472,6 @@ const mapSaveOverlay = document.getElementById('mapSaveOverlay');
 const downloadMapButton = document.getElementById('downloadMap');
 const pathToggleButton = document.getElementById('pathToggle');
 const sensorToggleButton = document.getElementById('sensorToggle');
-const splatToggleButton = document.getElementById('splatToggle');
 const poseToggleButton = document.getElementById('poseToggle');
 const goalToggleButton = document.getElementById('goalToggle');
 const obstacleToggleButton = document.getElementById('obstacleToggle');
@@ -513,7 +482,6 @@ const rosTopicStatusToggle = document.getElementById('rosTopicStatusToggle');
 const rosTopicStatusList = document.getElementById('rosTopicStatusList');
 	const EDITOR_MODE = params.get('editor') === '1';
 	const NAV2_VIEW_MODE = params.get('mode') === 'navigation' ? 'navigation' : 'slam';
-	const SHOW_REMOTE_NAVIGATION_ROOM = REAL_RUNTIME && NAV2_VIEW_MODE === 'navigation';
 	// A navigation session must keep the selected saved map as its fixed
 	// reference. The runtime /map topic may later emit a partial local update.
 	const LOCK_NAVIGATION_MAP = REAL_RUNTIME && NAV2_VIEW_MODE === 'navigation';
@@ -601,10 +569,10 @@ const camera = new THREE.PerspectiveCamera(45, innerWidth / innerHeight, 0.05, 1
 // Three.js OrbitControls 기본 조작이 자연스럽게 동작하도록 사선 시점에서 시작합니다.
 camera.position.set(4, 6, 5);
 camera.up.set(0, 1, 0);
-const renderer = new THREE.WebGLRenderer({ antialias:!SHOW_REMOTE_NAVIGATION_ROOM });
+const renderer = new THREE.WebGLRenderer({ antialias:true });
 renderer.setSize(innerWidth, innerHeight);
-renderer.setPixelRatio(SHOW_REMOTE_NAVIGATION_ROOM ? 1 : Math.min(devicePixelRatio, 1.25));
-renderer.shadowMap.enabled = !SHOW_REMOTE_NAVIGATION_ROOM;
+renderer.setPixelRatio(Math.min(devicePixelRatio, 1.25));
+renderer.shadowMap.enabled = true;
 renderer.domElement.tabIndex = 0;
 document.body.appendChild(renderer.domElement);

@@ -615,7 +583,7 @@ controls.mouseButtons = {
  RIGHT: THREE.MOUSE.DOLLY,
 };
 renderer.domElement.addEventListener('contextmenu', (e) => e.preventDefault());
-controls.enableDamping = !SHOW_REMOTE_NAVIGATION_ROOM;
+controls.enableDamping = true;
 controls.dampingFactor = 0.08;
 controls.target.set(0, 0, 0);
 camera.lookAt(controls.target);
@@ -658,15 +626,6 @@ gazeboWorldRoot.add(runtimeLayoutObjects);
 const navigationMapRoot = new THREE.Group();
 navigationMapRoot.name = 'navigation-occupancy-map';
 sdfRoot.add(navigationMapRoot);
-let remoteNavigationSplatViewer = null;
-let remoteNavigationSplatScene = null;
-let remoteNavigationSplatTransform = null;
-let remoteNavigationSplatEnabled = false;
-let remoteNavigationSplatLoading = null;
-// 화면의 빨간 X축과 평행하게 오른쪽으로 미세 보정합니다.
-const remoteNavigationSplatBasePosition = new THREE.Vector3(-1.6822845855746674, 1.3107954323633903, -0.8021416967574936);
-const remoteNavigationSplatBaseQuaternion = new THREE.Quaternion(-0.10999094822602469, 0.6984998148234114, 0.6984998148234114, 0.10999094822602469);
-const remoteNavigationSplatBaseScale = new THREE.Vector3(3.672624762730334, 3.672624762730334, 3.5309628207501587);
 const pointCloudGeometry = SHOW_POINT_CLOUD ? new THREE.BufferGeometry() : null;
 let pointCloudLayer = null;
 let hasGlobalMapPointCloud = false;
@@ -894,6 +853,10 @@ let lastMkMiniSteeringUpdateMs = null;
 let lastMkMiniMotionSample = null;
 let hasSimulatorMkMiniSteering = false;
 let laserGroup = null;
+let laserFillMesh = null;
+let laserLineSegments = null;
+let laserOpenSpaceLineSegments = null;
+let laserFrontBeam = null;
 let slamSocket = null;
 let controlSocket = null;
 let latestSlamState = null;
@@ -908,6 +871,10 @@ let navigationMapLocked = false;
 let navigationMapFocused = false;
 let latestScanMetadata = null;
 let latestScanRanges = null;
+let lastLaserRenderAtMs = 0;
+let lastMiniMapRenderAtMs = 0;
+let pendingMiniMapState = null;
+let miniMapRenderTimer = null;
 let pointCloudRequestInFlight = false;
 let pointCloudRefreshTimer = null;
 let savedMapPointCloudLoaded = false;
@@ -1432,70 +1399,10 @@ function createMkMiniFrontWheelPivots(model) {
  return pivots;
 }

-async function loadRemoteNavigationRoom() {
-  const viewer = new GaussianSplats3D.Viewer({
-    selfDrivenMode: false,
-    threeScene: scene,
-    renderer,
-    camera,
-    useBuiltInControls: false,
-    ignoreDevicePixelRatio: true,
-    gpuAcceleratedSort: false,
-    sharedMemoryForWorkers: false,
-    integerBasedSort: true,
-    halfPrecisionCovariancesOnGPU: true,
-    dynamicScene: true,
-    renderMode: GaussianSplats3D.RenderMode.Always,
-    sceneRevealMode: GaussianSplats3D.SceneRevealMode.Instant,
-    antialiased: false,
-    sphericalHarmonicsDegree: 0,
-    enableOptionalEffects: false,
-    inMemoryCompressionLevel: 2,
-  });
-  await viewer.addSplatScene('./assets/room_0731_navigation.ply', {
-    position: remoteNavigationSplatBasePosition.toArray(),
-    rotation: remoteNavigationSplatBaseQuaternion.toArray(),
-    scale: remoteNavigationSplatBaseScale.toArray(),
-    splatAlphaRemovalThreshold: 0,
-    showLoadingUI: false,
-  });
-  remoteNavigationSplatViewer = viewer;
-  remoteNavigationSplatScene = viewer.splatMesh.getScene(0);
-  remoteNavigationSplatTransform = null;
-  updateRemoteNavigationRoomTransform();
-}
-
-async function setRemoteNavigationSplatVisible(visible) {
-  if (!SHOW_REMOTE_NAVIGATION_ROOM) return;
-
-  splatToggleButton.disabled = true;
-  try {
-    if (visible && !remoteNavigationSplatViewer) {
-      if (!remoteNavigationSplatLoading) {
-        remoteNavigationSplatLoading = loadRemoteNavigationRoom();
-      }
-      await remoteNavigationSplatLoading;
-    }
-    remoteNavigationSplatEnabled = visible;
-    if (remoteNavigationSplatScene) {
-      remoteNavigationSplatScene.visible = visible;
-      if (visible) {
-        remoteNavigationSplatTransform = null;
-        updateRemoteNavigationRoomTransform();
-      }
-    }
-    remoteNavigationSplatViewer?.forceRenderNextFrame();
-  } catch (error) {
-    console.warn('remote navigation room render failed', error);
-    remoteNavigationSplatEnabled = false;
-  } finally {
-    splatToggleButton.disabled = false;
-    splatToggleButton.classList.toggle('active', remoteNavigationSplatEnabled);
-    splatToggleButton.setAttribute('aria-pressed', String(remoteNavigationSplatEnabled));
-  }
-}
-
 const LASER_HOLE_R = 0.14;
+const LASER_RENDER_INTERVAL_MS = 100;
+const LASER_OPEN_SPACE_RAY_STRIDE = 4;
+const MINI_MAP_RENDER_INTERVAL_MS = 100;
 const LASER_OFFSET_X = USE_MKMINI_MODEL ? 0.15 : -0.032;
 const LASER_OFFSET_Y = 0;
 // Fallback height when an explicit ROS scan pose is unavailable.
@@ -1507,9 +1414,12 @@ function setRobotPose(pose) {
  targetRobotPose = {
    x: Number(pose.x ?? targetRobotPose.x),
    y: Number(pose.y ?? targetRobotPose.y),
-    z: Number(pose.z ?? targetRobotPose.z),
-    roll: Number(pose.roll ?? targetRobotPose.roll),
-    pitch: Number(pose.pitch ?? targetRobotPose.pitch),
+    // Gazebo navigation is a ground-plane simulation. A saved 3D map can
+    // include an elevated RTAB-Map pose, but that must not lift the rendered
+    // vehicle after the learner supplies a 2D initial pose.
+    z: REAL_RUNTIME ? Number(pose.z ?? targetRobotPose.z) : 0,
+    roll: REAL_RUNTIME ? Number(pose.roll ?? targetRobotPose.roll) : 0,
+    pitch: REAL_RUNTIME ? Number(pose.pitch ?? targetRobotPose.pitch) : 0,
    yaw: Number(pose.yaw ?? targetRobotPose.yaw),
  };
  updateMkMiniSteeringTarget(pose);
@@ -1750,11 +1660,72 @@ function laserDirectionFromPose(pose, angle) {
  return new THREE.Vector3(Math.cos(angle), Math.sin(angle), 0).applyQuaternion(q).normalize();
 }

+function ensureLaserScanLayer() {
+  if (laserGroup) {
+    laserGroup.visible = true;
+    return;
+  }
+
+  laserGroup = new THREE.Group();
+  laserGroup.name = 'live-laser-scan';
+
+  const fillGeometry = new THREE.BufferGeometry();
+  laserFillMesh = new THREE.Mesh(
+    fillGeometry,
+    new THREE.MeshBasicMaterial({
+      color: 0x005cff,
+      transparent: true,
+      opacity: 0.6,
+      side: THREE.DoubleSide,
+      depthWrite: false,
+    }),
+  );
+  laserFillMesh.frustumCulled = false;
+
+  const lineGeometry = new THREE.BufferGeometry();
+  laserLineSegments = new THREE.LineSegments(
+    lineGeometry,
+    new THREE.LineBasicMaterial({ color: 0x3366ff, transparent: true, opacity: 0.5 }),
+  );
+  laserLineSegments.frustumCulled = false;
+
+  const openSpaceGeometry = new THREE.BufferGeometry();
+  laserOpenSpaceLineSegments = new THREE.LineSegments(
+    openSpaceGeometry,
+    new THREE.LineBasicMaterial({ color: 0x6f9dff, transparent: true, opacity: 0.28 }),
+  );
+  laserOpenSpaceLineSegments.frustumCulled = false;
+
+  laserFrontBeam = new THREE.Mesh(
+    new THREE.CylinderGeometry(0.006, 0.006, 1, 16),
+    new THREE.MeshBasicMaterial({ color: 0x005cff }),
+  );
+  laserFrontBeam.frustumCulled = false;
+
+  laserGroup.add(laserFillMesh, laserLineSegments, laserOpenSpaceLineSegments, laserFrontBeam);
+  sdfRoot.add(laserGroup);
+}
+
+function updateLaserGeometry(geometry, values) {
+  let position = geometry.getAttribute('position');
+  if (!position || position.array.length < values.length) {
+    const capacity = Math.max(1024, Math.ceil(values.length * 1.25));
+    position = new THREE.BufferAttribute(new Float32Array(capacity), 3);
+    position.setUsage(THREE.DynamicDrawUsage);
+    geometry.setAttribute('position', position);
+  }
+  position.array.set(values);
+  position.needsUpdate = true;
+  geometry.setDrawRange(0, values.length / 3);
+}
+
 function clearLaserScan() {
  if (!laserGroup) return;
-  sdfRoot.remove(laserGroup);
-  disposeObject(laserGroup);
-  laserGroup = null;
+  laserGroup.visible = false;
+  laserFillMesh.visible = false;
+  laserLineSegments.visible = false;
+  laserOpenSpaceLineSegments.visible = false;
+  laserFrontBeam.visible = false;
 }

 function setNavigationSensorVisible(visible) {
@@ -1767,6 +1738,7 @@ function setNavigationSensorVisible(visible) {
      window.clearInterval(sensorPointCloudRefreshTimer);
      sensorPointCloudRefreshTimer = null;
    }
+    lastLaserRenderAtMs = 0;
    clearLaserScan();
    clearSensorPointCloud();
    drawMiniMap(latestSlamState);
@@ -1775,7 +1747,7 @@ function setNavigationSensorVisible(visible) {
  if (SHOW_SENSOR_POINT_CLOUD) {
    void refreshSensorPointCloud();
    if (!sensorPointCloudRefreshTimer) {
-      sensorPointCloudRefreshTimer = window.setInterval(() => void refreshSensorPointCloud(), 500);
+      sensorPointCloudRefreshTimer = window.setInterval(() => void refreshSensorPointCloud(), 750);
    }
  }
  if (latestScanMetadata && latestScanRanges) {
@@ -1796,6 +1768,11 @@ function drawLaserScan(scan, scanPose = (
    return;
  }
  if (!scan?.ranges?.length) return;
+  // The state socket and scan binary socket can deliver the same scan nearly
+  // together. Rebuilding transparent scan geometry twice stalls the viewer.
+  const now = performance.now();
+  if (now - lastLaserRenderAtMs < LASER_RENDER_INTERVAL_MS) return;
+  lastLaserRenderAtMs = now;
  clearLaserScan();

  const sourcePose = scanPose || currentRobotPose;
@@ -1830,7 +1807,7 @@ function drawLaserScan(scan, scanPose = (
    endpoints.push({ start, point, hit: valid });
    if (valid) {
      linePoints.push(start.x, start.y, start.z, point.x, point.y, point.z);
-    } else if (showOpenSpaceRays) {
+    } else if (showOpenSpaceRays && i % LASER_OPEN_SPACE_RAY_STRIDE === 0) {
      // Match Gazebo's ray visualization: no-return rays remain visible, but
      // deliberately subdued so detected obstacles stay the primary signal.
      openSpaceLinePoints.push(start.x, start.y, start.z, point.x, point.y, point.z);
@@ -1850,32 +1827,13 @@ function drawLaserScan(scan, scanPose = (
    fillPoints.push(next.start.x, next.start.y, next.start.z);
  }

-  const grp = new THREE.Group();
-  const fillMat = new THREE.MeshBasicMaterial({
-    color: 0x005cff,
-    transparent: true,
-    opacity: 0.6,
-    side: THREE.DoubleSide,
-    depthWrite: false,
-  });
-  const lineMat = new THREE.LineBasicMaterial({ color: 0x3366ff, transparent: true, opacity: 0.5 });
-
-  if (fillPoints.length) {
-    const geo = new THREE.BufferGeometry();
-    geo.setAttribute('position', new THREE.Float32BufferAttribute(fillPoints, 3));
-    grp.add(new THREE.Mesh(geo, fillMat));
-  }
-  const lineGeo = new THREE.BufferGeometry();
-  lineGeo.setAttribute('position', new THREE.Float32BufferAttribute(linePoints, 3));
-  grp.add(new THREE.LineSegments(lineGeo, lineMat));
-  if (openSpaceLinePoints.length) {
-    const openSpaceGeo = new THREE.BufferGeometry();
-    openSpaceGeo.setAttribute('position', new THREE.Float32BufferAttribute(openSpaceLinePoints, 3));
-    grp.add(new THREE.LineSegments(
-      openSpaceGeo,
-      new THREE.LineBasicMaterial({ color: 0x6f9dff, transparent: true, opacity: 0.28 }),
-    ));
-  }
+  ensureLaserScanLayer();
+  updateLaserGeometry(laserFillMesh.geometry, fillPoints);
+  laserFillMesh.visible = fillPoints.length > 0;
+  updateLaserGeometry(laserLineSegments.geometry, linePoints);
+  laserLineSegments.visible = linePoints.length > 0;
+  updateLaserGeometry(laserOpenSpaceLineSegments.geometry, openSpaceLinePoints);
+  laserOpenSpaceLineSegments.visible = openSpaceLinePoints.length > 0;

  const frontIndex = Math.max(0, Math.min(scan.ranges.length - 1, Math.round((0 - angleMin) / angleInc)));
  const front = endpoints[frontIndex];
@@ -1889,22 +1847,20 @@ function drawLaserScan(scan, scanPose = (
    );
    const len = delta.length();
    if (len > 0.01) {
-      const beam = new THREE.Mesh(
-        new THREE.CylinderGeometry(0.006, 0.006, len, 16),
-        new THREE.MeshBasicMaterial({ color: 0x005cff })
-      );
-      beam.position.set(
+      laserFrontBeam.position.set(
        (front.start.x + front.point.x) / 2,
        (front.start.y + front.point.y) / 2,
        (front.start.z + front.point.z) / 2
      );
-      beam.quaternion.setFromUnitVectors(new THREE.Vector3(0, 1, 0), delta.normalize());
-      grp.add(beam);
+      laserFrontBeam.scale.set(1, len, 1);
+      laserFrontBeam.quaternion.setFromUnitVectors(new THREE.Vector3(0, 1, 0), delta.normalize());
+      laserFrontBeam.visible = true;
+    } else {
+      laserFrontBeam.visible = false;
    }
+  } else {
+    laserFrontBeam.visible = false;
  }
-
-  laserGroup = grp;
-  sdfRoot.add(grp);
 }

 function updatePointGeometry(geometry, points) {
@@ -1923,6 +1879,13 @@ function updatePointGeometry(geometry, points) {
    positions[count++] = z;
  }

+  if (count === 0) {
+    geometry.deleteAttribute('position');
+    geometry.boundingBox = null;
+    geometry.boundingSphere = null;
+    return;
+  }
+
  geometry.setAttribute('position', new THREE.BufferAttribute(positions.slice(0, count), 3));
  geometry.computeBoundingSphere();
 }
@@ -2061,6 +2024,19 @@ async function refreshCameraFrame() {
 }

 function drawMiniMap(state) {
+  pendingMiniMapState = state;
+  if (miniMapRenderTimer) return;
+
+  const elapsed = performance.now() - lastMiniMapRenderAtMs;
+  const wait = Math.max(0, MINI_MAP_RENDER_INTERVAL_MS - elapsed);
+  miniMapRenderTimer = window.setTimeout(() => {
+    miniMapRenderTimer = null;
+    lastMiniMapRenderAtMs = performance.now();
+    drawMiniMapNow(pendingMiniMapState);
+  }, wait);
+}
+
+function drawMiniMapNow(state) {
  if (!miniCtx) return;
  const w = miniMap.width;
  const h = miniMap.height;
@@ -2247,7 +2223,6 @@ function updateNavigationMapTransform() {
    // estimate and must not move the static world geometry.
    gazeboWorldRoot.position.set(0, 0, 0);
    gazeboWorldRoot.rotation.set(0, 0, 0);
-    updateRemoteNavigationRoomTransform();
    return;
  }
  gazeboWorldRoot.position.set(0, 0, 0);
@@ -2263,61 +2238,6 @@ function updateNavigationMapTransform() {
    0,
  );
  navigationMapRoot.rotation.set(0, 0, -yaw);
-  updateRemoteNavigationRoomTransform();
-}
-
-function updateRemoteNavigationRoomTransform() {
-  if (!remoteNavigationSplatEnabled || !remoteNavigationSplatScene || NAV2_VIEW_MODE !== 'navigation') return;
-
-  if (navigationSceneUsesMapFrame()) {
-    if (remoteNavigationSplatTransform?.frame === 'map') return;
-    remoteNavigationSplatScene.position.copy(remoteNavigationSplatBasePosition);
-    remoteNavigationSplatScene.quaternion.copy(remoteNavigationSplatBaseQuaternion);
-    remoteNavigationSplatScene.scale.copy(remoteNavigationSplatBaseScale);
-    remoteNavigationSplatViewer.splatMesh.updateTransforms();
-    remoteNavigationSplatTransform = { frame: 'map' };
-    return;
-  }
-
-  const transform = navigationMapToOdom || { x:0, y:0, yaw:0 };
-  if (remoteNavigationSplatTransform
-    && remoteNavigationSplatTransform.frame === 'odom'
-    && Math.abs(remoteNavigationSplatTransform.x - (transform.x || 0)) < 0.03
-    && Math.abs(remoteNavigationSplatTransform.y - (transform.y || 0)) < 0.03
-    && Math.abs(remoteNavigationSplatTransform.yaw - (transform.yaw || 0)) < 0.01) {
-    return;
-  }
-  const yaw = transform.yaw || 0;
-  const c = Math.cos(yaw);
-  const s = Math.sin(yaw);
-  // The Gaussian scene is authored in map coordinates. Compose the same
-  // map <- odom inverse used by the occupancy-map root before each render.
-  const mapToOdomMatrix = new THREE.Matrix4().compose(
-    new THREE.Vector3(
-      -c * (transform.x || 0) - s * (transform.y || 0),
-      0,
-      -s * (transform.x || 0) + c * (transform.y || 0),
-    ),
-    new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 1, 0), -yaw),
-    new THREE.Vector3(1, 1, 1),
-  );
-  const sceneMatrix = mapToOdomMatrix.multiply(new THREE.Matrix4().compose(
-    remoteNavigationSplatBasePosition,
-    remoteNavigationSplatBaseQuaternion,
-    remoteNavigationSplatBaseScale,
-  ));
-  sceneMatrix.decompose(
-    remoteNavigationSplatScene.position,
-    remoteNavigationSplatScene.quaternion,
-    remoteNavigationSplatScene.scale,
-  );
-  remoteNavigationSplatViewer.splatMesh.updateTransforms();
-  remoteNavigationSplatTransform = {
-    frame: 'odom',
-    x: transform.x || 0,
-    y: transform.y || 0,
-    yaw,
-  };
 }

 function renderNavigationOccupancyMap() {
@@ -2615,11 +2535,6 @@ sensorToggleButton.addEventListener('click', () => {
  focusViewer();
 });

-splatToggleButton.addEventListener('click', () => {
-  void setRemoteNavigationSplatVisible(!remoteNavigationSplatEnabled);
-  focusViewer();
-});
-
 cameraPreviewToggle?.addEventListener('click', () => {
  const collapsed = cameraPreviewWrap?.classList.toggle('is-collapsed') ?? false;
  cameraPreviewToggle.setAttribute('aria-expanded', String(!collapsed));
@@ -3161,7 +3076,7 @@ function applySlamState(state) {
  updateNavigationPlan(state?.plan);
  // Remote navigation is rendered in the map frame, matching the saved map,
  // room model, AMCL pose, route and goal. Local Gazebo remains odom-based.
-  const visualizationPose = (SHOW_POINT_CLOUD || (REAL_RUNTIME && NAV2_VIEW_MODE === 'navigation' && state?.pose_3d))
+  const visualizationPose = (REAL_RUNTIME && (SHOW_POINT_CLOUD || (NAV2_VIEW_MODE === 'navigation' && state?.pose_3d)))
    ? (state?.pose_3d || state?.pose)
    : (NAV2_VIEW_MODE === 'navigation'
      ? (navigationSceneUsesMapFrame() ? (state?.pose_map || state?.pose) : state?.pose)
@@ -3230,7 +3145,7 @@ if (SHOW_POINT_CLOUD) {
 }
 if (SHOW_SENSOR_POINT_CLOUD && navigationSensorVisible) {
  void refreshSensorPointCloud();
-  sensorPointCloudRefreshTimer = window.setInterval(() => void refreshSensorPointCloud(), 500);
+  sensorPointCloudRefreshTimer = window.setInterval(() => void refreshSensorPointCloud(), 750);
 }
 if (ENABLE_CAMERA_PREVIEW && REAL_RUNTIME) {
  void refreshCameraFrame();
@@ -3240,6 +3155,7 @@ if (ENABLE_CAMERA_PREVIEW && REAL_RUNTIME) {
 window.addEventListener('beforeunload', () => {
  if (pointCloudRefreshTimer) window.clearInterval(pointCloudRefreshTimer);
  if (sensorPointCloudRefreshTimer) window.clearInterval(sensorPointCloudRefreshTimer);
+  if (miniMapRenderTimer) window.clearTimeout(miniMapRenderTimer);
  if (cameraFrameRefreshTimer) window.clearInterval(cameraFrameRefreshTimer);
  if (cameraFrameObjectUrl) URL.revokeObjectURL(cameraFrameObjectUrl);
 });
@@ -3459,7 +3375,7 @@ window.addEventListener('blur', () => {

 // A static Gazebo model can contain assets that the browser cannot render.
 // Keep the ROS stream available even when the decorative world mesh fails.
-const worldSceneTasks = CUSTOM_WORLD || REAL_RUNTIME
+const worldSceneTasks = CUSTOM_WORLD || SAVED_GAZEBO_MAP_WORLD || REAL_RUNTIME
  ? []
  : [buildFromSdf().catch((error) => console.warn('world model render failed', error))];
 const remoteNavigationSceneTasks = [];
@@ -3488,12 +3404,7 @@ function animate(){
  updateSmoothedRobotPose();
  updateMkMiniFrontWheelSteering();
  controls.update();
-  if (remoteNavigationSplatViewer && remoteNavigationSplatEnabled) {
-    remoteNavigationSplatViewer.update();
-    remoteNavigationSplatViewer.render();
-  } else {
-    renderer.render(scene, camera);
-  }
+  renderer.render(scene, camera);
 }
 animate();
 </script>