It didn't seem to work and now it does.

Spooky.
2 files changed, 6 insertions(+), 5 deletions(-)

M lib/goatherd/goatglove/server.ex
M lib/goatherd/robot.ex
M lib/goatherd/goatglove/server.ex +3 -2
@@ 65,7 65,6 @@ defmodule Goatherd.Goatglove.Server do
       new_state()
       |> add_channel(new_channel("/tf", "foxglove.FrameTransform", &Msg.tf/2))
       |> add_channel(new_channel("/ground_plane", "foxglove.Grid", &Msg.ground/2))
-      # |> add_channel(new_channel("/bodies", "foxglove.CubePrimitive", &Msg.body/2))
       |> add_channel(new_channel("/bodies", "foxglove.FrameTransform", &Msg.body/2))
 
     services = []

          
@@ 122,13 121,15 @@ defmodule Goatherd.Goatglove.Server do
         {:push, msgs, state}
 
       {:physics, world} -> 
+        # Logger.info("Got world: #{inspect(world)}")
         msgs = serialize_topic(state, "/ground_plane", world.ground, system_time)
         msgs = world.bodies
           |> Enum.reduce(msgs, 
               fn body, acc -> 
+                # Logger.info("Serializing body #{inspect(body)}")
                 serialize_topic(state, "/bodies", body, system_time) ++ acc
               end)
-        Logger.info("Sending physics messages: #{inspect(msgs)}")
+        # Logger.info("Sending physics messages: #{inspect(msgs)}")
         {:push, msgs, state}
 
       {:tick, t} ->

          
M lib/goatherd/robot.ex +3 -3
@@ 101,7 101,7 @@ defmodule Goatherd.Robot do
   # and produces output
   defp update_robot(state, _dt) do 
     {:ok, _, offset_to_ltp, rot_to_ltp} = Tfex.get_transform(state.tf, :ltp, :base_link)
-    Logger.debug("base_link to ltp is: #{inspect(offset_to_ltp)}, #{inspect(rot_to_ltp)}")
+    # Logger.debug("base_link to ltp is: #{inspect(offset_to_ltp)}, #{inspect(rot_to_ltp)}")
     offset_amount = Vec3.create(0.0, 0.0, -0.01)
     rotation_amount = Quatern.from_axis_angle(0.05, x_unit())
     new_offset = Vec3.add(offset_to_ltp, offset_amount)

          
@@ 109,10 109,10 @@ defmodule Goatherd.Robot do
     # new_offset = offset_to_ltp
     # new_rotation = rot_to_ltp
     new_tf = Tfex.Tf.new(:base_link, :ltp, new_offset, new_rotation)
-    Logger.debug("New tf is: #{inspect(new_tf)}")
+    # Logger.debug("New tf is: #{inspect(new_tf)}")
     new_tfs = state.tf
       |> Tfex.put(new_tf)
-    Logger.debug("New tfs is: #{inspect(state.tf)}")
+    # Logger.debug("New tfs is: #{inspect(state.tf)}")
     %{state | tf: new_tfs}
 
   end