arena_viz¶

Vendor-neutral visualization contract for Arena. Adapters declare displays in this vocabulary; each visualizer backend implements a renderer per kind.

This package is only the contract: an enum of canonical display kinds and a small styling dataclass. No ROS deps, no renderers.

What lives here¶

DisplayKind: the canonical enum of display kinds (MAP, TF, PEDESTRIANS, ROBOT_MODEL, ODOM, LASER_SCAN, POINTS_3D, IMAGE, IMU, FOOT_CONTACT, PATH, POSE, POLYGON, TRAJECTORY, PLANNING_SCENE, INTERACTIVE_MARKERS). The vocabulary every adapter speaks.
StyleSpec: frozen styling dataclass with viz-neutral fields (color, alpha, line_width, enabled, decay, latched) plus an extra escape hatch keyed by visualizer name for per-viz nudges (e.g. extra={"rviz": {"Color Scheme": "costmap"}}). latched=True marks a transient-local topic, backends subscribe with matching QoS so late joiners get the stored sample.

Who uses it¶

Producer	What it does
`task_generator/tasks/robots/adapters`	Declares `AdapterDisplayHint(kind=DisplayKind.X, style_json=StyleSpec(...).to_json())` on each adapter.
`task_generator.node._publish_viz_manifest`	Emits env-level + per-robot displays as `task_generator_msgs/AdapterVizManifest`.

Consumer	Renderer registry
`rviz_utils`	One file per kind under `rviz_utils/renderers/`, returns rviz Displays YAML dict.
`rerun_utils`	One file per kind under `rerun_utils/renderers/`, creates a ROS subscription that calls `rr.log(...)`.

Each backend's renderers/__init__.py asserts at import time that every DisplayKind member has a registered renderer (warn-and-skip variants count). New backends drop in by mirroring that pattern.

Adding a new kind¶

Add the member to DisplayKind.
Add a renderer for it in every backend (rviz_utils/renderers/, rerun_utils/renderers/, ...). The completeness assert will refuse to load until all backends have one.
Update an adapter to emit the new kind (or update _publish_viz_manifest for an env-level kind).

MAP and PATH are good reference renderers in both backends.

Adding a new viz backend¶

Mirror rerun_utils or rviz_utils:

utils/<backend>_utils/
  <backend>_utils/
    renderers/
      __init__.py    # imports all renderer modules, REGISTRY assert
      _registry.py   # REGISTRY dict + register decorator
      map.py, tf.py, path.py, ...  # one per DisplayKind

The backend subscribes to {task_generator_node}/state/viz_manifest, dispatches each AdapterDisplay to REGISTRY[DisplayKind(d.kind)].