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.

Field	Type	Description
`timestamp`	`time`	Timestamp of the entity.
`frame_id`	`string`	Frame of reference.
`id`	`string`	Identifier for the entity. An 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 means it remains visible until 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.

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`