Update to Rerun 0.16 (#9)

* Update to Rerun 0.16

* Fix formatting

---------

Co-authored-by: Leonard Bruns <[email protected]>

Author: emilk

pixi.toml

@@ -71,7 +71,7 @@ cwd = "humble_ws"
 cmd = "curl -L -C - -O https://storage.googleapis.com/rerun-example-datasets/carla_ros2.zip && unzip carla_ros2.zip"
 cwd = "humble_ws/install/rerun_bridge/share/rerun_bridge"
 outputs = ["humble_ws/install/rerun_bridge/share/rerun_bridge/carla_ros2"]
-depends_on=["build"]
+depends_on = ["build"]
 
 [tasks.carla_example]
 cmd = "bash -c 'source ./install/local_setup.bash && ros2 launch rerun_bridge carla_example.launch'"
@@ -110,7 +110,7 @@ cwd = "humble_ws"
 #  https://github.com/prefix-dev/pixi/issues/1163
 
 [tasks.rerun_viewer]
-cmd = "pip install rerun-sdk==0.15"
+cmd = "pip install rerun-sdk==0.16"
 
 [tasks.rerun_urdf_loader]
 cmd = "pip install git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git"

rerun_bridge/CMakeLists.txt

@@ -6,8 +6,8 @@ if(NOT DEFINED CMAKE_CXX_STANDARD)
 endif()
 
 # Avoid warning about CMP0135
-if (CMAKE_VERSION VERSION_GREATER_EQUAL "3.24.0")
-    cmake_policy(SET CMP0135 NEW)
+if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.24.0")
+  cmake_policy(SET CMP0135 NEW)
 endif()
 
 find_package(ament_cmake REQUIRED)
@@ -22,7 +22,7 @@ find_package(OpenCV REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
 include(FetchContent)
-FetchContent_Declare(rerun_sdk URL https://github.com/rerun-io/rerun/releases/download/0.15.1/rerun_cpp_sdk.zip)
+FetchContent_Declare(rerun_sdk URL https://github.com/rerun-io/rerun/releases/download/0.16.0/rerun_cpp_sdk.zip)
 FetchContent_MakeAvailable(rerun_sdk)
 
 # setup targets (has to be done before ament_package call)
@@ -45,6 +45,5 @@ ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
 ament_package()
 
-
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 install(TARGETS visualizer DESTINATION lib/${PROJECT_NAME})

rerun_bridge/src/rerun_bridge/visualizer_node.cpp

@@ -179,7 +179,7 @@ void RerunLoggerNode::_read_yaml_config(std::string yaml_path) {
                 extra_transform3d["transform"][2].as<float>(),
                 extra_transform3d["transform"][6].as<float>(),
                 extra_transform3d["transform"][10].as<float>()};
-            _rec.log_timeless(
+            _rec.log_static(
                 extra_transform3d["entity_path"].as<std::string>(),
                 rerun::Transform3D(
                     rerun::Vec3D(translation),