Cairo Renderer Stage

The Cairo Renderer Stage will receive RendererLayer objects and render them into video frames. In other words, this is a stage that will take the 3D data that is normally displayed in the GUI, and render it to video.

This can be useful for quickly demonstrating and sharing algorithm results, or for generating ‘previews’ of your simulation.


There is no configuration for this stage.


Camera images representing the rendered layers are emitted periodically (at 10Hz) over the frame channel.

All RendererLayer objects are read from the /gui/renderer_layer channel. You can control the pose of the camera by sending messages on the /gui/camera_pose channel.


No metrics are emitted from this stage.