Hi everyone!

After some busy days, I've found the time to test the tf2_web_republisher fork for visualising a 3D pointcloud using ROS3Djs.

To visualise a 3D pointcloud in the browser, I've used the following Javascript:

<script type="text/javascript" type="text/javascript">

    const ros = new ROSLIB.Ros({
        url: 'ws://192.168.69.20:9090'
    })


    // Create the main viewer.
    const viewer = new ROS3D.Viewer({
    divID : 'viewer',
    width : 800,
    height : 600,
    antialias : true
    });

    // Setup a client to listen to TFs.
    const tfClient = new ROSLIB.TFClient({
        ros : ros,
        angularThres : 0.01,
        transThres : 0.01,
        rate : 10.0
    });

    var cloudClient = new ROS3D.PointCloud2({
        ros: ros,
        tfClient: tfClient,
        rootObject: viewer.scene,
        topic: '/rs_bpearl/pointcloud',
        material: { size: 0.1, color: 0xff00ff }
    });

</script>

I have the following terminal output:

[rosbridge_websocket-4] [INFO] [1712839238.161715175] [rikkert.rosbridge_websocket]: Rosbridge WebSocket server started on port 9090
[rosbridge_websocket-4] [INFO] [1712839243.652251997] [rikkert.rosbridge_websocket]: Calling services in existing thread
[rosbridge_websocket-4] [INFO] [1712839243.653098323] [rikkert.rosbridge_websocket]: Sending action goals in existing thread
[rosbridge_websocket-4] [INFO] [1712839243.654413931] [rikkert.rosbridge_websocket]: Client connected. 1 clients total.
[rosbridge_websocket-4] [ERROR] [1712839243.688801503] [rikkert.rosbridge_websocket]: [Client 0cbedeb3-be59-4acb-8cec-54be58ccef25] [id: advertise:/tf2_web_republisher/goal:1] advertise: Unable to import tf2_web_republisher.msg from package tf2_web_republisher. Caused by: No module named 'tf2_web_republisher'
[rosbridge_websocket-4] [ERROR] [1712839243.697831669] [rikkert.rosbridge_websocket]: [Client 0cbedeb3-be59-4acb-8cec-54be58ccef25] [id: subscribe:/tf2_web_republisher/feedback:3] subscribe: Unable to import tf2_web_republisher.msg from package tf2_web_republisher. Caused by: No module named 'tf2_web_republisher'
[rosbridge_websocket-4] [INFO] [1712839243.752100615] [rikkert.rosbridge_websocket]: [Client 0cbedeb3-be59-4acb-8cec-54be58ccef25] Subscribed to /rs_bpearl/pointcloud
[rosbridge_websocket-4] [ERROR] [1712839243.913545312] [rikkert.rosbridge_websocket]: [Client 0cbedeb3-be59-4acb-8cec-54be58ccef25] [id: publish:/tf2_web_republisher/goal:5] publish: Cannot infer topic type for topic /tf2_web_republisher/goal as it is not yet advertised

and unfortunately no pointcloud is visualised.

ROS3Djs in combination with ROS2 #658

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