From a0b8ae4fb9669ed8686cb0d2674e3dc49828d39b Mon Sep 17 00:00:00 2001 From: chapulina Date: Wed, 4 Dec 2019 18:55:52 -0800 Subject: [PATCH 001/202] Fix diff-drive crash when joints not found --- src/systems/diff_drive/DiffDrive.cc | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/systems/diff_drive/DiffDrive.cc b/src/systems/diff_drive/DiffDrive.cc index 4a42006335..485faf4b8f 100644 --- a/src/systems/diff_drive/DiffDrive.cc +++ b/src/systems/diff_drive/DiffDrive.cc @@ -287,6 +287,9 @@ void DiffDrivePrivate::UpdateOdometry(const ignition::gazebo::UpdateInfo &_info, return; } + if (this->leftJoints.empty() || this->rightJoints.empty()) + return; + // Get the first joint positions for the left and right side. auto leftPos = _ecm.Component(this->leftJoints[0]); auto rightPos = _ecm.Component( From f8dd76cef3038b9970ae0b3591f06fd490d6116c Mon Sep 17 00:00:00 2001 From: chapulina Date: Wed, 4 Dec 2019 19:25:48 -0800 Subject: [PATCH 002/202] warnings if joints not found --- src/systems/diff_drive/DiffDrive.cc | 26 ++++++++++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/src/systems/diff_drive/DiffDrive.cc b/src/systems/diff_drive/DiffDrive.cc index 485faf4b8f..c30fd53686 100644 --- a/src/systems/diff_drive/DiffDrive.cc +++ b/src/systems/diff_drive/DiffDrive.cc @@ -187,14 +187,23 @@ void DiffDrive::PreUpdate(const ignition::gazebo::UpdateInfo &_info, } // If the joints haven't been identified yet, look for them + static std::set warnedModels; + auto modelName = this->dataPtr->model.Name(_ecm); if (this->dataPtr->leftJoints.empty() || this->dataPtr->rightJoints.empty()) { + bool warned{false}; for (const std::string &name : this->dataPtr->leftJointNames) { Entity joint = this->dataPtr->model.JointByName(_ecm, name); if (joint != kNullEntity) this->dataPtr->leftJoints.push_back(joint); + else if (warnedModels.find(modelName) == warnedModels.end()) + { + ignwarn << "Failed to find left joint [" << name << "] for model [" + << modelName << "]" << std::endl; + warned = true; + } } for (const std::string &name : this->dataPtr->rightJointNames) @@ -202,12 +211,29 @@ void DiffDrive::PreUpdate(const ignition::gazebo::UpdateInfo &_info, Entity joint = this->dataPtr->model.JointByName(_ecm, name); if (joint != kNullEntity) this->dataPtr->rightJoints.push_back(joint); + else if (warnedModels.find(modelName) == warnedModels.end()) + { + ignwarn << "Failed to find right joint [" << name << "] for model [" + << modelName << "]" << std::endl; + warned = true; + } + } + if (warned) + { + warnedModels.insert(modelName); } } if (this->dataPtr->leftJoints.empty() || this->dataPtr->rightJoints.empty()) return; + if (warnedModels.find(modelName) != warnedModels.end()) + { + ignmsg << "Found joints for model [" << modelName + << "], plugin will start working." << std::endl; + warnedModels.erase(modelName); + } + // Nothing left to do if paused. if (_info.paused) return; From 30be4706367a1cac7302cdf74980baee0d774ee5 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Mon, 16 Dec 2019 21:50:21 +0000 Subject: [PATCH 003/202] Close branch diff_drive_no_joint From c31bafc7acca2c67028925ccc6672648e9327ac8 Mon Sep 17 00:00:00 2001 From: ahcorde Date: Wed, 8 Jan 2020 09:55:56 +0100 Subject: [PATCH 004/202] Improved visualization debugging docs --- tutorials/debugging.md | 20 +++++--------------- 1 file changed, 5 insertions(+), 15 deletions(-) diff --git a/tutorials/debugging.md b/tutorials/debugging.md index 945103b79c..3b4456272b 100644 --- a/tutorials/debugging.md +++ b/tutorials/debugging.md @@ -21,16 +21,12 @@ following two sections for instructions concerning each case. 2. Launch `gdb` - ``` - gdb ruby - ``` + `gdb ruby` 3. Run the Gazebo server with the desired arguments. Make sure to use the `-s` argument. The following example runs the `shapes.sdf` world. - ``` - (gdb) r /usr/bin/ign gazebo -s shapes.sdf - ``` + `(gdb) r /usr/bin/ign gazebo -s shapes.sdf` 4. Use GDB as normal @@ -38,21 +34,15 @@ following two sections for instructions concerning each case. 1. Launch `gdb` - ``` - gdb ruby - ``` + `gdb ruby` 2. Run the Gazebo GUI with the desired arguments. Make sure to use the `-g` argument. - ``` - (gdb) r /usr/bin/ign gazebo -g - ``` + `(gdb) r /usr/bin/ign gazebo -g` 3. In another terminal run the Gazebo server. - ``` - ign gazebo -s -v 4 -r shapes.sdf - ``` + `ign gazebo -s -v 4 -r shapes.sdf` 4. Use GDB as normal. From 15d418246f0ee73194e464683c0ece9039f12646 Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Thu, 16 Jan 2020 14:25:26 -0600 Subject: [PATCH 005/202] Bump default to 4.0.0 --- CMakeLists.txt | 4 ++-- Changelog.md | 6 ++++++ README.md | 2 +- examples/plugin/custom_component/CMakeLists.txt | 4 ++-- examples/plugin/system_plugin/CMakeLists.txt | 4 ++-- examples/standalone/each_performance/CMakeLists.txt | 4 ++-- 6 files changed, 15 insertions(+), 9 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index ee50efc671..b92fbdd85d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(ignition-gazebo3 VERSION 3.0.0) +project(ignition-gazebo4 VERSION 4.0.0) #============================================================================ # Find ignition-cmake @@ -14,7 +14,7 @@ find_package(ignition-cmake2 REQUIRED) #============================================================================ # Configure the project #============================================================================ -ign_configure_project(VERSION_SUFFIX pre2) +ign_configure_project(VERSION_SUFFIX pre1) #============================================================================ # Set project-specific options diff --git a/Changelog.md b/Changelog.md index 67127069e9..97fa5a81ae 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,3 +1,9 @@ +## Ignition Gazebo 4.x + +### Ignition Gazebo 4.X.X + +### Ignition Gazebo 4.0.0 (20XX-XX-XX) + ## Ignition Gazebo 3.x ### Ignition Gazebo 3.X.X diff --git a/README.md b/README.md index 2a112096b9..c2e8d2e4d2 100644 --- a/README.md +++ b/README.md @@ -122,7 +122,7 @@ installing Ignition Gazebo from source. 2. Install Ignition Gazebo ``` - sudo apt-get install libignition-gazebo2-dev + sudo apt-get install libignition-gazebo4-dev ``` ## Source Install (version 3) diff --git a/examples/plugin/custom_component/CMakeLists.txt b/examples/plugin/custom_component/CMakeLists.txt index d66e8f383c..7fb7fbea26 100644 --- a/examples/plugin/custom_component/CMakeLists.txt +++ b/examples/plugin/custom_component/CMakeLists.txt @@ -7,11 +7,11 @@ project(CustomComponentPlugin) find_package(ignition-plugin1 REQUIRED COMPONENTS register) set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR}) -find_package(ignition-gazebo3 REQUIRED) +find_package(ignition-gazebo4 REQUIRED) add_library(CustomComponentPlugin SHARED CustomComponentPlugin.cc ) set_property(TARGET CustomComponentPlugin PROPERTY CXX_STANDARD 17) target_link_libraries(CustomComponentPlugin PRIVATE ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER} - PRIVATE ignition-gazebo3::ignition-gazebo3) + PRIVATE ignition-gazebo4::ignition-gazebo4) diff --git a/examples/plugin/system_plugin/CMakeLists.txt b/examples/plugin/system_plugin/CMakeLists.txt index d17e27cacb..f24dbd3bfa 100644 --- a/examples/plugin/system_plugin/CMakeLists.txt +++ b/examples/plugin/system_plugin/CMakeLists.txt @@ -7,9 +7,9 @@ project(SampleSystem) find_package(ignition-plugin1 REQUIRED COMPONENTS register) set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR}) -find_package(ignition-gazebo3 REQUIRED) +find_package(ignition-gazebo4 REQUIRED) add_library(SampleSystem SHARED SampleSystem.cc SampleSystem2.cc) set_property(TARGET SampleSystem PROPERTY CXX_STANDARD 17) target_link_libraries(SampleSystem PRIVATE ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER} - PRIVATE ignition-gazebo3::ignition-gazebo3) + PRIVATE ignition-gazebo4::ignition-gazebo4) diff --git a/examples/standalone/each_performance/CMakeLists.txt b/examples/standalone/each_performance/CMakeLists.txt index 65cd94c0d2..51dd7acd9d 100644 --- a/examples/standalone/each_performance/CMakeLists.txt +++ b/examples/standalone/each_performance/CMakeLists.txt @@ -1,8 +1,8 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) -find_package(ignition-gazebo3 QUIET REQUIRED) +find_package(ignition-gazebo4 QUIET REQUIRED) add_executable(each each.cc) target_link_libraries(each - ignition-gazebo3::core) + ignition-gazebo4::core) From c3a93ed0c2883455ca7f6989d0bb6245cbc54df3 Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Thu, 16 Jan 2020 14:53:20 -0600 Subject: [PATCH 006/202] update pipelines --- bitbucket-pipelines.yml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml index cae6f3ee2a..0c63bfb719 100644 --- a/bitbucket-pipelines.yml +++ b/bitbucket-pipelines.yml @@ -28,14 +28,14 @@ pipelines: libignition-tools-dev libignition-transport8-dev libsdformat9-dev - # libignition-fuel-tools4-dev - # libignition-physics2-dev - # libignition-sensors3-dev + libignition-fuel-tools4-dev + libignition-physics2-dev + libignition-sensors3-dev # METHOD 2: Build from source # Build dependencies from source using a given branch - - docker/scripts/build_ign.sh ignitionrobotics ign-sensors default - - docker/scripts/build_ign.sh ignitionrobotics ign-physics default - - docker/scripts/build_ign.sh ignitionrobotics ign-fuel-tools default + # - docker/scripts/build_ign.sh ignitionrobotics ign-sensors default + # - docker/scripts/build_ign.sh ignitionrobotics ign-physics default + # - docker/scripts/build_ign.sh ignitionrobotics ign-fuel-tools default # Build Ignition Gazebo - ./tools/clang_tidy.sh - mkdir build From 33737d192b6510b1f5f0eac37c7266c43e05cf56 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Thu, 23 Jan 2020 21:00:39 +0000 Subject: [PATCH 007/202] Close branch bump_4 From 51865d6c78bb79fc1ae89325c2325d005a9dae56 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Wed, 19 Feb 2020 13:53:53 -0800 Subject: [PATCH 008/202] gazebo4 bump dep: gui4 sensors4 rendering4 --- CMakeLists.txt | 12 ++++++------ Changelog.md | 3 +++ bitbucket-pipelines.yml | 13 ++++++++----- 3 files changed, 17 insertions(+), 11 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index b92fbdd85d..a4ab52fc02 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -63,8 +63,8 @@ set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools4_VERSION_MAJOR}) #-------------------------------------- # Find ignition-gui -ign_find_package(ignition-gui3 REQUIRED) -set(IGN_GUI_VER ${ignition-gui3_VERSION_MAJOR}) +ign_find_package(ignition-gui4 REQUIRED) +set(IGN_GUI_VER ${ignition-gui4_VERSION_MAJOR}) ign_find_package (Qt5 COMPONENTS Core @@ -87,7 +87,7 @@ set(IGN_PHYSICS_VER ${ignition-physics2_VERSION_MAJOR}) #-------------------------------------- # Find ignition-sensors -ign_find_package(ignition-sensors3 REQUIRED +ign_find_package(ignition-sensors4 REQUIRED COMPONENTS rendering air_pressure @@ -99,12 +99,12 @@ ign_find_package(ignition-sensors3 REQUIRED magnetometer depth_camera ) -set(IGN_SENSORS_VER ${ignition-sensors3_VERSION_MAJOR}) +set(IGN_SENSORS_VER ${ignition-sensors4_VERSION_MAJOR}) #-------------------------------------- # Find ignition-rendering -ign_find_package(ignition-rendering3 REQUIRED) -set(IGN_RENDERING_VER ${ignition-rendering3_VERSION_MAJOR}) +ign_find_package(ignition-rendering4 REQUIRED) +set(IGN_RENDERING_VER ${ignition-rendering4_VERSION_MAJOR}) #-------------------------------------- # Find ignition-math diff --git a/Changelog.md b/Changelog.md index 97fa5a81ae..533bc1f714 100644 --- a/Changelog.md +++ b/Changelog.md @@ -4,6 +4,9 @@ ### Ignition Gazebo 4.0.0 (20XX-XX-XX) +1. Depend on ign-rendering4, ign-gui4, ign-sensors4 + * [Pull Request xxx](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/xxx) + ## Ignition Gazebo 3.x ### Ignition Gazebo 3.X.X diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml index 0c63bfb719..a01b7986eb 100644 --- a/bitbucket-pipelines.yml +++ b/bitbucket-pipelines.yml @@ -19,23 +19,26 @@ pipelines: # METHOD 1: Install the following debians - apt-get install -y libignition-cmake2-dev - libignition-common3-dev - libignition-gui3-dev libignition-math6-eigen3-dev libignition-msgs5-dev libignition-plugin-dev - libignition-rendering3-dev libignition-tools-dev libignition-transport8-dev libsdformat9-dev libignition-fuel-tools4-dev libignition-physics2-dev - libignition-sensors3-dev + # libignition-common3-dev + # libignition-gui3-dev + # libignition-sensors3-dev + # libignition-rendering3-dev # METHOD 2: Build from source # Build dependencies from source using a given branch - # - docker/scripts/build_ign.sh ignitionrobotics ign-sensors default # - docker/scripts/build_ign.sh ignitionrobotics ign-physics default # - docker/scripts/build_ign.sh ignitionrobotics ign-fuel-tools default + - docker/scripts/build_ign.sh ignitionrobotics ign-common ign-common3 + - docker/scripts/build_ign.sh ignitionrobotics ign-gui default + - docker/scripts/build_ign.sh ignitionrobotics ign-sensors default + - docker/scripts/build_ign.sh ignitionrobotics ign-rendering default # Build Ignition Gazebo - ./tools/clang_tidy.sh - mkdir build From 76dbd45a07249df2a4f4c46e6767c09e8b54ecce Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Thu, 20 Feb 2020 16:55:30 +0800 Subject: [PATCH 009/202] Using interpolate_x sdf value for animation playback speed --- src/rendering/SceneManager.cc | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 24e9ded6eb..4c31c0aca9 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -618,6 +618,9 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, waypoints[pointTp] = point->Pose(); } trajInfo.SetWaypoints(waypoints); + // Animations are offset by 1 because index 0 is taken by the mesh name + auto animation = _actor.AnimationByIndex(trajInfo.AnimIndex()-1); + trajInfo.Waypoints()->InterpolateX(animation->InterpolateX()); } else { @@ -924,15 +927,15 @@ std::map SceneManager::ActorMeshAnimationAt( if (followTraj) { - double distance = traj.DistanceSoFar(_time); - if (distance < 0.1) + if (traj.Waypoints()->InterpolateX()) { - rawFrames = skel->Animation(animIndex)->PoseAt(timeSeconds, !noLoop); + double distance = traj.DistanceSoFar(_time); + rawFrames = skel->Animation(animIndex)->PoseAtX(distance, + skel->RootNode()->Name()); } else { - rawFrames = skel->Animation(animIndex)->PoseAtX(distance, - skel->RootNode()->Name()); + rawFrames = skel->Animation(animIndex)->PoseAt(timeSeconds, !noLoop); } } else From d3fca884e2fa0a59a75848a2374b856ca8902b06 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Fri, 21 Feb 2020 10:54:12 +0800 Subject: [PATCH 010/202] Bump ign-common dependency --- CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index b92fbdd85d..a797e2c329 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -53,8 +53,8 @@ set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR}) #-------------------------------------- # Find ignition-common # Always use the profiler component to get the headers, regardless of status. -ign_find_package(ignition-common3 REQUIRED COMPONENTS profiler events av) -set(IGN_COMMON_VER ${ignition-common3_VERSION_MAJOR}) +ign_find_package(ignition-common4 REQUIRED COMPONENTS profiler events av) +set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR}) #-------------------------------------- # Find ignition-fuel_tools From 0b931c0a10c740f25333d62036df97b29e98cbb1 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Fri, 21 Feb 2020 11:06:32 +0800 Subject: [PATCH 011/202] Add changelog --- Changelog.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Changelog.md b/Changelog.md index 97fa5a81ae..3aff6d9d31 100644 --- a/Changelog.md +++ b/Changelog.md @@ -4,6 +4,9 @@ ### Ignition Gazebo 4.0.0 (20XX-XX-XX) +1. Use interpolate\_x sdf parameter for actor animations + * [Pull Request 536](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/536) + ## Ignition Gazebo 3.x ### Ignition Gazebo 3.X.X From b1dd4006ea612f675484f6052a5c84157df2f8ab Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Mon, 24 Feb 2020 17:02:52 -0800 Subject: [PATCH 012/202] changelog --- Changelog.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Changelog.md b/Changelog.md index 533bc1f714..2d44cff8d3 100644 --- a/Changelog.md +++ b/Changelog.md @@ -5,7 +5,7 @@ ### Ignition Gazebo 4.0.0 (20XX-XX-XX) 1. Depend on ign-rendering4, ign-gui4, ign-sensors4 - * [Pull Request xxx](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/xxx) + * [Pull Request 540](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/540) ## Ignition Gazebo 3.x From 1d976b9cc72b89186ea1508c54dcc8845b385c56 Mon Sep 17 00:00:00 2001 From: chapulina Date: Thu, 27 Feb 2020 19:13:26 -0800 Subject: [PATCH 013/202] [Dome] Support --- examples/plugin/command_actor/CMakeLists.txt | 15 ++ examples/plugin/command_actor/CommandActor.cc | 87 +++++++++++ examples/plugin/command_actor/CommandActor.hh | 59 ++++++++ examples/plugin/command_actor/README.md | 31 ++++ .../plugin/command_actor/command_actor.sdf | 135 ++++++++++++++++++ examples/worlds/actor.sdf | 6 + src/SdfEntityCreator.cc | 4 + src/rendering/RenderUtil.cc | 19 ++- 8 files changed, 349 insertions(+), 7 deletions(-) create mode 100644 examples/plugin/command_actor/CMakeLists.txt create mode 100644 examples/plugin/command_actor/CommandActor.cc create mode 100644 examples/plugin/command_actor/CommandActor.hh create mode 100644 examples/plugin/command_actor/README.md create mode 100644 examples/plugin/command_actor/command_actor.sdf diff --git a/examples/plugin/command_actor/CMakeLists.txt b/examples/plugin/command_actor/CMakeLists.txt new file mode 100644 index 0000000000..d520430a81 --- /dev/null +++ b/examples/plugin/command_actor/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) + +find_package(ignition-cmake2 REQUIRED) + +project(CommandActor) + +find_package(ignition-plugin1 REQUIRED COMPONENTS register) +set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR}) + +find_package(ignition-gazebo4 REQUIRED) +add_library(CommandActor SHARED CommandActor.cc) +set_property(TARGET CommandActor PROPERTY CXX_STANDARD 17) +target_link_libraries(CommandActor + PRIVATE ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER} + PRIVATE ignition-gazebo4::ignition-gazebo4) diff --git a/examples/plugin/command_actor/CommandActor.cc b/examples/plugin/command_actor/CommandActor.cc new file mode 100644 index 0000000000..05ffab1cbe --- /dev/null +++ b/examples/plugin/command_actor/CommandActor.cc @@ -0,0 +1,87 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ +#include "CommandActor.hh" + +#include +#include + +IGNITION_ADD_PLUGIN( + command_actor::CommandActor, + ignition::gazebo::System, + command_actor::CommandActor::ISystemConfigure, + command_actor::CommandActor::ISystemUpdate) +using namespace command_actor; + +////////////////////////////////////////////////// +CommandActor::CommandActor() +{ +} + +////////////////////////////////////////////////// +CommandActor::~CommandActor() +{ +} + +////////////////////////////////////////////////// +void CommandActor::Configure(const ignition::gazebo::Entity &_entity, + const std::shared_ptr &_sdf, + ignition::gazebo::EntityComponentManager &/*_ecm*/, + ignition::gazebo::EventManager &/*_eventMgr*/) +{ + this->entity = _entity; + ignmsg << "Command actor for entity [" << _entity << "]" << std::endl; + + auto sdfClone = _sdf->Clone(); + for (auto originElem = sdfClone->GetElement("origin"); + originElem != nullptr; + originElem = originElem->GetNextElement()) + { + auto pose = originElem->Get("pose"); + auto time = originElem->Get("time"); + + this->origins[time] = pose; + ignmsg << "Stored origin change at [" << time << "] seconds to pose [" + << pose << "]" << std::endl; + } +} + +////////////////////////////////////////////////// +void CommandActor::Update(const ignition::gazebo::UpdateInfo &_info, + ignition::gazebo::EntityComponentManager &_ecm) +{ + auto sec = std::chrono::duration_cast( + _info.simTime).count(); + + if (sec <= this->lastOriginChange) + return; + + if (this->origins.find(sec) != this->origins.end()) + { + auto poseComp = _ecm.Component( + this->entity); + *poseComp = ignition::gazebo::components::Pose(this->origins[sec]); + + // Updates to pose component can usually be missed, so we need to mark this + // as an important one-time change. + _ecm.SetChanged(this->entity, ignition::gazebo::components::Pose::typeId, + ignition::gazebo::ComponentState::OneTimeChange); + + ignmsg << "Changing origin to [" << this->origins[sec] << "]" << std::endl; + + this->lastOriginChange = sec; + } +} diff --git a/examples/plugin/command_actor/CommandActor.hh b/examples/plugin/command_actor/CommandActor.hh new file mode 100644 index 0000000000..29c8a5f31f --- /dev/null +++ b/examples/plugin/command_actor/CommandActor.hh @@ -0,0 +1,59 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ +#ifndef SYSTEM_PLUGIN_COMMANDACTOR_HH_ +#define SYSTEM_PLUGIN_COMMANDACTOR_HH_ + +#include +#include + +namespace command_actor +{ + + /// \brief Example showing different ways of commanding an actor. + class CommandActor: + public ignition::gazebo::System, + public ignition::gazebo::ISystemConfigure, + public ignition::gazebo::ISystemUpdate + { + /// \brief Constructor + public: CommandActor(); + + /// \brief Destructor + public: ~CommandActor() override; + + /// Documentation inherited + public: void Configure(const ignition::gazebo::Entity &_id, + const std::shared_ptr &_sdf, + ignition::gazebo::EntityComponentManager &_ecm, + ignition::gazebo::EventManager &_eventMgr) final; + + // Documentation inherited + public: void Update(const ignition::gazebo::UpdateInfo &_info, + ignition::gazebo::EntityComponentManager &_ecm) override; + + // Actor entity + private: ignition::gazebo::Entity entity; + + // Origins to change, where the key is the number of seconds from beginning + // of simulation, and the value is the new trajectory origin to set. + private: std::map origins; + + private: int lastOriginChange{0}; + }; +} + +#endif diff --git a/examples/plugin/command_actor/README.md b/examples/plugin/command_actor/README.md new file mode 100644 index 0000000000..935f602d20 --- /dev/null +++ b/examples/plugin/command_actor/README.md @@ -0,0 +1,31 @@ +# Command actor + +This example shows how to command actors in various ways from a plugin. + +## Build + +From the root of the `ign-gazebo` repository, do the following to build the example: + +~~~ +cd ign-gazebo/examples/plugins/command_actor +mkdir build +cd build +cmake .. +make +~~~ + +This will generate the `libCommandActor.so` library under `build`. + +## Run + +Add the library to the path: + +~~~ +cd ign-gazebo/examples/plugins/command_actor +export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=`pwd`/build +~~~ + +Then run the demo world: + + ign gazebo -v 4 command_actor.sdf -r + diff --git a/examples/plugin/command_actor/command_actor.sdf b/examples/plugin/command_actor/command_actor.sdf new file mode 100644 index 0000000000..3fe408156e --- /dev/null +++ b/examples/plugin/command_actor/command_actor.sdf @@ -0,0 +1,135 @@ + + + + + + + + + + + + + 3D View + false + docked + + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + -6 0 6 0 0.5 0 + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + /world/actors/control + /world/actors/stats + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + /world/actors/stats + + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0.0 0.0 1 + + + + + + + 0.0 0.0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 1 1 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor + + + + + + 10 10 0 0 0 0 + + + + + diff --git a/examples/worlds/actor.sdf b/examples/worlds/actor.sdf index 7d28dfbc19..1bb86b74de 100644 --- a/examples/worlds/actor.sdf +++ b/examples/worlds/actor.sdf @@ -149,6 +149,12 @@ https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor + + actor2 + 10 10 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor + + 5.0 0 0.7 0 0 0 diff --git a/src/SdfEntityCreator.cc b/src/SdfEntityCreator.cc index 029b3d24b8..517bd686e4 100644 --- a/src/SdfEntityCreator.cc +++ b/src/SdfEntityCreator.cc @@ -275,6 +275,10 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Actor *_actor) this->dataPtr->ecm->CreateComponent(actorEntity, components::Name(_actor->Name())); + // Actor plugins + this->dataPtr->eventManager->Emit(actorEntity, + _actor->Element()); + return actorEntity; } diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 6189d0d3c5..d065727e60 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -406,10 +406,16 @@ void RenderUtil::Update() if (!actorMesh || !actorVisual) continue; - math::Pose3d actorPose; - actorPose.Pos() = tf.second["actorPose"].Translation(); - actorPose.Rot() = tf.second["actorPose"].Rotation(); - actorVisual->SetLocalPose(actorPose); + math::Pose3d globalPose; + if (entityPoses.find(tf.first) != entityPoses.end()) + { + globalPose = entityPoses[tf.first]; + } + + math::Pose3d trajPose; + trajPose.Pos() = tf.second["actorPose"].Translation(); + trajPose.Rot() = tf.second["actorPose"].Rotation(); + actorVisual->SetLocalPose(globalPose + trajPose); tf.second.erase("actorPose"); actorMesh->SetSkeletonLocalTransforms(tf.second); @@ -785,10 +791,9 @@ void RenderUtilPrivate::UpdateRenderingEntities( _ecm.Each( [&](const Entity &_entity, const components::Actor *, - const components::Pose *)->bool + const components::Pose *_pose)->bool { - // TODO(anyone) Support setting actor pose from other systems - // this->entityPoses[_entity] = _pose->Data(); + this->entityPoses[_entity] = _pose->Data(); this->actorTransforms[_entity] = this->sceneManager.ActorMeshAnimationAt(_entity, this->simTime); return true; From 590e1a11385c95fa5ef1890c46dc2d78fa6d038a Mon Sep 17 00:00:00 2001 From: chapulina Date: Thu, 27 Feb 2020 19:21:57 -0800 Subject: [PATCH 014/202] use PreUpdate --- examples/plugin/command_actor/CommandActor.cc | 4 ++-- examples/plugin/command_actor/CommandActor.hh | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/examples/plugin/command_actor/CommandActor.cc b/examples/plugin/command_actor/CommandActor.cc index 05ffab1cbe..c2f10ace1c 100644 --- a/examples/plugin/command_actor/CommandActor.cc +++ b/examples/plugin/command_actor/CommandActor.cc @@ -23,7 +23,7 @@ IGNITION_ADD_PLUGIN( command_actor::CommandActor, ignition::gazebo::System, command_actor::CommandActor::ISystemConfigure, - command_actor::CommandActor::ISystemUpdate) + command_actor::CommandActor::ISystemPreUpdate) using namespace command_actor; ////////////////////////////////////////////////// @@ -60,7 +60,7 @@ void CommandActor::Configure(const ignition::gazebo::Entity &_entity, } ////////////////////////////////////////////////// -void CommandActor::Update(const ignition::gazebo::UpdateInfo &_info, +void CommandActor::PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) { auto sec = std::chrono::duration_cast( diff --git a/examples/plugin/command_actor/CommandActor.hh b/examples/plugin/command_actor/CommandActor.hh index 29c8a5f31f..6c53c35a1b 100644 --- a/examples/plugin/command_actor/CommandActor.hh +++ b/examples/plugin/command_actor/CommandActor.hh @@ -27,7 +27,7 @@ namespace command_actor class CommandActor: public ignition::gazebo::System, public ignition::gazebo::ISystemConfigure, - public ignition::gazebo::ISystemUpdate + public ignition::gazebo::ISystemPreUpdate { /// \brief Constructor public: CommandActor(); @@ -42,7 +42,7 @@ namespace command_actor ignition::gazebo::EventManager &_eventMgr) final; // Documentation inherited - public: void Update(const ignition::gazebo::UpdateInfo &_info, + public: void PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) override; // Actor entity From cb2ff4a080aef2dc2287dce15d310f769914d35b Mon Sep 17 00:00:00 2001 From: chapulina Date: Fri, 28 Feb 2020 16:49:10 -0800 Subject: [PATCH 015/202] rendering before gui and sensors --- bitbucket-pipelines.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml index a01b7986eb..d186efa307 100644 --- a/bitbucket-pipelines.yml +++ b/bitbucket-pipelines.yml @@ -36,9 +36,9 @@ pipelines: # - docker/scripts/build_ign.sh ignitionrobotics ign-physics default # - docker/scripts/build_ign.sh ignitionrobotics ign-fuel-tools default - docker/scripts/build_ign.sh ignitionrobotics ign-common ign-common3 + - docker/scripts/build_ign.sh ignitionrobotics ign-rendering default - docker/scripts/build_ign.sh ignitionrobotics ign-gui default - docker/scripts/build_ign.sh ignitionrobotics ign-sensors default - - docker/scripts/build_ign.sh ignitionrobotics ign-rendering default # Build Ignition Gazebo - ./tools/clang_tidy.sh - mkdir build From c0ff02aea77ecd12b85016495466d435b9741ec5 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Mon, 2 Mar 2020 23:53:23 +0000 Subject: [PATCH 016/202] Close branch gazebo4_dep From 0ebf2a3d325a59e3d318d6f6141fc6b990b0ecff Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Tue, 3 Mar 2020 10:03:44 +0800 Subject: [PATCH 017/202] Fix order of transforms --- src/rendering/RenderUtil.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index d065727e60..8cd0e6deb7 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -415,7 +415,7 @@ void RenderUtil::Update() math::Pose3d trajPose; trajPose.Pos() = tf.second["actorPose"].Translation(); trajPose.Rot() = tf.second["actorPose"].Rotation(); - actorVisual->SetLocalPose(globalPose + trajPose); + actorVisual->SetLocalPose(trajPose + globalPose); tf.second.erase("actorPose"); actorMesh->SetSkeletonLocalTransforms(tf.second); From 6e424f6d453d9564f36f51f71b4d3244a9b4afa0 Mon Sep 17 00:00:00 2001 From: chapulina Date: Mon, 2 Mar 2020 18:10:49 -0800 Subject: [PATCH 018/202] tutorial and changelog --- Changelog.md | 3 +++ tutorials/create_system_plugins.md | 39 +++++++++++++++++++++--------- 2 files changed, 30 insertions(+), 12 deletions(-) diff --git a/Changelog.md b/Changelog.md index 2d44cff8d3..85dbdf849f 100644 --- a/Changelog.md +++ b/Changelog.md @@ -4,6 +4,9 @@ ### Ignition Gazebo 4.0.0 (20XX-XX-XX) +1. Support and + * [Pull Request 542](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/542) + 1. Depend on ign-rendering4, ign-gui4, ign-sensors4 * [Pull Request 540](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/540) diff --git a/tutorials/create_system_plugins.md b/tutorials/create_system_plugins.md index 283e73a222..574943b4f2 100644 --- a/tutorials/create_system_plugins.md +++ b/tutorials/create_system_plugins.md @@ -1,8 +1,16 @@ \page createsystemplugins Create System Plugins -In Ignition Gazebo, all systems are loaded as plugins at runtime. To create -a system plugin for use in the simulation environment, follow the steps -below. +In Ignition Gazebo, all systems are loaded as plugins at runtime. Each system +is associated with an entity in simulation. Systems can be attached to the +following entity types: + +* World +* Model +* Sensor +* Actor + +To create a system plugin for use in the simulation environment, follow the +steps below. ## Decide on interfaces to implement @@ -10,18 +18,25 @@ The first step of implementing a system plugin is to determine the subset of available interfaces to implement. Aside from the base `System` object, there are currently three additional available interfaces: -1. ISystemPreUpdate +1. ISystemConfigure + 1. Has read-write access to world entities and components. + 2. Executed once the moment the plugin is loaded. + 3. Can be used to get custom configuration from the SDF file, register events + with the event manager, as well as modifying entities and components. +2. ISystemPreUpdate 1. Has read-write access to world entities and components. - 2. Executed with simulation time at (t0). - 3. Can be used to modify state before physics runs, for example for applying control signals or performing network synchronization. -2. ISystemUpdate + 2. Executed every iteration with simulation time at (t). + 3. Can be used to modify state before physics runs, for example for applying + control signals or performing network synchronization. +3. ISystemUpdate 1. Has read-write access to world entities and components. - 2. Responsible for propagating time from (t0) to (t0 + dt). + 2. Responsible for propagating time from (t) to (t + dt) for every iteration. 3. Used for physics simulation step. -3. ISystemPostUpdate +4. ISystemPostUpdate 1. Has read-only access to world entities and components. - 2. Executed with simulation time at (t0 + dt). - 3. Used to read out results at the end of a simulation step to be used for sensor or controller updates. + 2. Executed every iteration with simulation time at (t + dt). + 3. Used to read out results at the end of a simulation step to be used for + sensor or controller updates. Systems that are only used to read the current state of the world (sensors, graphics, and rendering) should implement `ISystemPostUpdate`. @@ -46,7 +61,7 @@ methods from the inherited interfaces. ## Implement Source -Implement the system class as normal +Implement the system class as usual. ## Register Plugin From f27e240f0dd59c915e57f98e92ce2084ce455193 Mon Sep 17 00:00:00 2001 From: chapulina Date: Mon, 2 Mar 2020 18:30:02 -0800 Subject: [PATCH 019/202] better demo --- examples/worlds/actor.sdf | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/examples/worlds/actor.sdf b/examples/worlds/actor.sdf index 1bb86b74de..ac4e299315 100644 --- a/examples/worlds/actor.sdf +++ b/examples/worlds/actor.sdf @@ -146,12 +146,9 @@ - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - actor2 - 10 10 0 0 0 0 + demo_actor + + 0 0 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor From 2ac6df30564248efd14a96ed683cdf2ef4c652a4 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Tue, 3 Mar 2020 02:48:27 +0000 Subject: [PATCH 020/202] Close branch actor_pose_dome From 3007d7ad923dad5984102b0b228e295111b439cc Mon Sep 17 00:00:00 2001 From: chapulina Date: Thu, 5 Mar 2020 18:09:32 -0800 Subject: [PATCH 021/202] add trajectory pose --- examples/plugin/command_actor/CommandActor.cc | 49 +++++++++++++++++-- examples/plugin/command_actor/CommandActor.hh | 16 ++++-- .../plugin/command_actor/command_actor.sdf | 9 ++++ include/ignition/gazebo/components/Pose.hh | 6 +++ src/rendering/RenderUtil.cc | 30 ++++++++++-- 5 files changed, 99 insertions(+), 11 deletions(-) diff --git a/examples/plugin/command_actor/CommandActor.cc b/examples/plugin/command_actor/CommandActor.cc index c2f10ace1c..82ad0d2150 100644 --- a/examples/plugin/command_actor/CommandActor.cc +++ b/examples/plugin/command_actor/CommandActor.cc @@ -46,9 +46,11 @@ void CommandActor::Configure(const ignition::gazebo::Entity &_entity, ignmsg << "Command actor for entity [" << _entity << "]" << std::endl; auto sdfClone = _sdf->Clone(); + + // Origin demo for (auto originElem = sdfClone->GetElement("origin"); originElem != nullptr; - originElem = originElem->GetNextElement()) + originElem = originElem->GetNextElement("origin")) { auto pose = originElem->Get("pose"); auto time = originElem->Get("time"); @@ -57,6 +59,20 @@ void CommandActor::Configure(const ignition::gazebo::Entity &_entity, ignmsg << "Stored origin change at [" << time << "] seconds to pose [" << pose << "]" << std::endl; } + + // Trajectory pose demo + for (auto trajPoseElem = sdfClone->GetElement("trajectory_pose"); + trajPoseElem != nullptr; + trajPoseElem = trajPoseElem->GetNextElement("trajectory_pose")) + { + auto pose = trajPoseElem->Get("pose"); + auto time = trajPoseElem->Get("time"); + + this->trajPoses[time] = pose; + ignmsg << "Stored trajectory pose change at [" << time + << "] seconds to pose [" + << pose << "]" << std::endl; + } } ////////////////////////////////////////////////// @@ -66,10 +82,9 @@ void CommandActor::PreUpdate(const ignition::gazebo::UpdateInfo &_info, auto sec = std::chrono::duration_cast( _info.simTime).count(); - if (sec <= this->lastOriginChange) - return; - - if (this->origins.find(sec) != this->origins.end()) + // Update origins + if (sec > this->lastOriginChange && + this->origins.find(sec) != this->origins.end()) { auto poseComp = _ecm.Component( this->entity); @@ -84,4 +99,28 @@ void CommandActor::PreUpdate(const ignition::gazebo::UpdateInfo &_info, this->lastOriginChange = sec; } + + // Update trajectory poses + if (sec > this->lastTrajPoseChange && + this->trajPoses.find(sec) != this->trajPoses.end()) + { + auto trajPoseComp = + _ecm.Component( + this->entity); + if (nullptr == trajPoseComp) + { + _ecm.CreateComponent(this->entity, + ignition::gazebo::components::TrajectoryPose(this->trajPoses[sec])); + } + else + { + *trajPoseComp = + ignition::gazebo::components::TrajectoryPose(this->trajPoses[sec]); + } + + ignmsg << "Changing trajectory pose to [" << this->trajPoses[sec] << "]" + << std::endl; + + this->lastTrajPoseChange = sec; + } } diff --git a/examples/plugin/command_actor/CommandActor.hh b/examples/plugin/command_actor/CommandActor.hh index 6c53c35a1b..124a9914df 100644 --- a/examples/plugin/command_actor/CommandActor.hh +++ b/examples/plugin/command_actor/CommandActor.hh @@ -45,14 +45,24 @@ namespace command_actor public: void PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) override; - // Actor entity + /// \brief Actor entity private: ignition::gazebo::Entity entity; - // Origins to change, where the key is the number of seconds from beginning - // of simulation, and the value is the new trajectory origin to set. + /// \brief Origins to change, where the key is the number of seconds from + /// beginning of simulation, and the value is the new trajectory origin to + /// set. private: std::map origins; + /// \brief Trajecotry poses to change, where the key is the number of + /// seconds from beginning of simulation, and the value is the new + /// trajectory pose to set. + private: std::map trajPoses; + + /// \brief Last time, in seconds, when the origin was changed. private: int lastOriginChange{0}; + + /// \brief Last time, in seconds, when the trajectory pose was changed. + private: int lastTrajPoseChange{0}; }; } diff --git a/examples/plugin/command_actor/command_actor.sdf b/examples/plugin/command_actor/command_actor.sdf index 3fe408156e..7bdf9d6417 100644 --- a/examples/plugin/command_actor/command_actor.sdf +++ b/examples/plugin/command_actor/command_actor.sdf @@ -129,6 +129,15 @@ 10 10 0 0 0 0 + + + + + -5 -5 1 0 0 0 + diff --git a/include/ignition/gazebo/components/Pose.hh b/include/ignition/gazebo/components/Pose.hh index 96b8626442..b07faff7da 100644 --- a/include/ignition/gazebo/components/Pose.hh +++ b/include/ignition/gazebo/components/Pose.hh @@ -40,6 +40,12 @@ namespace components using WorldPose = Component; IGN_GAZEBO_REGISTER_COMPONENT( "ign_gazebo_components.WorldPose", WorldPose) + + /// \brief A component type that contains pose, ignition::math::Pose3d, + /// information within a trajectory. + using TrajectoryPose = Component; + IGN_GAZEBO_REGISTER_COMPONENT( + "ign_gazebo_components.TrajectoryPose", TrajectoryPose) } } } diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 8cd0e6deb7..a04f4d3171 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -163,6 +163,9 @@ class ignition::gazebo::RenderUtilPrivate public: std::map> actorTransforms; + /// \brief A map of entity ids and trajectory pose updates. + public: std::map trajectoryPoses; + /// \brief Mutex to protect updates public: std::mutex updateMutex; @@ -246,6 +249,7 @@ void RenderUtil::Update() auto newLights = std::move(this->dataPtr->newLights); auto removeEntities = std::move(this->dataPtr->removeEntities); auto entityPoses = std::move(this->dataPtr->entityPoses); + auto trajectoryPoses = std::move(this->dataPtr->trajectoryPoses); auto actorTransforms = std::move(this->dataPtr->actorTransforms); this->dataPtr->newScenes.clear(); @@ -256,6 +260,7 @@ void RenderUtil::Update() this->dataPtr->newLights.clear(); this->dataPtr->removeEntities.clear(); this->dataPtr->entityPoses.clear(); + this->dataPtr->trajectoryPoses.clear(); this->dataPtr->actorTransforms.clear(); this->dataPtr->markerManager.Update(); @@ -381,7 +386,7 @@ void RenderUtil::Update() // update entities' pose { IGN_PROFILE("RenderUtil::Update Poses"); - for (auto &pose : entityPoses) + for (const auto &pose : entityPoses) { auto node = this->dataPtr->sceneManager.NodeById(pose.first); if (!node) @@ -413,8 +418,18 @@ void RenderUtil::Update() } math::Pose3d trajPose; - trajPose.Pos() = tf.second["actorPose"].Translation(); - trajPose.Rot() = tf.second["actorPose"].Rotation(); + // Trajectory from the ECS + if (trajectoryPoses.find(tf.first) != trajectoryPoses.end()) + { + trajPose = trajectoryPoses[tf.first]; + } + // Trajectory from the SDF script + else + { + trajPose.Pos() = tf.second["actorPose"].Translation(); + trajPose.Rot() = tf.second["actorPose"].Rotation(); + } + actorVisual->SetLocalPose(trajPose + globalPose); tf.second.erase("actorPose"); @@ -793,9 +808,18 @@ void RenderUtilPrivate::UpdateRenderingEntities( const components::Actor *, const components::Pose *_pose)->bool { + // Trajectory origin this->entityPoses[_entity] = _pose->Data(); + + // Bone poses calculated by ign-common this->actorTransforms[_entity] = this->sceneManager.ActorMeshAnimationAt(_entity, this->simTime); + + // Trajectory pose set by other systems + auto trajPoseComp = _ecm.Component(_entity); + if (trajPoseComp) + this->trajectoryPoses[_entity] = trajPoseComp->Data(); + return true; }); From 48155c7f5a9fd825b47e3b479ad72dcd5e8cea8d Mon Sep 17 00:00:00 2001 From: John Shepherd Date: Tue, 10 Mar 2020 13:33:27 -0700 Subject: [PATCH 022/202] revert cmake --- CMakeLists.txt | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index f5bf9b63cb..380843e84b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -59,18 +59,12 @@ set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR}) #-------------------------------------- # Find ignition-common # Always use the profiler component to get the headers, regardless of status. -ign_find_package(ignition-common3 VERSION 3.4 - COMPONENTS - profiler - events - av - REQUIRED -) +ign_find_package(ignition-common3 REQUIRED COMPONENTS profiler events av) set(IGN_COMMON_VER ${ignition-common3_VERSION_MAJOR}) #-------------------------------------- # Find ignition-fuel_tools -ign_find_package(ignition-fuel_tools4 REQUIRED VERSION 4.1) +ign_find_package(ignition-fuel_tools4 REQUIRED) set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools4_VERSION_MAJOR}) #-------------------------------------- From e7e7b5d987515923861070bcc74ad237049b3182 Mon Sep 17 00:00:00 2001 From: John Shepherd Date: Wed, 11 Mar 2020 12:42:06 -0700 Subject: [PATCH 023/202] Update deprecations for dome --- include/ignition/gazebo/ServerConfig.hh | 6 +-- .../ignition/gazebo/rendering/RenderUtil.hh | 14 +----- .../ignition/gazebo/rendering/SceneManager.hh | 11 +---- src/ServerPrivate.cc | 49 +------------------ src/rendering/RenderUtil.cc | 15 +----- src/rendering/SceneManager.cc | 42 +--------------- 6 files changed, 8 insertions(+), 129 deletions(-) diff --git a/include/ignition/gazebo/ServerConfig.hh b/include/ignition/gazebo/ServerConfig.hh index 24df8d9854..eb19792209 100644 --- a/include/ignition/gazebo/ServerConfig.hh +++ b/include/ignition/gazebo/ServerConfig.hh @@ -245,15 +245,13 @@ namespace ignition /// \brief Get whether to ignore the path specified in SDF. /// \return Whether to ignore the path specified in SDF - /// \TODO(anyone) Deprecate on Dome, SDF path will always be ignored. - public: bool LogIgnoreSdfPath() const; + public: bool IGN_DEPRECATED(4) LogIgnoreSdfPath() const; /// \brief Set whether to ignore the path specified in SDF. Path in SDF /// should be ignored if a record path is specified on the command line, /// for example. /// \param[in] _ignore Whether to ignore the path specified in SDF - /// \TODO(anyone) Deprecate on Dome, SDF path will always be ignored. - public: void SetLogIgnoreSdfPath(bool _ignore); + public: void IGN_DEPRECATED(4) SetLogIgnoreSdfPath(bool _ignore); /// \brief Get path to recorded states to play back /// \return Path to recorded states diff --git a/include/ignition/gazebo/rendering/RenderUtil.hh b/include/ignition/gazebo/rendering/RenderUtil.hh index b85897f5ce..9b5b90e095 100644 --- a/include/ignition/gazebo/rendering/RenderUtil.hh +++ b/include/ignition/gazebo/rendering/RenderUtil.hh @@ -121,21 +121,11 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \brief Set the entity being selected /// \param[in] _node Node representing the selected entity - /// \TODO(anyone) Make const ref when merging forward - // NOLINTNEXTLINE - public: void SetSelectedEntity(rendering::NodePtr _node); - - /// \brief Get the entity for a given node. - /// \param[in] _node Node to get the entity for. - /// \return The entity for that node, or `kNullEntity` for no entity. - /// \deprecated Use `ignition::rendering::Visual::UserData` instead. - public: Entity IGN_DEPRECATED(3) - EntityFromNode(const rendering::NodePtr &_node); + public: void SetSelectedEntity(const rendering::NodePtr &_node); /// \brief Get the entity being selected. This will only return the /// last entity selected. - /// \TODO(anyone) Deprecate in favour of SelectedEntities - public: rendering::NodePtr SelectedEntity() const; + public: rendering::NodePtr IGN_DEPRECATED(4) SelectedEntity() const; /// \brief Get the entities currently selected, in order of selection. /// \return Map of currently selected entities, entity to rendering node id diff --git a/include/ignition/gazebo/rendering/SceneManager.hh b/include/ignition/gazebo/rendering/SceneManager.hh index 40674250d3..8770a3f24c 100644 --- a/include/ignition/gazebo/rendering/SceneManager.hh +++ b/include/ignition/gazebo/rendering/SceneManager.hh @@ -144,13 +144,6 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \param[in] _id Entity's unique id public: void RemoveEntity(Entity _id); - /// \brief Get the entity for a given node. - /// \param[in] _node Node to get the entity for. - /// \return The entity for that node, or `kNullEntity` for no entity. - /// \todo(anyone) Deprecate in favour of - /// `ignition::rendering::Node::UserData` once that's available. - public: Entity EntityFromNode(const rendering::NodePtr &_node) const; - /// \brief Load a geometry /// \param[in] _geom Geometry sdf dom /// \param[out] _scale Geometry scale that will be set based on sdf @@ -171,10 +164,8 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// Usually, this will be a model or a light. /// \param[in] _visual Child visual /// \return Top level visual containining this visual - /// \TODO(anyone) Make it const ref when merging forward public: rendering::VisualPtr TopLevelVisual( - // NOLINTNEXTLINE - rendering::VisualPtr _visual) const; + const rendering::VisualPtr &_visual) const; /// \brief Get the top level node for the given node, which /// is the ancestor which is a direct child to the root visual. diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc index 71a7834dd7..8fb1a4f017 100644 --- a/src/ServerPrivate.cc +++ b/src/ServerPrivate.cc @@ -207,54 +207,7 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) // SDF.) if (pluginName->GetAsString() == LoggingPlugin::RecordPluginName()) { - std::string recordPath = _config.LogRecordPath(); - - if (!_config.LogRecordPath().empty()) - { - bool overwriteSdf = false; - // If is specified in SDF, check whether to replace it - if (pluginElem->HasElement("path")) - { - // If record path came from command line, overwrite SDF - if (_config.LogIgnoreSdfPath()) - { - overwriteSdf = true; - } - // TODO(anyone) In Ignition-D, remove this. will be - // permanently ignored in favor of common::ignLogDirectory(). - // Always overwrite SDF. - // Otherwise, record path is same as the default timestamp log - // path. Take the path in SDF . - // Deprecated. - else - { - ignwarn << "--record-path is not specified on command line. " - << " is specified in SDF. Will record to . " - << "Console will be logged to [" << ignLogDirectory() - << "]. Note: In Ignition-D, will be ignored, and " - << "all recordings will be written to default console log " - << "path if no path is specified on command line.\n"; - overwriteSdf = false; - - // Take in SDF - recordPath = pluginElem->Get("path"); - } - } - else - { - overwriteSdf = true; - } - - if (overwriteSdf) - { - sdf::ElementPtr pathElem = std::make_shared(); - pathElem->SetName("path"); - pluginElem->AddElementDescription(pathElem); - pathElem = pluginElem->GetElement("path"); - pathElem->AddValue("string", "", false, ""); - pathElem->Set(recordPath); - } - } + std::string recordPath = ignLogDirectory(); return; } diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index e60b51882d..9fe2d3bdbd 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -1121,18 +1121,6 @@ SceneManager &RenderUtil::SceneManager() return this->dataPtr->sceneManager; } -///////////////////////////////////////////////// -Entity RenderUtil::EntityFromNode(const rendering::NodePtr &_node) -{ - Entity entity = kNullEntity; - auto vis = std::dynamic_pointer_cast(_node); - - if (vis) - entity = std::get(vis->UserData("gazebo-entity")); - - return entity; -} - ///////////////////////////////////////////////// MarkerManager &RenderUtil::MarkerManager() { @@ -1140,8 +1128,7 @@ MarkerManager &RenderUtil::MarkerManager() } ///////////////////////////////////////////////// -// NOLINTNEXTLINE -void RenderUtil::SetSelectedEntity(rendering::NodePtr _node) +void RenderUtil::SetSelectedEntity(const rendering::NodePtr &_node) { if (!_node) return; diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index af57039e07..a964f96aa9 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -1016,8 +1016,7 @@ void SceneManager::RemoveEntity(Entity _id) ///////////////////////////////////////////////// rendering::VisualPtr SceneManager::TopLevelVisual( -// NOLINTNEXTLINE - rendering::VisualPtr _visual) const + const rendering::VisualPtr &_visual) const { auto node = this->TopLevelNode(_visual); return std::dynamic_pointer_cast(node); @@ -1039,42 +1038,3 @@ rendering::NodePtr SceneManager::TopLevelNode( return node; } - -///////////////////////////////////////////////// -Entity SceneManager::EntityFromNode(const rendering::NodePtr &_node) const -{ - // TODO(anyone) On Dome, set entity ID into node with SetUserData - auto visual = std::dynamic_pointer_cast(_node); - if (visual) - { - auto found = std::find_if(std::begin(this->dataPtr->visuals), - std::end(this->dataPtr->visuals), - [&](const std::pair &_item) - { - return _item.second == visual; - }); - - if (found != this->dataPtr->visuals.end()) - { - return found->first; - } - } - - auto light = std::dynamic_pointer_cast(_node); - if (light) - { - auto found = std::find_if(std::begin(this->dataPtr->lights), - std::end(this->dataPtr->lights), - [&](const std::pair &_item) - { - return _item.second == light; - }); - - if (found != this->dataPtr->lights.end()) - { - return found->first; - } - } - - return kNullEntity; -} From 0f07d79db37d8a07700d071102f21bcf10f331e5 Mon Sep 17 00:00:00 2001 From: John Shepherd Date: Wed, 11 Mar 2020 12:51:41 -0700 Subject: [PATCH 024/202] Remove deprecated logging calls --- src/Server_TEST.cc | 1 - src/cmd/ign.cc | 10 ++-------- test/integration/log_system.cc | 7 ------- 3 files changed, 2 insertions(+), 16 deletions(-) diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc index bb197053cf..829520c3e5 100644 --- a/src/Server_TEST.cc +++ b/src/Server_TEST.cc @@ -62,7 +62,6 @@ TEST_P(ServerFixture, DefaultServerConfig) EXPECT_TRUE(serverConfig.NetworkRole().empty()); EXPECT_FALSE(serverConfig.UseLogRecord()); EXPECT_FALSE(serverConfig.LogRecordPath().empty()); - EXPECT_FALSE(serverConfig.LogIgnoreSdfPath()); EXPECT_TRUE(serverConfig.LogPlaybackPath().empty()); EXPECT_EQ(0u, serverConfig.Seed()); EXPECT_EQ(123ms, serverConfig.UpdatePeriod().value_or(123ms)); diff --git a/src/cmd/ign.cc b/src/cmd/ign.cc index d706cc80df..b786d11e54 100644 --- a/src/cmd/ign.cc +++ b/src/cmd/ign.cc @@ -127,14 +127,6 @@ extern "C" IGNITION_GAZEBO_VISIBLE int runServer(const char *_sdfString, { ignLogInit(recordPathMod, "server_console.log"); } - // TODO(anyone) In Ignition-D, to be moved to outside and after this - // if-else statement, after all ignLogInit() calls have been finalized, - // so that in SDF will always be ignored in favor of logging both - // console logs and LogRecord recordings to common::ignLogDirectory(). - // In Blueprint and Citadel, LogRecord will record to if no - // --record-path is specified on command line. - serverConfig.SetLogRecordPath(recordPathMod); - serverConfig.SetLogIgnoreSdfPath(true); } // Empty record path specified. Use default. else @@ -151,6 +143,8 @@ extern "C" IGNITION_GAZEBO_VISIBLE int runServer(const char *_sdfString, { ignLogInit(serverConfig.LogRecordPath(), "server_console.log"); } + + serverConfig.SetLogRecordPath(recordPathMod); ignmsg << "Ignition Gazebo Server v" << IGNITION_GAZEBO_VERSION_FULL << std::endl; diff --git a/test/integration/log_system.cc b/test/integration/log_system.cc index 6df7e5b859..f6269c9c24 100644 --- a/test/integration/log_system.cc +++ b/test/integration/log_system.cc @@ -386,7 +386,6 @@ TEST_F(LogSystemTest, LogPaths) // Test case 1: // A path is specified in SDF. // No path specified in C++ API. - // LogIgnoreSdfPath is not set. // Should take SDF path. State log should be stored here. Console log is not // initialized because ign.cc is not triggered. { @@ -436,7 +435,6 @@ TEST_F(LogSystemTest, LogPaths) // Test case 2: // A path is specified in SDF. - // No path specified on command line (therefore LogIgnoreSdfPath is not set). // State log should be stored in SDF path. // Console log should be stored to default timestamp path ignLogDirectory // because ign.cc is triggered by command line. @@ -497,7 +495,6 @@ TEST_F(LogSystemTest, LogPaths) // Test case 3: // A path is specified in SDF. // A different path is specified via C++ API. - // LogIgnoreSdfPath is not set (pure C++ API usage). // Should store state.tlog to SDF path. Console log is not initialized // because ign.cc is not triggered. std::string stateLogPath = this->logDir; @@ -542,7 +539,6 @@ TEST_F(LogSystemTest, LogPaths) // Test case 4: // A path is specified in SDF. // A different path is specified via C++ API. - // LogIgnoreSdfPath is set (similar to specifying a path on command line). // Should take C++ API path. State log should be stored here. Console log is // not initialized because ign.cc is not triggered. const std::string sdfPath = common::joinPaths(this->logsDir, "sdfPath"); @@ -562,8 +558,6 @@ TEST_F(LogSystemTest, LogPaths) // Mock command line arg. Set record path to something different from in SDF recordServerConfig.SetLogRecordPath(cppPath); - // Set this flag to simulate path being passed in from command line - recordServerConfig.SetLogIgnoreSdfPath(true); // Run for a few seconds to record different poses Server recordServer(recordServerConfig); @@ -1075,7 +1069,6 @@ TEST_F(LogSystemTest, LogOverwrite) recordServerConfig.SetSdfFile(recordSdfPath); recordServerConfig.SetUseLogRecord(true); recordServerConfig.SetLogRecordPath(this->logDir); - recordServerConfig.SetLogIgnoreSdfPath(true); // Run for a few seconds to record different poses Server recordServer(recordServerConfig); From db38d81aeeb13ecee360b43070e5092568afcce5 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 12 Mar 2020 13:33:31 -0700 Subject: [PATCH 025/202] WIP skel animation. Refactored traj animation --- .../ignition/gazebo/rendering/SceneManager.hh | 12 +++ src/rendering/RenderUtil.cc | 69 +++++++++---- src/rendering/SceneManager.cc | 99 +++++++++++++------ 3 files changed, 132 insertions(+), 48 deletions(-) diff --git a/include/ignition/gazebo/rendering/SceneManager.hh b/include/ignition/gazebo/rendering/SceneManager.hh index 192732370a..721e45f7e8 100644 --- a/include/ignition/gazebo/rendering/SceneManager.hh +++ b/include/ignition/gazebo/rendering/SceneManager.hh @@ -31,6 +31,7 @@ #include #include +#include #include @@ -133,6 +134,17 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \return Pointer to requested entity's mesh public: rendering::MeshPtr ActorMeshById(Entity _id) const; + /// \brief Get the trajectory at input time and returns animation time + /// associated with the trajectory. + /// \param[in] _id Entity's unique id + /// \param[in] _time Timepoint for the animation + /// \param[out] Trajectory of actor at specified time. + /// \return Update time. + public: std::chrono::steady_clock::duration ActorTrajectoryAt( + Entity _id, const std::chrono::steady_clock::duration &_time, + common::TrajectoryInfo &_traj) const; + + /// \brief Get the animation of actor mesh given an id /// \param[in] _id Entity's unique id /// \param[in] _time Timepoint for the animation diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 8cd0e6deb7..b8b5ca4f9c 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -163,6 +163,15 @@ class ignition::gazebo::RenderUtilPrivate public: std::map> actorTransforms; + /// \brief A map of entity ids and actor animation time. + public: std::map + actorAnimationTimes; + + /// \brief True to update skeletons manually using bone poses + /// (see actorTransforms). False to let render engine update animation + /// based on sim time. + public: bool actorManualSkeletonUpdate = true; + /// \brief Mutex to protect updates public: std::mutex updateMutex; @@ -247,6 +256,7 @@ void RenderUtil::Update() auto removeEntities = std::move(this->dataPtr->removeEntities); auto entityPoses = std::move(this->dataPtr->entityPoses); auto actorTransforms = std::move(this->dataPtr->actorTransforms); + auto actorAnimationTime = std::move(this->dataPtr->actorAnimationTimes); this->dataPtr->newScenes.clear(); this->dataPtr->newModels.clear(); @@ -257,6 +267,7 @@ void RenderUtil::Update() this->dataPtr->removeEntities.clear(); this->dataPtr->entityPoses.clear(); this->dataPtr->actorTransforms.clear(); + this->dataPtr->actorAnimationTimes.clear(); this->dataPtr->markerManager.Update(); @@ -399,26 +410,34 @@ void RenderUtil::Update() } // update entities' local transformations - for (auto &tf : actorTransforms) + if (this->dataPtr->actorManualSkeletonUpdate) { - auto actorMesh = this->dataPtr->sceneManager.ActorMeshById(tf.first); - auto actorVisual = this->dataPtr->sceneManager.NodeById(tf.first); - if (!actorMesh || !actorVisual) - continue; - - math::Pose3d globalPose; - if (entityPoses.find(tf.first) != entityPoses.end()) + for (auto &tf : actorTransforms) { - globalPose = entityPoses[tf.first]; - } + auto actorMesh = this->dataPtr->sceneManager.ActorMeshById(tf.first); + auto actorVisual = this->dataPtr->sceneManager.NodeById(tf.first); + if (!actorMesh || !actorVisual) + continue; - math::Pose3d trajPose; - trajPose.Pos() = tf.second["actorPose"].Translation(); - trajPose.Rot() = tf.second["actorPose"].Rotation(); - actorVisual->SetLocalPose(trajPose + globalPose); + math::Pose3d actorPose; + actorPose.Pos() = tf.second["actorPose"].Translation(); + actorPose.Rot() = tf.second["actorPose"].Rotation(); + actorVisual->SetLocalPose(actorPose); - tf.second.erase("actorPose"); - actorMesh->SetSkeletonLocalTransforms(tf.second); + tf.second.erase("actorPose"); + actorMesh->SetSkeletonLocalTransforms(tf.second); + } + } + else + { + for (auto &it : this->dataPtr->actorAnimationTimes) + { + auto actorMesh = this->dataPtr->sceneManager.ActorMeshById(it.first); + auto actorVisual = this->dataPtr->sceneManager.NodeById(it.first); + if (!actorMesh || !actorVisual) + continue; + actorMesh->UpdateSkeletonAnimation(it.second); + } } } } @@ -791,11 +810,21 @@ void RenderUtilPrivate::UpdateRenderingEntities( _ecm.Each( [&](const Entity &_entity, const components::Actor *, - const components::Pose *_pose)->bool + const components::Pose *)->bool { - this->entityPoses[_entity] = _pose->Data(); - this->actorTransforms[_entity] = - this->sceneManager.ActorMeshAnimationAt(_entity, this->simTime); + // TODO(anyone) Support setting actor pose from other systems + // this->entityPoses[_entity] = _pose->Data(); + + if (this->actorManualSkeletonUpdate) + { + this->actorTransforms[_entity] = + this->sceneManager.ActorMeshAnimationAt(_entity, this->simTime); + } + else + { +// this->actorAnimationTimes[_entity] = +// this->sceneManager.ActorMeshAnimationAt(_entity, this->simTime); + } return true; }); diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 24e9ded6eb..7baaf27621 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -45,6 +45,8 @@ using namespace ignition; using namespace gazebo; using namespace std::chrono_literals; +using TP = std::chrono::steady_clock::time_point; + /// \brief Private data class. class ignition::gazebo::SceneManagerPrivate { @@ -587,7 +589,6 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, } this->dataPtr->actorSkeletons[_id] = meshSkel; - using TP = std::chrono::steady_clock::time_point; std::vector trajectories; if (_actor.TrajectoryCount() != 0) @@ -842,18 +843,27 @@ rendering::MeshPtr SceneManager::ActorMeshById(Entity _id) const } ///////////////////////////////////////////////// -std::map SceneManager::ActorMeshAnimationAt( - Entity _id, std::chrono::steady_clock::duration _time) const -{ - std::map allFrames; +// bool SceneManager::CorrectTime( +// const std::vector &_trajs, +// std::chrono::steady_clock::duration &_time) const +// { +// +// } - if (this->dataPtr->actorTrajectories.find(_id) - == this->dataPtr->actorTrajectories.end()) +///////////////////////////////////////////////// +std::chrono::steady_clock::duration SceneManager::ActorTrajectoryAt( + Entity _id, + const std::chrono::steady_clock::duration &_time, + common::TrajectoryInfo &_traj) const +{ + _traj.SetId(-1); + auto trajIt = this->dataPtr->actorTrajectories.find(_id); + if (trajIt == this->dataPtr->actorTrajectories.end()) { - return allFrames; + return _time; } - auto trajs = this->dataPtr->actorTrajectories[_id]; + auto trajs = trajIt->second; bool followTraj = true; if (1 == trajs.size() && nullptr == trajs[0].Waypoints()) { @@ -861,55 +871,88 @@ std::map SceneManager::ActorMeshAnimationAt( } auto firstTraj = trajs.begin(); - auto poseFrame = common::PoseKeyFrame(0.0); - common::TrajectoryInfo traj = trajs[0]; + _traj = trajs[0]; - using TP = std::chrono::steady_clock::time_point; +// using TP = std::chrono::steady_clock::time_point; auto totalTime = trajs.rbegin()->EndTime() - trajs.begin()->StartTime(); // delay start - if (_time < (trajs.begin()->StartTime() - TP(0ms))) + auto time = _time; + if (time < (trajs.begin()->StartTime() - TP(0ms))) { - _time = std::chrono::steady_clock::duration(0); + time = std::chrono::steady_clock::duration(0); } else { - _time -= trajs.begin()->StartTime() - TP(0ms); + time -= trajs.begin()->StartTime() - TP(0ms); } bool noLoop = trajs.rbegin()->StartTime() != TP(0ms) && trajs.rbegin()->StartTime() == trajs.rbegin()->EndTime(); - if (_time >= totalTime && noLoop) + if (time >= totalTime && noLoop) { - _time = totalTime; + time = totalTime; } - if (!noLoop || _time <= totalTime) +// auto poseFrame = common::PoseKeyFrame(0.0); + if (!noLoop || time <= totalTime) { - while (_time > totalTime) + while (time > totalTime) { - _time = _time - totalTime; + time = time - totalTime; } if (followTraj) { for (auto &trajectory : trajs) { - if (trajectory.StartTime() - firstTraj->StartTime() <= _time - && trajectory.EndTime() - firstTraj->StartTime() >= _time) + if (trajectory.StartTime() - firstTraj->StartTime() <= time + && trajectory.EndTime() - firstTraj->StartTime() >= time) { - traj = trajectory; - _time -= traj.StartTime() - firstTraj->StartTime(); + _traj = trajectory; + time -= _traj.StartTime() - firstTraj->StartTime(); - traj.Waypoints()->Time(std::chrono::duration(_time).count()); - traj.Waypoints()->InterpolatedKeyFrame(poseFrame); + _traj.Waypoints()->Time(std::chrono::duration(time).count()); break; } } } } + return time; +} + +///////////////////////////////////////////////// +std::map SceneManager::ActorMeshAnimationAt( + Entity _id, std::chrono::steady_clock::duration _time) const +{ + std::map allFrames; + auto trajIt = this->dataPtr->actorTrajectories.find(_id); + if (trajIt == this->dataPtr->actorTrajectories.end()) + { + return allFrames; + } + + // get the trajectory at input time + // The time returned is the time at which the animation should be played + common::TrajectoryInfo traj; + auto time = this->ActorTrajectoryAt(_id, _time, traj); + + auto trajs = trajIt->second; + bool followTraj = true; + if (1 == trajs.size() && nullptr == trajs[0].Waypoints()) + { + followTraj = false; + } + + bool noLoop = trajs.rbegin()->StartTime() != TP(0ms) + && trajs.rbegin()->StartTime() == trajs.rbegin()->EndTime(); + + + common::PoseKeyFrame poseFrame(0.0); + if (followTraj) + traj.Waypoints()->InterpolatedKeyFrame(poseFrame); math::Matrix4d rootTf(poseFrame.Rotation()); rootTf.SetTranslation(poseFrame.Translation()); @@ -920,11 +963,11 @@ std::map SceneManager::ActorMeshAnimationAt( unsigned int animIndex = traj.AnimIndex(); std::map rawFrames; - double timeSeconds = std::chrono::duration(_time).count(); + double timeSeconds = std::chrono::duration(time).count(); if (followTraj) { - double distance = traj.DistanceSoFar(_time); + double distance = traj.DistanceSoFar(time); if (distance < 0.1) { rawFrames = skel->Animation(animIndex)->PoseAt(timeSeconds, !noLoop); From 8e2ca75925abde6de054f181e31a8765d063e2d6 Mon Sep 17 00:00:00 2001 From: Mabel Zhang Date: Fri, 13 Mar 2020 03:10:44 -0400 Subject: [PATCH 026/202] logging behavior and tests to ignore SDF path for Dome --- src/ServerPrivate.cc | 30 +++++++++++++--------- src/cmd/ign.cc | 2 +- test/integration/log_system.cc | 47 ++++++++++++++++------------------ 3 files changed, 41 insertions(+), 38 deletions(-) diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc index 8fb1a4f017..c77eadcfad 100644 --- a/src/ServerPrivate.cc +++ b/src/ServerPrivate.cc @@ -202,20 +202,26 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) LoggingPlugin::LoggingPluginSuffix()) != std::string::npos) { // If record plugin already specified in SDF, and record flags are - // specified on command line, replace SDF parameters with those on - // command line. (If none specified on command line, use those in - // SDF.) + // specified on command line, replace SDF path with the one on + // command line. if (pluginName->GetAsString() == LoggingPlugin::RecordPluginName()) { - std::string recordPath = ignLogDirectory(); - return; - } - - // If playback plugin also specified, do not add a record plugin - if (pluginName->GetAsString() == LoggingPlugin::PlaybackPluginName()) - { - ignwarn << "Both record and playback are specified. " - << "Ignoring record.\n"; + // If playback plugin also specified, do not add a record plugin + if (pluginName->GetAsString() == + LoggingPlugin::PlaybackPluginName()) + { + ignwarn << "Both record and playback are specified. " + << "Ignoring record.\n"; + return; + } + + // Add path to plugin + sdf::ElementPtr pathElem = std::make_shared(); + pathElem->SetName("path"); + pluginElem->AddElementDescription(pathElem); + pathElem = pluginElem->GetElement("path"); + pathElem->AddValue("string", "", false, ""); + pathElem->Set(_config.LogRecordPath()); return; } } diff --git a/src/cmd/ign.cc b/src/cmd/ign.cc index b786d11e54..a4a58c129b 100644 --- a/src/cmd/ign.cc +++ b/src/cmd/ign.cc @@ -143,7 +143,7 @@ extern "C" IGNITION_GAZEBO_VISIBLE int runServer(const char *_sdfString, { ignLogInit(serverConfig.LogRecordPath(), "server_console.log"); } - + serverConfig.SetLogRecordPath(recordPathMod); ignmsg << "Ignition Gazebo Server v" << IGNITION_GAZEBO_VERSION_FULL diff --git a/test/integration/log_system.cc b/test/integration/log_system.cc index f6269c9c24..f305c3c0d3 100644 --- a/test/integration/log_system.cc +++ b/test/integration/log_system.cc @@ -384,10 +384,10 @@ TEST_F(LogSystemTest, LogPaths) "log_record_dbl_pendulum.sdf"); // Test case 1: - // A path is specified in SDF. + // A path is specified in SDF - a feature deprecated in Ignition Dome. // No path specified in C++ API. - // Should take SDF path. State log should be stored here. Console log is not - // initialized because ign.cc is not triggered. + // Should ignore SDF path. No default logging directory is initialized for + // state and console logs because ign.cc is not triggered. { // Change log path in SDF to build directory sdf::Root recordSdfRoot; @@ -408,10 +408,11 @@ TEST_F(LogSystemTest, LogPaths) recordServer.Run(true, 200, false); } - EXPECT_TRUE(common::exists(common::joinPaths(this->logDir, + // Check state.tlog is no longer stored to path specified in SDF + EXPECT_FALSE(common::exists(common::joinPaths(this->logDir, "state.tlog"))); #ifndef __APPLE__ - EXPECT_EQ(1, entryCount(this->logDir)); + EXPECT_EQ(0, entryCount(this->logDir)); #endif // Remove artifacts. Recreate new directory @@ -434,10 +435,10 @@ TEST_F(LogSystemTest, LogPaths) #endif // Test case 2: - // A path is specified in SDF. - // State log should be stored in SDF path. - // Console log should be stored to default timestamp path ignLogDirectory - // because ign.cc is triggered by command line. + // A path is specified in SDF - a feature deprecated in Ignition Dome. + // SDF path should be ignored. + // State log and console log should be stored to default timestamp path + // ignLogDirectory because ign.cc is triggered by command line. { // Change log path in SDF to build directory sdf::Root recordSdfRoot; @@ -448,7 +449,6 @@ TEST_F(LogSystemTest, LogPaths) // Save changed SDF to temporary file std::string tmpRecordSdfPath = common::joinPaths(this->logsDir, "with_record_path.sdf"); - // TODO(anyone): Does this work on Apple? std::ofstream ofs(tmpRecordSdfPath); ofs << recordSdfRoot.Element()->ToString("").c_str(); ofs.close(); @@ -463,11 +463,11 @@ TEST_F(LogSystemTest, LogPaths) std::cout << output << std::endl; } - // Check state.tlog is stored to path specified in SDF - EXPECT_TRUE(common::exists(common::joinPaths(this->logDir, + // Check state.tlog is no longer stored to path specified in SDF + EXPECT_FALSE(common::exists(common::joinPaths(this->logDir, "state.tlog"))); #ifndef __APPLE__ - EXPECT_EQ(1, entryCount(this->logDir)); + EXPECT_EQ(0, entryCount(this->logDir)); // Check the diff of list of files in directory, and assume there is // a single diff, it being the newly created log directory from the run above. @@ -485,7 +485,9 @@ TEST_F(LogSystemTest, LogPaths) EXPECT_TRUE(common::exists(timestampPath)); EXPECT_TRUE(common::exists(common::joinPaths(timestampPath, "server_console.log"))); - EXPECT_EQ(1, entryCount(timestampPath)); + EXPECT_TRUE(common::exists(common::joinPaths(timestampPath, + "state.tlog"))); + EXPECT_EQ(2, entryCount(timestampPath)); #endif // Remove artifacts. Recreate new directory @@ -493,15 +495,12 @@ TEST_F(LogSystemTest, LogPaths) this->CreateLogsDir(); // Test case 3: - // A path is specified in SDF. - // A different path is specified via C++ API. - // Should store state.tlog to SDF path. Console log is not initialized - // because ign.cc is not triggered. + // A path is specified in SDF - a feature deprecated in Ignition Dome. + // Empty path is specified via C++ API. + // Should ignore SDF path. No default logging directory is initialized for + // state and console logs because ign.cc is not triggered. std::string stateLogPath = this->logDir; - std::string consoleLogPath = common::joinPaths(this->logsDir, "console"); - common::createDirectories(consoleLogPath); - { // Change log path in SDF to build directory sdf::Root recordSdfRoot; @@ -525,12 +524,10 @@ TEST_F(LogSystemTest, LogPaths) // tlog-journal file } - EXPECT_TRUE(common::exists(common::joinPaths(stateLogPath, "state.tlog"))); + EXPECT_FALSE(common::exists(common::joinPaths(stateLogPath, "state.tlog"))); #ifndef __APPLE__ - EXPECT_EQ(1, entryCount(stateLogPath)); - EXPECT_EQ(0, entryCount(consoleLogPath)); + EXPECT_EQ(0, entryCount(stateLogPath)); #endif - common::removeAll(consoleLogPath); // Remove artifacts. Recreate new directory this->RemoveLogsDir(); From ec671df4d0194b16a016b448d35c3aa98f563b5c Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Fri, 13 Mar 2020 15:53:54 +0800 Subject: [PATCH 027/202] Added support for removing sensors at runtime --- .../ignition/gazebo/rendering/RenderUtil.hh | 8 ++-- src/rendering/RenderUtil.cc | 11 ++--- src/systems/sensors/Sensors.cc | 47 +++++++++++++++++-- src/systems/sensors/Sensors.hh | 6 ++- 4 files changed, 56 insertions(+), 16 deletions(-) diff --git a/include/ignition/gazebo/rendering/RenderUtil.hh b/include/ignition/gazebo/rendering/RenderUtil.hh index 3e33a7e055..f914c8e687 100644 --- a/include/ignition/gazebo/rendering/RenderUtil.hh +++ b/include/ignition/gazebo/rendering/RenderUtil.hh @@ -104,11 +104,11 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \brief Set whether to create rendering sensors /// \param[in] _enable True to create rendering sensors /// \param[in] _createSensorCb Callback function for creating the sensors - /// The callback function args are: sensor sdf, and parent name, and - /// returns the name of the rendering sensor created. + /// The callback function args are: sensor entity, sensor sdf + /// and parent name, it returns the name of the rendering sensor created. public: void SetEnableSensors(bool _enable, std::function< - std::string(const sdf::Sensor &, const std::string &)> - _createSensorCb = {}); + std::string(const gazebo::Entity &, const sdf::Sensor &, + const std::string &)> _createSensorCb = {}); /// \brief Get the scene manager /// Returns reference to the scene manager. diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 8cd0e6deb7..0ac9d0a3f1 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -172,9 +172,8 @@ class ignition::gazebo::RenderUtilPrivate /// \brief Callback function for creating sensors. /// The function args are: entity id, sensor sdf, and parent name. /// The function returns the id of the rendering sensor created. - public: std::function< - std::string(const sdf::Sensor &, const std::string &)> - createSensorCb; + public: std::function createSensorCb; /// \brief Entity currently being selected. public: rendering::NodePtr selectedEntity{nullptr}; @@ -367,7 +366,7 @@ void RenderUtil::Update() } std::string sensorName = - this->dataPtr->createSensorCb(dataSdf, parentNode->Name()); + this->dataPtr->createSensorCb(entity, dataSdf, parentNode->Name()); // Add to the system's scene manager if (!this->dataPtr->sceneManager.AddSensor(entity, sensorName, parent)) { @@ -1022,8 +1021,8 @@ void RenderUtil::SetUseCurrentGLContext(bool _enable) ///////////////////////////////////////////////// void RenderUtil::SetEnableSensors(bool _enable, - std::function - _createSensorCb) + std::function _createSensorCb) { this->dataPtr->enableSensors = _enable; this->dataPtr->createSensorCb = std::move(_createSensorCb); diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc index e772c5cba1..84f7ee59a3 100644 --- a/src/systems/sensors/Sensors.cc +++ b/src/systems/sensors/Sensors.cc @@ -59,7 +59,6 @@ class ignition::gazebo::systems::SensorsPrivate public: RenderUtil renderUtil; /// \brief Unique set of sensor ids - // TODO(anyone) Remove element when sensor is deleted public: std::set sensorIds; /// \brief rendering scene to be managed by the scene manager and used to @@ -72,6 +71,12 @@ class ignition::gazebo::systems::SensorsPrivate // TODO(anyone) Remove element when sensor is deleted public: std::map cameras; + /// \brief Maps sensor ID to gazebo entity + /// + /// Useful for detecting when a sensor Entity has been deleted and trigger + /// the destruction of the corresponding ignition::sensors Sensor object + public: std::map idToEntityMap; + /// \brief Flag to indicate if worker threads are running public: std::atomic running { false }; @@ -148,6 +153,10 @@ class ignition::gazebo::systems::SensorsPrivate /// \brief Stop the rendering thread public: void Stop(); + + /// \brief Checks if any Sensor Entity has been removed and performs + /// cleanup of the corresponding sensor and map entries. + public: void SensorCleanup(const EntityComponentManager &_ecm); }; ////////////////////////////////////////////////// @@ -287,6 +296,31 @@ void SensorsPrivate::Stop() } } +////////////////////////////////////////////////// +void SensorsPrivate::SensorCleanup(const EntityComponentManager &_ecm) +{ + std::set removedSensors; + for (auto id : this->sensorIds) + { + auto entityMapIt = this->idToEntityMap.find(id); + // entityMapIt should always be valid + if(entityMapIt != this->idToEntityMap.end()) + { + // Check that the entity still exists in gazebo + Entity entity = entityMapIt->second; + if (_ecm.HasEntity(entity) == false) + removedSensors.insert(entityMapIt->first); + } + } + for (const auto &id : removedSensors) + { + // TODO(anyone) remove entry from this->cameras here + this->sensorIds.erase(id); + this->sensorManager.Remove(id); + this->idToEntityMap.erase(id); + } +} + ////////////////////////////////////////////////// Sensors::Sensors() : System(), dataPtr(std::make_unique()) { @@ -312,7 +346,7 @@ void Sensors::Configure(const Entity &/*_id*/, this->dataPtr->renderUtil.SetEngineName(engineName); this->dataPtr->renderUtil.SetEnableSensors(true, std::bind(&Sensors::CreateSensor, this, - std::placeholders::_1, std::placeholders::_2)); + std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); this->dataPtr->stopConn = _eventMgr.Connect( std::bind(&SensorsPrivate::Stop, this->dataPtr.get())); @@ -350,6 +384,8 @@ void Sensors::PostUpdate(const UpdateInfo &_info, if (this->dataPtr->running && this->dataPtr->initialized) { this->dataPtr->renderUtil.UpdateFromECM(_info, _ecm); + // Performs cleanup for removed sensors + this->dataPtr->SensorCleanup(_ecm); auto time = math::durationToSecNsec(_info.simTime); auto t = common::Time(time.first, time.second); @@ -403,8 +439,8 @@ void Sensors::PostUpdate(const UpdateInfo &_info, } ////////////////////////////////////////////////// -std::string Sensors::CreateSensor(const sdf::Sensor &_sdf, - const std::string &_parentName) +std::string Sensors::CreateSensor(const Entity &_entity, + const sdf::Sensor &_sdf, const std::string &_parentName) { if (_sdf.Type() == sdf::SensorType::NONE) { @@ -416,6 +452,9 @@ std::string Sensors::CreateSensor(const sdf::Sensor &_sdf, auto sensorId = this->dataPtr->sensorManager.CreateSensor(_sdf); auto sensor = this->dataPtr->sensorManager.Sensor(sensorId); + // Add to sensorID -> entity map + this->dataPtr->idToEntityMap.insert({sensorId, _entity}); + if (nullptr == sensor || sensors::NO_SENSOR == sensor->Id()) { ignerr << "Failed to create sensor [" << _sdf.Name() diff --git a/src/systems/sensors/Sensors.hh b/src/systems/sensors/Sensors.hh index 852801be3f..56522eb5b3 100644 --- a/src/systems/sensors/Sensors.hh +++ b/src/systems/sensors/Sensors.hh @@ -59,11 +59,13 @@ namespace systems const EntityComponentManager &_ecm) final; /// \brief Create a rendering sensor from sdf + /// \param[in] _entity Entity of the sensor /// \param[in] _sdf SDF description of the sensor /// \param[in] _parentName Name of parent that the sensor is attached to /// \return Sensor name - private : std::string CreateSensor(const sdf::Sensor &_sdf, - const std::string &_parentName); + private : std::string CreateSensor(const Entity& _entity, + const sdf::Sensor &_sdf, + const std::string &_parentName); /// \brief Private data pointer. private: std::unique_ptr dataPtr; From d947a3e528d75263753e0c2264eee1675999d5ea Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 13 Mar 2020 14:13:02 -0700 Subject: [PATCH 028/202] add visibility flags/mask components, apply them to visuals, add demo world. --- examples/worlds/visibility.sdf | 369 ++++++++++++++++++ .../ignition/gazebo/components/Visibility.hh | 47 +++ src/SdfEntityCreator.cc | 3 + src/SdfEntityCreator_TEST.cc | 10 + src/gui/plugins/scene3d/Scene3D.cc | 21 + src/gui/plugins/scene3d/Scene3D.hh | 7 + src/rendering/RenderUtil.cc | 7 + src/rendering/SceneManager.cc | 3 + 8 files changed, 467 insertions(+) create mode 100644 examples/worlds/visibility.sdf create mode 100644 include/ignition/gazebo/components/Visibility.hh diff --git a/examples/worlds/visibility.sdf b/examples/worlds/visibility.sdf new file mode 100644 index 0000000000..7836d113a3 --- /dev/null +++ b/examples/worlds/visibility.sdf @@ -0,0 +1,369 @@ + + + + + + + 0.001 + 1.0 + + + + + ogre2 + + + + + + + + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + + + + 3D View + false + docked + + + ogre2 + scene + 1.0 1.0 1.0 + 0.8 0.8 0.8 + -6 0 6 0 0.5 0 + 0x05 + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + /world/shapes/control + /world/shapes/stats + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + /world/shapes/stats + + + + + + + RGB camera 0x01 + docked + + camera_0x01 + false + + + + + RGB camera 0x02 + docked + + camera_0x02 + false + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 0 0 0.5 0 0 0 + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 1.0 + + + + + 1 1 1 + + + + + + 0x01 + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + + + 0 -1.5 0.5 0 0 0 + + + + 2 + 0 + 0 + 2 + 0 + 2 + + 2.0 + + + + + 0.5 + 1.0 + + + + + + 0x02 + + + 0.5 + 1.0 + + + + 0 1 0 1 + 0 1 0 1 + 0 1 0 1 + + false + + + + + + 0 1.5 0.5 0 0 0 + + + + 3 + 0 + 0 + 3 + 0 + 3 + + 3.0 + + + + + 0.5 + + + + + + 0x04 + + + 0.5 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + + + + + + + true + 5 0 0.5 0 0.0 3.14 + + 0.05 0.05 0.05 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + + 0x01 + 1.047 + + 320 + 240 + + + 0.1 + 100 + + + 1 + 30 + true + camera_0x01 + + + + + + true + 5 0.5 0.5 0 0.0 3.14 + + 0.05 0.05 0.05 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + + 0x02 + 1.047 + + 320 + 240 + + + 0.1 + 100 + + + 1 + 30 + true + camera_0x02 + + + + + + diff --git a/include/ignition/gazebo/components/Visibility.hh b/include/ignition/gazebo/components/Visibility.hh new file mode 100644 index 0000000000..b5aa7844e2 --- /dev/null +++ b/include/ignition/gazebo/components/Visibility.hh @@ -0,0 +1,47 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ +#ifndef IGNITION_GAZEBO_COMPONENTS_VISIBILITY_HH_ +#define IGNITION_GAZEBO_COMPONENTS_VISIBILITY_HH_ + +#include +#include +#include +#include + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { +namespace components +{ + /// \brief This component holds an entity's visibilty flags (visual entities) + using VisibilityFlags = Component; + IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.VisibilityFlags", + VisibilityFlags) + + /// \brief This component holds an entity's visibilty mask (camera entities) + using VisibilityMask = Component; + IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.VisibilityMask", + VisibilityMask) +} +} +} +} + +#endif diff --git a/src/SdfEntityCreator.cc b/src/SdfEntityCreator.cc index 517bd686e4..7841c5033c 100644 --- a/src/SdfEntityCreator.cc +++ b/src/SdfEntityCreator.cc @@ -59,6 +59,7 @@ #include "ignition/gazebo/components/Sensor.hh" #include "ignition/gazebo/components/Static.hh" #include "ignition/gazebo/components/ThreadPitch.hh" +#include "ignition/gazebo/components/Visibility.hh" #include "ignition/gazebo/components/Visual.hh" #include "ignition/gazebo/components/WindMode.hh" #include "ignition/gazebo/components/World.hh" @@ -423,6 +424,8 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Visual *_visual) components::Name(_visual->Name())); this->dataPtr->ecm->CreateComponent(visualEntity, components::CastShadows(_visual->CastShadows())); + this->dataPtr->ecm->CreateComponent(visualEntity, + components::VisibilityFlags(_visual->VisibilityFlags())); if (_visual->Geom()) { diff --git a/src/SdfEntityCreator_TEST.cc b/src/SdfEntityCreator_TEST.cc index cfaaf39f67..ae92084cd9 100644 --- a/src/SdfEntityCreator_TEST.cc +++ b/src/SdfEntityCreator_TEST.cc @@ -42,6 +42,7 @@ #include "ignition/gazebo/components/ParentEntity.hh" #include "ignition/gazebo/components/ParentLinkName.hh" #include "ignition/gazebo/components/Pose.hh" +#include "ignition/gazebo/components/Visibility.hh" #include "ignition/gazebo/components/Visual.hh" #include "ignition/gazebo/components/World.hh" #include "ignition/gazebo/SdfEntityCreator.hh" @@ -355,6 +356,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) this->ecm.Each( @@ -362,6 +364,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) const components::Visual *_visual, const components::Geometry *_geometry, const components::Material *_material, + const components::VisibilityFlags *_visibilityFlags, const components::Pose *_pose, const components::ParentEntity *_parent, const components::Name *_name)->bool @@ -369,6 +372,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) EXPECT_NE(nullptr, _visual); EXPECT_NE(nullptr, _geometry); EXPECT_NE(nullptr, _material); + EXPECT_NE(nullptr, _visibilityFlags); EXPECT_NE(nullptr, _pose); EXPECT_NE(nullptr, _parent); EXPECT_NE(nullptr, _name); @@ -394,6 +398,8 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) EXPECT_EQ(math::Color(1, 0, 0), _material->Data().Ambient()); EXPECT_EQ(math::Color(1, 0, 0), _material->Data().Diffuse()); EXPECT_EQ(math::Color(1, 0, 0), _material->Data().Specular()); + + EXPECT_EQ(65535u, _visibilityFlags->Data()); } else if (visualCount == 2) { @@ -414,6 +420,8 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) EXPECT_EQ(math::Color(0, 1, 0), _material->Data().Ambient()); EXPECT_EQ(math::Color(0, 1, 0), _material->Data().Diffuse()); EXPECT_EQ(math::Color(0, 1, 0), _material->Data().Specular()); + + EXPECT_EQ(65535u, _visibilityFlags->Data()); } else if (visualCount == 3) { @@ -433,6 +441,8 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) EXPECT_EQ(math::Color(0, 0, 1), _material->Data().Ambient()); EXPECT_EQ(math::Color(0, 0, 1), _material->Data().Diffuse()); EXPECT_EQ(math::Color(0, 0, 1), _material->Data().Specular()); + + EXPECT_EQ(65535u, _visibilityFlags->Data()); } return true; }); diff --git a/src/gui/plugins/scene3d/Scene3D.cc b/src/gui/plugins/scene3d/Scene3D.cc index b768c4f75b..1fda2a526d 100644 --- a/src/gui/plugins/scene3d/Scene3D.cc +++ b/src/gui/plugins/scene3d/Scene3D.cc @@ -707,6 +707,7 @@ void IgnRenderer::Initialize() this->dataPtr->camera->SetImageHeight(this->textureSize.height()); this->dataPtr->camera->SetAntiAliasing(8); this->dataPtr->camera->SetHFOV(M_PI * 0.5); + this->dataPtr->camera->SetVisibilityMask(this->visibilityMask); // setting the size and calling PreRender should cause the render texture to // be rebuilt this->dataPtr->camera->PreRender(); @@ -1249,6 +1250,20 @@ void Scene3D::LoadConfig(const tinyxml2::XMLElement *_pluginElem) renderWindow->SetFollowOffset(offset); } } + + if (auto elem = _pluginElem->FirstChildElement("visibility_mask")) + { + uint32_t visibilityMask = 0xFFFFFFFFu; + std::stringstream visibilityMaskStr; + visibilityMaskStr << std::string(elem->GetText()); + bool isHex = common::lowercase( + visibilityMaskStr.str()).compare(0, 2, "0x") == 0; + if (isHex) + visibilityMaskStr >> std::hex >> visibilityMask; + else + visibilityMaskStr >> visibilityMask; + renderWindow->SetVisibilityMask(visibilityMask); + } } // transform mode @@ -1442,6 +1457,12 @@ void RenderWindowItem::SetWorldName(const std::string &_name) this->dataPtr->renderThread->ignRenderer.worldName = _name; } +///////////////////////////////////////////////// +void RenderWindowItem::SetVisibilityMask(uint32_t _mask) +{ + this->dataPtr->renderThread->ignRenderer.visibilityMask = _mask; +} + ///////////////////////////////////////////////// void RenderWindowItem::mousePressEvent(QMouseEvent *_e) { diff --git a/src/gui/plugins/scene3d/Scene3D.hh b/src/gui/plugins/scene3d/Scene3D.hh index d479f57421..f005476a18 100644 --- a/src/gui/plugins/scene3d/Scene3D.hh +++ b/src/gui/plugins/scene3d/Scene3D.hh @@ -240,6 +240,9 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \brief Name of the world public: std::string worldName; + /// \brief Camera visibility mask + public: uint32_t visibilityMask = 0xFFFFFFFFu; + /// \brief True if engine has been initialized; public: bool initialized = false; @@ -307,6 +310,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \param[in] _pose Pose to set the camera to public: void SetCameraPose(const math::Pose3d &_pose); + /// \brief Set the user camera visibility mask + /// \param[in] _mask Visibility mask to set to + public: void SetVisibilityMask(uint32_t _mask); + /// \brief Set the transform mode /// \param[in] _mode New transform mode to set to public: void SetTransformMode(const std::string &_mode); diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 8cd0e6deb7..681d5724dd 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -55,6 +55,7 @@ #include "ignition/gazebo/components/Pose.hh" #include "ignition/gazebo/components/RgbdCamera.hh" #include "ignition/gazebo/components/Scene.hh" +#include "ignition/gazebo/components/Visibility.hh" #include "ignition/gazebo/components/Visual.hh" #include "ignition/gazebo/components/World.hh" #include "ignition/gazebo/EntityComponentManager.hh" @@ -506,6 +507,7 @@ void RenderUtilPrivate::CreateRenderingEntities( _ecm.Each( [&](const Entity &_entity, const components::Visual *, @@ -513,6 +515,7 @@ void RenderUtilPrivate::CreateRenderingEntities( const components::Pose *_pose, const components::Geometry *_geom, const components::CastShadows *_castShadows, + const components::VisibilityFlags *_visibilityFlags, const components::ParentEntity *_parent)->bool { sdf::Visual visual; @@ -520,6 +523,7 @@ void RenderUtilPrivate::CreateRenderingEntities( visual.SetRawPose(_pose->Data()); visual.SetGeom(_geom->Data()); visual.SetCastShadows(_castShadows->Data()); + visual.SetVisibilityFlags(_visibilityFlags->Data()); // Optional components auto material = _ecm.Component(_entity); @@ -656,6 +660,7 @@ void RenderUtilPrivate::CreateRenderingEntities( _ecm.EachNew( [&](const Entity &_entity, const components::Visual *, @@ -663,6 +668,7 @@ void RenderUtilPrivate::CreateRenderingEntities( const components::Pose *_pose, const components::Geometry *_geom, const components::CastShadows *_castShadows, + const components::VisibilityFlags *_visibilityFlags, const components::ParentEntity *_parent)->bool { sdf::Visual visual; @@ -670,6 +676,7 @@ void RenderUtilPrivate::CreateRenderingEntities( visual.SetRawPose(_pose->Data()); visual.SetGeom(_geom->Data()); visual.SetCastShadows(_castShadows->Data()); + visual.SetVisibilityFlags(_visibilityFlags->Data()); // Optional components auto material = _ecm.Component(_entity); diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 24e9ded6eb..d8cf1bdf49 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -291,6 +291,9 @@ rendering::VisualPtr SceneManager::CreateVisual(Entity _id, << std::endl; } + // visibility flags + visualVis->SetVisibilityFlags(_visual.VisibilityFlags()); + this->dataPtr->visuals[_id] = visualVis; if (parent) parent->AddChild(visualVis); From 9a775c6027b9c1382de38e3b01c4f6f333f829bd Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 13 Mar 2020 14:23:31 -0700 Subject: [PATCH 029/202] changelog --- Changelog.md | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/Changelog.md b/Changelog.md index 85dbdf849f..edcdf049de 100644 --- a/Changelog.md +++ b/Changelog.md @@ -4,8 +4,11 @@ ### Ignition Gazebo 4.0.0 (20XX-XX-XX) -1. Support and - * [Pull Request 542](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/542) +1. Add support for visual visibility flags and camera visibility mask + * [pull request 559](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/559) + +1. support and + * [pull request 542](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/542) 1. Depend on ign-rendering4, ign-gui4, ign-sensors4 * [Pull Request 540](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/540) From c4d04633f1bb7822cb1fee9d3274cca396fcd73f Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Mon, 16 Mar 2020 13:30:11 +0800 Subject: [PATCH 030/202] Change sensor cleanup to use ecm EachRemoved function --- src/systems/sensors/Sensors.cc | 39 ++++++++++++++-------------------- 1 file changed, 16 insertions(+), 23 deletions(-) diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc index 84f7ee59a3..2a85937ff6 100644 --- a/src/systems/sensors/Sensors.cc +++ b/src/systems/sensors/Sensors.cc @@ -71,11 +71,11 @@ class ignition::gazebo::systems::SensorsPrivate // TODO(anyone) Remove element when sensor is deleted public: std::map cameras; - /// \brief Maps sensor ID to gazebo entity + /// \brief Maps gazebo entity to its matching sensor ID /// /// Useful for detecting when a sensor Entity has been deleted and trigger /// the destruction of the corresponding ignition::sensors Sensor object - public: std::map idToEntityMap; + public: std::map entityToIdMap; /// \brief Flag to indicate if worker threads are running public: std::atomic running { false }; @@ -299,26 +299,19 @@ void SensorsPrivate::Stop() ////////////////////////////////////////////////// void SensorsPrivate::SensorCleanup(const EntityComponentManager &_ecm) { - std::set removedSensors; - for (auto id : this->sensorIds) - { - auto entityMapIt = this->idToEntityMap.find(id); - // entityMapIt should always be valid - if(entityMapIt != this->idToEntityMap.end()) - { - // Check that the entity still exists in gazebo - Entity entity = entityMapIt->second; - if (_ecm.HasEntity(entity) == false) - removedSensors.insert(entityMapIt->first); - } - } - for (const auto &id : removedSensors) - { - // TODO(anyone) remove entry from this->cameras here - this->sensorIds.erase(id); - this->sensorManager.Remove(id); - this->idToEntityMap.erase(id); - } + _ecm.EachRemoved( + [&](const Entity &_entity, + const components::Camera *)->bool + { + auto idIter = this->entityToIdMap.find(_entity); + if (idIter != this->entityToIdMap.end()) + { + this->sensorIds.erase(idIter->second); + this->sensorManager.Remove(idIter->second); + this->entityToIdMap.erase(idIter); + } + return true; + }); } ////////////////////////////////////////////////// @@ -453,7 +446,7 @@ std::string Sensors::CreateSensor(const Entity &_entity, auto sensor = this->dataPtr->sensorManager.Sensor(sensorId); // Add to sensorID -> entity map - this->dataPtr->idToEntityMap.insert({sensorId, _entity}); + this->dataPtr->entityToIdMap.insert({_entity, sensorId}); if (nullptr == sensor || sensors::NO_SENSOR == sensor->Id()) { From aaaa2f41d41c8f78846b2acb1e161949d7e96720 Mon Sep 17 00:00:00 2001 From: maryaB Date: Tue, 17 Mar 2020 09:21:11 -0700 Subject: [PATCH 031/202] Point cloud to mesh tutorial From 76f0353707f5b719ea637c0be03fc3f4a0385ae2 Mon Sep 17 00:00:00 2001 From: maryaB Date: Tue, 17 Mar 2020 09:28:40 -0700 Subject: [PATCH 032/202] forgot to add everything --- .../files/point_cloud_to_mesh/blobshape.png | Bin 0 -> 301279 bytes .../point_cloud_to_mesh/completemesh.png | Bin 0 -> 597071 bytes .../files/point_cloud_to_mesh/minspace.png | Bin 0 -> 65783 bytes .../files/point_cloud_to_mesh/newcloud.png | Bin 0 -> 107432 bytes .../files/point_cloud_to_mesh/normals.png | Bin 0 -> 75285 bytes tutorials/files/point_cloud_to_mesh/open.png | Bin 0 -> 21782 bytes .../point_cloud_to_mesh/outputdensity.png | Bin 0 -> 32293 bytes .../point_cloud_to_mesh/poissonrecon.png | Bin 0 -> 52021 bytes .../files/point_cloud_to_mesh/polygons.png | Bin 0 -> 255911 bytes .../point_cloud_to_mesh/removepolygons.png | Bin 0 -> 67343 bytes .../files/point_cloud_to_mesh/scalarfield.png | Bin 0 -> 12982 bytes .../files/point_cloud_to_mesh/splitmesh.png | Bin 0 -> 24205 bytes .../files/point_cloud_to_mesh/subsample.png | Bin 0 -> 39892 bytes .../point_cloud_to_mesh/triangulation.png | Bin 0 -> 44833 bytes tutorials/point_cloud_to_mesh.md | 128 ++++++++++++++++++ 15 files changed, 128 insertions(+) create mode 100644 tutorials/files/point_cloud_to_mesh/blobshape.png create mode 100644 tutorials/files/point_cloud_to_mesh/completemesh.png create mode 100644 tutorials/files/point_cloud_to_mesh/minspace.png create mode 100644 tutorials/files/point_cloud_to_mesh/newcloud.png create mode 100644 tutorials/files/point_cloud_to_mesh/normals.png create mode 100644 tutorials/files/point_cloud_to_mesh/open.png create mode 100644 tutorials/files/point_cloud_to_mesh/outputdensity.png create mode 100644 tutorials/files/point_cloud_to_mesh/poissonrecon.png create mode 100644 tutorials/files/point_cloud_to_mesh/polygons.png create mode 100644 tutorials/files/point_cloud_to_mesh/removepolygons.png create mode 100644 tutorials/files/point_cloud_to_mesh/scalarfield.png create mode 100644 tutorials/files/point_cloud_to_mesh/splitmesh.png create mode 100644 tutorials/files/point_cloud_to_mesh/subsample.png create mode 100644 tutorials/files/point_cloud_to_mesh/triangulation.png create mode 100644 tutorials/point_cloud_to_mesh.md diff --git a/tutorials/files/point_cloud_to_mesh/blobshape.png b/tutorials/files/point_cloud_to_mesh/blobshape.png new file mode 100644 index 0000000000000000000000000000000000000000..4999b8de3adcf58471824bf022c79b3abf44a3f6 GIT binary patch literal 301279 zcmY)VWmp_>mplv)J_MHl!5xAG2<~pdgS)%COVHpJ+=9EiTd)vxa1HJ{Nbsk3@BP2; z?tGbR`s$u(Ilnqpb!sA&6{XSM5xxU~Kxncu5??_eL=g}O4gm}cY$+V9{tmpsxr)iE zfx+O_Ev3I85IIOzLR8Hw`!vVXPj9IGJ}*PHRj!kv(t=a2!CbqA`aTL~^#;!-C;?MO zh6;X^X3yZ-U?VGmC}}N04|_nNjlvB!eFJs){rEbt`^0hgX-!KW-vyZ|indO*L=rc} z{p3AH;O@HWem1YA$3FKIlt=>1hDt?@E|*k9A4M&jS>jA=nMo@KrZ8*P*>Y4Q>+2T& z*J|0*jYg73&D)A`7^dW&>f8AF*VppS9=A_C2X7yc@@OW+ z>u!rnYr1|V=Xh?t^)|8+pdyC!8~x|)pCJNeCl83hdjug7sr?K=}V1@?S>|zqu%)X#KD6`R|RTIM4T=K>ue)#E?YP*9(2n|Nj^N zdrx78d}SH+`6GdHp15RlUSf1QwrUq1;(TSR4o74P#ZsK|iVADODd;Z_EGdy7P(Q&* 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Depending on the number of points in your point cloud, this could take several minutes. +Once loaded, you should see the following tunnel section: - +![Opening the point cloud](files/point_cloud_to_mesh/cloudcompare.png) Many 3D scans will be composed of millions, sometimes hundreds of millions of points. -Converting our scan to a 3D model with that many points will be very difficult due to the number of polygons that would be created and the long processing time necessary to compute the normals. +Converting a scan to a 3D model with that many points would be very difficult due to the number of polygons that would be created and the long processing time necessary to compute the normals. -To solve this, we need to reduce the number of points to something that will be easier for the software to convert and give us a 3D model with a polygon count that will be able to be loaded into other software. +To solve this, you would need to reduce the number of points to something that will be easier for the software to convert and give us a 3D model with a polygon count that will be able to be loaded into other software. + +Our sample is a relatively small 7.9 million points, which is manageable. +We'll still walk through reducing points, however, to make the process quicker. ### Reduce Points -To reduce the number of points in your cloud go to `Edit` > `Subsample` +To reduce the number of points in your cloud, click on the tunnel so a yellow cube outline appears around it, then go to `Edit` > `Subsample`. + +![Min. space between points](files/point_cloud_to_mesh/min_space.png) The number you will need to enter in the `min. space between points` field will vary depending on your point cloud. -A value of .01 was sufficient to bring our point cloud to a more reasonable 12 million points. +A value of .01 was sufficient to bring our point cloud to an easy-to-manage 1 million points. +Point count is visible in the `Properties` window on the lower left side of the screen. + +![Point count of subsample](files/point_cloud_to_mesh/properties.png) + How many points you reduce down to will largely depend on how long you are willing to wait for the point cloud to be converted into a mesh. The more points you start with, the longer it will take to compute the normals and create the mesh. -![Min. space between points](files/point_cloud_to_mesh/minspace.png) - After the operation is complete you’ll have two clouds in your scene: the original point cloud and your subsampled point cloud. Most operations in CloudCompare will create new point clouds and keep the original, so make sure that you have the new point cloud selected before running an operation. -![Selecting the new point cloud](files/point_cloud_to_mesh/newcloud.png) +![Selecting the new point cloud](files/point_cloud_to_mesh/secondcloud.png) ### Create a Polygonal Mesh -Now we have a point cloud with 12 million points instead of 94 million points. +Now we have a point cloud with nearly 1 million points instead of 7 million. However, right now our point cloud is just a bunch of points in space. In order to create a polygonal mesh from this point cloud we will need to compute the normals. A normal is essentially the direction a polygon is facing. -To do this, go to `Normals` > `Compute`. +To do this, go to `Edit` > `Normals` > `Compute`. You'll see this dialog box: -![Choose Triangulation surface model](files/point_cloud_to_mesh/triangulation.png) +![Choose Triangulation surface model](files/point_cloud_to_mesh/compute_normals.png) You’ll see various options in the dialog box that appears. The main thing you’ll want to consider is what `Local surface model` to use. @@ -74,55 +81,45 @@ Environments will likely be over a million polygons while individual objects sho We’ll also want to make sure we check the box for `output density as SF`. This will create a scalar field for us which will be useful in the next step. +After reconstruction, you can see polygon count (`Faces`) in the mesh's `Properties` window. + ### Trim Excess Polygons Our mesh has now been created. A value of 11 has given us 1.7 million faces. We have a problem however. -Our tunnels have turned into a blob shape. +Our tunnel has turned into a blob shape. This is because the mesh that CloudCompare creates will always be water tight even if it has to add polygons where there are no points. We just want our tunnels, though, so we need to remove those unnecessary polygons. -![The "blob shape"](files/point_cloud_to_mesh/blobshape.png) +![The "blob shape"](files/point_cloud_to_mesh/blob.png) This is where our scalar field comes in. -In the lower left go to `SF display params` and take the left handle in the graph and drag it to the right until it hits the area where the bulk of the scalar field starts. - -![Adjusting scalar filed params](files/point_cloud_to_mesh/scalarfield.png) +In the mesh's `Properties` window go to `SF display params` and take the left handle in the graph and drag it to the right until it hits the area where the bulk of the scalar field starts. - +![Adjusting scalar filed params](files/point_cloud_to_mesh/sf_display.png) This will display only the polygons that were created from the point cloud and hide the polygons used to make the model watertight. The polygons are only hidden however. We still need to actually remove them. -![Display original polygons](files/point_cloud_to_mesh/polygons.png) +![Display original polygons](files/point_cloud_to_mesh/hidden_polygons.png) -To remove the hidden polygons go to `Edit` > `Scalar field` > `Filter By Value`. +To remove the hidden polygons go to `Edit` > `Scalar fields` > `Filter By Value`. A dialog box will appear with the `Range` values automatically entered based on what we entered in our `SF display params`. -Hitting `Split` will create two meshes. -One with the polygons inside our specified range and one containing polygons outside that range. Hitting export will simply export the mesh within that range. +Instead, we'll hit `Split` to create two meshes. +One with the polygons inside our specified range and one containing polygons outside that range. -![Splitting the mesh](files/point_cloud_to_mesh/splitmesh.png) +![Splitting the mesh](files/point_cloud_to_mesh/split.png) ### The Completed Model By hitting `Split` we can view the model before exporting by simply going to `File` > `Save`. -Remember to have the correct mesh selected since choosing `Split` will give you two new meshes, plus you will still have your original, complete mesh. +Remember to have the correct mesh selected (`.part`) since choosing `Split` will give you two new meshes, plus you will still have your original, complete mesh. Your file format will depend on the software you want to use but `.obj` is a widely supported format that should work in most 3D applications. -![The completed mesh](files/point_cloud_to_mesh/completemesh.png) +![The completed mesh](files/point_cloud_to_mesh/complete.png) You can find more information on CloudCompare and a more in depth look at the tools we used in this tutorial on [the CloudCompare website](https://www.cloudcompare.org/) and the [CloudCompare wiki](https://www.cloudcompare.org/doc/wiki/index.php?title=Main_Page). - - From deb2542fe8094c40b42a9ca43091caa2f6fde8ae Mon Sep 17 00:00:00 2001 From: maryaB Date: Fri, 20 Mar 2020 14:39:43 -0700 Subject: [PATCH 044/202] added to main tutorials list --- tutorials.md.in | 1 + tutorials/point_cloud_to_mesh.md | 2 ++ 2 files changed, 3 insertions(+) diff --git a/tutorials.md.in b/tutorials.md.in index 838ef44e89..8f0512cde6 100644 --- a/tutorials.md.in +++ b/tutorials.md.in @@ -15,6 +15,7 @@ Ignition @IGN_DESIGNATION_CAP@ library and how to use the library effectively. * \subpage log "Logging": Record and play back time series of world state. * \subpage battery "Battery": Keep track of battery charge on robot models * \subpage debugging "Debugging": Information about debugging Gazebo. +* \subpage pointcloud "Converting a Point Cloud to a 3D Model": Turn point cloud data into 3D models for use in simulations ## License diff --git a/tutorials/point_cloud_to_mesh.md b/tutorials/point_cloud_to_mesh.md index f85a68b427..9aa55b669e 100644 --- a/tutorials/point_cloud_to_mesh.md +++ b/tutorials/point_cloud_to_mesh.md @@ -1,3 +1,5 @@ +\page pointcloud + # Converting a Point Cloud to a 3D Model In this tutorial, you will learn how to convert a point cloud to a 3D model using the open source software CloudCompare. From 0731d857e9cb149f17f5982c71ac88bab99550ff Mon Sep 17 00:00:00 2001 From: maryaB Date: Mon, 23 Mar 2020 09:58:29 -0700 Subject: [PATCH 045/202] importing a mesh to fuel tutorial --- examples/worlds/import_mesh.sdf | 147 ++++++++++++++ tutorials/files/mesh_to_fuel/delete.png | Bin 0 -> 12938 bytes tutorials/files/mesh_to_fuel/launch_world.png | Bin 0 -> 29865 bytes tutorials/files/mesh_to_fuel/model_info.png | Bin 0 -> 83572 bytes tutorials/mesh_to_fuel.md | 189 ++++++++++++++++++ 5 files changed, 336 insertions(+) create mode 100644 examples/worlds/import_mesh.sdf create mode 100644 tutorials/files/mesh_to_fuel/delete.png create mode 100644 tutorials/files/mesh_to_fuel/launch_world.png create mode 100644 tutorials/files/mesh_to_fuel/model_info.png create mode 100644 tutorials/mesh_to_fuel.md diff --git a/examples/worlds/import_mesh.sdf b/examples/worlds/import_mesh.sdf new file mode 100644 index 0000000000..6a31e7cbd2 --- /dev/null +++ b/examples/worlds/import_mesh.sdf @@ -0,0 +1,147 @@ + + + + + + 0.001 + 1.0 + + + + 1.0 1.0 1.0 1.0 + 0.8 0.8 0.8 1.0 + false + false + + + + + + + + + + + + + + 3D View + false + docked + + + ogre2 + scene + 1.0 1.0 1.0 + 0.8 0.8 0.8 + -2 0 2 0 0.5 0 + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + /world/fuel/control + /world/fuel/stats + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + /world/fuel/stats + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + + true + Electrical Box + 0 0 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Electrical Box + + + + diff --git a/tutorials/files/mesh_to_fuel/delete.png b/tutorials/files/mesh_to_fuel/delete.png new file mode 100644 index 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zW36{SP8KGmRud{YXVeFV`&ivG3hcgTSgHw`^Yq~{iB@^yAB$Tk`~5EMA>V;&G+HU& zMjjAG_mwj3?&2y`qQ|~80C?X6vg0aQPdH`SNDCB;x7icQ<_vdPA?kgSTZut7`StW2 z=!e=hsXB7O)oNA_JUhDFbq1_VWD5Dse9f(vWfTmj$Cq#Lqg*Crq?ECLFK@;kP9YF~ zwp`L5t=a{CKe3f@@Y>6uiBDDU`i7@luWtq?W7t1^{1I{`Xj}yvvGLm{b#ISS7FLTa zDdOZy=(5t^X*Qv|5O`~YBfPYY(B?u|l$JajuN|R`2)Rs*p0em;L8TAg}h9Ds{Y?JKlc9_&PXWj8v_sSZ8Q4 zd*d@-^p$V#p<%o|O`^cU-xe9&uwxSE$wR+peZKfId+&R=+`x>o>-ZlzoYmTd-nQ}P zuhnA+gT@V0#!zgK!;siS^}<|*%)m&yO;iKKiqTbGXo`T`=RQD=kp{cxma1MCsdJOH z^l-iz9^P^GTc(WKTNjK|)d(@6IijkA@Igovk6k6u2p-P?PeJ#K69RW@@Wb1*qYT%j z>{l$lrq1Y8Z@W#`=&B=I5zp$PlHmavqxb-)c5dOQP|;ZN!wNFP#%1Z}hq8RoZnD*J z6nbsVCwpvGJwelW$g#25*|b&vdpscDPM;742uD|fC#wOa)IT7=`h5QJ4FGBMsZinE zi6oPq$&tisM!V%TH2^Qh9MFFKjFYd1lk%EluM2nnkAi+3=v3`b + +## Prerequisites + +To import meshes to Fuel, you need to have a user account. +Go to [app.ignitionrobotics.org](app.ignitionrobotics.org) and click Login in the top right corner of the screen, then click Sign Up. +Once you verify your email address, your account will be ready. + +You'll need a mesh ready before trying to import to Fuel. +There are several ways to acquire a mesh. +To save time, we'll use this [Electrical Box model](https://app.ignitionrobotics.org/openrobotics/fuel/models/Electrical%20Box) that you can download from Fuel. + +## Model Directory Structure + + + +Fuel expects meshes to be contained inside model directories that follow a specific structure and format. +Download and unzip the Electrical Box model mentioned above, and you should see the structure of its contents as follows: + +``` +Electrical Box +├── materials Directory for textures + └── textures +├── meshes Directory for COLLADA, STL files +├── thumbnails Directory for preview images +├── model.config Meta data about the model +└── model.sdf SDF description of the model +``` + +A model directory needs to adhere to this file structure to successfully import to Fuel. +The contents of each directory and file are equally as important; each part is covered below. + +### Materials + +The `materials` directory is for textures, which must be in `.png` files. +Textures are optional; they provide color or detail to a mesh. +If you download a mesh online, the texture files should come with it. +Otherwise, you would have to use a 3D modeling tool to correctly design a texture. + +The Electrical Box's texture is under `materials` > `textures` > `Electrical Box.png`. + +### Meshes + +The `meshes` directory is where the actual mesh files go. +The mesh could be one of several 3D model file types: `.dae`, `.stl`, `.obj`, etc. +This file is produced with a 3D modeling tool. + +The Electrical Box's mesh is under `meshes` > `Electrical Box.dae` + +### Thumbnails + +Thumbnails are `.png` files named `1` through `5`. +Each contains a view of the model from a different angle to be displayed on the image carousel on its "Fuel Model Info" page. + +### model.config + +The `model.config` file is required in the root of the model directory. +It contains meta data about the model in XML format. +You have to create this file and add it to the model directory. + +Here is the Electrical Box's `model.config`: + +```xml + + + Electrical Box + 1.0 + model.sdf + + + Generated with mesh_to_sdf + https://bitbucket.org/osrf/mesh_to_sdf + + +``` + +Customize the `name` and `description` tags to fit your model. +The `sdf version` should ideally be the latest version. +Inside the `sdf` tags is the name of the SDF file describing your model. + +### model.sdf + +The Electrical Box's `model.sdf` file is as follows: + +```xml + + + + true + + 0 0 0 1.57 3.14159 0 + + + + model://Electrical Box/meshes/Electrical Box.dae + + + + + + + model://Electrical Box/meshes/Electrical Box.dae + + + + + + +``` + +You can learn more about SDF [here](http://sdformat.org/). +For this tutorial, it's mostly only important to take note of the `` tags. +Following `model://` is the path within the model directory to the mesh. + +## Upload to Fuel + +Once you have all your content accumulated in a model directory, you're ready to upload to Fuel. +Click on the `+` button at the top right corner of the page, next to your account button, and then select `Model`. + +Typically, you would try to ensure that the `Model name` field matches the `name` tags in both `model.config` and `model.sdf`, and the `Description` field matches its corresponding tag in `model.config`. + +For the sake of this tutorial, however, we're going to enter your model name as `Electrical Box Test` to differentiate it from the original. In the `Description` field, write something like `Test model for Importing a Mesh to Fuel tutorial`. + +Click the `Add folders` button, or drag and drop the `Electrical Box` folder you unzipped earlier into the labeled area. +All the files in your model description will be listed there. +Press `Upload`, and the "Fuel Model Info" page for your model will open. + +![](files/mesh_to_fuel/model_info.png) + +You can always delete a model by clicking the "Edit model" button and then selecting "Delete model" at the bottom of the page + +![](files/mesh_to_fuel/delete.png) + +## Include the Model in a World + +With your mesh successfully uploaded to Fuel, you can now easily include it in a world SDF file. + +Copy [this example world code]() into a text editor and save it as `import_mesh.sdf`. +This is a simple world SDF file, which you can learn more about on the [SDF website](http://sdformat.org/). + +Scroll all the way to the bottom of the file until you see the `include` tag section following the `` comment line. + +```xml + + + + + + .... + + + + true + Electrical Box + 0 0 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Electrical Box + + + + +``` + +The address between the `uri` tags is how you include your Fuel model in the world. +To include *your* model, not the original, change `openrobotics` to your Fuel username. +You also need to customize the last section of the URI to match your model's name on Fuel. +Change `Electrical Box` to `Electrical Box Test`. + +The syntax for including any model from Fuel is: + +```xml +https://fuel.ignitionrobotics.org/1.0//models/ +``` + +### Launch World + +To launch the world and see your mesh, run Ignition from inside the directory where you saved `import_mesh.sdf`: + +```bash +ign gazebo import_mesh.sdf +``` + +![Launch sample world with mesh](files/mesh_to_fuel/launch_world.png) From b350e69d57a9c72c6879d0f91fae077eea56994c Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Mon, 23 Mar 2020 12:19:32 -0700 Subject: [PATCH 046/202] add anim info --- .../ignition/gazebo/rendering/SceneManager.hh | 24 ++++- src/rendering/RenderUtil.cc | 53 +++++++++-- src/rendering/SceneManager.cc | 92 +++++++++++++------ 3 files changed, 130 insertions(+), 39 deletions(-) diff --git a/include/ignition/gazebo/rendering/SceneManager.hh b/include/ignition/gazebo/rendering/SceneManager.hh index 721e45f7e8..8769e9ebff 100644 --- a/include/ignition/gazebo/rendering/SceneManager.hh +++ b/include/ignition/gazebo/rendering/SceneManager.hh @@ -48,6 +48,17 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { // Forward declaration class SceneManagerPrivate; + /// \brief Scene manager class for loading and managing objects in the scene + class AnimInfo + { + public: std::chrono::steady_clock::duration time; + public: std::string name; + public: bool loop = false; + public: bool followTrajectory = false; + public: common::TrajectoryInfo trajectory; + public: bool valid = false; + }; + /// \brief Scene manager class for loading and managing objects in the scene class IGNITION_GAZEBO_VISIBLE SceneManager { @@ -140,9 +151,13 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \param[in] _time Timepoint for the animation /// \param[out] Trajectory of actor at specified time. /// \return Update time. - public: std::chrono::steady_clock::duration ActorTrajectoryAt( - Entity _id, const std::chrono::steady_clock::duration &_time, - common::TrajectoryInfo &_traj) const; + // public: std::chrono::steady_clock::duration ActorTrajectoryAt( + // Entity _id, const std::chrono::steady_clock::duration &_time, + // common::TrajectoryInfo &_traj) const; + + + public: AnimInfo ActorTrajectoryAt( + Entity _id, const std::chrono::steady_clock::duration &_time) const; /// \brief Get the animation of actor mesh given an id @@ -152,6 +167,9 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { public: std::map ActorMeshAnimationAt( Entity _id, std::chrono::steady_clock::duration _time) const; + public: AnimInfo ActorAnimationAt( + Entity _id, std::chrono::steady_clock::duration _time) const; + /// \brief Remove an entity by id /// \param[in] _id Entity's unique id public: void RemoveEntity(Entity _id); diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index b8b5ca4f9c..034b204294 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -163,14 +163,15 @@ class ignition::gazebo::RenderUtilPrivate public: std::map> actorTransforms; - /// \brief A map of entity ids and actor animation time. - public: std::map - actorAnimationTimes; + /// \brief A map of entity ids and actor animation info. + public: std::map + actorAnimationInfo; + public: std::string prevAnimName; /// \brief True to update skeletons manually using bone poses /// (see actorTransforms). False to let render engine update animation /// based on sim time. - public: bool actorManualSkeletonUpdate = true; + public: bool actorManualSkeletonUpdate = false; /// \brief Mutex to protect updates public: std::mutex updateMutex; @@ -256,7 +257,7 @@ void RenderUtil::Update() auto removeEntities = std::move(this->dataPtr->removeEntities); auto entityPoses = std::move(this->dataPtr->entityPoses); auto actorTransforms = std::move(this->dataPtr->actorTransforms); - auto actorAnimationTime = std::move(this->dataPtr->actorAnimationTimes); + auto actorAnimationInfo= std::move(this->dataPtr->actorAnimationInfo); this->dataPtr->newScenes.clear(); this->dataPtr->newModels.clear(); @@ -267,7 +268,7 @@ void RenderUtil::Update() this->dataPtr->removeEntities.clear(); this->dataPtr->entityPoses.clear(); this->dataPtr->actorTransforms.clear(); - this->dataPtr->actorAnimationTimes.clear(); + this->dataPtr->actorAnimationInfo.clear(); this->dataPtr->markerManager.Update(); @@ -430,13 +431,45 @@ void RenderUtil::Update() } else { - for (auto &it : this->dataPtr->actorAnimationTimes) + for (auto &it : actorAnimationInfo) { auto actorMesh = this->dataPtr->sceneManager.ActorMeshById(it.first); auto actorVisual = this->dataPtr->sceneManager.NodeById(it.first); if (!actorMesh || !actorVisual) continue; - actorMesh->UpdateSkeletonAnimation(it.second); + // actorMesh->UpdateSkeletonAnimation(it.second); + AnimInfo &info = it.second; + if (!info.valid) + { + ignerr << "invalid animation info" << std::endl; + continue; + } + // if (!actorMesh->SkeletonAnimationEnabled(info.name)) + // { + // // disable previous anim + // if (!this->dataPtr->prevAnimName.empty()) + // { + // actorMesh->SetSkeletonAnimationEnabled(this->dataPtr->prevAnimName, + // false, false, 0.0); + // } + // // disable previous anim + // // actorMesh->SetSkeletonAnimationEnabled(info.name, true, info.loop); + // actorMesh->SetSkeletonAnimationEnabled(info.name, true, info.loop); + // this->dataPtr->prevAnimName = info.name; + // } + // actorMesh->UpdateSkeletonAnimation(info.time); + + double timeSeconds = std::chrono::duration(info.time).count(); + std::cerr << "info: " << info.name << " " << timeSeconds << std::endl; + + common::PoseKeyFrame poseFrame(0.0); + if (info.followTrajectory) + info.trajectory.Waypoints()->InterpolatedKeyFrame(poseFrame); + + math::Pose3d actorPose; + actorPose.Pos() = poseFrame.Translation(); + actorPose.Rot() = poseFrame.Rotation(); + actorVisual->SetLocalPose(actorPose); } } } @@ -822,8 +855,8 @@ void RenderUtilPrivate::UpdateRenderingEntities( } else { -// this->actorAnimationTimes[_entity] = -// this->sceneManager.ActorMeshAnimationAt(_entity, this->simTime); + this->actorAnimationInfo[_entity] = + this->sceneManager.ActorAnimationAt(_entity, this->simTime); } return true; }); diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 7baaf27621..d3e067b091 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -851,28 +851,31 @@ rendering::MeshPtr SceneManager::ActorMeshById(Entity _id) const // } ///////////////////////////////////////////////// -std::chrono::steady_clock::duration SceneManager::ActorTrajectoryAt( +// std::chrono::steady_clock::duration SceneManager::ActorTrajectoryAt( +AnimInfo SceneManager::ActorTrajectoryAt( Entity _id, - const std::chrono::steady_clock::duration &_time, - common::TrajectoryInfo &_traj) const + const std::chrono::steady_clock::duration &_time) const { - _traj.SetId(-1); + // _traj.SetId(-1); + // auto trajIt = this->dataPtr->actorTrajectories.find(_id); + // if (trajIt == this->dataPtr->actorTrajectories.end()) + // { + // return _time; + // } + + AnimInfo info; auto trajIt = this->dataPtr->actorTrajectories.find(_id); if (trajIt == this->dataPtr->actorTrajectories.end()) - { - return _time; - } + return info; auto trajs = trajIt->second; bool followTraj = true; if (1 == trajs.size() && nullptr == trajs[0].Waypoints()) - { followTraj = false; - } auto firstTraj = trajs.begin(); - _traj = trajs[0]; + common::TrajectoryInfo traj = trajs[0]; // using TP = std::chrono::steady_clock::time_point; auto totalTime = trajs.rbegin()->EndTime() - trajs.begin()->StartTime(); @@ -910,16 +913,48 @@ std::chrono::steady_clock::duration SceneManager::ActorTrajectoryAt( if (trajectory.StartTime() - firstTraj->StartTime() <= time && trajectory.EndTime() - firstTraj->StartTime() >= time) { - _traj = trajectory; - time -= _traj.StartTime() - firstTraj->StartTime(); + traj = trajectory; + time -= traj.StartTime() - firstTraj->StartTime(); - _traj.Waypoints()->Time(std::chrono::duration(time).count()); + traj.Waypoints()->Time(std::chrono::duration(time).count()); break; } } } } - return time; + + // return time; + info.time = time; + info.loop = !noLoop; + info.followTrajectory = followTraj; + info.trajectory = traj; + info.valid = true; + return info; +} + +///////////////////////////////////////////////// +AnimInfo SceneManager::ActorAnimationAt( + Entity _id, std::chrono::steady_clock::duration _time) const +{ + AnimInfo animInfo; + auto trajIt = this->dataPtr->actorTrajectories.find(_id); + if (trajIt == this->dataPtr->actorTrajectories.end()) + return animInfo; + + auto skelIt = this->dataPtr->actorSkeletons.find(_id); + if (skelIt == this->dataPtr->actorSkeletons.end()) + return animInfo; + + animInfo = this->ActorTrajectoryAt(_id, _time); + // bool followTraj = animInfo.followTrajectory; + // bool noLoop = animInfo.loop; + // common::TrajectoryInfo traj = animInfo.trajectory; + // auto time = animInfo.time; + + auto skel = skelIt->second; + unsigned int animIndex = animInfo.trajectory.AnimIndex(); + animInfo.name = skel->Animation(animIndex)->Name(); + return animInfo; } ///////////////////////////////////////////////// @@ -936,18 +971,23 @@ std::map SceneManager::ActorMeshAnimationAt( // get the trajectory at input time // The time returned is the time at which the animation should be played - common::TrajectoryInfo traj; - auto time = this->ActorTrajectoryAt(_id, _time, traj); - - auto trajs = trajIt->second; - bool followTraj = true; - if (1 == trajs.size() && nullptr == trajs[0].Waypoints()) - { - followTraj = false; - } - - bool noLoop = trajs.rbegin()->StartTime() != TP(0ms) - && trajs.rbegin()->StartTime() == trajs.rbegin()->EndTime(); + // common::TrajectoryInfo traj; + // auto time = this->ActorTrajectoryAt(_id, _time, traj); + AnimInfo animInfo = this->ActorTrajectoryAt(_id, _time); + bool followTraj = animInfo.followTrajectory; + bool noLoop = animInfo.loop; + common::TrajectoryInfo traj = animInfo.trajectory; + auto time = animInfo.time; + + // auto trajs = trajIt->second; + // bool followTraj = true; + // if (1 == trajs.size() && nullptr == trajs[0].Waypoints()) + // { + // followTraj = false; + // } + + // bool noLoop = trajs.rbegin()->StartTime() != TP(0ms) + // && trajs.rbegin()->StartTime() == trajs.rbegin()->EndTime(); common::PoseKeyFrame poseFrame(0.0); From a7ca905df583820d98c7202f36f2a2e795eba869 Mon Sep 17 00:00:00 2001 From: jshep1 Date: Tue, 24 Mar 2020 13:59:03 -0700 Subject: [PATCH 047/202] Update transforms --- .../transform_control/TransformControl.qml | 18 ++++++++---------- src/rendering/RenderUtil.cc | 7 +++++++ 2 files changed, 15 insertions(+), 10 deletions(-) diff --git a/src/gui/plugins/transform_control/TransformControl.qml b/src/gui/plugins/transform_control/TransformControl.qml index 35fb69360e..d4537135bf 100644 --- a/src/gui/plugins/transform_control/TransformControl.qml +++ b/src/gui/plugins/transform_control/TransformControl.qml @@ -29,10 +29,10 @@ ToolBar { Layout.minimumHeight: 100 // TODO(anyone) enable scale button when support is added in ign-physics - // function activateScale() { - // scale.checked = true; - // TransformControl.OnMode("scale"); - // } + function activateScale() { + scale.checked = true; + TransformControl.OnMode("scale"); + } property color snapTitle: (Material.theme == Material.Light) ? Material.color(Material.Grey, Material.Shade900) : @@ -74,10 +74,10 @@ ToolBar { } // TODO(anyone) enable scale button when support is added in ign-physics - // Shortcut { - // sequence: "S" - // onActivated: activateScale() - // } + Shortcut { + sequence: "S" + onActivated: activateScale() + } Shortcut { sequence: "T" @@ -210,7 +210,6 @@ ToolBar { // TODO(anyone) enable scale snap values below when support is added in ign-physics // Also be sure to replace the placeholder 0's in all of the `OnSnapUpdate` calls in // this file to xScaleEntry.value, yScaleEntry.value, and zScaleEntry.value, respectively - /* ToolButton { id: scale text: "S" @@ -248,7 +247,6 @@ ToolBar { TransformControl.OnMode("scale") } } - */ ToolButton { id: snap diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 9eb9f16d8c..9b851ba889 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -1158,6 +1158,12 @@ void RenderUtil::SetSelectedEntity(const rendering::NodePtr &_node) ignition::rendering::WireBoxPtr wireBox = this->dataPtr->scene->CreateWireBox(); ignition::math::AxisAlignedBox aabb = vis->BoundingBox(); + + // Transform bounding box from world to local + aabb.Min() -= vis->WorldPosition(); + aabb.Max() -= vis->WorldPosition(); + aabb.Min() /= vis->WorldScale(); + aabb.Max() /= vis->WorldScale(); wireBox->SetBox(aabb); // Create visual and add wire box @@ -1167,6 +1173,7 @@ void RenderUtil::SetSelectedEntity(const rendering::NodePtr &_node) wireBoxVis->SetMaterial(gray); vis->AddChild(wireBoxVis); + // Add wire box to map for setting visibility this->dataPtr->wireBoxes.insert( std::pair(entityId, wireBox)); } From 05f9c2c1ec656f65760b3b0be4d9b4636ede35f8 Mon Sep 17 00:00:00 2001 From: jshep1 Date: Tue, 24 Mar 2020 18:06:49 -0700 Subject: [PATCH 048/202] Add rotation --- src/rendering/RenderUtil.cc | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 9b851ba889..226b442c5c 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -1158,10 +1158,13 @@ void RenderUtil::SetSelectedEntity(const rendering::NodePtr &_node) ignition::rendering::WireBoxPtr wireBox = this->dataPtr->scene->CreateWireBox(); ignition::math::AxisAlignedBox aabb = vis->BoundingBox(); - + // Transform bounding box from world to local - aabb.Min() -= vis->WorldPosition(); - aabb.Max() -= vis->WorldPosition(); + ignition::math::Pose3d worldPose = vis->WorldPose(); + aabb.Min() -= worldPose.Pos(); + aabb.Max() -= worldPose.Pos(); + aabb.Min() = worldPose.Rot().Inverse() * aabb.Min(); + aabb.Max() = worldPose.Rot().Inverse() * aabb.Max(); aabb.Min() /= vis->WorldScale(); aabb.Max() /= vis->WorldScale(); wireBox->SetBox(aabb); From 96e932f8daa41a9016c51cc46d177eb6c0556226 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Wed, 25 Mar 2020 13:57:41 -0700 Subject: [PATCH 049/202] skeleton animation working with traj --- examples/worlds/actor.sdf | 4 +- .../ignition/gazebo/rendering/SceneManager.hh | 69 +++-- src/rendering/RenderUtil.cc | 95 ++++-- src/rendering/SceneManager.cc | 290 ++++++++++-------- 4 files changed, 285 insertions(+), 173 deletions(-) diff --git a/examples/worlds/actor.sdf b/examples/worlds/actor.sdf index ac4e299315..77e34ab6a3 100644 --- a/examples/worlds/actor.sdf +++ b/examples/worlds/actor.sdf @@ -11,7 +11,7 @@ - ogre + ogre2 docked - ogre + ogre2 scene 0.4 0.4 0.4 0.8 0.8 0.8 diff --git a/include/ignition/gazebo/rendering/SceneManager.hh b/include/ignition/gazebo/rendering/SceneManager.hh index 8769e9ebff..822d8c62f2 100644 --- a/include/ignition/gazebo/rendering/SceneManager.hh +++ b/include/ignition/gazebo/rendering/SceneManager.hh @@ -48,14 +48,37 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { // Forward declaration class SceneManagerPrivate; - /// \brief Scene manager class for loading and managing objects in the scene - class AnimInfo + /// \brief Data structure for updaing skeleton animations + class AnimationUpdateData { + /// \brief Timepoint in the animation. + /// Note that animation time is different from sim time. An actor can + /// have multiple animations. Animation time is associated with + /// current animation that is being played. This value is also adjusted if + /// interpotate_x is enabled public: std::chrono::steady_clock::duration time; - public: std::string name; + + /// \brief True if animation is looped public: bool loop = false; + + /// \brief True trajectory animation is on public: bool followTrajectory = false; + + /// \brief Trajectory to be followed public: common::TrajectoryInfo trajectory; + + /// \brief Name of animation to play. This field is set only if the actor + /// is not animated by manually using skeleton transforms + public: std::string animationName; + + /// \brief Transform of the root node in the skeleton. The actor's + /// skeleton's root node transform need to be set if trajectory + /// animation is enabled. This field is set only if the actor + /// is not animated by manually using skeleton transforms + public: math::Matrix4d rootTransform; + + /// \brief True if this animation update data is valid. If false, this + /// update data should be ignored public: bool valid = false; }; @@ -145,29 +168,37 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \return Pointer to requested entity's mesh public: rendering::MeshPtr ActorMeshById(Entity _id) const; - /// \brief Get the trajectory at input time and returns animation time - /// associated with the trajectory. - /// \param[in] _id Entity's unique id - /// \param[in] _time Timepoint for the animation - /// \param[out] Trajectory of actor at specified time. - /// \return Update time. - // public: std::chrono::steady_clock::duration ActorTrajectoryAt( - // Entity _id, const std::chrono::steady_clock::duration &_time, - // common::TrajectoryInfo &_traj) const; - - - public: AnimInfo ActorTrajectoryAt( - Entity _id, const std::chrono::steady_clock::duration &_time) const; - + /// \brief Get a skeleon given an id + /// \param[in] _id Actor entity's unique id + /// \return Pointer to requested entity's skeleton + public: common::SkeletonPtr ActorSkeletonById(Entity _id) const; /// \brief Get the animation of actor mesh given an id + /// Use this function if you are animating the actor manually by its + /// skeleton node pose. /// \param[in] _id Entity's unique id - /// \param[in] _time Timepoint for the animation + /// \param[in] _time Simulation time /// \return Map from the skeleton node name to transforms public: std::map ActorMeshAnimationAt( Entity _id, std::chrono::steady_clock::duration _time) const; - public: AnimInfo ActorAnimationAt( + /// \brief Get the skeleton local transforms of actor mesh given an id. + /// Use this function if you are animating the actor manually by its + /// skeleton node pose. + /// \param[in] _id Entity's unique id + /// \param[in] _time SimulationTime + /// \return Map from the skeleton node name to transforms + public: std::map ActorSkeletonTransformsAt( + Entity _id, std::chrono::steady_clock::duration _time) const; + + /// \brief Get the actor animation update data given an id. + /// Use this function to let the render engine handle the actor animation. + /// by setting the animation name to be played. + /// \param[in] _id Entity's unique id + /// \param[in] _time SimulationTime + /// \return Data needed to update the animation, including the name and + /// time of animation to play, and trajectory animation info. + public: AnimationUpdateData ActorAnimationAt( Entity _id, std::chrono::steady_clock::duration _time) const; /// \brief Remove an entity by id diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 034b204294..1f99ff79c3 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -29,6 +29,7 @@ #include #include +#include #include #include @@ -164,8 +165,8 @@ class ignition::gazebo::RenderUtilPrivate actorTransforms; /// \brief A map of entity ids and actor animation info. - public: std::map - actorAnimationInfo; + public: std::map + actorAnimationData; public: std::string prevAnimName; /// \brief True to update skeletons manually using bone poses @@ -257,7 +258,7 @@ void RenderUtil::Update() auto removeEntities = std::move(this->dataPtr->removeEntities); auto entityPoses = std::move(this->dataPtr->entityPoses); auto actorTransforms = std::move(this->dataPtr->actorTransforms); - auto actorAnimationInfo= std::move(this->dataPtr->actorAnimationInfo); + auto actorAnimationData = std::move(this->dataPtr->actorAnimationData); this->dataPtr->newScenes.clear(); this->dataPtr->newModels.clear(); @@ -268,7 +269,7 @@ void RenderUtil::Update() this->dataPtr->removeEntities.clear(); this->dataPtr->entityPoses.clear(); this->dataPtr->actorTransforms.clear(); - this->dataPtr->actorAnimationInfo.clear(); + this->dataPtr->actorAnimationData.clear(); this->dataPtr->markerManager.Update(); @@ -431,41 +432,70 @@ void RenderUtil::Update() } else { - for (auto &it : actorAnimationInfo) + for (auto &it : actorAnimationData) { auto actorMesh = this->dataPtr->sceneManager.ActorMeshById(it.first); auto actorVisual = this->dataPtr->sceneManager.NodeById(it.first); if (!actorMesh || !actorVisual) continue; - // actorMesh->UpdateSkeletonAnimation(it.second); - AnimInfo &info = it.second; - if (!info.valid) + + AnimationUpdateData &animData = it.second; + if (!animData.valid) { - ignerr << "invalid animation info" << std::endl; + ignerr << "invalid animation update data" << std::endl; continue; } - // if (!actorMesh->SkeletonAnimationEnabled(info.name)) - // { - // // disable previous anim - // if (!this->dataPtr->prevAnimName.empty()) - // { - // actorMesh->SetSkeletonAnimationEnabled(this->dataPtr->prevAnimName, - // false, false, 0.0); - // } - // // disable previous anim - // // actorMesh->SetSkeletonAnimationEnabled(info.name, true, info.loop); - // actorMesh->SetSkeletonAnimationEnabled(info.name, true, info.loop); - // this->dataPtr->prevAnimName = info.name; - // } - // actorMesh->UpdateSkeletonAnimation(info.time); - - double timeSeconds = std::chrono::duration(info.time).count(); - std::cerr << "info: " << info.name << " " << timeSeconds << std::endl; + // Enable skeleon animation + if (!actorMesh->SkeletonAnimationEnabled(animData.animationName)) + { + // disable previous animation + if (!this->dataPtr->prevAnimName.empty()) + { + actorMesh->SetSkeletonAnimationEnabled(this->dataPtr->prevAnimName, + false, false, 0.0); + } + // enable requested animation + actorMesh->SetSkeletonAnimationEnabled( + animData.animationName, true, animData.loop); + + // Set skeleton root node weight to zero so it is not affected by + // the animation being played. This is needed if trajectory animation + // is enabled. We need to let the trajectory animation set the + // position of the actor instead + common::SkeletonPtr skeleton = + this->dataPtr->sceneManager.ActorSkeletonById(it.first); + if (skeleton) + { + float rootBoneWeight = (animData.followTrajectory) ? 0.0 : 1.0; + std::map weights; + weights[skeleton->RootNode()->Name()] = rootBoneWeight; + actorMesh->SetSkeletonWeights(weights); + } - common::PoseKeyFrame poseFrame(0.0); - if (info.followTrajectory) - info.trajectory.Waypoints()->InterpolatedKeyFrame(poseFrame); + this->dataPtr->prevAnimName = animData.animationName; + } + // update skeleton animation by setting animation time. + // Note that animation time is different from sim time. An actor can + // have multiple animations. Animation time is associated with + // current animation that is being played. should be played. It is also + // adjusted if interpotate_x is enabled + actorMesh->UpdateSkeletonAnimation(animData.time); + + // manually update root transform in order to sync with trajectory + // animation + if (animData.followTrajectory) + { + common::SkeletonPtr skeleton = + this->dataPtr->sceneManager.ActorSkeletonById(it.first); + std::map rootTf; + rootTf[skeleton->RootNode()->Name()] = animData.rootTransform; + actorMesh->SetSkeletonLocalTransforms(rootTf); + } + // update actor trajectory animation + common::PoseKeyFrame poseFrame(0.0); + if (animData.followTrajectory) + animData.trajectory.Waypoints()->InterpolatedKeyFrame(poseFrame); math::Pose3d actorPose; actorPose.Pos() = poseFrame.Translation(); actorPose.Rot() = poseFrame.Rotation(); @@ -851,12 +881,13 @@ void RenderUtilPrivate::UpdateRenderingEntities( if (this->actorManualSkeletonUpdate) { this->actorTransforms[_entity] = - this->sceneManager.ActorMeshAnimationAt(_entity, this->simTime); + this->sceneManager.ActorSkeletonTransformsAt( + _entity, this->simTime); } else { - this->actorAnimationInfo[_entity] = - this->sceneManager.ActorAnimationAt(_entity, this->simTime); + this->actorAnimationData[_entity] = + this->sceneManager.ActorAnimationAt(_entity, this->simTime); } return true; }); diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index d3e067b091..ffae67aeff 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -76,6 +76,12 @@ class ignition::gazebo::SceneManagerPrivate /// \brief Map of sensor entity in Gazebo to sensor pointers. public: std::map sensors; + + /// \brief Helper function to compute actor trajectory at specified tiime + /// \param[in] _id Actor entity's unique id + /// \param[in] _time Simulation time + public: AnimationUpdateData ActorTrajectoryAt( + Entity _id, const std::chrono::steady_clock::duration &_time) const; }; @@ -526,25 +532,18 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, return rendering::VisualPtr(); } - rendering::MeshPtr actorMesh = this->dataPtr->scene->CreateMesh(descriptor); - if (nullptr == actorMesh) - { - ignerr << "Actor skin file [" << descriptor.meshName << "] not found." - << std::endl; - return rendering::VisualPtr(); - } +// rendering::MeshPtr actorMesh = this->dataPtr->scene->CreateMesh(descriptor); +// if (nullptr == actorMesh) +// { +// ignerr << "Actor skin file [" << descriptor.meshName << "] not found." +// << std::endl; +// return rendering::VisualPtr(); +// } unsigned int numAnims = 0; std::map mapAnimNameId; mapAnimNameId[descriptor.meshName] = numAnims++; - rendering::VisualPtr actorVisual = this->dataPtr->scene->CreateVisual(name); - actorVisual->SetLocalPose(_actor.RawPose()); - actorVisual->AddGeometry(actorMesh); - - this->dataPtr->visuals[_id] = actorVisual; - this->dataPtr->actors[_id] = actorMesh; - // Load all animations for (unsigned i = 0; i < _actor.AnimationCount(); ++i) { @@ -583,13 +582,18 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, << "]" << std::endl; return nullptr; } + // collada loader loads animations with name that defaults to + // "animation0", "animation"1", etc causing conflicts in names + // when multiple animations are added to meshSkel. + // So make sure to give it a unique name + firstAnim->SetName(animName); + meshSkel->AddAnimation(firstAnim); mapAnimNameId[animName] = numAnims++; } } this->dataPtr->actorSkeletons[_id] = meshSkel; - std::vector trajectories; if (_actor.TrajectoryCount() != 0) { @@ -668,6 +672,24 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, this->dataPtr->actorTrajectories[_id] = trajectories; + // create mesh with animations + rendering::MeshPtr actorMesh = this->dataPtr->scene->CreateMesh( + descriptor); + if (nullptr == actorMesh) + { + ignerr << "Actor skin file [" << descriptor.meshName << "] not found." + << std::endl; + return rendering::VisualPtr(); + } + + rendering::VisualPtr actorVisual = this->dataPtr->scene->CreateVisual(name); + actorVisual->SetLocalPose(_actor.RawPose()); + actorVisual->AddGeometry(actorMesh); + + this->dataPtr->visuals[_id] = actorVisual; + this->dataPtr->actors[_id] = actorMesh; + + if (parent) parent->AddChild(actorVisual); else @@ -851,114 +873,86 @@ rendering::MeshPtr SceneManager::ActorMeshById(Entity _id) const // } ///////////////////////////////////////////////// -// std::chrono::steady_clock::duration SceneManager::ActorTrajectoryAt( -AnimInfo SceneManager::ActorTrajectoryAt( - Entity _id, - const std::chrono::steady_clock::duration &_time) const +common::SkeletonPtr SceneManager::ActorSkeletonById(Entity _id) const { - // _traj.SetId(-1); - // auto trajIt = this->dataPtr->actorTrajectories.find(_id); - // if (trajIt == this->dataPtr->actorTrajectories.end()) - // { - // return _time; - // } - - AnimInfo info; - auto trajIt = this->dataPtr->actorTrajectories.find(_id); - if (trajIt == this->dataPtr->actorTrajectories.end()) - return info; - - auto trajs = trajIt->second; - bool followTraj = true; - if (1 == trajs.size() && nullptr == trajs[0].Waypoints()) - followTraj = false; + auto it = this->dataPtr->actorSkeletons.find(_id); + if (it != this->dataPtr->actorSkeletons.end()) + return it->second; - auto firstTraj = trajs.begin(); - - common::TrajectoryInfo traj = trajs[0]; + return common::SkeletonPtr(); +} -// using TP = std::chrono::steady_clock::time_point; - auto totalTime = trajs.rbegin()->EndTime() - trajs.begin()->StartTime(); +///////////////////////////////////////////////// +AnimationUpdateData SceneManager::ActorAnimationAt( + Entity _id, std::chrono::steady_clock::duration _time) const +{ + AnimationUpdateData animData; + auto trajIt = this->dataPtr->actorTrajectories.find(_id); + if (trajIt == this->dataPtr->actorTrajectories.end()) + return animData; - // delay start - auto time = _time; - if (time < (trajs.begin()->StartTime() - TP(0ms))) - { - time = std::chrono::steady_clock::duration(0); - } - else - { - time -= trajs.begin()->StartTime() - TP(0ms); - } + auto skelIt = this->dataPtr->actorSkeletons.find(_id); + if (skelIt == this->dataPtr->actorSkeletons.end()) + return animData; - bool noLoop = trajs.rbegin()->StartTime() != TP(0ms) - && trajs.rbegin()->StartTime() == trajs.rbegin()->EndTime(); + animData = this->dataPtr->ActorTrajectoryAt(_id, _time); - if (time >= totalTime && noLoop) - { - time = totalTime; - } + auto skel = skelIt->second; + unsigned int animIndex = animData.trajectory.AnimIndex(); + animData.animationName = skel->Animation(animIndex)->Name(); -// auto poseFrame = common::PoseKeyFrame(0.0); - if (!noLoop || time <= totalTime) + std::string rootNodeName = skel->RootNode()->Name(); + if (animData.followTrajectory) { - while (time > totalTime) + double distance = animData.trajectory.DistanceSoFar(animData.time); + math::Matrix4d rawFrame; + if (distance < 0.1) { - time = time - totalTime; + double timeSeconds = std::chrono::duration(animData.time).count(); + rawFrame = skel->Animation(animIndex)->NodePoseAt( + rootNodeName, timeSeconds, animData.loop); } - if (followTraj) + else { - for (auto &trajectory : trajs) - { - if (trajectory.StartTime() - firstTraj->StartTime() <= time - && trajectory.EndTime() - firstTraj->StartTime() >= time) - { - traj = trajectory; - time -= traj.StartTime() - firstTraj->StartTime(); - - traj.Waypoints()->Time(std::chrono::duration(time).count()); - break; - } - } + common::NodeAnimation *rootNode = + skel->Animation(animIndex)->NodeAnimationByName(rootNodeName); + math::Matrix4d lastPos = rootNode->KeyFrame( + rootNode->FrameCount() - 1).second; + math::Matrix4d firstPos = rootNode->KeyFrame(0).second; + double x = distance; + if (x < firstPos.Translation().X()) + x = firstPos.Translation().X(); + double lastX = lastPos.Translation().X(); + if (x > lastX && !animData.loop) + x = lastX; + while (x > lastX) + x -= lastX; + double time = rootNode->TimeAtX(x); + rawFrame = rootNode->FrameAt(time, animData.loop); + animData.time = std::chrono::duration_cast< + std::chrono::steady_clock::duration>( + std::chrono::duration(time)); } + std::string skinName = skel->NodeNameAnimToSkin(animIndex, rootNodeName); + math::Matrix4d skinTf = skel->AlignTranslation(animIndex, rootNodeName) + * rawFrame * skel->AlignRotation(animIndex, rootNodeName); + + skinTf.SetTranslation(math::Vector3d::Zero); + animData.rootTransform = skinTf; } - // return time; - info.time = time; - info.loop = !noLoop; - info.followTrajectory = followTraj; - info.trajectory = traj; - info.valid = true; - return info; + return animData; } ///////////////////////////////////////////////// -AnimInfo SceneManager::ActorAnimationAt( +std::map SceneManager::ActorMeshAnimationAt( Entity _id, std::chrono::steady_clock::duration _time) const { - AnimInfo animInfo; - auto trajIt = this->dataPtr->actorTrajectories.find(_id); - if (trajIt == this->dataPtr->actorTrajectories.end()) - return animInfo; - - auto skelIt = this->dataPtr->actorSkeletons.find(_id); - if (skelIt == this->dataPtr->actorSkeletons.end()) - return animInfo; - - animInfo = this->ActorTrajectoryAt(_id, _time); - // bool followTraj = animInfo.followTrajectory; - // bool noLoop = animInfo.loop; - // common::TrajectoryInfo traj = animInfo.trajectory; - // auto time = animInfo.time; - - auto skel = skelIt->second; - unsigned int animIndex = animInfo.trajectory.AnimIndex(); - animInfo.name = skel->Animation(animIndex)->Name(); - return animInfo; + return this->ActorSkeletonTransformsAt(_id, _time); } ///////////////////////////////////////////////// -std::map SceneManager::ActorMeshAnimationAt( +std::map SceneManager::ActorSkeletonTransformsAt( Entity _id, std::chrono::steady_clock::duration _time) const { std::map allFrames; @@ -970,25 +964,11 @@ std::map SceneManager::ActorMeshAnimationAt( } // get the trajectory at input time - // The time returned is the time at which the animation should be played - // common::TrajectoryInfo traj; - // auto time = this->ActorTrajectoryAt(_id, _time, traj); - AnimInfo animInfo = this->ActorTrajectoryAt(_id, _time); - bool followTraj = animInfo.followTrajectory; - bool noLoop = animInfo.loop; - common::TrajectoryInfo traj = animInfo.trajectory; - auto time = animInfo.time; - - // auto trajs = trajIt->second; - // bool followTraj = true; - // if (1 == trajs.size() && nullptr == trajs[0].Waypoints()) - // { - // followTraj = false; - // } - - // bool noLoop = trajs.rbegin()->StartTime() != TP(0ms) - // && trajs.rbegin()->StartTime() == trajs.rbegin()->EndTime(); - + AnimationUpdateData animData = this->dataPtr->ActorTrajectoryAt(_id, _time); + bool followTraj = animData.followTrajectory; + bool noLoop = animData.loop; + common::TrajectoryInfo traj = animData.trajectory; + auto time = animData.time; common::PoseKeyFrame poseFrame(0.0); if (followTraj) @@ -1105,3 +1085,73 @@ rendering::VisualPtr SceneManager::TopLevelVisual( return visual; } + +///////////////////////////////////////////////// +AnimationUpdateData SceneManagerPrivate::ActorTrajectoryAt( + Entity _id, + const std::chrono::steady_clock::duration &_time) const +{ + AnimationUpdateData animData; + auto trajIt = this->actorTrajectories.find(_id); + if (trajIt == this->actorTrajectories.end()) + return animData; + + auto trajs = trajIt->second; + bool followTraj = true; + if (1 == trajs.size() && nullptr == trajs[0].Waypoints()) + followTraj = false; + + auto firstTraj = trajs.begin(); + common::TrajectoryInfo traj = trajs[0]; + auto totalTime = trajs.rbegin()->EndTime() - trajs.begin()->StartTime(); + + // delay start + auto time = _time; + if (time < (trajs.begin()->StartTime() - TP(0ms))) + { + time = std::chrono::steady_clock::duration(0); + } + else + { + time -= trajs.begin()->StartTime() - TP(0ms); + } + + bool noLoop = trajs.rbegin()->StartTime() != TP(0ms) + && trajs.rbegin()->StartTime() == trajs.rbegin()->EndTime(); + + if (time >= totalTime && noLoop) + { + time = totalTime; + } + + if (!noLoop || time <= totalTime) + { + while (time > totalTime) + { + time = time - totalTime; + } + if (followTraj) + { + for (auto &trajectory : trajs) + { + if (trajectory.StartTime() - firstTraj->StartTime() <= time + && trajectory.EndTime() - firstTraj->StartTime() >= time) + { + traj = trajectory; + time -= traj.StartTime() - firstTraj->StartTime(); + + traj.Waypoints()->Time(std::chrono::duration(time).count()); + break; + } + } + } + } + + // return time; + animData.time = time; + animData.loop = !noLoop; + animData.followTrajectory = followTraj; + animData.trajectory = traj; + animData.valid = true; + return animData; +} From 341013d7d488fe013efd7d1e6496ac505de555dc Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 26 Mar 2020 12:10:38 -0700 Subject: [PATCH 050/202] comment --- include/ignition/gazebo/components/Visibility.hh | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/include/ignition/gazebo/components/Visibility.hh b/include/ignition/gazebo/components/Visibility.hh index b5aa7844e2..15891006da 100644 --- a/include/ignition/gazebo/components/Visibility.hh +++ b/include/ignition/gazebo/components/Visibility.hh @@ -35,7 +35,8 @@ namespace components IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.VisibilityFlags", VisibilityFlags) - /// \brief This component holds an entity's visibilty mask (camera entities) + /// \brief This component holds an entity's visibilty mask + /// (camera sensor entities) using VisibilityMask = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.VisibilityMask", VisibilityMask) From d8b6dc04a5034edf65bb376db7399f7096801d80 Mon Sep 17 00:00:00 2001 From: maryaB Date: Thu, 26 Mar 2020 15:48:35 -0700 Subject: [PATCH 051/202] change download link --- tutorials/point_cloud_to_mesh.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tutorials/point_cloud_to_mesh.md b/tutorials/point_cloud_to_mesh.md index 9aa55b669e..a45d747260 100644 --- a/tutorials/point_cloud_to_mesh.md +++ b/tutorials/point_cloud_to_mesh.md @@ -8,7 +8,8 @@ This skill will allow you to turn raw point cloud data into mesh files you can t ## Prerequisites First, you’ll need to have a point cloud already imported. -You can download the tunnel point cloud used in this tutorial [here](https://www.dropbox.com/s/gfwwrgj8ae8nucu/TutorialExample.zip?dl=0). +You can download the tunnel point cloud used in this tutorial by clicking [this direct download link](https://ignition-tutorials.s3-us-west-1.amazonaws.com/ign-gazebo/point_cloud_to_mesh/TutorialExample.zip). +The file is around 100MB; unzip it after downloading. Next, you’ll need to download CloudCompare. This is the software we will be using to convert our point cloud to a mesh. From 0efaa20ebe40aaaa29ab939af21c17f974403759 Mon Sep 17 00:00:00 2001 From: maryaB Date: Thu, 26 Mar 2020 15:57:59 -0700 Subject: [PATCH 052/202] address Ian's review --- tutorials.md.in | 1 + tutorials/mesh_to_fuel.md | 10 ++++------ 2 files changed, 5 insertions(+), 6 deletions(-) diff --git a/tutorials.md.in b/tutorials.md.in index 838ef44e89..dae5b76a26 100644 --- a/tutorials.md.in +++ b/tutorials.md.in @@ -15,6 +15,7 @@ Ignition @IGN_DESIGNATION_CAP@ library and how to use the library effectively. * \subpage log "Logging": Record and play back time series of world state. * \subpage battery "Battery": Keep track of battery charge on robot models * \subpage debugging "Debugging": Information about debugging Gazebo. +* \subpage meshtofuel "Importing a Mesh to Fuel": Build a model directory around a mesh so it can be added to the Ignition Fuel app. ## License diff --git a/tutorials/mesh_to_fuel.md b/tutorials/mesh_to_fuel.md index f7baa727f7..0626021dd1 100644 --- a/tutorials/mesh_to_fuel.md +++ b/tutorials/mesh_to_fuel.md @@ -1,10 +1,10 @@ +\page meshtofuel + # Importing a Mesh to Fuel This tutorial will explain how to import a mesh to the [Ignition Fuel](app.ignitionrobotics.org) web application. Adding models and/or worlds to Fuel will make your content readily available to the open source robotics simulation community, and easier to use with the Ignition GUI. - - ## Prerequisites To import meshes to Fuel, you need to have a user account. @@ -17,8 +17,6 @@ To save time, we'll use this [Electrical Box model](https://app.ignitionrobotics ## Model Directory Structure - - Fuel expects meshes to be contained inside model directories that follow a specific structure and format. Download and unzip the Electrical Box model mentioned above, and you should see the structure of its contents as follows: @@ -26,7 +24,7 @@ Download and unzip the Electrical Box model mentioned above, and you should see Electrical Box ├── materials Directory for textures └── textures -├── meshes Directory for COLLADA, STL files +├── meshes Directory for COLLADA, STL, and Wavefront OBJ files ├── thumbnails Directory for preview images ├── model.config Meta data about the model └── model.sdf SDF description of the model @@ -140,7 +138,7 @@ You can always delete a model by clicking the "Edit model" button and then selec With your mesh successfully uploaded to Fuel, you can now easily include it in a world SDF file. -Copy [this example world code]() into a text editor and save it as `import_mesh.sdf`. +Copy [this example world code](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/default/examples/worlds/import_mesh.sdf) into a text editor and save it as `import_mesh.sdf`. This is a simple world SDF file, which you can learn more about on the [SDF website](http://sdformat.org/). Scroll all the way to the bottom of the file until you see the `include` tag section following the `` comment line. From 17328c318ff7934587508c2ffb9d7329fc386781 Mon Sep 17 00:00:00 2001 From: chapulina Date: Fri, 27 Mar 2020 10:03:13 -0700 Subject: [PATCH 053/202] disable command line tests on APPLE, ign-gazebo executable and -f have been removed from ctiadel --- test/integration/log_system.cc | 39 ++++++++-------------------------- 1 file changed, 9 insertions(+), 30 deletions(-) diff --git a/test/integration/log_system.cc b/test/integration/log_system.cc index 92fa32d1aa..5202b785b1 100644 --- a/test/integration/log_system.cc +++ b/test/integration/log_system.cc @@ -53,15 +53,8 @@ using namespace gazebo; static const std::string kBinPath(PROJECT_BINARY_PATH); -#ifdef __APPLE__ -static const std::string kSdfFileOpt = // NOLINT(runtime/string) -"-f "; -static const std::string kIgnCommand( - "IGN_GAZEBO_SYSTEM_PLUGIN_PATH=" + kBinPath + "/lib " + kBinPath + - "/bin/ign-gazebo-server"); -#else -static const std::string kSdfFileOpt = // NOLINT(runtime/string) -" "; +// \todo(anyone) Enable tests for OSX once command line works there +#ifndef __APPLE__ static const std::string kIgnCommand( "IGN_GAZEBO_SYSTEM_PLUGIN_PATH=" + kBinPath + "/lib LD_LIBRARY_PATH=" + kBinPath + "/lib:/usr/local/lib:${LD_LIBRARY_PATH} ign gazebo -s "); @@ -331,12 +324,11 @@ TEST_F(LogSystemTest, LogDefaults) int nEntries = entryCount(logPath); std::vector entriesBefore; entryList(logPath, entriesBefore); -#endif { // Command line triggers ign.cc, which handles initializing ignLogDirectory std::string cmd = kIgnCommand + " -r -v 4 --iterations 5 " - + "--record " + kSdfFileOpt + recordSdfPath; + + "--record " + recordSdfPath; std::cout << "Running command [" << cmd << "]" << std::endl; // Run @@ -344,7 +336,6 @@ TEST_F(LogSystemTest, LogDefaults) std::cout << output << std::endl; } -#ifndef __APPLE__ // Check the diff of list of files and assume there is a single diff, it // being the newly created log directory from the run above. EXPECT_EQ(nEntries + 1, entryCount(logPath)); @@ -432,7 +423,6 @@ TEST_F(LogSystemTest, LogPaths) int nEntries = entryCount(logPath); std::vector entriesBefore; entryList(logPath, entriesBefore); -#endif // Test case 2: // A path is specified in SDF - a feature removed in Ignition Dome. @@ -455,7 +445,7 @@ TEST_F(LogSystemTest, LogPaths) // Command line triggers ign.cc, which handles initializing ignLogDirectory std::string cmd = kIgnCommand + " -r -v 4 --iterations 5 " - + "--record " + kSdfFileOpt + tmpRecordSdfPath; + + "--record " + tmpRecordSdfPath; std::cout << "Running command [" << cmd << "]" << std::endl; // Run @@ -466,7 +456,6 @@ TEST_F(LogSystemTest, LogPaths) // Check state.tlog is no longer stored to path specified in SDF EXPECT_FALSE(common::exists(common::joinPaths(this->logDir, "state.tlog"))); -#ifndef __APPLE__ EXPECT_EQ(0, entryCount(this->logDir)); // Check the diff of list of files in directory, and assume there is @@ -568,7 +557,6 @@ TEST_F(LogSystemTest, LogPaths) EXPECT_TRUE(common::exists(common::joinPaths(cppPath, "state.tlog"))); #ifndef __APPLE__ EXPECT_EQ(1, entryCount(cppPath)); -#endif EXPECT_FALSE(common::exists(sdfPath)); // Remove artifacts. Recreate new directory @@ -581,7 +569,7 @@ TEST_F(LogSystemTest, LogPaths) { // Command line triggers ign.cc, which handles initializing ignLogDirectory std::string cmd = kIgnCommand + " -r -v 4 --iterations 5 " - + "--record-path " + this->logDir + " " + kSdfFileOpt + recordSdfPath; + + "--record-path " + this->logDir + " " + recordSdfPath; std::cout << "Running command [" << cmd << "]" << std::endl; // Run @@ -590,13 +578,11 @@ TEST_F(LogSystemTest, LogPaths) } EXPECT_TRUE(common::exists(common::joinPaths(this->logDir, "state.tlog"))); -#ifndef __APPLE__ // \FIXME Apple uses deprecated command line, so some options don't work // correctly. EXPECT_TRUE(common::exists(common::joinPaths(this->logDir, "server_console.log"))); EXPECT_EQ(2, entryCount(this->logDir)); -#endif // Remove artifacts. Recreate new directory this->RemoveLogsDir(); @@ -625,7 +611,7 @@ TEST_F(LogSystemTest, LogPaths) // Command line triggers ign.cc, which handles initializing ignLogDirectory std::string cmd = kIgnCommand + " -r -v 4 --iterations 5 " - + "--record-path " + cliPath + " " + kSdfFileOpt + tmpRecordSdfPath; + + "--record-path " + cliPath + " " + tmpRecordSdfPath; std::cout << "Running command [" << cmd << "]" << std::endl; // Run @@ -633,7 +619,6 @@ TEST_F(LogSystemTest, LogPaths) std::cout << output << std::endl; } -#ifndef __APPLE__ // \FIXME Apple uses deprecated command line, so some options don't work // correctly. EXPECT_TRUE(common::exists(common::joinPaths(cliPath, "state.tlog"))); @@ -1108,7 +1093,6 @@ TEST_F(LogSystemTest, LogOverwrite) int nEntries = entryCount(logPath); std::vector entriesBefore; entryList(logPath, entriesBefore); -#endif std::string tmpRecordSdfPath = common::joinPaths(this->logsDir, "with_record_path.sdf"); @@ -1128,7 +1112,7 @@ TEST_F(LogSystemTest, LogOverwrite) // Command line triggers ign.cc, which handles initializing ignLogDirectory std::string cmd = kIgnCommand + " -r -v 4 --iterations 5 " - + kSdfFileOpt + tmpRecordSdfPath; + + tmpRecordSdfPath; std::cout << "Running command [" << cmd << "]" << std::endl; // Run @@ -1139,7 +1123,6 @@ TEST_F(LogSystemTest, LogOverwrite) // State log file still exists EXPECT_TRUE(common::exists(tlogPath)); -#ifndef __APPLE__ // Check the diff of list of files and assume there is a single diff, it // being the newly created log directory from the run above. EXPECT_EQ(nEntries + 1, entryCount(logPath)); @@ -1164,7 +1147,6 @@ TEST_F(LogSystemTest, LogOverwrite) common::removeAll(homeFake); #ifndef __APPLE__ common::removeAll(timestampPath); -#endif // Revert environment variable after test is done EXPECT_EQ(setenv(IGN_HOMEDIR, homeOrig.c_str(), 1), 0); @@ -1176,7 +1158,7 @@ TEST_F(LogSystemTest, LogOverwrite) // Command line triggers ign.cc, which handles creating a unique path if // file already exists, so as to not overwrite std::string cmd = kIgnCommand + " -r -v 4 --iterations 5 --log-overwrite " - + "--record-path " + this->logDir + " " + kSdfFileOpt + recordSdfPath; + + "--record-path " + this->logDir + " " + recordSdfPath; std::cout << "Running command [" << cmd << "]" << std::endl; // Run @@ -1188,7 +1170,6 @@ TEST_F(LogSystemTest, LogOverwrite) EXPECT_TRUE(common::exists(tlogPath)); EXPECT_TRUE(common::exists(clogPath)); -#ifndef __APPLE__ // No new files were created EXPECT_EQ(2, entryCount(this->logsDir)); EXPECT_EQ(2, entryCount(this->logDir)); @@ -1197,7 +1178,6 @@ TEST_F(LogSystemTest, LogOverwrite) EXPECT_GT(std::filesystem::last_write_time(tlogStdPath), tlogPrevTime); // Update timestamp for next test tlogPrevTime = std::filesystem::last_write_time(tlogStdPath); -#endif // Test case 5: // Path exists, no --log-overwrite, should create new files by command-line @@ -1206,7 +1186,7 @@ TEST_F(LogSystemTest, LogOverwrite) // Command line triggers ign.cc, which handles creating a unique path if // file already exists, so as to not overwrite std::string cmd = kIgnCommand + " -r -v 4 --iterations 5 " - + "--record-path " + this->logDir + " " + kSdfFileOpt + recordSdfPath; + + "--record-path " + this->logDir + " " + recordSdfPath; std::cout << "Running command [" << cmd << "]" << std::endl; // Run @@ -1226,7 +1206,6 @@ TEST_F(LogSystemTest, LogOverwrite) EXPECT_TRUE(common::exists(common::joinPaths(this->logDir + "(1)", "server_console.log"))); -#ifndef __APPLE__ // New files were created EXPECT_EQ(3, entryCount(this->logsDir)); EXPECT_EQ(2, entryCount(this->logDir)); From 4521cf80984be21ae04fe2c85a3e2dc78c1d2f2f Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 27 Mar 2020 15:21:47 -0700 Subject: [PATCH 054/202] cleanup --- src/rendering/RenderUtil.cc | 14 ++++++++------ src/rendering/SceneManager.cc | 32 ++++++++++++++++---------------- 2 files changed, 24 insertions(+), 22 deletions(-) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 1f99ff79c3..dc5ff9d472 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -167,7 +167,9 @@ class ignition::gazebo::RenderUtilPrivate /// \brief A map of entity ids and actor animation info. public: std::map actorAnimationData; - public: std::string prevAnimName; + + /// \brief Name of skeleton animation that is currently playing + public: std::string skelAnimName; /// \brief True to update skeletons manually using bone poses /// (see actorTransforms). False to let render engine update animation @@ -445,13 +447,13 @@ void RenderUtil::Update() ignerr << "invalid animation update data" << std::endl; continue; } - // Enable skeleon animation + // Enable skeleton animation if (!actorMesh->SkeletonAnimationEnabled(animData.animationName)) { - // disable previous animation - if (!this->dataPtr->prevAnimName.empty()) + // disable current animation + if (!this->dataPtr->skelAnimName.empty()) { - actorMesh->SetSkeletonAnimationEnabled(this->dataPtr->prevAnimName, + actorMesh->SetSkeletonAnimationEnabled(this->dataPtr->skelAnimName, false, false, 0.0); } // enable requested animation @@ -472,7 +474,7 @@ void RenderUtil::Update() actorMesh->SetSkeletonWeights(weights); } - this->dataPtr->prevAnimName = animData.animationName; + this->dataPtr->skelAnimName= animData.animationName; } // update skeleton animation by setting animation time. // Note that animation time is different from sim time. An actor can diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index ffae67aeff..0057f96ec2 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -80,6 +80,8 @@ class ignition::gazebo::SceneManagerPrivate /// \brief Helper function to compute actor trajectory at specified tiime /// \param[in] _id Actor entity's unique id /// \param[in] _time Simulation time + /// \return AnimationUpdateData with trajectory related fields filled. It + /// also sets the time point in which the animation should be played public: AnimationUpdateData ActorTrajectoryAt( Entity _id, const std::chrono::steady_clock::duration &_time) const; }; @@ -532,14 +534,6 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, return rendering::VisualPtr(); } -// rendering::MeshPtr actorMesh = this->dataPtr->scene->CreateMesh(descriptor); -// if (nullptr == actorMesh) -// { -// ignerr << "Actor skin file [" << descriptor.meshName << "] not found." -// << std::endl; -// return rendering::VisualPtr(); -// } - unsigned int numAnims = 0; std::map mapAnimNameId; mapAnimNameId[descriptor.meshName] = numAnims++; @@ -864,14 +858,6 @@ rendering::MeshPtr SceneManager::ActorMeshById(Entity _id) const return rendering::MeshPtr(); } -///////////////////////////////////////////////// -// bool SceneManager::CorrectTime( -// const std::vector &_trajs, -// std::chrono::steady_clock::duration &_time) const -// { -// -// } - ///////////////////////////////////////////////// common::SkeletonPtr SceneManager::ActorSkeletonById(Entity _id) const { @@ -914,6 +900,11 @@ AnimationUpdateData SceneManager::ActorAnimationAt( } else { + // logic here is mostly taken from + // common::SkeletonAnimation::PoseAtX + // We should consider refactoring part of that function to return + // PoseAtX for only one skeleton node in addition to the current + // function that computes PoseAtX for all skeleton nodes common::NodeAnimation *rootNode = skel->Animation(animIndex)->NodeAnimationByName(rootNodeName); math::Matrix4d lastPos = rootNode->KeyFrame( @@ -927,7 +918,14 @@ AnimationUpdateData SceneManager::ActorAnimationAt( x = lastX; while (x > lastX) x -= lastX; + + // update animation timepoint for root node + // this should be the time that is used in the + // SkeletonAnimationEnabled call double time = rootNode->TimeAtX(x); + + // get raw skeleton transform for root node. Needed to keep skeleton + // animation in sync with trajectory animation rawFrame = rootNode->FrameAt(time, animData.loop); animData.time = std::chrono::duration_cast< std::chrono::steady_clock::duration>( @@ -937,6 +935,8 @@ AnimationUpdateData SceneManager::ActorAnimationAt( math::Matrix4d skinTf = skel->AlignTranslation(animIndex, rootNodeName) * rawFrame * skel->AlignRotation(animIndex, rootNodeName); + // zero out translation since we only need rotation to sync with actor + // trajectory animation skinTf.SetTranslation(math::Vector3d::Zero); animData.rootTransform = skinTf; } From 6b392fe7a85bf7f9b5863870f659dceddc212ddc Mon Sep 17 00:00:00 2001 From: jshep1 Date: Fri, 27 Mar 2020 15:51:15 -0700 Subject: [PATCH 055/202] revert transform --- examples/worlds/diff_drive.sdf | 820 +++++++++++++++++- .../transform_control/TransformControl.qml | 19 +- src/rendering/RenderUtil.cc | 29 +- 3 files changed, 843 insertions(+), 25 deletions(-) diff --git a/examples/worlds/diff_drive.sdf b/examples/worlds/diff_drive.sdf index 2f46951bb0..fb187786e0 100644 --- a/examples/worlds/diff_drive.sdf +++ b/examples/worlds/diff_drive.sdf @@ -145,7 +145,7 @@ - 0 2 0.325 0 -0 0 + 0 2 1.325 0.77 -0.6 1.2 -0.151427 -0 0.175 0 -0 0 @@ -502,7 +502,823 @@ - + + -1 -1 1.121078 .2 1.2 -0.5 + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 4.10 + + 0.075 + 0 + 0 + 0.075 + 0 + 0.148916 + + + + 0 0 0 0 -0 0 + + + 0.3 0.3 0.25 + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + meshes/x4.dae + + + + + -0.1 0 0.077 0 -0.1 0 + + + 1 1 1 + meshes/led.dae + + + + + -0.09 0.059 0.059 -0.785397 -0 0.2 + + + 1 1 1 + meshes/led.dae + + + + + -0.09 -0.059 0.059 0.785397 -0 -0.2 + + + 1 1 1 + meshes/led.dae + + + + + -0.043704 0 0.102914 -0.2 0.000158 -1.57002 + + + 0.01 0.01 0.01 + meshes/spotlight.dae + + + + + -0.071985 0.090826 0.066102 0.06 -4.8e-05 -1.27 + + + 0.01 0.01 0.01 + meshes/spotlight.dae + + + + + -0.071985 -0.090826 0.066102 0.06 -4.8e-05 -1.87 + + + 0.01 0.01 0.01 + meshes/spotlight.dae + + + + + -0.0 -0.11 0.07 3.131592653589795 -1.5107899999999999 2.841592653589791 + + 15 + 0 + 0.1 + 0.01 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 1 + 1.1 + 1 + + 0 0 -1 + 1 + + + 0.03 0 0.09 -0.01 -1.3708026535897933 0 + + 15 + 0 + 0.1 + 0.01 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 1 + 1.1 + 1 + + 0 0 -1 + 1 + + + -0.0 0.11 0.07 3.131592653589795 -1.5107899999999999 -2.841592653589791 + + 15 + 0 + 0.1 + 0.01 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 1 + 1.1 + 1 + + 0 0 -1 + 1 + + + 1 + 250 + + + + + 0 + 2e-4 + 0.0000075 + 0.0000008 + 0.0000004 + 1000.0 + + + + + 0 + 2e-4 + 0.0000075 + 0.0000008 + 0.0000004 + 1000.0 + + + + + 0 + 2e-4 + 0.0000075 + 0.0000008 + 0.0000004 + 1000.0 + + + + + + + 0 + 1e-2 + 0.1 + 0.001 + 0.002 + 300.0 + + + + + 0 + 1e-2 + 0.1 + 0.001 + 0.002 + 300.0 + + + + + 0 + 1e-2 + 0.1 + 0.001 + 0.002 + 300.0 + + + + + + + 1 + 20 + + 0 + + 0.00000008 + + + + + 1 + 20 + + + + 0.000000080 + 0.000000400 + + + + + 0.000000080 + 0.000000400 + + + + + 0.000000080 + 0.000000400 + + + + + + 0.05 0 -0.030 0 0.0 0 + + + 0.06 0.06 0.006 + + + + + 0.08 0 -0.040 0 0.0 0 + + + 0.005 + 0.08 + + + + + 0.08 0 -0.08 0 1.57 0 + + + 0.01 + 0.025 + + + + + 0.1 0 -0.08 0 0 0 + + + 0.02 0.025 0.025 + + + + + 0.1 0 -0.08 0 0 0 + 1 + 20 + + 1.0472 + + + + 1108.5 + 1108.5 + + 640.5 + + 480.5 + 0 + + + + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 +
      0.5 0.5
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      +
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      diff --git a/src/gui/plugins/transform_control/TransformControl.qml b/src/gui/plugins/transform_control/TransformControl.qml index d4537135bf..453f13d9d4 100644 --- a/src/gui/plugins/transform_control/TransformControl.qml +++ b/src/gui/plugins/transform_control/TransformControl.qml @@ -29,10 +29,10 @@ ToolBar { Layout.minimumHeight: 100 // TODO(anyone) enable scale button when support is added in ign-physics - function activateScale() { - scale.checked = true; - TransformControl.OnMode("scale"); - } + // function activateScale() { + // scale.checked = true; + // TransformControl.OnMode("scale"); + // } property color snapTitle: (Material.theme == Material.Light) ? Material.color(Material.Grey, Material.Shade900) : @@ -74,10 +74,10 @@ ToolBar { } // TODO(anyone) enable scale button when support is added in ign-physics - Shortcut { - sequence: "S" - onActivated: activateScale() - } + // Shortcut { + // sequence: "S" + // onActivated: activateScale() + // } Shortcut { sequence: "T" @@ -210,6 +210,7 @@ ToolBar { // TODO(anyone) enable scale snap values below when support is added in ign-physics // Also be sure to replace the placeholder 0's in all of the `OnSnapUpdate` calls in // this file to xScaleEntry.value, yScaleEntry.value, and zScaleEntry.value, respectively + /* ToolButton { id: scale text: "S" @@ -247,7 +248,7 @@ ToolBar { TransformControl.OnMode("scale") } } - + */ ToolButton { id: snap text: "N" diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 226b442c5c..aba1f8dfb9 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -1147,31 +1147,32 @@ void RenderUtil::SetSelectedEntity(const rendering::NodePtr &_node) this->dataPtr->selectedEntities.push_back(entityId); + rendering::MaterialPtr gray = this->dataPtr->scene->CreateMaterial(); + gray->SetAmbient(0.7, 0.7, 0.7); + gray->SetDiffuse(0.7, 0.7, 0.7); + gray->SetSpecular(0.7, 0.7, 0.7); // If the entity is not found in the existing map, create a wire box if (this->dataPtr->wireBoxes.find(entityId) == this->dataPtr->wireBoxes.end()) { - rendering::MaterialPtr gray = this->dataPtr->scene->CreateMaterial(); - gray->SetAmbient(0.7, 0.7, 0.7); - gray->SetDiffuse(0.7, 0.7, 0.7); - gray->SetSpecular(0.7, 0.7, 0.7); - ignition::rendering::WireBoxPtr wireBox = this->dataPtr->scene->CreateWireBox(); - ignition::math::AxisAlignedBox aabb = vis->BoundingBox(); - + ignition::math::AxisAlignedBox aabb; + ignition::math::AxisAlignedBox aabb2; + aabb = vis->LocalBoundingBox(); + rendering::VisualPtr root = this->dataPtr->scene->RootVisual(); + ignition::rendering::VisualPtr v = this->dataPtr->scene->CreateVisual(); + ignition::rendering::WireBoxPtr wireBox2 = + this->dataPtr->scene->CreateWireBox(); + wireBox2->SetBox(aabb2); + wireBox2->SetMaterial(gray); + // Transform bounding box from world to local - ignition::math::Pose3d worldPose = vis->WorldPose(); - aabb.Min() -= worldPose.Pos(); - aabb.Max() -= worldPose.Pos(); - aabb.Min() = worldPose.Rot().Inverse() * aabb.Min(); - aabb.Max() = worldPose.Rot().Inverse() * aabb.Max(); - aabb.Min() /= vis->WorldScale(); - aabb.Max() /= vis->WorldScale(); wireBox->SetBox(aabb); // Create visual and add wire box ignition::rendering::VisualPtr wireBoxVis = this->dataPtr->scene->CreateVisual(); + wireBoxVis->SetInheritScale(false); wireBoxVis->AddGeometry(wireBox); wireBoxVis->SetMaterial(gray); vis->AddChild(wireBoxVis); From c1a183c7377ae823ca9e699e28bf5ee7bd1c916e Mon Sep 17 00:00:00 2001 From: jshep1 Date: Fri, 27 Mar 2020 15:59:09 -0700 Subject: [PATCH 056/202] revert transform and take away scale --- src/gui/plugins/transform_control/TransformControl.qml | 1 + src/rendering/RenderUtil.cc | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/src/gui/plugins/transform_control/TransformControl.qml b/src/gui/plugins/transform_control/TransformControl.qml index 453f13d9d4..35fb69360e 100644 --- a/src/gui/plugins/transform_control/TransformControl.qml +++ b/src/gui/plugins/transform_control/TransformControl.qml @@ -249,6 +249,7 @@ ToolBar { } } */ + ToolButton { id: snap text: "N" diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index aba1f8dfb9..f5abc8fa54 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -1172,7 +1172,7 @@ void RenderUtil::SetSelectedEntity(const rendering::NodePtr &_node) // Create visual and add wire box ignition::rendering::VisualPtr wireBoxVis = this->dataPtr->scene->CreateVisual(); - wireBoxVis->SetInheritScale(false); + //wireBoxVis->SetInheritScale(false); wireBoxVis->AddGeometry(wireBox); wireBoxVis->SetMaterial(gray); vis->AddChild(wireBoxVis); From 19b2c7a645fec8e400bd90cf027bde3ebef6ad43 Mon Sep 17 00:00:00 2001 From: jshep1 Date: Fri, 27 Mar 2020 16:28:30 -0700 Subject: [PATCH 057/202] revert diff drive and update renderutil --- examples/worlds/diff_drive.sdf | 820 +-------------------------------- src/rendering/RenderUtil.cc | 22 +- 2 files changed, 9 insertions(+), 833 deletions(-) diff --git a/examples/worlds/diff_drive.sdf b/examples/worlds/diff_drive.sdf index fb187786e0..2f46951bb0 100644 --- a/examples/worlds/diff_drive.sdf +++ b/examples/worlds/diff_drive.sdf @@ -145,7 +145,7 @@ - 0 2 1.325 0.77 -0.6 1.2 + 0 2 0.325 0 -0 0 -0.151427 -0 0.175 0 -0 0 @@ -502,823 +502,7 @@ - - -1 -1 1.121078 .2 1.2 -0.5 - - 0 0 0 0 -0 0 - - 0 0 0 0 -0 0 - 4.10 - - 0.075 - 0 - 0 - 0.075 - 0 - 0.148916 - - - - 0 0 0 0 -0 0 - - - 0.3 0.3 0.25 - - - - - 0 0 0 0 -0 0 - - - 1 1 1 - meshes/x4.dae - - - - - -0.1 0 0.077 0 -0.1 0 - - - 1 1 1 - meshes/led.dae - - - - - -0.09 0.059 0.059 -0.785397 -0 0.2 - - - 1 1 1 - meshes/led.dae - - - - - -0.09 -0.059 0.059 0.785397 -0 -0.2 - - - 1 1 1 - meshes/led.dae - - - - - -0.043704 0 0.102914 -0.2 0.000158 -1.57002 - - - 0.01 0.01 0.01 - meshes/spotlight.dae - - - - - -0.071985 0.090826 0.066102 0.06 -4.8e-05 -1.27 - - - 0.01 0.01 0.01 - meshes/spotlight.dae - - - - - -0.071985 -0.090826 0.066102 0.06 -4.8e-05 -1.87 - - - 0.01 0.01 0.01 - meshes/spotlight.dae - - - - - -0.0 -0.11 0.07 3.131592653589795 -1.5107899999999999 2.841592653589791 - - 15 - 0 - 0.1 - 0.01 - - 0.8 0.8 0.5 1 - 0.8 0.8 0.5 1 - - 1 - 1.1 - 1 - - 0 0 -1 - 1 - - - 0.03 0 0.09 -0.01 -1.3708026535897933 0 - - 15 - 0 - 0.1 - 0.01 - - 0.8 0.8 0.5 1 - 0.8 0.8 0.5 1 - - 1 - 1.1 - 1 - - 0 0 -1 - 1 - - - -0.0 0.11 0.07 3.131592653589795 -1.5107899999999999 -2.841592653589791 - - 15 - 0 - 0.1 - 0.01 - - 0.8 0.8 0.5 1 - 0.8 0.8 0.5 1 - - 1 - 1.1 - 1 - - 0 0 -1 - 1 - - - 1 - 250 - - - - - 0 - 2e-4 - 0.0000075 - 0.0000008 - 0.0000004 - 1000.0 - - - - - 0 - 2e-4 - 0.0000075 - 0.0000008 - 0.0000004 - 1000.0 - - - - - 0 - 2e-4 - 0.0000075 - 0.0000008 - 0.0000004 - 1000.0 - - - - - - - 0 - 1e-2 - 0.1 - 0.001 - 0.002 - 300.0 - - - - - 0 - 1e-2 - 0.1 - 0.001 - 0.002 - 300.0 - - - - - 0 - 1e-2 - 0.1 - 0.001 - 0.002 - 300.0 - - - - - - - 1 - 20 - - 0 - - 0.00000008 - - - - - 1 - 20 - - - - 0.000000080 - 0.000000400 - - - - - 0.000000080 - 0.000000400 - - - - - 0.000000080 - 0.000000400 - - - - - - 0.05 0 -0.030 0 0.0 0 - - - 0.06 0.06 0.006 - - - - - 0.08 0 -0.040 0 0.0 0 - - - 0.005 - 0.08 - - - - - 0.08 0 -0.08 0 1.57 0 - - - 0.01 - 0.025 - - - - - 0.1 0 -0.08 0 0 0 - - - 0.02 0.025 0.025 - - - - - 0.1 0 -0.08 0 0 0 - 1 - 20 - - 1.0472 - - - - 1108.5 - 1108.5 - - 640.5 - - 480.5 - 0 - - - - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 -
      0.5 0.5
      -
      - - 1280 - 960 - R8G8B8 - - - 0.02 - 300 - - - gaussian - 0 - 0.007 - -
      -
      - - 0 0 -0.05 0 0 0 - - - 0.03 - 0.1 - - - - - - 0 0 -0.05 0 0 0 - 15 - - - - - 10000 - 0.1 - -3.1459 - 3.1459 - - - 16 - 1 - -0.261799 - 0.261799 - - - - 0.05 - 100 - 0.01 - - - gaussian - 0 - 0.01 - - - - - 0.0 0 0.1 0 1.57 0 - 50 - - - - 1 - 1 - 3.141592654 - 3.141592654 - - - - 0.04 - 40 - 0.01 - - - gaussian - 0 - 0.01 - - - - - 0.0 0 -0.02 0 -1.57 0 - 50 - - - - 1 - 1 - 3.141592654 - 3.141592654 - - - - 0.04 - 40 - 0.01 - - - gaussian - 0 - 0.01 - - - - - - 0.247 0.1506 0.028 0.087267 0 0.523599 - - 0 0 0 0 -0 0 - 0.005 - - 9.75e-07 - 0 - 0 - 8.13545e-05 - 0 - 8.22545e-05 - - - - 0 0 0 0 -0 0 - - - 0.005 - 0.1397 - - - - - - - - - - - - - 0 0 0 0 -0 0 - - - 1 1 1 - meshes/neo11_propeller_ccw.dae - - - - 1 0 0 1 - - - 0 - - 1 - - - - rotor_0 - base_link - - 0.043578 -0.075479 0.996195 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.00067 0.28929 0.028 0 -0.087267 0 - - 0 0 0 0 -0 0 - 0.005 - - 9.75e-07 - 0 - 0 - 8.13545e-05 - 0 - 8.22545e-05 - - - - 0 0 0 0 -0 0 - - - 0.005 - 0.1397 - - - - - - - - - - - - - 0 0 0 0 -0 0 - - - 1 1 1 - meshes/neo11_propeller_cw.dae - - - - 0 0 1 1 - - - 0 - - 1 - - - - rotor_1 - base_link - - -0.087156 0 0.996195 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.2501 0.1454 0.028 0.087267 -0 2.61799 - - 0 0 0 0 -0 0 - 0.005 - - 9.75e-07 - 0 - 0 - 8.13545e-05 - 0 - 8.22545e-05 - - - - 0 0 0 0 -0 0 - - - 0.005 - 0.1397 - - - - - - - - - - - - - 0 0 0 0 -0 0 - - - 1 1 1 - meshes/neo11_propeller_ccw.dae - - - - 0 0 1 1 - - - 0 - - 1 - - - - rotor_2 - base_link - - 0.043578 0.075479 0.996195 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.2501 -0.1454 0.028 -0.087267 -0 -2.61799 - - 0 0 0 0 -0 0 - 0.005 - - 9.75e-07 - 0 - 0 - 8.13545e-05 - 0 - 8.22545e-05 - - - - 0 0 0 0 -0 0 - - - 0.005 - 0.1397 - - - - - - - - - - - - - 0 0 0 0 -0 0 - - - 1 1 1 - meshes/neo11_propeller_cw.dae - - - - 0 0 1 1 - - - 0 - - 1 - - - - rotor_3 - base_link - - 0.043578 -0.075479 0.996195 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.00067 -0.28929 0.028 -0 0.087267 -3.14159 - - 0 0 0 0 -0 0 - 0.005 - - 9.75e-07 - 0 - 0 - 8.13545e-05 - 0 - 8.22545e-05 - - - - 0 0 0 0 -0 0 - - - 0.005 - 0.1397 - - - - - - - - - - - - - 0 0 0 0 -0 0 - - - 1 1 1 - meshes/neo11_propeller_ccw.dae - - - - 0 0 1 1 - - - 0 - - 1 - - - - rotor_4 - base_link - - -0.087156 -0 0.996195 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - 0.247 -0.1506 0.028 -0.087267 0 -0.523599 - - 0 0 0 0 -0 0 - 0.005 - - 9.75e-07 - 0 - 0 - 8.13545e-05 - 0 - 8.22545e-05 - - - - 0 0 0 0 -0 0 - - - 0.005 - 0.1397 - - - - - - - - - - - - - 0 0 0 0 -0 0 - - - 1 1 1 - meshes/neo11_propeller_cw.dae - - - - 1 0 0 1 - - - 0 - - 1 - - - - rotor_5 - base_link - - 0.043578 0.075479 0.996195 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - -
      + diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index f5abc8fa54..7f759c126d 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -1147,32 +1147,24 @@ void RenderUtil::SetSelectedEntity(const rendering::NodePtr &_node) this->dataPtr->selectedEntities.push_back(entityId); - rendering::MaterialPtr gray = this->dataPtr->scene->CreateMaterial(); - gray->SetAmbient(0.7, 0.7, 0.7); - gray->SetDiffuse(0.7, 0.7, 0.7); - gray->SetSpecular(0.7, 0.7, 0.7); // If the entity is not found in the existing map, create a wire box if (this->dataPtr->wireBoxes.find(entityId) == this->dataPtr->wireBoxes.end()) { + rendering::MaterialPtr gray = this->dataPtr->scene->CreateMaterial(); + gray->SetAmbient(0.7, 0.7, 0.7); + gray->SetDiffuse(0.7, 0.7, 0.7); + gray->SetSpecular(0.7, 0.7, 0.7); + ignition::rendering::WireBoxPtr wireBox = this->dataPtr->scene->CreateWireBox(); - ignition::math::AxisAlignedBox aabb; - ignition::math::AxisAlignedBox aabb2; - aabb = vis->LocalBoundingBox(); - rendering::VisualPtr root = this->dataPtr->scene->RootVisual(); - ignition::rendering::VisualPtr v = this->dataPtr->scene->CreateVisual(); - ignition::rendering::WireBoxPtr wireBox2 = - this->dataPtr->scene->CreateWireBox(); - wireBox2->SetBox(aabb2); - wireBox2->SetMaterial(gray); + ignition::math::AxisAlignedBox aabb = vis->LocalBoundingBox(); // Transform bounding box from world to local wireBox->SetBox(aabb); - // Create visual and add wire box ignition::rendering::VisualPtr wireBoxVis = this->dataPtr->scene->CreateVisual(); - //wireBoxVis->SetInheritScale(false); + wireBoxVis->SetInheritScale(false); wireBoxVis->AddGeometry(wireBox); wireBoxVis->SetMaterial(gray); vis->AddChild(wireBoxVis); From d6e62e754b50c9302eace1ba69c31b61154a529d Mon Sep 17 00:00:00 2001 From: jshep1 Date: Fri, 27 Mar 2020 16:29:50 -0700 Subject: [PATCH 058/202] reformat --- src/rendering/RenderUtil.cc | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 7f759c126d..e09adfb6b8 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -1158,9 +1158,8 @@ void RenderUtil::SetSelectedEntity(const rendering::NodePtr &_node) ignition::rendering::WireBoxPtr wireBox = this->dataPtr->scene->CreateWireBox(); ignition::math::AxisAlignedBox aabb = vis->LocalBoundingBox(); - - // Transform bounding box from world to local wireBox->SetBox(aabb); + // Create visual and add wire box ignition::rendering::VisualPtr wireBoxVis = this->dataPtr->scene->CreateVisual(); From a24643eb795f028ed023316296502f06f11ad5fe Mon Sep 17 00:00:00 2001 From: chapulina Date: Fri, 27 Mar 2020 16:38:23 -0700 Subject: [PATCH 059/202] more APPLE fixes --- test/integration/log_system.cc | 2 -- 1 file changed, 2 deletions(-) diff --git a/test/integration/log_system.cc b/test/integration/log_system.cc index 5202b785b1..7c3a49bd39 100644 --- a/test/integration/log_system.cc +++ b/test/integration/log_system.cc @@ -1140,12 +1140,10 @@ TEST_F(LogSystemTest, LogOverwrite) EXPECT_TRUE(common::exists(common::joinPaths(timestampPath, "server_console.log"))); EXPECT_EQ(1, entryCount(timestampPath)); -#endif // Cleanup common::removeFile(tmpRecordSdfPath); common::removeAll(homeFake); -#ifndef __APPLE__ common::removeAll(timestampPath); // Revert environment variable after test is done From 14cf62eb612fddb20ae77cfddd7a34537e479de1 Mon Sep 17 00:00:00 2001 From: chapulina Date: Fri, 27 Mar 2020 17:48:59 -0700 Subject: [PATCH 060/202] unordered map, typo --- examples/plugin/command_actor/CommandActor.hh | 2 +- src/rendering/RenderUtil.cc | 10 +++++----- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/examples/plugin/command_actor/CommandActor.hh b/examples/plugin/command_actor/CommandActor.hh index 124a9914df..feeab87f16 100644 --- a/examples/plugin/command_actor/CommandActor.hh +++ b/examples/plugin/command_actor/CommandActor.hh @@ -53,7 +53,7 @@ namespace command_actor /// set. private: std::map origins; - /// \brief Trajecotry poses to change, where the key is the number of + /// \brief Trajectory poses to change, where the key is the number of /// seconds from beginning of simulation, and the value is the new /// trajectory pose to set. private: std::map trajPoses; diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index a04f4d3171..17d652da41 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -15,7 +15,7 @@ * */ -#include +#include #include #include @@ -154,17 +154,17 @@ class ignition::gazebo::RenderUtilPrivate /// \brief Map of ids of entites to be removed and sim iteration when the /// remove request is received - public: std::map removeEntities; + public: std::unordered_map removeEntities; - /// \brief A map of entity ids and pose updates. - public: std::map entityPoses; + /// \brief A unordered_map of entity ids and pose updates. + public: std::unordered_map entityPoses; /// \brief A map of entity ids and actor transforms. public: std::map> actorTransforms; /// \brief A map of entity ids and trajectory pose updates. - public: std::map trajectoryPoses; + public: std::unordered_map trajectoryPoses; /// \brief Mutex to protect updates public: std::mutex updateMutex; From 22719777b69506c6df31372379563bf0bb090b7c Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 27 Mar 2020 19:28:59 -0700 Subject: [PATCH 061/202] minor update --- src/rendering/RenderUtil.cc | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index dc5ff9d472..968901d291 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -165,8 +165,7 @@ class ignition::gazebo::RenderUtilPrivate actorTransforms; /// \brief A map of entity ids and actor animation info. - public: std::map - actorAnimationData; + public: std::map actorAnimationData; /// \brief Name of skeleton animation that is currently playing public: std::string skelAnimName; From d6bcb2648242bfe5bca7976f1a12d5cc55bdc02c Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 27 Mar 2020 21:11:41 -0700 Subject: [PATCH 062/202] code check --- include/ignition/gazebo/components/Pose.hh | 3 ++- src/rendering/RenderUtil.cc | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/include/ignition/gazebo/components/Pose.hh b/include/ignition/gazebo/components/Pose.hh index b07faff7da..8d67c51d3c 100644 --- a/include/ignition/gazebo/components/Pose.hh +++ b/include/ignition/gazebo/components/Pose.hh @@ -43,7 +43,8 @@ namespace components /// \brief A component type that contains pose, ignition::math::Pose3d, /// information within a trajectory. - using TrajectoryPose = Component; + using TrajectoryPose = + Component; IGN_GAZEBO_REGISTER_COMPONENT( "ign_gazebo_components.TrajectoryPose", TrajectoryPose) } diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 2b33e3f0fd..4b8493c9e6 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -494,7 +494,7 @@ void RenderUtil::Update() actorMesh->SetSkeletonWeights(weights); } - this->dataPtr->skelAnimName= animData.animationName; + this->dataPtr->skelAnimName = animData.animationName; } // update skeleton animation by setting animation time. // Note that animation time is different from sim time. An actor can From 55699cf92e4982ddeec0d8e6a5b2c95db88190f7 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 27 Mar 2020 21:39:11 -0700 Subject: [PATCH 063/202] changelog --- Changelog.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Changelog.md b/Changelog.md index 85dbdf849f..c89caeff06 100644 --- a/Changelog.md +++ b/Changelog.md @@ -4,6 +4,9 @@ ### Ignition Gazebo 4.0.0 (20XX-XX-XX) +1. Actor skeleton animation (auto update mode) + * [Pull Request 579](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/579) + 1. Support and * [Pull Request 542](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/542) From a789489f39e56afcf07f66aa787396db1bae680b Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Sat, 28 Mar 2020 16:33:38 -0700 Subject: [PATCH 064/202] migration changes, add changelog --- Changelog.md | 3 +++ Migration.md | 5 ++++- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/Changelog.md b/Changelog.md index 85dbdf849f..866d44e1a5 100644 --- a/Changelog.md +++ b/Changelog.md @@ -4,6 +4,9 @@ ### Ignition Gazebo 4.0.0 (20XX-XX-XX) +1. Added support for removing sensors at runtime + * [Pull Request 558](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/558) + 1. Support and * [Pull Request 542](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/542) diff --git a/Migration.md b/Migration.md index ef62482449..099cb9e07d 100644 --- a/Migration.md +++ b/Migration.md @@ -7,7 +7,10 @@ release will remove the deprecated code. ## Ignition Gazebo 3.x to 4.x -* The CreateSensor function in the Sensors system, as well as the callbacks in gazebo rendering, have a new required function argument for the Entity of the sensor. +* The `RenderUtil::SetEnabledSensors` callback in gazebo rendering has a new + required function argument for the Entity of the sensor. + * ***Removed*** public: void SetEnableSensors(bool, std::function< std::string(const sdf::Sensor &, const std::string &)>) + * ***Replacement*** public: void SetEnableSensors(bool, std::function< std::string(const gazebo::Entity &, const sdf::Sensor &, const std::string &)>) ## Ignition Gazebo 2.x to 3.x From 26092d194ff1aab216b1d18aba10e7d6d6e75f17 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Mon, 30 Mar 2020 08:51:27 +0800 Subject: [PATCH 065/202] Update to latest interpolateX API --- src/rendering/SceneManager.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 4c31c0aca9..a052c6e133 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -620,7 +620,7 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, trajInfo.SetWaypoints(waypoints); // Animations are offset by 1 because index 0 is taken by the mesh name auto animation = _actor.AnimationByIndex(trajInfo.AnimIndex()-1); - trajInfo.Waypoints()->InterpolateX(animation->InterpolateX()); + trajInfo.Waypoints()->SetInterpolateX(animation->InterpolateX()); } else { From 6a08f5d525e401ef714344a927f06785796744ae Mon Sep 17 00:00:00 2001 From: jshep1 Date: Mon, 30 Mar 2020 14:45:03 -0700 Subject: [PATCH 066/202] dummy commit From cdafb9e1d0b1e392af85e1eb513c156c38dd3cd1 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Mon, 30 Mar 2020 14:51:02 -0700 Subject: [PATCH 067/202] update title --- tutorials/point_cloud_to_mesh.md | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/tutorials/point_cloud_to_mesh.md b/tutorials/point_cloud_to_mesh.md index a45d747260..befd2a2d7e 100644 --- a/tutorials/point_cloud_to_mesh.md +++ b/tutorials/point_cloud_to_mesh.md @@ -1,6 +1,4 @@ -\page pointcloud - -# Converting a Point Cloud to a 3D Model +\page pointcloud Converting a Point Cloud to a 3D Model In this tutorial, you will learn how to convert a point cloud to a 3D model using the open source software CloudCompare. This skill will allow you to turn raw point cloud data into mesh files you can then use in your Ignition simulations. From 99822351ae964a33b7919698baf413f1c1aacd45 Mon Sep 17 00:00:00 2001 From: jshep1 Date: Mon, 30 Mar 2020 14:59:00 -0700 Subject: [PATCH 068/202] dummy commit From 773eea520cfac060733449bfe0a15b77ab80a6f1 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Mon, 30 Mar 2020 15:08:44 -0700 Subject: [PATCH 069/202] fix test and typo: --- include/ignition/gazebo/components/Visibility.hh | 4 ++-- src/SdfEntityCreator_TEST.cc | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/include/ignition/gazebo/components/Visibility.hh b/include/ignition/gazebo/components/Visibility.hh index 15891006da..7a53ddbb3e 100644 --- a/include/ignition/gazebo/components/Visibility.hh +++ b/include/ignition/gazebo/components/Visibility.hh @@ -30,12 +30,12 @@ namespace gazebo inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { namespace components { - /// \brief This component holds an entity's visibilty flags (visual entities) + /// \brief This component holds an entity's visibility flags (visual entities) using VisibilityFlags = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.VisibilityFlags", VisibilityFlags) - /// \brief This component holds an entity's visibilty mask + /// \brief This component holds an entity's visibility mask /// (camera sensor entities) using VisibilityMask = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.VisibilityMask", diff --git a/src/SdfEntityCreator_TEST.cc b/src/SdfEntityCreator_TEST.cc index ae92084cd9..c83729342a 100644 --- a/src/SdfEntityCreator_TEST.cc +++ b/src/SdfEntityCreator_TEST.cc @@ -399,7 +399,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) EXPECT_EQ(math::Color(1, 0, 0), _material->Data().Diffuse()); EXPECT_EQ(math::Color(1, 0, 0), _material->Data().Specular()); - EXPECT_EQ(65535u, _visibilityFlags->Data()); + EXPECT_EQ(4294967295u, _visibilityFlags->Data()); } else if (visualCount == 2) { @@ -421,7 +421,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) EXPECT_EQ(math::Color(0, 1, 0), _material->Data().Diffuse()); EXPECT_EQ(math::Color(0, 1, 0), _material->Data().Specular()); - EXPECT_EQ(65535u, _visibilityFlags->Data()); + EXPECT_EQ(4294967295u, _visibilityFlags->Data()); } else if (visualCount == 3) { @@ -442,7 +442,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) EXPECT_EQ(math::Color(0, 0, 1), _material->Data().Diffuse()); EXPECT_EQ(math::Color(0, 0, 1), _material->Data().Specular()); - EXPECT_EQ(65535u, _visibilityFlags->Data()); + EXPECT_EQ(4294967295u, _visibilityFlags->Data()); } return true; }); From 4e562e0a66bac327ad8891e470b0b7a396345524 Mon Sep 17 00:00:00 2001 From: jshep1 Date: Mon, 30 Mar 2020 15:36:05 -0700 Subject: [PATCH 070/202] Mac test resolve attempt --- src/network/PeerTracker_TEST.cc | 2 +- test/benchmark/ecm_serialize.cc | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/network/PeerTracker_TEST.cc b/src/network/PeerTracker_TEST.cc index 41c800b497..05b3bc02c1 100644 --- a/src/network/PeerTracker_TEST.cc +++ b/src/network/PeerTracker_TEST.cc @@ -250,7 +250,7 @@ TEST(PeerTracker, Namespaced) // Allow some time for heartbeats to propagate // TODO(mjcarroll): Send heartbeats on announce - std::this_thread::sleep_for(std::chrono::milliseconds(200)); + std::this_thread::sleep_for(std::chrono::milliseconds(500)); // Trackers should detect peers in the same partition. EXPECT_EQ(1u, tracker1.NumPeers()); diff --git a/test/benchmark/ecm_serialize.cc b/test/benchmark/ecm_serialize.cc index 014d42b27b..f305e35ab3 100644 --- a/test/benchmark/ecm_serialize.cc +++ b/test/benchmark/ecm_serialize.cc @@ -87,7 +87,7 @@ void BM_Serialize1Component(benchmark::State &_st) _st.ResumeTiming(); auto stateMsg = mgr->State(); - serializedSize = stateMsg.ByteSize(); + serializedSize = stateMsg.ByteSizeLong(); } _st.counters["serialized_size"] = serializedSize; _st.counters["num_entities"] = entityCount; @@ -115,7 +115,7 @@ void BM_Serialize5Component(benchmark::State &_st) _st.ResumeTiming(); auto stateMsg = mgr->State(); - serializedSize = stateMsg.ByteSize(); + serializedSize = stateMsg.ByteSizeLong(); } _st.counters["serialized_size"] = serializedSize; _st.counters["num_entities"] = entityCount; From 3c59615c696f6d285b97934bef01d8f544b3f084 Mon Sep 17 00:00:00 2001 From: jshep1 Date: Mon, 30 Mar 2020 16:07:56 -0700 Subject: [PATCH 071/202] Add protobuf check --- test/benchmark/ecm_serialize.cc | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/test/benchmark/ecm_serialize.cc b/test/benchmark/ecm_serialize.cc index f305e35ab3..e26c357a63 100644 --- a/test/benchmark/ecm_serialize.cc +++ b/test/benchmark/ecm_serialize.cc @@ -87,7 +87,11 @@ void BM_Serialize1Component(benchmark::State &_st) _st.ResumeTiming(); auto stateMsg = mgr->State(); +#if GOOGLE_PROTOBUF_VERSION >= 3004000 serializedSize = stateMsg.ByteSizeLong(); +#else + serializedSize = stateMsg.ByteSize(); +#endif } _st.counters["serialized_size"] = serializedSize; _st.counters["num_entities"] = entityCount; @@ -115,7 +119,11 @@ void BM_Serialize5Component(benchmark::State &_st) _st.ResumeTiming(); auto stateMsg = mgr->State(); +#if GOOGLE_PROTOBUF_VERSION >= 3004000 serializedSize = stateMsg.ByteSizeLong(); +#else + serializedSize = stateMsg.ByteSize(); +#endif } _st.counters["serialized_size"] = serializedSize; _st.counters["num_entities"] = entityCount; From 58cb5b376b271a5ffde457f0f733d7bbfdd90717 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Tue, 31 Mar 2020 00:28:05 +0000 Subject: [PATCH 072/202] Close branch 3_to_4_2020-03-10 From f311b13547d44a12ed8930dd8486d44afb2054cd Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Tue, 31 Mar 2020 15:20:28 +0800 Subject: [PATCH 073/202] Removing all rendering sensors, update example world --- examples/worlds/sensors_demo.sdf | 7 +++++ src/systems/sensors/Sensors.cc | 46 +++++++++++++++++++++++++------- 2 files changed, 44 insertions(+), 9 deletions(-) diff --git a/examples/worlds/sensors_demo.sdf b/examples/worlds/sensors_demo.sdf index 5c8f4d40a0..d5866928f6 100644 --- a/examples/worlds/sensors_demo.sdf +++ b/examples/worlds/sensors_demo.sdf @@ -17,6 +17,10 @@ name="ignition::gazebo::systems::Sensors"> ogre2 + + @@ -88,6 +92,9 @@ /world/lidar_sensor/stats + + + RGB camera diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc index 2a85937ff6..7fcf2d896d 100644 --- a/src/systems/sensors/Sensors.cc +++ b/src/systems/sensors/Sensors.cc @@ -75,7 +75,7 @@ class ignition::gazebo::systems::SensorsPrivate /// /// Useful for detecting when a sensor Entity has been deleted and trigger /// the destruction of the corresponding ignition::sensors Sensor object - public: std::map entityToIdMap; + public: std::unordered_map entityToIdMap; /// \brief Flag to indicate if worker threads are running public: std::atomic running { false }; @@ -154,6 +154,10 @@ class ignition::gazebo::systems::SensorsPrivate /// \brief Stop the rendering thread public: void Stop(); + /// \brief Helper function to remove a sensor from the maps + /// \return True if the sensor was removed + public: bool RemoveSensor(const Entity &_entity); + /// \brief Checks if any Sensor Entity has been removed and performs /// cleanup of the corresponding sensor and map entries. public: void SensorCleanup(const EntityComponentManager &_ecm); @@ -296,6 +300,19 @@ void SensorsPrivate::Stop() } } +////////////////////////////////////////////////// +bool SensorsPrivate::RemoveSensor(const Entity &_entity) +{ + auto idIter = this->entityToIdMap.find(_entity); + if (idIter != this->entityToIdMap.end()) + { + this->sensorIds.erase(idIter->second); + this->sensorManager.Remove(idIter->second); + this->entityToIdMap.erase(idIter); + } + return true; +} + ////////////////////////////////////////////////// void SensorsPrivate::SensorCleanup(const EntityComponentManager &_ecm) { @@ -303,14 +320,25 @@ void SensorsPrivate::SensorCleanup(const EntityComponentManager &_ecm) [&](const Entity &_entity, const components::Camera *)->bool { - auto idIter = this->entityToIdMap.find(_entity); - if (idIter != this->entityToIdMap.end()) - { - this->sensorIds.erase(idIter->second); - this->sensorManager.Remove(idIter->second); - this->entityToIdMap.erase(idIter); - } - return true; + return this->RemoveSensor(_entity); + }); + _ecm.EachRemoved( + [&](const Entity &_entity, + const components::DepthCamera *)->bool + { + return this->RemoveSensor(_entity); + }); + _ecm.EachRemoved( + [&](const Entity &_entity, + const components::GpuLidar *)->bool + { + return this->RemoveSensor(_entity); + }); + _ecm.EachRemoved( + [&](const Entity &_entity, + const components::RgbdCamera *)->bool + { + return this->RemoveSensor(_entity); }); } From 139b31dbf29fc9f9636fb0fd3e34dda52209b998 Mon Sep 17 00:00:00 2001 From: maryaB Date: Tue, 31 Mar 2020 09:03:17 -0700 Subject: [PATCH 074/202] fixed pic sources --- tutorials/point_cloud_to_mesh.md | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/tutorials/point_cloud_to_mesh.md b/tutorials/point_cloud_to_mesh.md index befd2a2d7e..60e0e1e963 100644 --- a/tutorials/point_cloud_to_mesh.md +++ b/tutorials/point_cloud_to_mesh.md @@ -20,7 +20,7 @@ After installing, open CloudCompare and import your point cloud file by going to Depending on the number of points in your point cloud, this could take several minutes. Once loaded, you should see the following tunnel section: -![Opening the point cloud](files/point_cloud_to_mesh/cloudcompare.png) +![Opening the point cloud](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/cloudcompare.png) Many 3D scans will be composed of millions, sometimes hundreds of millions of points. Converting a scan to a 3D model with that many points would be very difficult due to the number of polygons that would be created and the long processing time necessary to compute the normals. @@ -34,13 +34,13 @@ We'll still walk through reducing points, however, to make the process quicker. To reduce the number of points in your cloud, click on the tunnel so a yellow cube outline appears around it, then go to `Edit` > `Subsample`. -![Min. space between points](files/point_cloud_to_mesh/min_space.png) +![Min. space between points](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/min_space.png) The number you will need to enter in the `min. space between points` field will vary depending on your point cloud. A value of .01 was sufficient to bring our point cloud to an easy-to-manage 1 million points. Point count is visible in the `Properties` window on the lower left side of the screen. -![Point count of subsample](files/point_cloud_to_mesh/properties.png) +![Point count of subsample](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/properties.png) How many points you reduce down to will largely depend on how long you are willing to wait for the point cloud to be converted into a mesh. The more points you start with, the longer it will take to compute the normals and create the mesh. @@ -48,7 +48,7 @@ The more points you start with, the longer it will take to compute the normals a After the operation is complete you’ll have two clouds in your scene: the original point cloud and your subsampled point cloud. Most operations in CloudCompare will create new point clouds and keep the original, so make sure that you have the new point cloud selected before running an operation. -![Selecting the new point cloud](files/point_cloud_to_mesh/secondcloud.png) +![Selecting the new point cloud](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/secondcloud.png) ### Create a Polygonal Mesh @@ -59,7 +59,7 @@ A normal is essentially the direction a polygon is facing. To do this, go to `Edit` > `Normals` > `Compute`. You'll see this dialog box: -![Choose Triangulation surface model](files/point_cloud_to_mesh/compute_normals.png) +![Choose Triangulation surface model](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/compute_normals.png) You’ll see various options in the dialog box that appears. The main thing you’ll want to consider is what `Local surface model` to use. @@ -72,7 +72,7 @@ Now we get to actually convert our point cloud to a mesh. To do this go to `Plugins` > `PoissonRecon`. You'll see this dialog box: -![Octree depth and output density selection](files/point_cloud_to_mesh/outputdensity.png) +![Octree depth and output density selection](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/outputdensity.png) The value you enter in the `Octree depth` field will determine the polygon count of the created model. You may have to run the surface reconstruction a couple times with varying values before you land on a polygon count that is suitable for your needs. @@ -93,18 +93,18 @@ Our tunnel has turned into a blob shape. This is because the mesh that CloudCompare creates will always be water tight even if it has to add polygons where there are no points. We just want our tunnels, though, so we need to remove those unnecessary polygons. -![The "blob shape"](files/point_cloud_to_mesh/blob.png) +![The "blob shape"](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/blob.png) This is where our scalar field comes in. In the mesh's `Properties` window go to `SF display params` and take the left handle in the graph and drag it to the right until it hits the area where the bulk of the scalar field starts. -![Adjusting scalar filed params](files/point_cloud_to_mesh/sf_display.png) +![Adjusting scalar filed params](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/sf_display.png) This will display only the polygons that were created from the point cloud and hide the polygons used to make the model watertight. The polygons are only hidden however. We still need to actually remove them. -![Display original polygons](files/point_cloud_to_mesh/hidden_polygons.png) +![Display original polygons](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/hidden_polygons.png) To remove the hidden polygons go to `Edit` > `Scalar fields` > `Filter By Value`. @@ -113,7 +113,7 @@ Hitting export will simply export the mesh within that range. Instead, we'll hit `Split` to create two meshes. One with the polygons inside our specified range and one containing polygons outside that range. -![Splitting the mesh](files/point_cloud_to_mesh/split.png) +![Splitting the mesh](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/split.png) ### The Completed Model @@ -121,6 +121,6 @@ By hitting `Split` we can view the model before exporting by simply going to `Fi Remember to have the correct mesh selected (`.part`) since choosing `Split` will give you two new meshes, plus you will still have your original, complete mesh. Your file format will depend on the software you want to use but `.obj` is a widely supported format that should work in most 3D applications. -![The completed mesh](files/point_cloud_to_mesh/complete.png) +![The completed mesh](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/complete.png) You can find more information on CloudCompare and a more in depth look at the tools we used in this tutorial on [the CloudCompare website](https://www.cloudcompare.org/) and the [CloudCompare wiki](https://www.cloudcompare.org/doc/wiki/index.php?title=Main_Page). From a6083b1a95f411e999327cf6098b4da6b93d4167 Mon Sep 17 00:00:00 2001 From: maryaB Date: Tue, 31 Mar 2020 09:21:18 -0700 Subject: [PATCH 075/202] fix title and pic sources --- tutorials/mesh_to_fuel.md | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/tutorials/mesh_to_fuel.md b/tutorials/mesh_to_fuel.md index 0626021dd1..6587d53f29 100644 --- a/tutorials/mesh_to_fuel.md +++ b/tutorials/mesh_to_fuel.md @@ -1,6 +1,4 @@ -\page meshtofuel - -# Importing a Mesh to Fuel +\page meshtofuel Importing a Mesh to Fuel This tutorial will explain how to import a mesh to the [Ignition Fuel](app.ignitionrobotics.org) web application. Adding models and/or worlds to Fuel will make your content readily available to the open source robotics simulation community, and easier to use with the Ignition GUI. @@ -128,11 +126,11 @@ Click the `Add folders` button, or drag and drop the `Electrical Box` folder you All the files in your model description will be listed there. Press `Upload`, and the "Fuel Model Info" page for your model will open. -![](files/mesh_to_fuel/model_info.png) +![Electrical Box Test](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/fbdb1530268604cf88d8ec1306d3b435ddcb0802/tutorials/files/mesh_to_fuel/model_info.png) You can always delete a model by clicking the "Edit model" button and then selecting "Delete model" at the bottom of the page -![](files/mesh_to_fuel/delete.png) +![Delete model](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/fbdb1530268604cf88d8ec1306d3b435ddcb0802/tutorials/files/mesh_to_fuel/delete.png) ## Include the Model in a World @@ -184,4 +182,4 @@ To launch the world and see your mesh, run Ignition from inside the directory wh ign gazebo import_mesh.sdf ``` -![Launch sample world with mesh](files/mesh_to_fuel/launch_world.png) +![Launch sample world with mesh](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/fbdb1530268604cf88d8ec1306d3b435ddcb0802/tutorials/files/mesh_to_fuel/launch_world.png) From fd8feae04d9b1b5a2a202f48d896d9595cacf3af Mon Sep 17 00:00:00 2001 From: jshep1 Date: Tue, 31 Mar 2020 13:37:20 -0700 Subject: [PATCH 076/202] requested fixes --- src/rendering/RenderUtil.cc | 167 ++++++++++-------------------------- 1 file changed, 43 insertions(+), 124 deletions(-) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index e09adfb6b8..7f6a3a15a2 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -166,7 +166,7 @@ class ignition::gazebo::RenderUtilPrivate public: std::map entityTemp; /// \brief A map of entity ids and wire boxes - public: std::map wireBoxes; + public: std::unordered_map wireBoxes; /// \brief Mutex to protect updates public: std::mutex updateMutex; @@ -1146,40 +1146,7 @@ void RenderUtil::SetSelectedEntity(const rendering::NodePtr &_node) return; this->dataPtr->selectedEntities.push_back(entityId); - - // If the entity is not found in the existing map, create a wire box - if (this->dataPtr->wireBoxes.find(entityId) == this->dataPtr->wireBoxes.end()) - { - rendering::MaterialPtr gray = this->dataPtr->scene->CreateMaterial(); - gray->SetAmbient(0.7, 0.7, 0.7); - gray->SetDiffuse(0.7, 0.7, 0.7); - gray->SetSpecular(0.7, 0.7, 0.7); - - ignition::rendering::WireBoxPtr wireBox = - this->dataPtr->scene->CreateWireBox(); - ignition::math::AxisAlignedBox aabb = vis->LocalBoundingBox(); - wireBox->SetBox(aabb); - - // Create visual and add wire box - ignition::rendering::VisualPtr wireBoxVis = - this->dataPtr->scene->CreateVisual(); - wireBoxVis->SetInheritScale(false); - wireBoxVis->AddGeometry(wireBox); - wireBoxVis->SetMaterial(gray); - vis->AddChild(wireBoxVis); - - // Add wire box to map for setting visibility - this->dataPtr->wireBoxes.insert( - std::pair(entityId, wireBox)); - } - else - { - ignition::rendering::WireBoxPtr wireBox = - this->dataPtr->wireBoxes[entityId]; - auto visParent = wireBox->Parent(); - if (visParent) - visParent->SetVisible(true); - } + this->dataPtr->HighlightNode(_node); } ///////////////////////////////////////////////// @@ -1188,15 +1155,7 @@ void RenderUtil::DeselectAllEntities() for (const auto &entity : this->dataPtr->selectedEntities) { auto node = this->dataPtr->sceneManager.NodeById(entity); - auto vis = std::dynamic_pointer_cast(node); - if (this->dataPtr->wireBoxes.find(entity) != this->dataPtr->wireBoxes.end()) - { - ignition::rendering::WireBoxPtr wireBox = - this->dataPtr->wireBoxes[entity]; - auto visParent = wireBox->Parent(); - if (visParent) - visParent->SetVisible(false); - } + this->dataPtr->LowlightNode(node); } this->dataPtr->selectedEntities.clear(); this->dataPtr->originalEmissive.clear(); @@ -1228,45 +1187,42 @@ void RenderUtilPrivate::HighlightNode(const rendering::NodePtr &_node) { if (!_node) return; - - for (auto n = 0u; n < _node->ChildCount(); ++n) - { - this->HighlightNode(_node->ChildByIndex(n)); - } - auto vis = std::dynamic_pointer_cast(_node); - if (nullptr == vis) - return; - - // Visual material - auto visMat = vis->Material(); - if (nullptr != visMat) + Entity entityId = kNullEntity; + if (vis) + entityId = std::get(vis->UserData("gazebo-entity")); + // If the entity is not found in the existing map, create a wire box + if (this->wireBoxes.find(entityId) == this->wireBoxes.end()) { - // If the entity isn't already highlighted, highlight it - if (this->originalEmissive.find(vis->Name()) == - this->originalEmissive.end()) - { - this->originalEmissive[vis->Name()] = visMat->Emissive(); - visMat->SetEmissive(visMat->Emissive() + math::Color(0.5, 0.5, 0.5)); - } - } + rendering::MaterialPtr gray = this->scene->CreateMaterial(); + gray->SetAmbient(0.2, 0.2, 0.2); + gray->SetDiffuse(0.2, 0.2, 0.2); + gray->SetSpecular(0.2, 0.2, 0.2); - for (auto g = 0u; g < vis->GeometryCount(); ++g) - { - auto geom = vis->GeometryByIndex(g); + ignition::rendering::WireBoxPtr wireBox = + this->scene->CreateWireBox(); + ignition::math::AxisAlignedBox aabb = vis->LocalBoundingBox(); + wireBox->SetBox(aabb); - // Geometry material - auto geomMat = geom->Material(); - if (nullptr == geomMat) - continue; + // Create visual and add wire box + ignition::rendering::VisualPtr wireBoxVis = + this->scene->CreateVisual(); + wireBoxVis->SetInheritScale(false); + wireBoxVis->AddGeometry(wireBox); + wireBoxVis->SetMaterial(gray); + vis->AddChild(wireBoxVis); - // If the entity isn't already highlighted, highlight it - if (this->originalEmissive.find(geom->Name()) == - this->originalEmissive.end()) - { - this->originalEmissive[geom->Name()] = geomMat->Emissive(); - geomMat->SetEmissive(geomMat->Emissive() + math::Color(0.5, 0.5, 0.5)); - } + // Add wire box to map for setting visibility + this->wireBoxes.insert( + std::pair(entityId, wireBox)); + } + else + { + ignition::rendering::WireBoxPtr wireBox = + this->wireBoxes[entityId]; + auto visParent = wireBox->Parent(); + if (visParent) + visParent->SetVisible(true); } } @@ -1275,53 +1231,16 @@ void RenderUtilPrivate::LowlightNode(const rendering::NodePtr &_node) { if (!_node) return; - - for (auto n = 0u; n < _node->ChildCount(); ++n) - { - this->LowlightNode(_node->ChildByIndex(n)); - } - auto vis = std::dynamic_pointer_cast(_node); - if (nullptr == vis) - return; - - // Visual material - auto visMat = vis->Material(); - if (nullptr != visMat) - { - auto visEmissive = this->originalEmissive.find(vis->Name()); - if (visEmissive != this->originalEmissive.end()) - { - visMat->SetEmissive(visEmissive->second); - } - else - { - ignerr << "Failed to find original material for visual [" << vis->Name() - << "]" << std::endl; - } - } - - for (auto g = 0u; g < vis->GeometryCount(); ++g) + Entity entityId = kNullEntity; + if (vis) + entityId = std::get(vis->UserData("gazebo-entity")); + if (this->wireBoxes.find(entityId) != this->wireBoxes.end()) { - auto geom = vis->GeometryByIndex(g); - - // Geometry material - auto geomMat = geom->Material(); - if (nullptr == geomMat) - { - ignerr << "Geometry missing material during lowlight." << std::endl; - continue; - } - - auto geomEmissive = this->originalEmissive.find(geom->Name()); - if (geomEmissive != this->originalEmissive.end()) - { - geomMat->SetEmissive(geomEmissive->second); - } - else - { - ignerr << "Failed to find original material for geometry [" - << geom->Name() << "]" << std::endl; - } + ignition::rendering::WireBoxPtr wireBox = + this->wireBoxes[entityId]; + auto visParent = wireBox->Parent(); + if (visParent) + visParent->SetVisible(false); } } From de9fcb003c5d5b0ec21035a079409e2baa629e12 Mon Sep 17 00:00:00 2001 From: jshep1 Date: Tue, 31 Mar 2020 14:06:50 -0700 Subject: [PATCH 077/202] add link visual user data --- src/rendering/SceneManager.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 4862a3ceb9..86a282cd32 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -186,6 +186,7 @@ rendering::VisualPtr SceneManager::CreateLink(Entity _id, name = parent->Name() + "::" + name; rendering::VisualPtr linkVis = this->dataPtr->scene->CreateVisual(name); linkVis->SetLocalPose(_link.RawPose()); + linkVis->SetUserData("gazebo-entity", static_cast(_id)); this->dataPtr->visuals[_id] = linkVis; if (parent) From 1f2860767cc02525ad4e6a232ccc80a49e1a1f0a Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Wed, 1 Apr 2020 12:35:35 +0800 Subject: [PATCH 078/202] Changed to callback based sensor removal --- .../ignition/gazebo/rendering/RenderUtil.hh | 6 +++ src/rendering/RenderUtil.cc | 23 +++++++- src/systems/sensors/Sensors.cc | 54 +++---------------- src/systems/sensors/Sensors.hh | 6 ++- 4 files changed, 41 insertions(+), 48 deletions(-) diff --git a/include/ignition/gazebo/rendering/RenderUtil.hh b/include/ignition/gazebo/rendering/RenderUtil.hh index f914c8e687..b952c7275a 100644 --- a/include/ignition/gazebo/rendering/RenderUtil.hh +++ b/include/ignition/gazebo/rendering/RenderUtil.hh @@ -110,6 +110,12 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { std::string(const gazebo::Entity &, const sdf::Sensor &, const std::string &)> _createSensorCb = {}); + /// \brief Set the callback function for removing the sensors + /// \param[in] _removeSensorCb Callback function for removing the sensors + /// The callback function arg is the sensor entity to remove + public : void SetRemoveSensorCb( + std::function _removeSensorCb); + /// \brief Get the scene manager /// Returns reference to the scene manager. public: class SceneManager &SceneManager(); diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 0ac9d0a3f1..fc836d66cd 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -169,12 +169,19 @@ class ignition::gazebo::RenderUtilPrivate //// \brief Flag to indicate whether to create sensors public: bool enableSensors = false; + /// \brief A set containing all the entities with attached rendering sensors + public: std::unordered_set sensorEntities; + /// \brief Callback function for creating sensors. /// The function args are: entity id, sensor sdf, and parent name. /// The function returns the id of the rendering sensor created. public: std::function createSensorCb; + /// \brief Callback function for removing sensors. + /// The function arg is the entity id + public: std::function removeSensorCb; + /// \brief Entity currently being selected. public: rendering::NodePtr selectedEntity{nullptr}; @@ -281,7 +288,6 @@ void RenderUtil::Update() } // remove existing entities - // \todo(anyone) Remove sensors { IGN_PROFILE("RenderUtil::Update Remove"); for (auto &entity : removeEntities) @@ -293,6 +299,13 @@ void RenderUtil::Update() this->dataPtr->selectedEntity.reset(); } this->dataPtr->sceneManager.RemoveEntity(entity.first); + // delete associated sensor, if existing + auto sensorEntityIt = this->dataPtr->sensorEntities.find(entity.first); + if (sensorEntityIt != this->dataPtr->sensorEntities.end()) + { + this->dataPtr->removeSensorCb(entity.first); + this->dataPtr->sensorEntities.erase(sensorEntityIt); + } } } @@ -442,6 +455,7 @@ void RenderUtilPrivate::CreateRenderingEntities( } this->newSensors.push_back( std::make_tuple(_entity, std::move(sdfDataCopy), _parent)); + this->sensorEntities.insert(_entity); }; const std::string cameraSuffix{"/image"}; @@ -1028,6 +1042,13 @@ void RenderUtil::SetEnableSensors(bool _enable, this->dataPtr->createSensorCb = std::move(_createSensorCb); } +///////////////////////////////////////////////// +void RenderUtil::SetRemoveSensorCb( + std::function _removeSensorCb) +{ + this->dataPtr->removeSensorCb = std::move(_removeSensorCb); +} + ///////////////////////////////////////////////// SceneManager &RenderUtil::SceneManager() { diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc index 7fcf2d896d..c3653e1fa8 100644 --- a/src/systems/sensors/Sensors.cc +++ b/src/systems/sensors/Sensors.cc @@ -153,14 +153,6 @@ class ignition::gazebo::systems::SensorsPrivate /// \brief Stop the rendering thread public: void Stop(); - - /// \brief Helper function to remove a sensor from the maps - /// \return True if the sensor was removed - public: bool RemoveSensor(const Entity &_entity); - - /// \brief Checks if any Sensor Entity has been removed and performs - /// cleanup of the corresponding sensor and map entries. - public: void SensorCleanup(const EntityComponentManager &_ecm); }; ////////////////////////////////////////////////// @@ -301,45 +293,15 @@ void SensorsPrivate::Stop() } ////////////////////////////////////////////////// -bool SensorsPrivate::RemoveSensor(const Entity &_entity) +void Sensors::RemoveSensor(const Entity &_entity) { - auto idIter = this->entityToIdMap.find(_entity); - if (idIter != this->entityToIdMap.end()) + auto idIter = this->dataPtr->entityToIdMap.find(_entity); + if (idIter != this->dataPtr->entityToIdMap.end()) { - this->sensorIds.erase(idIter->second); - this->sensorManager.Remove(idIter->second); - this->entityToIdMap.erase(idIter); + this->dataPtr->sensorIds.erase(idIter->second); + this->dataPtr->sensorManager.Remove(idIter->second); + this->dataPtr->entityToIdMap.erase(idIter); } - return true; -} - -////////////////////////////////////////////////// -void SensorsPrivate::SensorCleanup(const EntityComponentManager &_ecm) -{ - _ecm.EachRemoved( - [&](const Entity &_entity, - const components::Camera *)->bool - { - return this->RemoveSensor(_entity); - }); - _ecm.EachRemoved( - [&](const Entity &_entity, - const components::DepthCamera *)->bool - { - return this->RemoveSensor(_entity); - }); - _ecm.EachRemoved( - [&](const Entity &_entity, - const components::GpuLidar *)->bool - { - return this->RemoveSensor(_entity); - }); - _ecm.EachRemoved( - [&](const Entity &_entity, - const components::RgbdCamera *)->bool - { - return this->RemoveSensor(_entity); - }); } ////////////////////////////////////////////////// @@ -368,6 +330,8 @@ void Sensors::Configure(const Entity &/*_id*/, this->dataPtr->renderUtil.SetEnableSensors(true, std::bind(&Sensors::CreateSensor, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); + this->dataPtr->renderUtil.SetRemoveSensorCb( + std::bind(&Sensors::RemoveSensor, this, std::placeholders::_1)); this->dataPtr->stopConn = _eventMgr.Connect( std::bind(&SensorsPrivate::Stop, this->dataPtr.get())); @@ -405,8 +369,6 @@ void Sensors::PostUpdate(const UpdateInfo &_info, if (this->dataPtr->running && this->dataPtr->initialized) { this->dataPtr->renderUtil.UpdateFromECM(_info, _ecm); - // Performs cleanup for removed sensors - this->dataPtr->SensorCleanup(_ecm); auto time = math::durationToSecNsec(_info.simTime); auto t = common::Time(time.first, time.second); diff --git a/src/systems/sensors/Sensors.hh b/src/systems/sensors/Sensors.hh index 56522eb5b3..41a87694e8 100644 --- a/src/systems/sensors/Sensors.hh +++ b/src/systems/sensors/Sensors.hh @@ -63,10 +63,14 @@ namespace systems /// \param[in] _sdf SDF description of the sensor /// \param[in] _parentName Name of parent that the sensor is attached to /// \return Sensor name - private : std::string CreateSensor(const Entity& _entity, + private : std::string CreateSensor(const Entity &_entity, const sdf::Sensor &_sdf, const std::string &_parentName); + /// \brief Removes a rendering sensor + /// \param[in] _entity Entity of the sensor + private : void RemoveSensor(const Entity &_entity); + /// \brief Private data pointer. private: std::unique_ptr dataPtr; }; From 9a89124992388ef1be1c02bd19291d11ab40d794 Mon Sep 17 00:00:00 2001 From: maryaB Date: Wed, 1 Apr 2020 10:23:25 -0700 Subject: [PATCH 079/202] trying resized pics --- tutorials/files/mesh_to_fuel/delete2.png | Bin 0 -> 15160 bytes tutorials/files/mesh_to_fuel/launch_world2.png | 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z?chVlY+M&O^n3p)y%8fq;&>1i?P|K3Ngc_oayh<*p z@NS2}i4)3=Eg7BD&S!LiCzKZujuo@A)jR6yJg01!7Q9&DiABcpFq7kEFLRQPy0x^w zioYqp>U3XE@3_AoTJMbR%<%ELwJW{t-DXr(b}9CMsXITYqjviVvy!{!F_4)gzR!+Jl{r>(YPL9)h|CN+q+{Z@~{riFH z4?mPOFRnY2q3quC!}k++7m`_FMOLz){?s!FNXAo}RN}+rI(ZE}0zw diff --git a/tutorials/point_cloud_to_mesh.md b/tutorials/point_cloud_to_mesh.md index 60e0e1e963..26b44140a0 100644 --- a/tutorials/point_cloud_to_mesh.md +++ b/tutorials/point_cloud_to_mesh.md @@ -20,7 +20,7 @@ After installing, open CloudCompare and import your point cloud file by going to Depending on the number of points in your point cloud, this could take several minutes. Once loaded, you should see the following tunnel section: -![Opening the point cloud](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/cloudcompare.png) +![Opening the point cloud](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/d4fdfb0b778306ca8b946b7b4cf6bf9887386f3c/tutorials/files/point_cloud_to_mesh/cloudcompare2.png) Many 3D scans will be composed of millions, sometimes hundreds of millions of points. Converting a scan to a 3D model with that many points would be very difficult due to the number of polygons that would be created and the long processing time necessary to compute the normals. @@ -93,7 +93,7 @@ Our tunnel has turned into a blob shape. This is because the mesh that CloudCompare creates will always be water tight even if it has to add polygons where there are no points. We just want our tunnels, though, so we need to remove those unnecessary polygons. -![The "blob shape"](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/blob.png) +![The "blob shape"](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/d4fdfb0b778306ca8b946b7b4cf6bf9887386f3c/tutorials/files/point_cloud_to_mesh/blob2.png) This is where our scalar field comes in. In the mesh's `Properties` window go to `SF display params` and take the left handle in the graph and drag it to the right until it hits the area where the bulk of the scalar field starts. @@ -104,7 +104,7 @@ This will display only the polygons that were created from the point cloud and h The polygons are only hidden however. We still need to actually remove them. -![Display original polygons](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/hidden_polygons.png) +![Display original polygons](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/d4fdfb0b778306ca8b946b7b4cf6bf9887386f3c/tutorials/files/point_cloud_to_mesh/hidden_polygons2.png) To remove the hidden polygons go to `Edit` > `Scalar fields` > `Filter By Value`. @@ -121,6 +121,6 @@ By hitting `Split` we can view the model before exporting by simply going to `Fi Remember to have the correct mesh selected (`.part`) since choosing `Split` will give you two new meshes, plus you will still have your original, complete mesh. Your file format will depend on the software you want to use but `.obj` is a widely supported format that should work in most 3D applications. -![The completed mesh](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/complete.png) +![The completed mesh](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/d4fdfb0b778306ca8b946b7b4cf6bf9887386f3c/tutorials/files/point_cloud_to_mesh/complete2.png) You can find more information on CloudCompare and a more in depth look at the tools we used in this tutorial on [the CloudCompare website](https://www.cloudcompare.org/) and the [CloudCompare wiki](https://www.cloudcompare.org/doc/wiki/index.php?title=Main_Page). From d1380a37d9cabf0276aab6031abc75e9d91be2f9 Mon Sep 17 00:00:00 2001 From: maryaB Date: Wed, 1 Apr 2020 11:31:53 -0700 Subject: [PATCH 083/202] remove texture format mention --- tutorials/mesh_to_fuel.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/mesh_to_fuel.md b/tutorials/mesh_to_fuel.md index 02cc452bee..98fb517204 100644 --- a/tutorials/mesh_to_fuel.md +++ b/tutorials/mesh_to_fuel.md @@ -33,7 +33,7 @@ The contents of each directory and file are equally as important; each part is c ### Materials -The `materials` directory is for textures, which must be in `.png` files. +The `materials` directory is for textures. Textures are optional; they provide color or detail to a mesh. If you download a mesh online, the texture files should come with it. Otherwise, you would have to use a 3D modeling tool to correctly design a texture. From eee37546b63a57ffe57ac93bfdb59d77c3e70eb1 Mon Sep 17 00:00:00 2001 From: MaryaB Date: Wed, 1 Apr 2020 18:52:06 +0000 Subject: [PATCH 084/202] Close branch maryaB/pointcloudtutorial From d094062921747285a96fdc6d60495ae58c2ca849 Mon Sep 17 00:00:00 2001 From: MaryaB Date: Wed, 1 Apr 2020 23:35:13 +0000 Subject: [PATCH 085/202] Close branch maryaB/meshtofuel_tutorial From b158ae2fef4ecb7315a637654dc9ba7a7a2168e3 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 2 Apr 2020 11:00:21 -0700 Subject: [PATCH 086/202] use unordered map --- src/rendering/RenderUtil.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index b17b94a79b..dc597bb056 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -511,7 +511,7 @@ void RenderUtil::Update() if (skeleton) { float rootBoneWeight = (animData.followTrajectory) ? 0.0 : 1.0; - std::map weights; + std::unordered_map weights; weights[skeleton->RootNode()->Name()] = rootBoneWeight; actorMesh->SetSkeletonWeights(weights); } @@ -521,8 +521,8 @@ void RenderUtil::Update() // update skeleton animation by setting animation time. // Note that animation time is different from sim time. An actor can // have multiple animations. Animation time is associated with - // current animation that is being played. should be played. It is also - // adjusted if interpotate_x is enabled + // current animation that is being played. It is also adjusted if + // interpotate_x is enabled actorMesh->UpdateSkeletonAnimation(animData.time); // manually update root transform in order to sync with trajectory From bc46fd86ad280e74ea1228b848e1c1b137b93e3a Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 2 Apr 2020 21:37:29 -0700 Subject: [PATCH 087/202] bump sdformat9 version --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 0be0a44f4a..49c22981d2 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -38,7 +38,7 @@ endif() # Search for project-specific dependencies #============================================================================ -ign_find_package(sdformat9 REQUIRED) +ign_find_package(sdformat9 VERSION 9.2 REQUIRED) set(SDF_VER ${sdformat9_VERSION_MAJOR}) #-------------------------------------- From 7750a411eb0135da1b8bc06c8d19e4e08ef83190 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Fri, 3 Apr 2020 17:51:21 +0800 Subject: [PATCH 088/202] Cleanup activeSensor structure to avoid segfaults --- src/systems/sensors/Sensors.cc | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc index c3653e1fa8..3689998f7e 100644 --- a/src/systems/sensors/Sensors.cc +++ b/src/systems/sensors/Sensors.cc @@ -298,9 +298,24 @@ void Sensors::RemoveSensor(const Entity &_entity) auto idIter = this->dataPtr->entityToIdMap.find(_entity); if (idIter != this->dataPtr->entityToIdMap.end()) { + // Remove from active sensors as well + // Locking mutex to make sure the vector is not being changed while + // the rendering thread is iterating over it + { + std::unique_lock lock(this->dataPtr->sensorMaskMutex); + sensors::Sensor *s = this->dataPtr->sensorManager.Sensor(idIter->second); + auto rs = dynamic_cast(s); + auto activeSensorIt = std::find(this->dataPtr->activeSensors.begin(), + this->dataPtr->activeSensors.end(), rs); + if (activeSensorIt != this->dataPtr->activeSensors.end()) + { + this->dataPtr->activeSensors.erase(activeSensorIt); + } + } this->dataPtr->sensorIds.erase(idIter->second); this->dataPtr->sensorManager.Remove(idIter->second); this->dataPtr->entityToIdMap.erase(idIter); + } } From 64a87bd19a46c100ca1abf5ef136536973a32cd0 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Fri, 3 Apr 2020 18:35:33 +0800 Subject: [PATCH 089/202] Changelog --- Changelog.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Changelog.md b/Changelog.md index a1c8179982..3f417e91fa 100644 --- a/Changelog.md +++ b/Changelog.md @@ -4,6 +4,9 @@ ### Ignition Gazebo 4.0.0 (20XX-XX-XX) +1. Added support for removing sensors at runtime + * [Pull Request 558](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/558) + 1. Support and * [Pull Request 542](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/542) From 848b27b1d112e2efc97b1120e813eaa90bfdbd54 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Fri, 3 Apr 2020 18:48:32 +0800 Subject: [PATCH 090/202] Updated demo world with thermal camera --- examples/worlds/sensors_demo.sdf | 57 ++++++++++++++++++++++++++++++++ 1 file changed, 57 insertions(+) diff --git a/examples/worlds/sensors_demo.sdf b/examples/worlds/sensors_demo.sdf index d5866928f6..f00f7dcd5e 100644 --- a/examples/worlds/sensors_demo.sdf +++ b/examples/worlds/sensors_demo.sdf @@ -139,6 +139,17 @@ rgbd_camera/depth_image false + + + Thermal camera + floating + 350 + 315 + 800 + + thermal_camera + false + @@ -409,6 +420,52 @@ + + 3 0 0.5 0 0.0 3.14 + + 0.05 0.05 0.05 0 0 0 + + 0.1 + + 0.000166667 + 0.000166667 + 0.000166667 + + + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + + 1.047 + + 320 + 240 + + + 0.1 + 100 + + + 1 + 30 + true + thermal_camera + + + + 0 1 3 0.0 0.0 1.57 From c83fa49157584b1e5f048141e1a95eca03020757 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Fri, 3 Apr 2020 19:14:17 +0800 Subject: [PATCH 091/202] Codecheck --- src/systems/sensors/Sensors.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc index 2930ce8971..5a73952c58 100644 --- a/src/systems/sensors/Sensors.cc +++ b/src/systems/sensors/Sensors.cc @@ -323,7 +323,6 @@ void Sensors::RemoveSensor(const Entity &_entity) this->dataPtr->sensorIds.erase(idIter->second); this->dataPtr->sensorManager.Remove(idIter->second); this->dataPtr->entityToIdMap.erase(idIter); - } } From 87b2bef6f45d78d5f1c715a2609950a9a0dcfa12 Mon Sep 17 00:00:00 2001 From: chapulina Date: Fri, 3 Apr 2020 15:37:50 -0700 Subject: [PATCH 092/202] typos --- include/ignition/gazebo/rendering/SceneManager.hh | 10 +++++----- src/rendering/RenderUtil.cc | 7 ++++--- 2 files changed, 9 insertions(+), 8 deletions(-) diff --git a/include/ignition/gazebo/rendering/SceneManager.hh b/include/ignition/gazebo/rendering/SceneManager.hh index 456f08072b..6df7cd39e8 100644 --- a/include/ignition/gazebo/rendering/SceneManager.hh +++ b/include/ignition/gazebo/rendering/SceneManager.hh @@ -48,20 +48,20 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { // Forward declaration class SceneManagerPrivate; - /// \brief Data structure for updaing skeleton animations + /// \brief Data structure for updating skeleton animations class AnimationUpdateData { /// \brief Timepoint in the animation. /// Note that animation time is different from sim time. An actor can /// have multiple animations. Animation time is associated with /// current animation that is being played. This value is also adjusted if - /// interpotate_x is enabled + /// interpolate_x is enabled public: std::chrono::steady_clock::duration time; /// \brief True if animation is looped public: bool loop = false; - /// \brief True trajectory animation is on + /// \brief True if trajectory animation is on public: bool followTrajectory = false; /// \brief Trajectory to be followed @@ -72,7 +72,7 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { public: std::string animationName; /// \brief Transform of the root node in the skeleton. The actor's - /// skeleton's root node transform need to be set if trajectory + /// skeleton's root node transform needs to be set if trajectory /// animation is enabled. This field is set only if the actor /// is not animated by manually using skeleton transforms public: math::Matrix4d rootTransform; @@ -168,7 +168,7 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \return Pointer to requested entity's mesh public: rendering::MeshPtr ActorMeshById(Entity _id) const; - /// \brief Get a skeleon given an id + /// \brief Get a skeleton given an id /// \param[in] _id Actor entity's unique id /// \return Pointer to requested entity's skeleton public: common::SkeletonPtr ActorSkeletonById(Entity _id) const; diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index dc597bb056..36bf5b32ad 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -179,6 +179,7 @@ class ignition::gazebo::RenderUtilPrivate /// \brief True to update skeletons manually using bone poses /// (see actorTransforms). False to let render engine update animation /// based on sim time. + /// \todo(anyone) Let this be turned on from a component public: bool actorManualSkeletonUpdate = false; /// \brief Mutex to protect updates @@ -518,11 +519,11 @@ void RenderUtil::Update() this->dataPtr->skelAnimName = animData.animationName; } - // update skeleton animation by setting animation time. + // Update skeleton animation by setting animation time. // Note that animation time is different from sim time. An actor can // have multiple animations. Animation time is associated with - // current animation that is being played. It is also adjusted if - // interpotate_x is enabled + // current animation that is being played. It is also adjusted if + // interpotate_x is enabled. actorMesh->UpdateSkeletonAnimation(animData.time); // manually update root transform in order to sync with trajectory From 9751393a18d6b66618465af9cbbe20cc80d831f7 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 3 Apr 2020 17:28:07 -0700 Subject: [PATCH 093/202] address feedback --- include/ignition/gazebo/rendering/SceneManager.hh | 3 ++- src/rendering/RenderUtil.cc | 8 ++++++++ 2 files changed, 10 insertions(+), 1 deletion(-) diff --git a/include/ignition/gazebo/rendering/SceneManager.hh b/include/ignition/gazebo/rendering/SceneManager.hh index 6df7cd39e8..e6727f078d 100644 --- a/include/ignition/gazebo/rendering/SceneManager.hh +++ b/include/ignition/gazebo/rendering/SceneManager.hh @@ -179,6 +179,7 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \param[in] _id Entity's unique id /// \param[in] _time Simulation time /// \return Map from the skeleton node name to transforms + /// \deprecated see ActorSkeletonTransformAt public: std::map IGN_DEPRECATED(4.0) ActorMeshAnimationAt( Entity _id, std::chrono::steady_clock::duration _time) const; @@ -196,7 +197,7 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// Use this function to let the render engine handle the actor animation. /// by setting the animation name to be played. /// \param[in] _id Entity's unique id - /// \param[in] _time SimulationTime + /// \param[in] _time Simulation time /// \return Data needed to update the animation, including the name and /// time of animation to play, and trajectory animation info. public: AnimationUpdateData ActorAnimationAt( diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 36bf5b32ad..4c29bf347d 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -448,7 +448,11 @@ void RenderUtil::Update() auto actorMesh = this->dataPtr->sceneManager.ActorMeshById(tf.first); auto actorVisual = this->dataPtr->sceneManager.NodeById(tf.first); if (!actorMesh || !actorVisual) + { + ignerr << "Actor with Entity ID '" << tf.first << "'. not found. " + << "Skipping skeleton animation update." << std::endl; continue; + } math::Pose3d globalPose; if (entityPoses.find(tf.first) != entityPoses.end()) @@ -482,7 +486,11 @@ void RenderUtil::Update() auto actorMesh = this->dataPtr->sceneManager.ActorMeshById(it.first); auto actorVisual = this->dataPtr->sceneManager.NodeById(it.first); if (!actorMesh || !actorVisual) + { + ignerr << "Actor with Entity ID '" << it.first << "'. not found. " + << "Skipping skeleton animation update." << std::endl; continue; + } AnimationUpdateData &animData = it.second; if (!animData.valid) From 47f8ff6031b3a2634ae2e9d9a2d4575dba5c82a1 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 3 Apr 2020 17:50:27 -0700 Subject: [PATCH 094/202] fix disabling skel anim --- src/rendering/RenderUtil.cc | 19 +++++++++---------- src/rendering/SceneManager.cc | 1 + 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 4c29bf347d..063240618f 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -31,6 +31,7 @@ #include #include +#include #include #include @@ -173,9 +174,6 @@ class ignition::gazebo::RenderUtilPrivate /// \brief A map of entity ids and actor animation info. public: std::unordered_map actorAnimationData; - /// \brief Name of skeleton animation that is currently playing - public: std::string skelAnimName; - /// \brief True to update skeletons manually using bone poses /// (see actorTransforms). False to let render engine update animation /// based on sim time. @@ -485,7 +483,9 @@ void RenderUtil::Update() { auto actorMesh = this->dataPtr->sceneManager.ActorMeshById(it.first); auto actorVisual = this->dataPtr->sceneManager.NodeById(it.first); - if (!actorMesh || !actorVisual) + auto actorSkel = this->dataPtr->sceneManager.ActorSkeletonById( + it.first); + if (!actorMesh || !actorVisual || !actorSkel) { ignerr << "Actor with Entity ID '" << it.first << "'. not found. " << "Skipping skeleton animation update." << std::endl; @@ -501,12 +501,13 @@ void RenderUtil::Update() // Enable skeleton animation if (!actorMesh->SkeletonAnimationEnabled(animData.animationName)) { - // disable current animation - if (!this->dataPtr->skelAnimName.empty()) + // disable all animations for this actor + for (unsigned int i = 0; i < actorSkel->AnimationCount(); ++i) { - actorMesh->SetSkeletonAnimationEnabled(this->dataPtr->skelAnimName, - false, false, 0.0); + actorMesh->SetSkeletonAnimationEnabled( + actorSkel->Animation(i)->Name(), false, false, 0.0); } + // enable requested animation actorMesh->SetSkeletonAnimationEnabled( animData.animationName, true, animData.loop); @@ -524,8 +525,6 @@ void RenderUtil::Update() weights[skeleton->RootNode()->Name()] = rootBoneWeight; actorMesh->SetSkeletonWeights(weights); } - - this->dataPtr->skelAnimName = animData.animationName; } // Update skeleton animation by setting animation time. // Note that animation time is different from sim time. An actor can diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index d8d91e2616..b2d212d43f 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -551,6 +551,7 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, std::string animFilename = asFullPath( _actor.AnimationByIndex(i)->Filename(), _actor.AnimationByIndex(i)->FilePath()); + double animScale = _actor.AnimationByIndex(i)->Scale(); std::string extension = animFilename.substr(animFilename.rfind('.') + 1, From 3abd1dd1950b6b34721d6904c3a910efc8c2bf6f Mon Sep 17 00:00:00 2001 From: jshep1 Date: Mon, 6 Apr 2020 11:35:39 -0700 Subject: [PATCH 095/202] dummy commit From c0ec296ab0e82874b397969113c11440d71b1875 Mon Sep 17 00:00:00 2001 From: jshep1 Date: Mon, 6 Apr 2020 19:20:52 -0700 Subject: [PATCH 096/202] Add changelog --- Changelog.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Changelog.md b/Changelog.md index a1c8179982..90beb77f08 100644 --- a/Changelog.md +++ b/Changelog.md @@ -10,6 +10,9 @@ 1. Depend on ign-rendering4, ign-gui4, ign-sensors4 * [Pull Request 540](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/540) +1. Axis-Aligned Bounding Boxes + * [Pull Request 565](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/565) + ## Ignition Gazebo 3.x ### Ignition Gazebo 3.X.X From d6ab17ec998fe7a26d0f0fee6bece2ddf65b8d0c Mon Sep 17 00:00:00 2001 From: jshep1 Date: Tue, 7 Apr 2020 11:51:05 -0700 Subject: [PATCH 097/202] Add white bounding box --- src/rendering/RenderUtil.cc | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 7f6a3a15a2..5ef19ccc7e 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -192,12 +192,10 @@ class ignition::gazebo::RenderUtilPrivate /// \brief Highlight a node and all its children. /// \param[in] _node Node to be highlighted - /// TODO(anyone) On future versions, use a bounding box instead public: void HighlightNode(const rendering::NodePtr &_node); /// \brief Restore a highlighted node to normal. /// \param[in] _node Node to be restored. - /// TODO(anyone) On future versions, use a bounding box instead public: void LowlightNode(const rendering::NodePtr &_node); }; @@ -1194,10 +1192,10 @@ void RenderUtilPrivate::HighlightNode(const rendering::NodePtr &_node) // If the entity is not found in the existing map, create a wire box if (this->wireBoxes.find(entityId) == this->wireBoxes.end()) { - rendering::MaterialPtr gray = this->scene->CreateMaterial(); - gray->SetAmbient(0.2, 0.2, 0.2); - gray->SetDiffuse(0.2, 0.2, 0.2); - gray->SetSpecular(0.2, 0.2, 0.2); + rendering::MaterialPtr white = this->scene->CreateMaterial(); + white->SetAmbient(1.0, 1.0, 1.0); + white->SetDiffuse(1.0, 1.0, 1.0); + white->SetSpecular(1.0, 1.0, 1.0); ignition::rendering::WireBoxPtr wireBox = this->scene->CreateWireBox(); @@ -1209,7 +1207,7 @@ void RenderUtilPrivate::HighlightNode(const rendering::NodePtr &_node) this->scene->CreateVisual(); wireBoxVis->SetInheritScale(false); wireBoxVis->AddGeometry(wireBox); - wireBoxVis->SetMaterial(gray); + wireBoxVis->SetMaterial(white); vis->AddChild(wireBoxVis); // Add wire box to map for setting visibility From 5465cbab5c56210c4f9cd49abe22e95282198d9c Mon Sep 17 00:00:00 2001 From: jshep1 Date: Tue, 7 Apr 2020 13:09:12 -0700 Subject: [PATCH 098/202] Add emissive property for bounding box material --- src/rendering/RenderUtil.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 5ef19ccc7e..e7269001d8 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -1196,6 +1196,7 @@ void RenderUtilPrivate::HighlightNode(const rendering::NodePtr &_node) white->SetAmbient(1.0, 1.0, 1.0); white->SetDiffuse(1.0, 1.0, 1.0); white->SetSpecular(1.0, 1.0, 1.0); + white->SetEmissive(1.0, 1.0, 1.0); ignition::rendering::WireBoxPtr wireBox = this->scene->CreateWireBox(); From 9c8792a4ef8fee55dd4138dcd48904d7ad28fad8 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Wed, 8 Apr 2020 18:24:19 -0700 Subject: [PATCH 099/202] fix changelog --- Changelog.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Changelog.md b/Changelog.md index 19eedcf9dd..908b4c7722 100644 --- a/Changelog.md +++ b/Changelog.md @@ -5,10 +5,10 @@ ### Ignition Gazebo 4.0.0 (20XX-XX-XX) 1. Add support for visual visibility flags and camera visibility mask - * [pull request 559](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/559) + * [Pull Request 559](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/559) -1. support and - * [pull request 542](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/542) +1. Support and + * [Pull Request 542](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/542) 1. Depend on ign-rendering4, ign-gui4, ign-sensors4 * [Pull Request 540](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/540) From 50dda17185b9ebd4988acb8ae54ab610260a1ae7 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Wed, 8 Apr 2020 21:07:53 -0700 Subject: [PATCH 100/202] cleanup sensors --- src/systems/sensors/Sensors.cc | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc index 5a73952c58..828c66fcd3 100644 --- a/src/systems/sensors/Sensors.cc +++ b/src/systems/sensors/Sensors.cc @@ -267,6 +267,11 @@ void SensorsPrivate::RenderThread() { this->RunOnce(); } + + // clean up before exiting + for (const auto id : this->sensorIds) + this->sensorManager.Remove(id); + igndbg << "SensorsPrivate::RenderThread stopped" << std::endl; } From 725316ea5702a7f8246a0da32628f3435eeb3526 Mon Sep 17 00:00:00 2001 From: jshep1 Date: Thu, 9 Apr 2020 11:13:09 -0700 Subject: [PATCH 101/202] Update material creation --- src/rendering/RenderUtil.cc | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index e7269001d8..d3bae95b06 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -1192,7 +1192,10 @@ void RenderUtilPrivate::HighlightNode(const rendering::NodePtr &_node) // If the entity is not found in the existing map, create a wire box if (this->wireBoxes.find(entityId) == this->wireBoxes.end()) { - rendering::MaterialPtr white = this->scene->CreateMaterial(); + auto white = this->scene->Material("highlight_material"); + if (!white) + white = this->scene->CreateMaterial("highlight_material"); + white->SetAmbient(1.0, 1.0, 1.0); white->SetDiffuse(1.0, 1.0, 1.0); white->SetSpecular(1.0, 1.0, 1.0); @@ -1208,7 +1211,7 @@ void RenderUtilPrivate::HighlightNode(const rendering::NodePtr &_node) this->scene->CreateVisual(); wireBoxVis->SetInheritScale(false); wireBoxVis->AddGeometry(wireBox); - wireBoxVis->SetMaterial(white); + wireBoxVis->SetMaterial(white, false); vis->AddChild(wireBoxVis); // Add wire box to map for setting visibility From 78ab916f42af88d35f72d781fe7c2a5f804238fd Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 9 Apr 2020 12:44:21 -0700 Subject: [PATCH 102/202] tweaks --- src/rendering/RenderUtil.cc | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index d3bae95b06..7971b16134 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -1190,16 +1190,18 @@ void RenderUtilPrivate::HighlightNode(const rendering::NodePtr &_node) if (vis) entityId = std::get(vis->UserData("gazebo-entity")); // If the entity is not found in the existing map, create a wire box - if (this->wireBoxes.find(entityId) == this->wireBoxes.end()) + auto wireBoxIt = this->wireBoxes.find(entityId); + if (wireBoxIt == this->wireBoxes.end()) { auto white = this->scene->Material("highlight_material"); if (!white) + { white = this->scene->CreateMaterial("highlight_material"); - - white->SetAmbient(1.0, 1.0, 1.0); - white->SetDiffuse(1.0, 1.0, 1.0); - white->SetSpecular(1.0, 1.0, 1.0); - white->SetEmissive(1.0, 1.0, 1.0); + white->SetAmbient(1.0, 1.0, 1.0); + white->SetDiffuse(1.0, 1.0, 1.0); + white->SetSpecular(1.0, 1.0, 1.0); + white->SetEmissive(1.0, 1.0, 1.0); + } ignition::rendering::WireBoxPtr wireBox = this->scene->CreateWireBox(); @@ -1220,8 +1222,7 @@ void RenderUtilPrivate::HighlightNode(const rendering::NodePtr &_node) } else { - ignition::rendering::WireBoxPtr wireBox = - this->wireBoxes[entityId]; + ignition::rendering::WireBoxPtr wireBox = wireBoxIt->second; auto visParent = wireBox->Parent(); if (visParent) visParent->SetVisible(true); From 9a8ac6c8d9edcb37036299649f96295db2b552ad Mon Sep 17 00:00:00 2001 From: John Shepherd Date: Thu, 9 Apr 2020 20:54:45 +0000 Subject: [PATCH 103/202] Close branch aabb_dome From 6ac65afa3cc244bd761b0a7fe19faed42117de36 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 9 Apr 2020 22:28:22 +0000 Subject: [PATCH 104/202] Close branch visibility From dd239b529f2e63e999ded7d70342bf456955d05c Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 9 Apr 2020 23:41:36 +0000 Subject: [PATCH 105/202] Close branch remove_sensors From f003c3dda69b67f2446bee787ec7165ffa5e5b77 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 10 Apr 2020 16:13:36 -0700 Subject: [PATCH 106/202] add actor crowd world, and fix adding duplicate animations --- examples/worlds/actor_crowd.sdf | 3887 +++++++++++++++++++++++++++++++ src/rendering/RenderUtil.cc | 26 +- src/rendering/SceneManager.cc | 51 +- 3 files changed, 3941 insertions(+), 23 deletions(-) create mode 100644 examples/worlds/actor_crowd.sdf diff --git a/examples/worlds/actor_crowd.sdf b/examples/worlds/actor_crowd.sdf new file mode 100644 index 0000000000..55fdf62c78 --- /dev/null +++ b/examples/worlds/actor_crowd.sdf @@ -0,0 +1,3887 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https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor + + + + demo_actor_24_22 + 12 10 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor + + + + demo_actor_24_23 + 12 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor + + + + demo_actor_24_24 + 12 12 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor + + + + diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index b6f990fe90..e112ba8f44 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -310,7 +310,6 @@ void RenderUtil::Update() newSensors = std::move(this->dataPtr->newSensors); this->dataPtr->newSensors.clear(); } - this->dataPtr->updateMutex.unlock(); // scene - only one scene is supported for now @@ -491,6 +490,7 @@ void RenderUtil::Update() tf.second.erase("actorPose"); actorMesh->SetSkeletonLocalTransforms(tf.second); } + } else { @@ -585,21 +585,21 @@ void RenderUtil::Update() actorVisual->SetLocalPose(trajPose + globalPose); } } + } - // set visual temperature - for (auto &temp : entityTemp) - { - auto node = this->dataPtr->sceneManager.NodeById(temp.first); - if (!node) - continue; + // set visual temperature + for (auto &temp : entityTemp) + { + auto node = this->dataPtr->sceneManager.NodeById(temp.first); + if (!node) + continue; - auto visual = - std::dynamic_pointer_cast(node); - if (!visual) - continue; + auto visual = + std::dynamic_pointer_cast(node); + if (!visual) + continue; - visual->SetUserData("temperature", temp.second); - } + visual->SetUserData("temperature", temp.second); } } diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index dff9694e15..390879684c 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -536,6 +536,8 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, return rendering::VisualPtr(); } + // todo(anyone) create a copy of meshSkel so we don't modify the original + // when adding animations! common::SkeletonPtr meshSkel = descriptor.mesh->MeshSkeleton(); if (nullptr == meshSkel) { @@ -565,21 +567,38 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, if (extension == "bvh") { - meshSkel->AddBvhAnimation(animFilename, animScale); + // do not add duplicate animation + // start checking from index 1 since index 0 is reserved by skin mesh + bool addAnim = true; + for (unsigned int a = 1; a < meshSkel->AnimationCount(); ++a) + { + if (meshSkel->Animation(a)->Name() == animFilename) + { + addAnim = false; + break; + } + } + if (addAnim) + meshSkel->AddBvhAnimation(animFilename, animScale); mapAnimNameId[animName] = numAnims++; } else if (extension == "dae") { - common::MeshManager::Instance()->Load(animFilename); - auto animMesh = common::MeshManager::Instance()->MeshByName(animFilename); - - // add the first animation - if (animMesh->MeshSkeleton()->AnimationCount() > 1) + // Load the mesh if it has not been loaded before + const common::Mesh *animMesh = nullptr; + if (!meshManager->HasMesh(animFilename)) { - ignwarn << "File [" << animFilename - << "] has more than one animation, but only the 1st one is used." - << std::endl; + animMesh = meshManager->Load(animFilename); + if (animMesh->MeshSkeleton()->AnimationCount() > 1) + { + ignwarn << "File [" << animFilename + << "] has more than one animation, but only the 1st one is used." + << std::endl; + } } + animMesh = meshManager->MeshByName(animFilename); + + // add the first animation auto firstAnim = animMesh->MeshSkeleton()->Animation(0); if (nullptr == firstAnim) { @@ -593,7 +612,19 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, // So make sure to give it a unique name firstAnim->SetName(animName); - meshSkel->AddAnimation(firstAnim); + // do not add duplicate animation + // start checking from index 1 since index 0 is reserved by skin mesh + bool addAnim = true; + for (unsigned int a = 1; a < meshSkel->AnimationCount(); ++a) + { + if (meshSkel->Animation(a)->Name() == animName) + { + addAnim = false; + break; + } + } + if (addAnim) + meshSkel->AddAnimation(firstAnim); mapAnimNameId[animName] = numAnims++; } } From 84a09e49c74bb66de5e5d1327f67982e7ee8c2a9 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 10 Apr 2020 16:14:17 -0700 Subject: [PATCH 107/202] add actor crowd world, and fix adding duplicate animations --- src/rendering/RenderUtil.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index e112ba8f44..b5e2722a1e 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -490,7 +490,6 @@ void RenderUtil::Update() tf.second.erase("actorPose"); actorMesh->SetSkeletonLocalTransforms(tf.second); } - } else { From b492c8eafb63997a86444131d5be0c7bb16b6a24 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 10 Apr 2020 16:22:08 -0700 Subject: [PATCH 108/202] fix sdf --- examples/worlds/actor_crowd.sdf | 52 +++++++++++++++++---------------- 1 file changed, 27 insertions(+), 25 deletions(-) diff --git a/examples/worlds/actor_crowd.sdf b/examples/worlds/actor_crowd.sdf index 55fdf62c78..dcb5c5e834 100644 --- a/examples/worlds/actor_crowd.sdf +++ b/examples/worlds/actor_crowd.sdf @@ -1,6 +1,6 @@ @@ -133,6 +133,7 @@ + demo_actor_0_0 -12 -12 0 0 0 0 @@ -282,7 +283,7 @@ -12 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_1_0 -11 -12 0 0 0 0 @@ -432,7 +433,7 @@ w -11 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_2_0 -10 -12 0 0 0 0 @@ -582,7 +583,7 @@ w -10 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_3_0 -9 -12 0 0 0 0 @@ -732,7 +733,7 @@ w -9 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_4_0 -8 -12 0 0 0 0 @@ -882,7 +883,7 @@ w -8 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_5_0 -7 -12 0 0 0 0 @@ -1032,7 +1033,7 @@ w -7 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_6_0 -6 -12 0 0 0 0 @@ -1182,7 +1183,7 @@ w -6 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_7_0 -5 -12 0 0 0 0 @@ -1332,7 +1333,7 @@ w -5 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_8_0 -4 -12 0 0 0 0 @@ -1482,7 +1483,7 @@ w -4 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_9_0 -3 -12 0 0 0 0 @@ -1632,7 +1633,7 @@ w -3 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_10_0 -2 -12 0 0 0 0 @@ -1782,7 +1783,7 @@ w -2 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_11_0 -1 -12 0 0 0 0 @@ -1932,7 +1933,7 @@ w -1 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_12_0 0 -12 0 0 0 0 @@ -2082,7 +2083,7 @@ w 0 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_13_0 1 -12 0 0 0 0 @@ -2232,7 +2233,7 @@ w 1 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_14_0 2 -12 0 0 0 0 @@ -2382,7 +2383,7 @@ w 2 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_15_0 3 -12 0 0 0 0 @@ -2532,7 +2533,7 @@ w 3 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_16_0 4 -12 0 0 0 0 @@ -2682,7 +2683,7 @@ w 4 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_17_0 5 -12 0 0 0 0 @@ -2832,7 +2833,7 @@ w 5 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_18_0 6 -12 0 0 0 0 @@ -2982,7 +2983,7 @@ w 6 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_19_0 7 -12 0 0 0 0 @@ -3132,7 +3133,7 @@ w 7 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_20_0 8 -12 0 0 0 0 @@ -3282,7 +3283,7 @@ w 8 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_21_0 9 -12 0 0 0 0 @@ -3432,7 +3433,7 @@ w 9 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_22_0 10 -12 0 0 0 0 @@ -3582,7 +3583,7 @@ w 10 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_23_0 11 -12 0 0 0 0 @@ -3732,7 +3733,7 @@ w 11 12 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor -w + demo_actor_24_0 12 -12 0 0 0 0 @@ -3883,5 +3884,6 @@ w https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor + From ce57444b7492b70d141997c8d24b2126aa465a9e Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 10 Apr 2020 18:17:54 -0700 Subject: [PATCH 109/202] reduce number of actors --- examples/worlds/actor_crowd.sdf | 3506 +++---------------------------- 1 file changed, 241 insertions(+), 3265 deletions(-) diff --git a/examples/worlds/actor_crowd.sdf b/examples/worlds/actor_crowd.sdf index dcb5c5e834..6c216497b6 100644 --- a/examples/worlds/actor_crowd.sdf +++ b/examples/worlds/actor_crowd.sdf @@ -136,3751 +136,727 @@ demo_actor_0_0 - -12 -12 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_1 - -12 -11 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_2 - -12 -10 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_3 - -12 -9 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_4 - -12 -8 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_5 - -12 -7 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_6 - -12 -6 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_7 - -12 -5 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_8 - -12 -4 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_9 - -12 -3 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_10 - -12 -2 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_11 - -12 -1 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_12 - -12 0 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_13 - -12 1 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_14 - -12 2 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_15 - -12 3 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_16 - -12 4 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_17 - -12 5 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_18 - -12 6 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_19 - -12 7 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_20 - -12 8 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_21 - -12 9 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_22 - -12 10 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_23 - -12 11 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_0_24 - -12 12 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_0 - -11 -12 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_1 - -11 -11 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_2 - -11 -10 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_3 - -11 -9 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_4 - -11 -8 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_5 - -11 -7 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_6 - -11 -6 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_7 - -11 -5 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_8 - -11 -4 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_9 - -11 -3 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_10 - -11 -2 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_11 - -11 -1 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_12 - -11 0 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_13 - -11 1 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_14 - -11 2 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_15 - -11 3 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_16 - -11 4 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_17 - -11 5 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_18 - -11 6 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_19 - -11 7 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_20 - -11 8 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_21 - -11 9 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_22 - -11 10 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_23 - -11 11 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_1_24 - -11 12 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_0 - -10 -12 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_1 - -10 -11 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_2 - -10 -10 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_3 - -10 -9 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_4 - -10 -8 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_5 - -10 -7 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_6 - -10 -6 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_7 - -10 -5 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_8 - -10 -4 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_9 - -10 -3 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_10 - -10 -2 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_11 - -10 -1 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_12 - -10 0 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_13 - -10 1 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_14 - -10 2 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_15 - -10 3 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_16 - -10 4 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_17 - -10 5 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_18 - -10 6 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_19 - -10 7 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_20 - -10 8 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_21 - -10 9 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_22 - -10 10 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_23 - -10 11 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_2_24 - -10 12 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_3_0 - -9 -12 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_3_1 - -9 -11 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_3_2 - -9 -10 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_3_3 - -9 -9 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_3_4 - -9 -8 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_3_5 - -9 -7 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_3_6 - -9 -6 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_3_7 - -9 -5 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_3_8 - -9 -4 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_3_9 - -9 -3 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_3_10 - -9 -2 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - - - - demo_actor_3_11 - -9 -1 0 0 0 0 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0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_22_16 - 10 4 0 0 0 0 + demo_actor_5_7 + 0 2 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_22_17 - 10 5 0 0 0 0 + demo_actor_5_8 + 0 3 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_22_18 - 10 6 0 0 0 0 + demo_actor_5_9 + 0 4 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_22_19 - 10 7 0 0 0 0 + demo_actor_5_10 + 0 5 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_22_20 - 10 8 0 0 0 0 + demo_actor_6_0 + 1 -5 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_22_21 - 10 9 0 0 0 0 + demo_actor_6_1 + 1 -4 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_22_22 - 10 10 0 0 0 0 + demo_actor_6_2 + 1 -3 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_22_23 - 10 11 0 0 0 0 + demo_actor_6_3 + 1 -2 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_22_24 - 10 12 0 0 0 0 + demo_actor_6_4 + 1 -1 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_0 - 11 -12 0 0 0 0 + demo_actor_6_5 + 1 0 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_1 - 11 -11 0 0 0 0 + demo_actor_6_6 + 1 1 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_2 - 11 -10 0 0 0 0 + demo_actor_6_7 + 1 2 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_3 - 11 -9 0 0 0 0 + demo_actor_6_8 + 1 3 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_4 - 11 -8 0 0 0 0 + demo_actor_6_9 + 1 4 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_5 - 11 -7 0 0 0 0 + demo_actor_6_10 + 1 5 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_6 - 11 -6 0 0 0 0 + demo_actor_7_0 + 2 -5 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_7 - 11 -5 0 0 0 0 + demo_actor_7_1 + 2 -4 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_8 - 11 -4 0 0 0 0 + demo_actor_7_2 + 2 -3 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_9 - 11 -3 0 0 0 0 + demo_actor_7_3 + 2 -2 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_10 - 11 -2 0 0 0 0 + demo_actor_7_4 + 2 -1 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_11 - 11 -1 0 0 0 0 + demo_actor_7_5 + 2 0 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_12 - 11 0 0 0 0 0 + demo_actor_7_6 + 2 1 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_13 - 11 1 0 0 0 0 + demo_actor_7_7 + 2 2 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_14 - 11 2 0 0 0 0 + demo_actor_7_8 + 2 3 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_15 - 11 3 0 0 0 0 + demo_actor_7_9 + 2 4 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_16 - 11 4 0 0 0 0 + demo_actor_7_10 + 2 5 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_17 - 11 5 0 0 0 0 + demo_actor_8_0 + 3 -5 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_18 - 11 6 0 0 0 0 + demo_actor_8_1 + 3 -4 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_19 - 11 7 0 0 0 0 + demo_actor_8_2 + 3 -3 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_20 - 11 8 0 0 0 0 + demo_actor_8_3 + 3 -2 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_21 - 11 9 0 0 0 0 + demo_actor_8_4 + 3 -1 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_22 - 11 10 0 0 0 0 + demo_actor_8_5 + 3 0 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_23 - 11 11 0 0 0 0 + demo_actor_8_6 + 3 1 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_23_24 - 11 12 0 0 0 0 + demo_actor_8_7 + 3 2 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_0 - 12 -12 0 0 0 0 + demo_actor_8_8 + 3 3 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_1 - 12 -11 0 0 0 0 + demo_actor_8_9 + 3 4 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_2 - 12 -10 0 0 0 0 + demo_actor_8_10 + 3 5 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_3 - 12 -9 0 0 0 0 + demo_actor_9_0 + 4 -5 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_4 - 12 -8 0 0 0 0 + demo_actor_9_1 + 4 -4 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_5 - 12 -7 0 0 0 0 + demo_actor_9_2 + 4 -3 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_6 - 12 -6 0 0 0 0 + demo_actor_9_3 + 4 -2 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_7 - 12 -5 0 0 0 0 + demo_actor_9_4 + 4 -1 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_8 - 12 -4 0 0 0 0 + demo_actor_9_5 + 4 0 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_9 - 12 -3 0 0 0 0 + demo_actor_9_6 + 4 1 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_10 - 12 -2 0 0 0 0 + demo_actor_9_7 + 4 2 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_11 - 12 -1 0 0 0 0 + demo_actor_9_8 + 4 3 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_12 - 12 0 0 0 0 0 + demo_actor_9_9 + 4 4 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_13 - 12 1 0 0 0 0 + demo_actor_9_10 + 4 5 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_14 - 12 2 0 0 0 0 + demo_actor_10_0 + 5 -5 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_15 - 12 3 0 0 0 0 + demo_actor_10_1 + 5 -4 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_16 - 12 4 0 0 0 0 + demo_actor_10_2 + 5 -3 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_17 - 12 5 0 0 0 0 + demo_actor_10_3 + 5 -2 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_18 - 12 6 0 0 0 0 + demo_actor_10_4 + 5 -1 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_19 - 12 7 0 0 0 0 + demo_actor_10_5 + 5 0 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_20 - 12 8 0 0 0 0 + demo_actor_10_6 + 5 1 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_21 - 12 9 0 0 0 0 + demo_actor_10_7 + 5 2 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_22 - 12 10 0 0 0 0 + demo_actor_10_8 + 5 3 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_23 - 12 11 0 0 0 0 + demo_actor_10_9 + 5 4 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - demo_actor_24_24 - 12 12 0 0 0 0 + demo_actor_10_10 + 5 5 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor From d35b865ad12d69ead44de17c2e98d586d1dc8dbe Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 10 Apr 2020 21:01:10 -0700 Subject: [PATCH 110/202] remove unused var --- src/rendering/SceneManager.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 390879684c..1e68948fc1 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -975,7 +975,6 @@ AnimationUpdateData SceneManager::ActorAnimationAt( std::chrono::steady_clock::duration>( std::chrono::duration(time)); } - std::string skinName = skel->NodeNameAnimToSkin(animIndex, rootNodeName); math::Matrix4d skinTf = skel->AlignTranslation(animIndex, rootNodeName) * rawFrame * skel->AlignRotation(animIndex, rootNodeName); From b353d096070b654ea6b684150ce9d4e8d5668199 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Sat, 11 Apr 2020 05:50:06 +0000 Subject: [PATCH 111/202] Close branch skel_animation From 20f891e1fa2f782e6dba6d22cd6a79f9c34745ec Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Sat, 11 Apr 2020 01:28:42 -0700 Subject: [PATCH 112/202] fix overriding anim name, and animation stuck at distance 0 --- src/rendering/SceneManager.cc | 50 +++++++++++++++++++++++++++-------- 1 file changed, 39 insertions(+), 11 deletions(-) diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 36cdda8c3e..3df91e1908 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -606,12 +606,6 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, << "]" << std::endl; return nullptr; } - // collada loader loads animations with name that defaults to - // "animation0", "animation"1", etc causing conflicts in names - // when multiple animations are added to meshSkel. - // So make sure to give it a unique name - firstAnim->SetName(animName); - // do not add duplicate animation // start checking from index 1 since index 0 is reserved by skin mesh bool addAnim = true; @@ -624,7 +618,36 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, } } if (addAnim) - meshSkel->AddAnimation(firstAnim); + { + // collada loader loads animations with name that defaults to + // "animation0", "animation"1", etc causing conflicts in names + // when multiple animations are added to meshSkel. + // We have to clone the skeleton animation before giving it a unique + // name otherwise if mulitple instances of the same animation were added + // to meshSkel, changing the name that would also change the name of + // other instances of the animation + // todo(anyone) cloning efficient. The proper way is probably to update + // ign-rendering to allow it to load multiple animations of the same + // name + common::SkeletonAnimation *skelAnim = + new common::SkeletonAnimation(animName); + for (unsigned int j = 0; j < meshSkel->NodeCount(); ++j) + { + common::SkeletonNode *node = meshSkel->NodeByHandle(j); + common::NodeAnimation *nodeAnim = firstAnim->NodeAnimationByName( + node->Name()); + if (!nodeAnim) + continue; + for (unsigned int k = 0; k < nodeAnim->FrameCount(); ++k) + { + std::pair keyFrame = nodeAnim->KeyFrame(k); + skelAnim->AddKeyFrame( + node->Name(), keyFrame.first, keyFrame.second); + } + } + + meshSkel->AddAnimation(skelAnim); + } mapAnimNameId[animName] = numAnims++; } } @@ -935,10 +958,12 @@ AnimationUpdateData SceneManager::ActorAnimationAt( animData.animationName = skel->Animation(animIndex)->Name(); std::string rootNodeName = skel->RootNode()->Name(); + double distance = animData.trajectory.DistanceSoFar(animData.time); if (animData.followTrajectory) { math::Matrix4d rawFrame; - if (animData.trajectory.Waypoints()->InterpolateX()) + if (animData.trajectory.Waypoints()->InterpolateX() && + !math::equal(distance, 0.0)) { // logic here is mostly taken from // common::SkeletonAnimation::PoseAtX @@ -950,7 +975,6 @@ AnimationUpdateData SceneManager::ActorAnimationAt( math::Matrix4d lastPos = rootNode->KeyFrame( rootNode->FrameCount() - 1).second; math::Matrix4d firstPos = rootNode->KeyFrame(0).second; - double distance = animData.trajectory.DistanceSoFar(animData.time); double x = distance; if (x < firstPos.Translation().X()) x = firstPos.Translation().X(); @@ -1034,9 +1058,13 @@ std::map SceneManager::ActorSkeletonTransformsAt( if (followTraj) { - if (traj.Waypoints()->InterpolateX()) + double distance = traj.DistanceSoFar(time); + // check interpolate x. + // todo(anyone) there is a problem with PoseAtX that causes + // it to go into an infinit loop if the trajectory covers zero distance + // e.g. a person standing that does not move in x direction + if (traj.Waypoints()->InterpolateX() && !math::equal(distance, 0.0)) { - double distance = traj.DistanceSoFar(time); rawFrames = skel->Animation(animIndex)->PoseAtX(distance, skel->RootNode()->Name()); } From 42def708b12c16dbfccbbf457d204aa4c83db1e2 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Sat, 11 Apr 2020 01:37:34 -0700 Subject: [PATCH 113/202] typo: --- src/rendering/SceneManager.cc | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 3df91e1908..5b6172d3bd 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -626,9 +626,9 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, // name otherwise if mulitple instances of the same animation were added // to meshSkel, changing the name that would also change the name of // other instances of the animation - // todo(anyone) cloning efficient. The proper way is probably to update - // ign-rendering to allow it to load multiple animations of the same - // name + // todo(anyone) cloning is inefficient. The proper way is probably to + // update ign-rendering to allow it to load multiple animations of the + // same name common::SkeletonAnimation *skelAnim = new common::SkeletonAnimation(animName); for (unsigned int j = 0; j < meshSkel->NodeCount(); ++j) @@ -1061,7 +1061,7 @@ std::map SceneManager::ActorSkeletonTransformsAt( double distance = traj.DistanceSoFar(time); // check interpolate x. // todo(anyone) there is a problem with PoseAtX that causes - // it to go into an infinit loop if the trajectory covers zero distance + // it to go into an infinite loop if the trajectory covers zero distance // e.g. a person standing that does not move in x direction if (traj.Waypoints()->InterpolateX() && !math::equal(distance, 0.0)) { From 9270fbd17f372ea747217fc297e4c1f4fb99a108 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Sat, 11 Apr 2020 15:07:53 -0700 Subject: [PATCH 114/202] warn if no x displacement for interpolation --- src/rendering/SceneManager.cc | 34 ++++++++++++++++++++++++++++++++-- 1 file changed, 32 insertions(+), 2 deletions(-) diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 5b6172d3bd..65955f32c4 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -684,7 +684,37 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, trajInfo.SetWaypoints(waypoints); // Animations are offset by 1 because index 0 is taken by the mesh name auto animation = _actor.AnimationByIndex(trajInfo.AnimIndex()-1); - trajInfo.Waypoints()->SetInterpolateX(animation->InterpolateX()); + + if (animation->InterpolateX()) + { + // verify and set interpolattion + // warn if no x displacement can be interpolated + // warn once per mesh + static std::set animInterpolateCheck; + if (animInterpolateCheck.count(animation->Filename()) == 0) + { + std::string rootNodeName = meshSkel->RootNode()->Name(); + common::SkeletonAnimation *skelAnim = + meshSkel->Animation(trajInfo.AnimIndex()); + common::NodeAnimation *rootNode = skelAnim->NodeAnimationByName( + rootNodeName); + math::Matrix4d lastPos = rootNode->KeyFrame( + rootNode->FrameCount() - 1).second; + math::Matrix4d firstPos = rootNode->KeyFrame(0).second; + if (!math::equal(firstPos.Translation().X(), + lastPos.Translation().X())) + { + trajInfo.Waypoints()->SetInterpolateX(animation->InterpolateX()); + } + else + { + ignwarn << "Animation has x displacement. " + << "Ignoring for animation in '" + << animation->Filename() << "'." << std::endl; + } + animInterpolateCheck.insert(animation->Filename()); + } + } } else { @@ -1061,7 +1091,7 @@ std::map SceneManager::ActorSkeletonTransformsAt( double distance = traj.DistanceSoFar(time); // check interpolate x. // todo(anyone) there is a problem with PoseAtX that causes - // it to go into an infinite loop if the trajectory covers zero distance + // it to go into an infinite loop if the animation has no x displacement // e.g. a person standing that does not move in x direction if (traj.Waypoints()->InterpolateX() && !math::equal(distance, 0.0)) { From 49ba9bb5da9748e6816bdffc5cc1bfc1b3a6bc2a Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Sat, 11 Apr 2020 15:21:08 -0700 Subject: [PATCH 115/202] typo --- src/rendering/SceneManager.cc | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 65955f32c4..4b0fd6400e 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -687,9 +687,8 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, if (animation->InterpolateX()) { - // verify and set interpolattion // warn if no x displacement can be interpolated - // warn once per mesh + // warn only once per mesh static std::set animInterpolateCheck; if (animInterpolateCheck.count(animation->Filename()) == 0) { @@ -708,8 +707,8 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, } else { - ignwarn << "Animation has x displacement. " - << "Ignoring for animation in '" + ignwarn << "Animation has no x displacement. " + << "Ignoring for the animation in '" << animation->Filename() << "'." << std::endl; } animInterpolateCheck.insert(animation->Filename()); From 4e17826bd5e5da5fda235fc0074be60f3fdcd614 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Sat, 11 Apr 2020 15:25:36 -0700 Subject: [PATCH 116/202] bump ign-common3 dep requirement to 3.5 --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 49c22981d2..5607d475fd 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -59,7 +59,7 @@ set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR}) #-------------------------------------- # Find ignition-common # Always use the profiler component to get the headers, regardless of status. -ign_find_package(ignition-common3 VERSION 3.4 +ign_find_package(ignition-common3 VERSION 3.5 COMPONENTS profiler events From 1b9adf65c80831db2f52eb8c96c69acd2f09de12 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Mon, 13 Apr 2020 18:36:19 -0700 Subject: [PATCH 117/202] update comment, add pointer check{ --- src/rendering/SceneManager.cc | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 4b0fd6400e..859cc60cab 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -626,9 +626,10 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, // name otherwise if mulitple instances of the same animation were added // to meshSkel, changing the name that would also change the name of // other instances of the animation - // todo(anyone) cloning is inefficient. The proper way is probably to - // update ign-rendering to allow it to load multiple animations of the - // same name + // todo(anyone) cloning is inefficient and error-prone. We should + // add a copy constructor to animation classes in ign-common. + // The proper fix is probably to update ign-rendering to allow it to + // load multiple animations of the same name common::SkeletonAnimation *skelAnim = new common::SkeletonAnimation(animName); for (unsigned int j = 0; j < meshSkel->NodeCount(); ++j) @@ -685,7 +686,7 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, // Animations are offset by 1 because index 0 is taken by the mesh name auto animation = _actor.AnimationByIndex(trajInfo.AnimIndex()-1); - if (animation->InterpolateX()) + if (animation && animation->InterpolateX()) { // warn if no x displacement can be interpolated // warn only once per mesh From cb764ab021fed92ecc3cc3e1552d12200f4f7515 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Tue, 14 Apr 2020 11:10:51 +0800 Subject: [PATCH 118/202] Change to unordered_set --- src/rendering/SceneManager.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 859cc60cab..2c28582e3f 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -690,7 +690,7 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id, { // warn if no x displacement can be interpolated // warn only once per mesh - static std::set animInterpolateCheck; + static std::unordered_set animInterpolateCheck; if (animInterpolateCheck.count(animation->Filename()) == 0) { std::string rootNodeName = meshSkel->RootNode()->Name(); From b8fad4798be2030738c9f4170ad932b41e37a500 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Tue, 14 Apr 2020 04:16:29 +0000 Subject: [PATCH 119/202] Close branch animation_interpolatex From f9cf23b90a92e8665022a490057d516fde746a7a Mon Sep 17 00:00:00 2001 From: chapulina Date: Mon, 20 Apr 2020 14:12:03 -0700 Subject: [PATCH 120/202] Add codeowners (#73) Signed-off-by: Louise Poubel --- .github/CODEOWNERS | 8 ++++++++ 1 file changed, 8 insertions(+) create mode 100644 .github/CODEOWNERS diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS new file mode 100644 index 0000000000..f429163676 --- /dev/null +++ b/.github/CODEOWNERS @@ -0,0 +1,8 @@ +# More info: +# https://help.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners + +* @chapulina +tutorials/* @maryaB-osr +*/rendering/* @iche033 +src/systems/physics/* @azeey +src/systems/sensors/* @iche033 From 2e6c6a3e4784a9371813abc4252cc3fec7a95fea Mon Sep 17 00:00:00 2001 From: claireyywang Date: Mon, 20 Apr 2020 14:14:28 -0700 Subject: [PATCH 121/202] mv hgignore Signed-off-by: claireyywang --- .hgignore => .gitignore | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename .hgignore => .gitignore (100%) diff --git a/.hgignore b/.gitignore similarity index 100% rename from .hgignore rename to .gitignore From dbd6d2cc7e280438991f4d447dd2ca57be7c65df Mon Sep 17 00:00:00 2001 From: claireyywang Date: Mon, 20 Apr 2020 14:15:03 -0700 Subject: [PATCH 122/202] add gitignore Signed-off-by: claireyywang --- .gitignore | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/.gitignore b/.gitignore index 8f9511fcbb..51c7dd858d 100644 --- a/.gitignore +++ b/.gitignore @@ -1,12 +1,14 @@ -syntax: glob - +# CMake folders build build_* + +# OS generated files .DS_Store *.swp *.swo + +# Qt generated files *.qmlc + .ycm_extra_conf.py -.git -.gitignore *.orig From 8c748eac85e652aad1bafb02928a6f01ea5683af Mon Sep 17 00:00:00 2001 From: Tyler Kurtz Date: Mon, 20 Apr 2020 16:26:38 -0700 Subject: [PATCH 123/202] [master] Fix README hyperlinks (#68) * Removed markdown-header in README links * Applied additional fixes to README links * Fixed more source install links --- README.md | 40 ++++++++++++++++++++-------------------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/README.md b/README.md index e474759674..4c59b9f479 100644 --- a/README.md +++ b/README.md @@ -20,33 +20,33 @@ Ignition Gazebo is derived from [Gazebo](http://gazebosim.org) and represents ov # Table of Contents -[Features](#markdown-header-features) +[Features](#features) -[Install](#markdown-header-install) +[Install](#install) -* [Binary Install](#markdown-header-binary-install) +* [Binary Install](#binary-install) -* [Source Install](#markdown-header-source-install) +* [Source Install](#source-install-version-3) - * [Prerequisites](#markdown-header-prerequisites) + * [Prerequisites](#prerequisites) - * [Building from Source](#markdown-header-building-from-source) + * [Building from Source](#building-from-source) -[Usage](#markdown-header-usage) +[Usage](#usage) -[Documentation](#markdown-header-documentation) +[Documentation](#documentation) -[Testing](#markdown-header-testing) +[Testing](#testing) -[Folder Structure](#markdown-header-folder-structure) +[Folder Structure](#folder-structure) -[Code of Conduct](#markdown-header-code-of-conduct) +[Code of Conduct](#code-of-conduct) -[Contributing](#markdown-header-code-of-contributing) +[Contributing](#contributing) -[Versioning](#markdown-header-versioning) +[Versioning](#versioning) -[License](#markdown-header-license) +[License](#license) # Features @@ -86,9 +86,9 @@ introspection and control. # Install -We recommend following the [Binary Install](#markdown-header-binary-install) instructions to get up and running as quickly and painlessly as possible. +We recommend following the [Binary Install](#binary-install) instructions to get up and running as quickly and painlessly as possible. -The [Source Install](#markdown-header-source-install) instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution. +The [Source Install](#source-install-version-3) instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution. ## Binary Install @@ -96,7 +96,7 @@ The binary install method will use pre-built packages which are typically available through a package management utility such as [Apt](https://wiki.debian.org/Apt). This approach eliminates the need to download and compile source code, and dependencies are handled for you. The downside of a binary install is that you won't be able to modify -the code. See [Source Install](#markdown-header-source-install) for information on +the code. See [Source Install](#source-install-version-3) for information on installing Ignition Gazebo from source. **Ubuntu Bionic (version 2)** @@ -167,7 +167,7 @@ for dependency installation instructions for each supported operating system. ### Building from source -1. Install [prerequisites](#markdown-header-prerequisites) +1. Install [prerequisites](#prerequisites) 2. Configure gcc8 @@ -195,7 +195,7 @@ for dependency installation instructions for each supported operating system. # Usage -Gazebo can be run from the command line, once [installed](#markdown-header-install), using: +Gazebo can be run from the command line, once [installed](#install), using: ``` ign gazebo @@ -274,7 +274,7 @@ You can also generate the documentation from a clone of this repository by follo Follow these steps to run tests and static code analysis in your clone of this repository. -1. Follow the [source install instruction](#markdown-header-source-install). +1. Follow the [source install instruction](#source-install-version-3). 2. Run tests. From dfce5de427a7d175550815fbebe5a20ac233787d Mon Sep 17 00:00:00 2001 From: chapulina Date: Wed, 22 Apr 2020 10:37:50 -0700 Subject: [PATCH 124/202] [master] Update BitBucket links (#67) [master] Update BitBucket links Signed-off-by: Louise Poubel Co-authored-by: Addisu Taddese --- CONTRIBUTING.md | 384 +----------------- Changelog.md | 430 ++++++++++----------- Migration.md | 4 +- README.md | 28 +- doc/architecture_design.md | 2 +- docker/scripts/build_ign.sh | 4 +- docker/scripts/install_common_deps.sh | 1 - docker/scripts/upload_json_benchmark.sh | 2 +- examples/standalone/joy_to_twist/README.md | 4 +- examples/standalone/joystick/README.md | 2 +- src/ign_TEST.cc | 2 +- src/network/NetworkManagerPrimary.cc | 2 +- src/systems/physics/Physics.cc | 2 +- test/integration/examples_build.cc | 2 +- test/integration/network_handshake.cc | 2 +- test/integration/touch_plugin.cc | 4 +- tutorials/distributed_simulation.md | 3 +- tutorials/levels.md | 12 +- tutorials/mesh_to_fuel.md | 8 +- tutorials/point_cloud_to_mesh.md | 22 +- 20 files changed, 268 insertions(+), 652 deletions(-) diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index 68795ecfb0..147239ce5f 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -1,383 +1 @@ -# Contributing to Ignition Robotics - -Thank you for your interest in contributing to Ignition Robotics! - -The following is a set of guidelines for contributing to Ignition Robotics -and its components, which are hosted in the [Ignition Robotics -Organization](https://bitbucket.org/ignitionrobotics) on Bitbucket. These -are mostly guidelines, not rules. Use your best judgment, and feel free to -propose changes to this document in a pull request. - -#### Table of Contents - -[Code of Conduct](#markdown-header-code-of-conduct) - -[Project Design](#markdown-header-project-design) - - * [Repository List](#markdown-header-repository-list) - -[How to Contribute](#markdown-header-how-to-contribute) - - * [Reporting Bugs](#markdown-header-reporting-bugs) - * [Suggesting Enhancements](#markdown-header-suggesting-enhancements) - * [Contributing Code](#markdown-header-contributing-code) - -[Writing Tests](#markdown-header-writing-tests) - - * [Test Coverage](#markdown-header-test-coverage) - -[Styleguides](#markdown-header-style-guides) - -[Appendix](#markdown-header-appendix) - -## Code of Conduct - -This project and everyone participating in it is governed by the [Ignition -Robotics Code of Conduct](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/default/CODE_OF_CONDUCT.md). By participating, you are expected to uphold this -code. Please report unacceptable behavior at [https://ignitionrobotics.org/support](https://ignitionrobotics.org/support). - -## Project Design - -### Repository List - -The following is a list of the major Ignition Robotics repositories. A complete list can be found at [https://bitbucket.org/ignitionrobotics/](https://bitbucket.org/ignitionrobotics/). - -* [ign-cmake](https://bitbucket.org/ignitionrobotics/ign-cmake): CMake -modules used to configure and build Ignition libraries. -* [ign-common](https://bitbucket.org/ignitionrobotics/ign-common): Set of -general purpose components and utilities, such as 3D mesh processing, console -logging, and signal handling. -* [ign-gazebo](https://bitbucket.org/ignitionrobotics/ign-gazebo): -A high-fidelity 3D rigid-body dynamic simulator. -* [ign-gui](https://bitbucket.org/ignitionrobotics/ign-gui): QT-based -library to configure and manage graphical applications. -* [ign-math](https://bitbucket.org/ignitionrobotics/ign-math): A math -library targeted toward robotic applications. -* [ign-msgs](https://bitbucket.org/ignitionrobotics/ign-msgs): Protobuf -messages and utilities for simulation and robotics. -* [ign-physics](https://bitbucket.org/ignitionrobotics/ign-physics): -Plugin based library for physics simulation. -* [ign-plugin](https://bitbucket.org/ignitionrobotics/ign-plugin): Library -for registering, loading, and managing plugin libraries. -* [ign-rendering](https://bitbucket.org/ignitionrobotics/ign-rendering): -Library that supports rendering through different engines, such as -[OGRE](https://www.ogre3d.org/) and [Optix](https://developer.nvidia.com/optix). -* [ign-sensors](https://bitbucket.org/ignitionrobotics/ign-sensors): A set -of models that generate realistic sensor data. -* [ign-tools](https://bitbucket.org/ignitionrobotics/ign-tools): Provides -the `ign` command line interface that can be configured and used by multiple -libraries. -* [ign-transport](https://bitbucket.org/ignitionrobotics/ign-transport): -High performance inter- and intra-process communication based on -[ZeroMQ](http://zeromq.org/) and [Protobuf](https://developers.google.com/protocol-buffers/). - -## How to Contribute - -### Reporting Bugs - -**Before Submitting a Bug Report** - -1. Check the [questions and answers forum](http://answers.gazebosim.org). Your issue may have already been resolved. -2. Determine [the repository](#markdown-header-repository-list) which should receive the problem. -3. Search the repository's issues to see if the same or similar problem has - been opened. If it has and the issue is still open, then add a comment to - the existing issue. Otherwise, create a new issue. - -**How to Submit a Good Bug Report** - -Create an issue on the repository that is related to your bug, explain the -problem, and include additional details to help maintainers reproduce the -problem. Refer to the [Short, Self Contained, Correct (Compilable), Example -Guide](http://sscce.org/) as well as the following tips: - -* **Use a clear and descriptive title** for the issue to identify the problem. -* **Describe the exact steps which reproduce the problem** in as many details as possible. When listing steps, don't just say what you did, but explain how you did it. -* **Provide specific examples to demonstrate the steps.** Include links to files or projects, or copy/pasteable snippets, which you use in those examples. -* **Describe the behavior you observed after following the steps** and point out what exactly is the problem with that behavior. -* **Explain which behavior you expected to see instead and why**. -* **Include screenshots and animated GIFs** which show you following the described steps and clearly demonstrate the problem. See [Creating GIFs](#markdown-header-creating-gifs) for GIF creation utilities. -* **If the problem wasn't triggered by a specific action**, describe what you were doing before the problem happened and share more information using the guidelines below. - -Provide more context by answering these questions: - -* **Did the problem start happening recently** (e.g. after updating to a new version) or was this always a problem? -* If the problem started happening recently, **can you reproduce the problem in an older version?** What's the most recent version in which the problem doesn't happen? -* **Can you reliably reproduce the issue?** If not, provide details about how often the problem happens and under which conditions it normally happens. -* If the problem is related to working with files, **does the problem happen for all files and projects or only some?** Does the problem happen only when working with local or remote files, with files of a specific type (e.g. only Collada or SDF), or with large files or files with very long lines? Is there anything else special about the files you are using? - -Include details about your configuration and environment: - -* **Which version of Ignition Robotics are you using?**? -* **What's the name and version of the OS you're using**? -* **Are you running Ignition in a virtual machine?** If so, which VM software are you using and which operating systems and versions are used for the host and the guest? - -### Suggesting Enhancements - -This section guides you through submitting an enhancement suggestion, -including completely new features and minor improvements to existing -functionality. Following these guidelines helps maintainers and the -community understand your suggestion and find related suggestions. - -Before creating enhancement suggestions, please check [this -list](#markdown-header-before-submitting-an-enhancement-suggestion) as you -might find out that you don't need to create one. When you are creating an -enhancement suggestion, please [include as many details as -possible](#markdown-header-how-do-i-submit-a-good-enhancement-suggestion). -When filling in the issue form for an enhancement suggestion, include the -steps that you imagine you would take if the feature you're requesting -existed. - -#### Before Submitting An Enhancement Suggestion - -* **Check if you're using the latest software version**. A more recent version may contain your desired feature. -* **Check if there's already [a library](https://ignitionrobotics.org/libs) which provides that enhancement.** -* **Determine [which repository the enhancement should be suggested in](#markdown-header-repository-list).** -* **Perform a [cursory search](https://bitbucket.org/search?q=&account=%7Bdd3bee6b-ed2f-496a-9634-d99cf5144fc5%7D)** to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one. -* **Ask on the [community forum](https://community.gazebosim.org) about your -feature.** Someone else might already have started, and you might be able to -help. - -#### How Do I Submit A (Good) Enhancement Suggestion? - -Enhancement suggestions are tracked as [Bitbucket -issues](https://confluence.atlassian.com/bitbucket/issue-trackers-221449750.html). After you've determined [which repository](#markdown-header-repository-list) -your enhancement suggestion is related to, create an issue on that -repository and provide the following information: - -* **Use a clear and descriptive title** for the issue to identify the suggestion. -* **Provide a step-by-step description of the suggested enhancement** in as many details as possible. -* **Provide specific examples to demonstrate the steps**. Include copy/pasteable snippets which you use in those examples, as [Markdown code blocks](https://confluence.atlassian.com/bitbucketserver/markdown-syntax-guide-776639995.html). -* **Describe the current behavior** and **explain which behavior you expected to see instead** and why. -* **Include screenshots and animated GIFs** which show you following the described steps and clearly demonstrate the problem. See [Creating GIFs](#markdown-header-creating-gifs) for GIF creation utilities. -* **Explain why this enhancement would be useful** to most users and isn't something that can or should be implemented as a separate application. -* **Specify which version of Ignition Robotics you're using.** -* **Specify the name and version of the OS you're using.** - -### Contributing Code - -We follow a development process designed to reduce errors, encourage -collaboration, and make high quality code. Review the following to -get aquainted with this development process. - -1. **Read the [Reporting Bugs](#markdown-header-reporting-bugs) and [Suggesting Enhancements](#markdown-header-suggesting-enhancements)** sections first. - -1. **Fork the Ignition library** you want to contribute to. This will create - your own personal copy of the library. All of your development should - take place in your fork. - -1. **Choose a base branch.** If your changes will break API or ABI, then - base your new branch off of `default`. If your changes don't break - API/ABI and you would like them to be released to an existing release - with major version `N`, then use branch `ign-N` as the base. - -1. **Work out of a branch** Always work out of a new branch, one that is not - the default/master branch. This is a good habit to get in, and will make - your life easier. - -1. **Write your code.** This is the fun part. - -1. **Write tests.** In most cases, a pull request will only be accepted if - it has tests. See the [Writing Tests](#markdown-header-writing-tests) - section below for more information. - -1. **Resolve compiler warnings.** Code must have zero compile warnings, or at least make sure your pull request is not adding new warnings. - -1. **Follow the [style guide](#markdown-header-style-guides).** - - Static code checking analyzes your code for bugs, such as potential memory - leaks, and style. Most Ignition libraries use the `cppcheck` static code - checker, and a modified version `cpplint`. Ubuntu - users can install via: - - sudo apt-get install cppcheck - - To check your code, run the following script from your `build` folder : - - make codecheck - - This may take a few minutes to run. Fix all errors and warnings until - the output looks like: - - Built target codecheck - - The tool does not catch all style errors. See the [code style](#markdown-header-style-guides) section below for more information. - -1. **(optional) Use clang-tidy for additional checks.** - - clang-tidy should return no errors when run against the code base. - - Ubuntu users can install via: - - sudo apt-get install clang-tidy-6.0 libclang-6.0-dev python-yaml - - clang-tidy can then be executed by running from the source dir: - - ./tools/clang_tidy.sh - - Address issues that are found. - - If you are feeling adventurous, you can experiment with adding additional checks to the `.clang-tidy` file by referencing the full list of options in the [clang-tidy documentation](http://clang.llvm.org/extra/clang-tidy/checks/list.html) - -1. **Tests must pass.** You can check by running `make test` in - your build directory. Running tests may take a bit of time, be patient. - -1. **Write documentation.** Document all your code. Every class, function, member variable must have doxygen comments. All code in source files must have documentation that describes the functionality. This will help reviewers and future developers. - -1. **Review your code.** Before submitting your code through a pull request, - take some time to review everything line-by-line. The review process will - go much faster if you make sure everything is perfect before other people - look at your code. There is a bit of the human-condition involved here. - Folks are less likely to spend time reviewing your code if it's sloppy. - -1. **Make small pull requests** - - A large pull request is hard to review, and will take a long time. It is - worth your time to split a large pull request into multiple smaller pull - requests. For reference, here are a few examples: - - * [Small, very nice](https://bitbucket.org/osrf/gazebo/pull-request/1732) - - * [Medium, still okay](https://bitbucket.org/osrf/gazebo/pull-request/1700/) - - * [Too large](https://bitbucket.org/osrf/gazebo/pull-request/30) - -1. **Submit a pull request** to the Ignition library through Bitbucket when you're ready. - -1. **Check Continuous integration** - - The moment you make a pull request, a few jobs in our - [continuous integration](http://build.osrfoundation.org/) - server will be started. These jobs will build your branch on Linux, Mac and - Windows, run all tests and check for warnings. - - Your pull request will be updated with the status of these builds. Take some - time to check these builds and see if you've introduced test failures, - warnings or broke some build. If you did and know how to fix it, do so. If - you don't know, speak up and someone may try to help you. - -1. **Respond to reviewers.** At least two other people have to approve your pull request before it can be merged. Please be responsive to any questions and comments. - -1. **Done, phew.** Once you have met all the requirements, you're code will be merged. Thanks for improving Ignition Robotics! - -## Writing Tests - -Most Ignition libraries use [GTest](http://code.google.com/p/googletest) for -general testing and [QTest](http://doc.qt.io/qt-5/qtest.html) for GUI tests. -There are a few kinds of tests: - -1. **Unit tests**: all classes should have corresponding unit tests. These live -in the same directory as the source code and are suffixed by `_TEST`. - -1. **Integration tests**: tests which verify how many classes are working together go under the `tests/integration` directory. - -1. **Regression tests**: tests which fix broken features go under `tests/regression` and are prefixed by the issue number on librarie's issue tracker. - -1. **Performance tests**: tests that are designed to check performance - characterics, such as CPU or memory usage, go unde `tests/performance`. - -Before creating a new integration or performance test file, check the current -test files. If one closely matches the topic of your new code, simply add a new -test function to the file. Otherwise, create a new test file, and write your -test. - -### Test Coverage - -The goal is to achieve 100% line and branch coverage. However, this is not -always possible due to complexity, analysis tools misreporting -coverage, and time constraints. Try to write as complete of a test suite as -possible, and use the coverage analysis tools as guide. If you have trouble -writing a test please ask for help in your pull request. - -Ignition CMake provides build target called `make coverage` that produces a code -coverage report. You'll need to have [lcov](http://ltp.sourceforge.net/coverage/lcov.php) and [gcov](https://gcc.gnu.org/onlinedocs/gcc/Gcov.html) installed. - -1. In your `build` folder, compile with `-DCMAKE_BUILD_TYPE=Coverage` - - cmake -DCMAKE_BUILD_TYPE=Coverage ..\ - make - -1. Run a single test, or all the tests - - make test - -1. Make the coverage report - - make coverage - -1. View the coverage report - - firefox coverage/index.html - -## Style Guides - -You can check code for compliance by running the following command from -a build folder: - - make codecheck - -In general, we follow [Google's style guide](https://google.github.io/styleguide/cppguide.html) and rules set forth by `cppcheck`. However, we have added some extras listed below. - -1. **This pointer** -> All class attributes and member functions must be accessed using the `this->` pointer. Here is an [example](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/3f2be4899c01e60bf5bb323812c281302d538c98/src/Server.cc?at=default&fileviewer=file-view-default#Server.cc-112). - -1. **Underscore function parameters** -> All function parameters must start with an underscore. Here is an [example](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/3f2be4899c01e60bf5bb323812c281302d538c98/src/Server.cc?at=default&fileviewer=file-view-default#Server.cc-130). - -1. **Do not cuddle braces** -> All braces must be on their own line. Here is an [example](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/3f2be4899c01e60bf5bb323812c281302d538c98/src/Server.cc?at=default&fileviewer=file-view-default#Server.cc-159). - -1. **Multi-line code blocks** -> If a block of code spans multiple lines and is part of a flow control statement, such as an `if`, then it must be wrapped in braces. Here is an [example](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/3f2be4899c01e60bf5bb323812c281302d538c98/src/Server.cc?at=default&fileviewer=file-view-default#Server.cc-203) - -1. **++ operator** -> This occurs mostly in `for` loops. Prefix the `++` operator, which is [slightly more efficient than postfix in some cases](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/3f2be4899c01e60bf5bb323812c281302d538c98/src/EntityComponentManager_TEST.cc?at=default&fileviewer=file-view-default#EntityComponentManager_TEST.cc-131). - -1. **PIMPL/Opaque pointer** -> If you are writing a new class, it must use a private data pointer. Here is an [example](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/3f2be4899c01e60bf5bb323812c281302d538c98/include/ignition/gazebo/EntityComponentManager.hh?at=default&fileviewer=file-view-default#EntityComponentManager.hh-797), and you can read more [here](https://en.wikipedia.org/wiki/Opaque_pointer). - -1. **const functions** -> Any class function that does not change a member variable should be marked as `const`. Here is an [example](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/3f2be4899c01e60bf5bb323812c281302d538c98/include/ignition/gazebo/EntityComponentManager.hh?at=default&fileviewer=file-view-default#EntityComponentManager.hh-340). - -1. **const parameters** -> All parameters that are not modified by a function should be marked as `const`. This applies to parameters that are passed by reference, and pointer. Here is an [example](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/3f2be4899c01e60bf5bb323812c281302d538c98/include/ignition/gazebo/EntityComponentManager.hh?at=default&fileviewer=file-view-default#EntityComponentManager.hh-362). - -1. **Pointer and reference variables** -> Place the `*` and `&` next to the varaible name, not next to the type. For example: `int &variable` is good, but `int& variable` is not. Here is an [example](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/3f2be4899c01e60bf5bb323812c281302d538c98/include/ignition/gazebo/EntityComponentManager.hh?at=default&fileviewer=file-view-default#EntityComponentManager.hh-362). - -1. **Camel case** -> In general, everything should use camel case. Exceptions include SDF element names, and protobuf variable names. Here is an [example](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/3f2be4899c01e60bf5bb323812c281302d538c98/src/EntityComponentManager.cc?at=default&fileviewer=file-view-default#EntityComponentManager.cc-40). - -1. **Class function names** -> Class functions must start with a capital letter, and capitalize every word. -> -> `void MyFunction();` : Good -> -> `void myFunction();` : Bad -> -> `void my_function();` : Bad - -1. **Variable names** -> Variables must start with a lower case letter, and capitalize every word thereafter. -> -> `int myVariable;` : Good -> -> `int myvariable;` : Bad -> -> `int my_variable;` : Bad - -1. **No inline comments** -> `//` style comments may not be placed on the same line as code. -> -> `speed *= 0.44704; // miles per hour to meters per second` : Bad - -## Appendix - -### Creating GIFs - -You can use [LICEcap](https://www.cockos.com/licecap/) to record GIFs on -macOS and Windows, and [Silent -Cast](https://github.com/colinkeenan/silentcast) or -[Byzanz](https://github.com/GNOME/byzanz) or -[Peek](https://github.com/phw/peek) on Linux. GIFs and videos are limited to -<= 1MB on Bitbucket. You can also upload media to other hosting services and -include a link on the issue. +See the [Ignition Robotics contributing guide](https://ignitionrobotics.org/docs/all/contributing). diff --git a/Changelog.md b/Changelog.md index 542f9da66a..b29c298cac 100644 --- a/Changelog.md +++ b/Changelog.md @@ -5,70 +5,70 @@ ### Ignition Gazebo 4.0.0 (20XX-XX-XX) 1. Use interpolate\_x sdf parameter for actor animations - * [Pull Request 536](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/536) + * [BitBucket pull request 536](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/536) 1. Actor skeleton animation (auto update mode) - * [Pull Request 579](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/579) + * [BitBucket pull request 579](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/579) 1. Added support for removing sensors at runtime - * [Pull Request 558](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/558) + * [BitBucket pull request 558](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/558) 1. Add support for visual visibility flags and camera visibility mask - * [Pull Request 559](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/559) + * [BitBucket pull request 559](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/559) 1. Support and - * [Pull Request 542](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/542) + * [BitBucket pull request 542](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/542) 1. Depend on ign-rendering4, ign-gui4, ign-sensors4 - * [Pull Request 540](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/540) + * [BitBucket pull request 540](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/540) 1. Axis-Aligned Bounding Boxes - * [Pull Request 565](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/565) + * [BitBucket pull request 565](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/565) ## Ignition Gazebo 3.x ### Ignition Gazebo 3.X.X 1. Support s from Fuel - * [Pull Request 532](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/532) + * [BitBucket pull request 532](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/532) 1. Add support for thermal camera - * [Pull Request 512](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/512) - * [Pull Request 513](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/513) - * [Pull Request 514](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/514) + * [BitBucket pull request 512](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/512) + * [BitBucket pull request 513](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/513) + * [BitBucket pull request 514](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/514) ### Ignition Gazebo 3.0.0 (2019-12-10) 1. Add example world for collide bitmask feature - * [Pull Request 525](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/525) + * [BitBucket pull request 525](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/525) 1. Remove sdf element from visuals that do not emit light in the example worlds - * [Pull Request 478](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/478) - * [Pull Request 480](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/480) + * [BitBucket pull request 478](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/478) + * [BitBucket pull request 480](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/480) 1. Support for sdformat frame semantics - * [Pull Request 456](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/456) + * [BitBucket pull request 456](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/456) 1. Support for relative path URIs for actors - * [Pull Request 444](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/444) + * [BitBucket pull request 444](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/444) 1. Add rechargeable battery model - * [Pull Request 457](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/457) + * [BitBucket pull request 457](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/457) 1. Add Marker Manager - * [Pull Request 442](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/442) + * [BitBucket pull request 442](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/442) 1. Parse material emissive map, bump to msgs5 and transport8 - * [Pull Request 447](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/447) + * [BitBucket pull request 447](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/447) 1. Move function definitions to their correct locations in EntityComponentManager - * [Pull Request 380](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/380) + * [BitBucket pull request 380](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/380) 1. Depend on ign-rendering3, ign-gui3, ign-sensors3 - * [Pull Request 411](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/411) + * [BitBucket pull request 411](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/411) 1. Rendering and Animating Actors - * [Pull Request 414](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/414) + * [BitBucket pull request 414](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/414) ## Ignition Gazebo 2.x @@ -76,184 +76,184 @@ ### Ignition Gazebo 2.15.0 (2020-02-07) 1. Fix seeking back in time in log playback - * [Pull Request 523](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/523) + * [BitBucket pull request 523](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/523) 1. Fix the deprecated ign-gazebo command line - * [Pull Request 499](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/499) + * [BitBucket pull request 499](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/499) 1. Always use the latest render texture in scene3d - * [Pull Request 518](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/518) + * [BitBucket pull request 518](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/518) 1. Remove redundent messages when levels get unloaded - * [Pull Request 522](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/522) + * [BitBucket pull request 522](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/522) 1. View angle plugin - * [Pull Request 516](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/516) + * [BitBucket pull request 516](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/516) 1. Support breadcrumb performers - * [Pull Request 484](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/484) + * [BitBucket pull request 484](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/484) 1. Drag and drop Fuel object into mouse position - * [Pull Request 511](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/511) + * [BitBucket pull request 511](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/511) 1. Add hotkey keybindings - * [Pull Request 486](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/486) + * [BitBucket pull request 486](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/486) ### Ignition Gazebo 2.14.0 (2020-01-10) 1. Use Actuator component to communicate between MulticopterVelocityControl and MulticopterMotorModel systems - * [Pull Request 498](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/498) + * [BitBucket pull request 498](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/498) 1. Backport fix to insert multiple lights with same name - * [Pull Request 502](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/502) + * [BitBucket pull request 502](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/502) 1. Get all component types attached to an entity - * [Pull Request 494](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/494) + * [BitBucket pull request 494](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/494) 1. Fix tooltips on entity tree - * [Pull Request 496](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/496) + * [BitBucket pull request 496](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/496) ### Ignition Gazebo 2.13.0 (2019-12-17) 1. Add Multicopter velocity controller - * [Pull Request 487](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/487) + * [BitBucket pull request 487](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/487) 1. Fix crash when removing an entity being followed - * [Pull Request 465](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/465) + * [BitBucket pull request 465](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/465) 1. Add option to right click and remove nodes - * [Pull Request 458](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/458) + * [BitBucket pull request 458](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/458) 1. Fix jumpy log playback - * [Pull Request 488](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/488) + * [BitBucket pull request 488](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/488) 1. Remove Scene3d Text anchors - * [Pull Request 467](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/467) + * [BitBucket pull request 467](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/467) 1. Show grid using SDF file - * [Pull Request 461](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/461) + * [BitBucket pull request 461](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/461) ### Ignition Gazebo 2.12.0 (2019-11-25) 1. Parse visual cast shadows and add CastShadows component - * [Pull Request 453](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/453) + * [BitBucket pull request 453](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/453) 1. Update SceneBroadcaster to publish state msg for world with only static models - * [Pull Request 450](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/450) + * [BitBucket pull request 450](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/450) 1. Add log video recorder - * [Pull Request 441](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/441) + * [BitBucket pull request 441](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/441) 1. Rechargeable battery model - * [Pull Request 455](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/455) + * [BitBucket pull request 455](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/455) 1. Add Breadcrumbs system - * [Pull Request 459](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/459) + * [BitBucket pull request 459](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/459) 1. Drag models from Fuel - * [Pull Request 454](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/454) + * [BitBucket pull request 454](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/454) 1. Improvements to GUI configuration - * [Pull Request 451](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/451) + * [BitBucket pull request 451](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/451) 1. Prevent crash when attempting to load more than one render engine per process - * [Pull Request 463](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/463) + * [BitBucket pull request 463](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/463) ### Ignition Gazebo 2.11.0 (2019-10-23) 1. Handle Relative URIs - * [Pull Request 433](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/433) + * [BitBucket pull request 433](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/433) 1. Avoid using invalid/unsupported joints - * [Pull Request 438](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/438) + * [BitBucket pull request 438](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/438) 1. Add mutex to protect views from potential concurrent access - * [Pull Request 435](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/435) + * [BitBucket pull request 435](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/435) 1. Add `Link::WorldKineticEnergy` for computing total kinetic energy of a link with respect to the world frame. - * [Pull Request 434](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/434) + * [BitBucket pull request 434](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/434) 1. Improve steering behavior of example tracked vehicle - * [Pull Request 432](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/432) + * [BitBucket pull request 432](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/432) 1. Rewind / reset and seek - * [Pull Request 429](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/429) + * [BitBucket pull request 429](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/429) 1. Add Follow mode to GUI - * [Pull Request 430](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/430) - * [Pull Request 436](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/436) + * [BitBucket pull request 430](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/430) + * [BitBucket pull request 436](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/436) ### Ignition Gazebo 2.10.0 (2019-09-08) 1. Custom odom frequency in sim time - * [Pull Request 427](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/427) + * [BitBucket pull request 427](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/427) 1. Add Move To gui plugin - * [Pull Request 426](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/426) + * [BitBucket pull request 426](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/426) ### Ignition Gazebo 2.9.0 1. Use the JointSetVelocityCommand feature to set joint velocities - * [Pull Request 424](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/424) + * [BitBucket pull request 424](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/424) ### Ignition Gazebo 2.8.0 (2019-08-23) 1. Add video recorder gui plugin - * [Pull Request 422](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/422) + * [BitBucket pull request 422](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/422) 1. Vertical rays for lidar demo - * [Pull Request 419](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/419) + * [BitBucket pull request 419](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/419) 1. Print world path when using cli - * [Pull Request 420](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/420) + * [BitBucket pull request 420](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/420) ### Ignition Gazebo 2.7.1 1. Fix order of adding and removing rendering entities, and clean up mesh materials in the SceneManager. - * [Pull Request 415](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/415) - * [Pull Request 416](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/416) + * [BitBucket pull request 415](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/415) + * [BitBucket pull request 416](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/416) ### Ignition Gazebo 2.7.0 1. Move creation of default log path to ServerConfig. This lets both console logs and state logs to be stored in the same directory. The console messages are always logged. Allow state log files to be overwritten. - * [Pull Request 413](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/413) + * [BitBucket pull request 413](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/413) 1. Baseline for stereo cameras - * [Pull Request 406](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/406) + * [BitBucket pull request 406](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/406) 1. Fix log playback with levels. This drops support for logs created before v2.0.0. - * [Pull Request 407](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/407) + * [BitBucket pull request 407](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/407) 1. Add worker threads for System PostUpdate phase - * [Pull Request 387](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/387) + * [BitBucket pull request 387](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/387) 1. Added a test runner for executing an SDF and recording simulation rates. See the `test/performance/READEM.md` file for more info. - * [Pull Request 389](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/389) + * [BitBucket pull request 389](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/389) ### Ignition Gazebo 2.6.1 (2019-07-26) 1. Clear stepMsg before populating it - * [Pull Request 398](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/398) + * [BitBucket pull request 398](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/398) ### Ignition Gazebo 2.6.0 (2019-07-24) 1. Improve performance of Pose Publisher - * [Pull Request 392](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/392) + * [BitBucket pull request 392](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/392) 1. Fix distributed sim - * [Pull Request 385](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/385) + * [BitBucket pull request 385](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/385) ### Ignition Gazebo 2.5.0 (2019-07-19) 1. The LinearBatteryPlugin system publishes battery state - * [Pull Request 388](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/388) + * [BitBucket pull request 388](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/388) ### Ignition Gazebo 2.4.0 (2019-07-17) 1. Bundle scene updates in sensor system - * [Pull Request 386](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/386) + * [BitBucket pull request 386](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/386) ### Ignition Gazebo 2.3.0 (2019-07-13) @@ -261,10 +261,10 @@ Components state information has been incorporated, which is used to indicate if a component change is periodic (such as through a physics update) or a one-time change (such as through a user command). - * [Pull Request 384](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/384) + * [BitBucket pull request 384](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/384) 1. Add sdf parameter to battery to start draining only when robot has started moving - * [Pull Request 370](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/370) + * [BitBucket pull request 370](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/370) 1. Improve SceneBroadcaster peformance by 1) Limit message generation if subscribers to pose topics are not present, 2) Set world stats message @@ -272,385 +272,385 @@ are no new entities, 4) Make better use of const functions, 5) Prevent creation of msgs::SerializedStep every PostUpdate, 6) Only serialized and transmit components that have changed. - * [Pull Request 371](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/371) - * [Pull Request 372](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/372) - * [Pull Request 373](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/373) - * [Pull Request 374](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/374) - * [Pull Request 375](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/375) - * [Pull Request 376](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/376) + * [BitBucket pull request 371](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/371) + * [BitBucket pull request 372](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/372) + * [BitBucket pull request 373](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/373) + * [BitBucket pull request 374](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/374) + * [BitBucket pull request 375](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/375) + * [BitBucket pull request 376](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/376) ### Ignition Gazebo 2.2.0 1. The DiffDrive system publishes odometry information. - * [Pull Request 368](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/368) + * [BitBucket pull request 368](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/368) 1. Allow attaching plugins to sensors from a server config. - * [Pull Request 366](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/366) + * [BitBucket pull request 366](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/366) 1. Remove world name from frame_ids - * [Pull Request 364](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/364) + * [BitBucket pull request 364](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/364) 1. Fix deadlock when spawning robots - * [Pull Request 365](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/365) + * [BitBucket pull request 365](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/365) 1. Set default topics for rendering sensors - * [Pull Request 363](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/363) + * [BitBucket pull request 363](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/363) 1. Support custom random seed from the command line. - * [Pull Request 362](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/362) + * [BitBucket pull request 362](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/362) ### Ignition Gazebo 2.1.0 1. RenderUtil fix bad merge: check for existing entities in GzScene3D on initialization. - * [Pull Request 360](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/360) + * [BitBucket pull request 360](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/360) 1. Allow sensors to load plugins. - * [Pull Request 356](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/356) - * [Pull Request 366](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/366) + * [BitBucket pull request 356](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/356) + * [BitBucket pull request 366](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/366) 1. Parse and load submesh geometry in visuals. - * [Pull Request 353](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/353) + * [BitBucket pull request 353](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/353) 1. Allow setting the update frequency of pose publisher. - * [Pull Request 352](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/352) + * [BitBucket pull request 352](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/352) 1. Added RGBD camera sensor. - * [Pull Request 351](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/351) + * [BitBucket pull request 351](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/351) 1. Fix Docker scripts. - * [Pull Request 347](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/347) + * [BitBucket pull request 347](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/347) 1. Support log playback from a different path - * [Pull Request 355](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/355) + * [BitBucket pull request 355](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/355) ### Ignition Gazebo 2.0.0 1. RenderUtil: check for existing entities in GzScene3D on initialization. - * [Pull Request 350](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/350) + * [BitBucket pull request 350](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/350) 1. SceneBroadcaster: only send pose state periodically. - * [Pull Request 345](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/345) + * [BitBucket pull request 345](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/345) 1. PeerTracker: increase distributed simulation peer tracking timeout. - * [Pull Request 344](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/344) + * [BitBucket pull request 344](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/344) 1. MultiCopterMotorModel: add mutex to protect motor velocity command. - * [Pull Request 341](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/341) + * [BitBucket pull request 341](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/341) 1. Tweaks to example worlds - * [Pull Request 342](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/342) + * [BitBucket pull request 342](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/342) 1. DiffDrive system: add topic as system parameter. - * [Pull Request 343](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/343) + * [BitBucket pull request 343](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/343) 1. Log entity creation and deletion - * [Pull Request 337](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/337) + * [BitBucket pull request 337](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/337) 1. Multicopter motor model - * [Pull Request 322](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/322) + * [BitBucket pull request 322](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/322) 1. Fix removing selected entity - * [Pull Request 339](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/339) + * [BitBucket pull request 339](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/339) 1. Collision serialization - * [Pull Request 326](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/326) + * [BitBucket pull request 326](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/326) 1. Add support for moving and rotating models - * [Pull Request 316](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/316) + * [BitBucket pull request 316](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/316) 1. Pose commands - * [Pull Request 334](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/334) + * [BitBucket pull request 334](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/334) 1. Level performers can be added at runtime using a service call. See the levels tutorial for more information. - * [Pull Request 264](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/264) + * [BitBucket pull request 264](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/264) 1. Update worlds to GzScene3D - * [Pull Request 333](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/333) + * [BitBucket pull request 333](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/333) 1. Reduce logging file size - * [Pull Request 332](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/332) + * [BitBucket pull request 332](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/332) 1. Update PosePublisher system to publish sensor poses and to use scoped names for frame ids - * [Pull Request 331](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/331) + * [BitBucket pull request 331](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/331) 1. Fix gui plugin linking issue - * [Pull Request 327](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/327) - * [Pull Request 330](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/330) + * [BitBucket pull request 327](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/327) + * [BitBucket pull request 330](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/330) 1. Toolbar colors - * [Pull Request 329](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/329) + * [BitBucket pull request 329](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/329) 1. Rename Scene3D gui plugin to GzScene3D - * [Pull Request 328](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/328) + * [BitBucket pull request 328](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/328) 1. Fix distributed sim documentation - * [Pull Request 318](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/318) + * [BitBucket pull request 318](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/318) 1. Port Scene3D gui plugin from ign-gui. Renamed to GzScene3D. - * [Pull Request 315](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/315) + * [BitBucket pull request 315](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/315) 1. Entity tree UI - * [Pull Request 285](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/285) + * [BitBucket pull request 285](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/285) 1. Add rendering component - * [Pull Request 306](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/306) + * [BitBucket pull request 306](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/306) 1. Update Camera and DepthCamera components to use sdf::Sensor object instead of an sdf::ElementPtr. - * [Pull Request 299](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/299) + * [BitBucket pull request 299](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/299) 1. Added system for ignition::sensors::AirPressureSensor. - * [Pull Request 300](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/300) + * [BitBucket pull request 300](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/300) 1. Support conversion and serialization of Imu components. IMU sensors are loaded from an SDF DOM object. - * [Pull Request 302](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/302) + * [BitBucket pull request 302](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/302) 1. Throttle sensors update rate - * [Pull Request 323](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/323) + * [BitBucket pull request 323](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/323) 1. Fix changing themes - * [Pull Request 321](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/321) + * [BitBucket pull request 321](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/321) 1. Battery tweaks - * [Pull Request 314](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/314) + * [BitBucket pull request 314](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/314) 1. Support conversion and serialization of PBR parameters in a material component - * [Pull Request 304](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/304) + * [BitBucket pull request 304](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/304) 1. Joint state pub - * [Pull Request 260](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/260) + * [BitBucket pull request 260](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/260) 1. Update Altimeter component to use sdf::Sensor object instead of an sdf::ElementPtr. - * [Pull Request 286](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/286) + * [BitBucket pull request 286](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/286) 1. Update docker nightly dependencies - * [Pull Request 310](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/310) + * [BitBucket pull request 310](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/310) 1. Ign tool - * [Pull Request 296](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/296) - * [Pull Request 336](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/336) + * [BitBucket pull request 296](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/296) + * [BitBucket pull request 336](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/336) 1. State broadcast - * [Pull Request 307](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/307) + * [BitBucket pull request 307](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/307) 1. Use world statistics message on network - * [Pull Request 305](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/305) + * [BitBucket pull request 305](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/305) 1. Update Magnetometer component to use sdf::Sensor object instead of an sdf::ElementPtr. - * [Pull Request 272](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/272) + * [BitBucket pull request 272](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/272) 1. Fix Scene3D loading empty world - * [Pull Request 308](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/308) + * [BitBucket pull request 308](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/308) 1. Support conversion and serialization of scene and light components - * [Pull Request 297](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/297) + * [BitBucket pull request 297](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/297) 1. Operators instead of De/Serialize - * [Pull Request 293](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/293) + * [BitBucket pull request 293](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/293) 1. Remove PIMPL from Component - * [Pull Request 267](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/267) + * [BitBucket pull request 267](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/267) 1. Delay scene broadcaster transport setup - * [Pull Request 292](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/292) + * [BitBucket pull request 292](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/292) 1. Report link poses from secondaries during distributed simulation, using a cache - * [Pull Request 276](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/276) - * [Pull Request 265](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/265) + * [BitBucket pull request 276](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/276) + * [BitBucket pull request 265](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/265) 1. Restore log playback - * [Pull Request 288](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/288) + * [BitBucket pull request 288](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/288) 1. ECM changed state - * [Pull Request 287](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/287) + * [BitBucket pull request 287](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/287) 1. Joint serialization - * [Pull Request 281](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/281) + * [BitBucket pull request 281](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/281) 1. Use scene ambient and background color information in sensor configuration. - * [Pull Request 268](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/268) + * [BitBucket pull request 268](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/268) 1. Performance benchmarking - * [Pull Request 220](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/220) - * [Pull Request 253](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/253) - * [Pull Request 258](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/258) - * [Pull Request 283](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/283) - * [Pull Request 312](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/312) + * [BitBucket pull request 220](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/220) + * [BitBucket pull request 253](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/253) + * [BitBucket pull request 258](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/258) + * [BitBucket pull request 283](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/283) + * [BitBucket pull request 312](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/312) 1. Remove emissive component from visual materials - * [Pull Request 271](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/271) + * [BitBucket pull request 271](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/271) 1. Serialization for more components - * [Pull Request 255](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/255) + * [BitBucket pull request 255](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/255) 1. Added an SDF message to the start of log files. - * [Pull Request 257](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/257) + * [BitBucket pull request 257](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/257) 1. Unify network and sync managers - * [Pull Request 261](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/261) + * [BitBucket pull request 261](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/261) 1. Add PerformerLevels component - * [Pull Request 262](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/262) + * [BitBucket pull request 262](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/262) 1. Distributed sim deprecate envs - * [Pull Request 240](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/240) + * [BitBucket pull request 240](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/240) 1. Use ign-sensors magnetometer sensor plugin - * [Pull Request 221](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/221) + * [BitBucket pull request 221](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/221) 1. Use ign-sensors altimeter sensor plugin - * [Pull Request 215](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/215) + * [BitBucket pull request 215](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/215) 1. Use ign-sensors imu sensor plugin - * [Pull Request 219](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/219) + * [BitBucket pull request 219](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/219) 1. Depend on ign-sensors rendering component - * [Pull Request 212](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/212) + * [BitBucket pull request 212](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/212) ## Ignition Gazebo 1.x ### Ignition Gazebo 1.X.X 1. Add Wind Plugin (Ported from Gazebo classic) - * [Pull Request 273](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/273/) + * [BitBucket pull request 273](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/273/) 1. Port battery plugin from Gazebo classic - * [Pull request 234](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/234) - * [Pull request 317](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/317) - * [Pull request 324](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/324) + * [BitBucket pull request 234](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/234) + * [BitBucket pull request 317](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/317) + * [BitBucket pull request 324](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/324) 1. Use ISO timestamp for default log path - * [Pull request 289](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/289) + * [BitBucket pull request 289](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/289) 1. Logging tutorial - * [Pull request 280](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/280) + * [BitBucket pull request 280](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/280) 1. Joystick SDF small typos - * [Pull request 284](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/284) + * [BitBucket pull request 284](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/284) 1. Add `Link`: a convenience class for interfacing with link entities - * [Pull Request 269](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/269) + * [BitBucket pull request 269](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/269) 1. Added LiftDragPlugin (ported from Gazebo classic) - * [Pull Request 256](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/256) + * [BitBucket pull request 256](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/256) 1. Logging refactor unique path functions to ign-common - * [Pull request 270](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/270) + * [BitBucket pull request 270](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/270) 1. Added test for log record and playback. - * [Pull Request 263](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/263) + * [BitBucket pull request 263](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/263) 1. Add ApplyJointForce system - * [Pull request 254](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/254) + * [BitBucket pull request 254](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/254) 1. More ign-msgs <-> SDF conversions: Inertial, Geometry, Material - * [Pull Request 251](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/251) + * [BitBucket pull request 251](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/251) 1. Logging command line support - * [Pull request 249](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/249) + * [BitBucket pull request 249](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/249) 1. Remove inactive performers instead of setting static - * [Pull request 247](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/247) + * [BitBucket pull request 247](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/247) 1. Use state instead of pose in distributed simulation - * [Pull request 242](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/242) + * [BitBucket pull request 242](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/242) 1. Distributed implies levels - * [Pull request 243](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/243) + * [BitBucket pull request 243](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/243) 1. Add a basic JointController system - * [Pull Request 246](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/246) + * [BitBucket pull request 246](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/246) 1. Enforce component type uniqueness - * [Pull request 236](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/236) + * [BitBucket pull request 236](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/236) 1. Clean CI: disable test known to fail on OSX - * [Pull request 244](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/244) + * [BitBucket pull request 244](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/244) 1. Logical camera topic name check - * [Pull request 245](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/245) + * [BitBucket pull request 245](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/245) 1. Added command line options to configure distributed simulation. These will replace the environment variables. - * [Pull Request 238](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/238) + * [BitBucket pull request 238](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/238) 1. Add systems to queue before actually adding them to runner - * [Pull request 241](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/241) + * [BitBucket pull request 241](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/241) 1. Added a docker image that uses the ignition meta package - * [Pull request 237](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/237) + * [BitBucket pull request 237](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/237) 1. Move some design docs to tutorials - * [Pull request 230](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/230) + * [BitBucket pull request 230](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/230) 1. Disable GUI when using distributed simulation - * [Pull request 235](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/235) + * [BitBucket pull request 235](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/235) 1. Bring component type names back - * [Pull request 232](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/232) + * [BitBucket pull request 232](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/232) 1. A few tweaks to logging - * [Pull request 228](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/228) + * [BitBucket pull request 228](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/228) 1. Handle friction coefficients - * [Pull request 227](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/227) + * [BitBucket pull request 227](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/227) 1. Change private msgs namespace - * [Pull request 233](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/233) + * [BitBucket pull request 233](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/233) 1. Set tutorial titles - * [Pull request 231](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/231) + * [BitBucket pull request 231](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/231) 1. Example tunnel world - * [Pull request 205](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/205) + * [BitBucket pull request 205](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/205) 1. Conversion from chrono to ign-msgs - * [Pull request 223](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/223) + * [BitBucket pull request 223](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/223) 1. Prevent error message when using levels - * [Pull request 229](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/229) + * [BitBucket pull request 229](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/229) ### Ignition Gazebo 1.1.0 (2019-03-15) 1. Distributed performers running in lockstep - * [Pull Request 186](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/186) - * [Pull Request 201](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/201) - * [Pull Request 209](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/209) - * [Pull Request 213](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/213) + * [BitBucket pull request 186](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/186) + * [BitBucket pull request 201](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/201) + * [BitBucket pull request 209](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/209) + * [BitBucket pull request 213](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/213) 1. Fix documentation tagfiles - * [Pull Request 214](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/214) + * [BitBucket pull request 214](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/214) 1. Convert gui library into a component - * [Pull Request 206](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/206) + * [BitBucket pull request 206](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/206) 1. include wherever special int types like uint64_t are used - * [Pull Request 208](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/208) + * [BitBucket pull request 208](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/208) 1. Move network internal - * [Pull Request 211](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/211) + * [BitBucket pull request 211](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/211) 1. Logging / playback - * [Pull Request 181](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/181) + * [BitBucket pull request 181](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/181) 1. ECM state streaming - * [Pull Request 184](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/184) + * [BitBucket pull request 184](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/184) 1. Unversioned system libraries - * [Pull Request 222](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/222) + * [BitBucket pull request 222](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/222) ### Ignition Gazebo 1.0.2 (2019-03-12) 1. Use TARGET_SO_NAME to fix finding dartsim plugin - * [Pull Request 217](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/217) + * [BitBucket pull request 217](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/217) ### Ignition Gazebo 1.0.1 (2019-03-01) 1. Update gazebo version number in sdf files - * [Pull Request 207](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/207) + * [BitBucket pull request 207](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/207) ### Ignition Gazebo 1.0.0 (2019-03-01) @@ -661,22 +661,22 @@ ### Ignition Gazebo 0.1.0 1. Add support for joints - * [Pull Request 77](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/77) + * [BitBucket pull request 77](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/77) 1. Use SimpleWrapper for more component types - * [Pull Request 78](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/78) + * [BitBucket pull request 78](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/78) 1. Create EventManager and delegate System instantiation to SimulationRunner - * [Pull Request 79](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/79) + * [BitBucket pull request 79](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/79) 1. Integrate ign-gui - * [Pull request 11](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/11) + * [BitBucket pull request 11](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/11) 1. Remove some build dependencies. - * [Pull request 6](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/6) + * [BitBucket pull request 6](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/6) 1. Added basic Entity class. - * [Pull request 3](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/3) + * [BitBucket pull request 3](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/3) 1. Added a basic System class. - * [Pull request 4](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-request/4) + * [BitBucket pull request 4](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/4) diff --git a/Migration.md b/Migration.md index 40c8024db5..04bec29ce2 100644 --- a/Migration.md +++ b/Migration.md @@ -44,8 +44,8 @@ release will remove the deprecated code. updated to report its scoped name. * Log files generated from Ignition Gazebo 1.X are no longer compatible with -Gazebo 2+ for playback. [Pull request -#257](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/257) +Gazebo 2+ for playback. [BitBucket pull request +#257](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/257) added an SDF message to the start of log files. ## Ignition Gazebo 1.0.2 to 1.1.0 diff --git a/README.md b/README.md index 4c59b9f479..abcc25a332 100644 --- a/README.md +++ b/README.md @@ -2,8 +2,8 @@ **Maintainer:** louise AT openrobotics DOT org -[![Bitbucket open issues](https://img.shields.io/bitbucket/issues-raw/ignitionrobotics/ign-gazebo.svg)](https://bitbucket.org/ignitionrobotics/ign-gazebo/issues) -[![Bitbucket open pull requests](https://img.shields.io/bitbucket/pr-raw/ignitionrobotics/ign-gazebo.svg)](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests) +[![GitHub open issues](https://img.shields.io/github/issues-raw/ignitionrobotics/ign-gazebo.svg)](https://github.com/ignitionrobotics/ign-gazebo/issues) +[![GitHub open pull requests](https://img.shields.io/github/issues-pr-raw/ignitionrobotics/ign-gazebo.svg)](https://github.com/ignitionrobotics/ign-gazebo/pulls) [![Discourse topics](https://img.shields.io/discourse/https/community.gazebosim.org/topics.svg)](https://community.gazebosim.org) [![Hex.pm](https://img.shields.io/hexpm/l/plug.svg)](https://www.apache.org/licenses/LICENSE-2.0) @@ -52,24 +52,24 @@ Ignition Gazebo is derived from [Gazebo](http://gazebosim.org) and represents ov * **Dynamics simulation**: Access multiple high-performance physics engines through -[Ignition Physics](https://bitbucket.org/ignitionrobotics/ign-physics). +[Ignition Physics](https://github.com/ignitionrobotics/ign-physics). * **Advanced 3D graphics**: Through -[Ignition Rendering](https://bitbucket.org/ignitionrobotics/ign-rendering), +[Ignition Rendering](https://github.com/ignitionrobotics/ign-rendering), it's possible to use rendering engines such as OGRE v2 for realistic rendering of environments with high-quality lighting, shadows, and textures. * **Sensors and noise models**: Generate sensor data, optionally with noise, from laser range finders, 2D/3D cameras, Kinect style sensors, contact sensors, force-torque, IMU, GPS, and more, powered by -[Ignition Sensors](https://bitbucket.org/ignitionrobotics/ign-sensors) +[Ignition Sensors](https://github.com/ignitionrobotics/ign-sensors) * **Plugins**: Develop custom plugins for robot, sensor, and environment control. * **Graphical interface**: Create, instrospect and interact with your simulations through plugin-based graphical interfaces powered by -[Ignition GUI](https://bitbucket.org/ignitionrobotics/ign-gui). +[Ignition GUI](https://github.com/ignitionrobotics/ign-gui). * **Simulation models**: Access numerous robots including PR2, Pioneer2 DX, iRobot Create, and TurtleBot, and construct environments using other physically @@ -79,7 +79,7 @@ new model using [SDF](http://sdformat.org). * **TCP/IP Transport**: Run simulation on remote servers and interface to Ignition Gazebo through socket-based message passing using -[Ignition Transport](https://bitbucket.org/ignitionrobotics/ign-transport). +[Ignition Transport](https://github.com/ignitionrobotics/ign-transport). * **Command line tools**: Extensive command line tools for increased simulation introspection and control. @@ -180,7 +180,7 @@ for dependency installation instructions for each supported operating system. 1. Clone the repository. ``` - hg clone https://bitbucket.org/ignitionrobotics/ign-gazebo -b default + git clone https://github.com/ignitionrobotics/ign-gazebo -b master ``` 2. Configure and build. @@ -234,7 +234,7 @@ ln -s /usr/local/share/ignition/transportlog7.yaml . export IGN_CONFIG_PATH=$HOME/.ignition/tools/configs ``` -This issue is tracked [here](https://bitbucket.org/ignitionrobotics/ign-tools/issues/8/too-strict-looking-for-config-paths). +This issue is tracked [here](https://github.com/ignitionrobotics/ign-tools/issues/8). # Documentation @@ -251,7 +251,7 @@ You can also generate the documentation from a clone of this repository by follo 2. Clone the repository ``` - hg clone https://bitbucket.org/ignitionrobotics/ign-gazebo + git clone https://github.com/ignitionrobotics/ign-gazebo ``` 3. Configure and build the documentation. @@ -288,7 +288,7 @@ Follow these steps to run tests and static code analysis in your clone of this r make codecheck ``` -See the [Writing Tests section of the contributor guide](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/406665896aa40bb42f14cf61d48b3d94f2fc5dd8/CONTRIBUTING.md#markdown-header-writing-tests) for help creating or modifying tests. +See the [Writing Tests section of the contributor guide](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CONTRIBUTING.md#writing-tests) for help creating or modifying tests. # Folder Structure @@ -320,12 +320,12 @@ ign-gazebo # Contributing Please see -[CONTRIBUTING.md](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/406665896aa40bb42f14cf61d48b3d94f2fc5dd8/CONTRIBUTING.md?at=default&fileviewer=file-view-default). +[CONTRIBUTING.md](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CONTRIBUTING.md). # Code of Conduct Please see -[CODE_OF_CONDUCT.md](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/406665896aa40bb42f14cf61d48b3d94f2fc5dd8/CODE_OF_CONDUCT.md?at=default&fileviewer=file-view-default). +[CODE_OF_CONDUCT.md](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CODE_OF_CONDUCT.md). # Versioning @@ -333,4 +333,4 @@ This library uses [Semantic Versioning](https://semver.org/). Additionally, this # License -This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/406665896aa40bb42f14cf61d48b3d94f2fc5dd8/LICENSE?at=default&fileviewer=file-view-default) file. +This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/ignitionrobotics/ign-gazebo/blob/master/LICENSE) file. diff --git a/doc/architecture_design.md b/doc/architecture_design.md index f110fbfe94..96e8f6e7be 100644 --- a/doc/architecture_design.md +++ b/doc/architecture_design.md @@ -118,7 +118,7 @@ level and performer is only simulated at one runner at a time. It would be convenient to be able to specify standalone programs in the SDF file so they're loaded at the same time as the simulation. For example, Gazebo's -[JoyPlugin](https://bitbucket.org/osrf/gazebo/src/default/plugins/JoyPlugin.hh?fileviewer=file-view-default) +[JoyPlugin](https://github.com/osrf/gazebo/blob/master/plugins/JoyPlugin.hh) is a `WorldPlugin`, but it doesn't need to access any world API, or to run in the physics thread, or even to run in the gzserver process. However, it was implemented as a plugin because that makes it easier to specify in diff --git a/docker/scripts/build_ign.sh b/docker/scripts/build_ign.sh index 417f6c2aa7..dd12c6479d 100755 --- a/docker/scripts/build_ign.sh +++ b/docker/scripts/build_ign.sh @@ -1,13 +1,13 @@ #!/bin/bash # Command line parameters: -# 1 - bitbucket organization name. For example ignitionrobotics or osrf. +# 1 - github organization name. For example ignitionrobotics or osrf. # 2 - the name of the ignition repository. For example ign-math. # 3 - the name of the branch. For example ign-math6 set -o errexit set -o verbose -hg clone https://bitbucket.org/$1/$2 -b $3 +git clone https://github.com/$1/$2 -b $3 cd $2 mkdir build cd build diff --git a/docker/scripts/install_common_deps.sh b/docker/scripts/install_common_deps.sh index a0389c003d..edadbee4d7 100755 --- a/docker/scripts/install_common_deps.sh +++ b/docker/scripts/install_common_deps.sh @@ -18,7 +18,6 @@ sudo apt-get install -y \ curl \ git \ g++-8 \ - mercurial \ pkg-config \ sudo apt-get install -y \ diff --git a/docker/scripts/upload_json_benchmark.sh b/docker/scripts/upload_json_benchmark.sh index 362c1c94e7..528b7afa95 100755 --- a/docker/scripts/upload_json_benchmark.sh +++ b/docker/scripts/upload_json_benchmark.sh @@ -1,6 +1,6 @@ #!/bin/bash # Command line parameters: -# 1 - bitbucket organization name. For example ignitionrobotics or osrf. +# 1 - github organization name. For example ignitionrobotics or osrf. # 2 - the name of the ignition repository. For example ign-math. # 3 - the name of the branch. For example ign-math6 diff --git a/examples/standalone/joy_to_twist/README.md b/examples/standalone/joy_to_twist/README.md index ace2b86982..9579b6226a 100644 --- a/examples/standalone/joy_to_twist/README.md +++ b/examples/standalone/joy_to_twist/README.md @@ -1,9 +1,9 @@ # Joy to Twist Standalone program that subscribes to -[ignition::msgs::Joy](https://bitbucket.org/ignitionrobotics/ign-msgs/src/default/proto/ignition/msgs/joy.proto) +[ignition::msgs::Joy](https://github.com/ignitionrobotics/ign-msgs/blob/master/proto/ignition/msgs/joy.proto) messages and converts publishes -[ignition::msgs::Twist](https://bitbucket.org/ignitionrobotics/ign-msgs/src/default/proto/ignition/msgs/twist.proto) +[ignition::msgs::Twist](https://github.com/ignitionrobotics/ign-msgs/blob/master/proto/ignition/msgs/twist.proto) messages according to user-defined configuration. ## Build diff --git a/examples/standalone/joystick/README.md b/examples/standalone/joystick/README.md index 4e494053a7..882c9b1b3d 100644 --- a/examples/standalone/joystick/README.md +++ b/examples/standalone/joystick/README.md @@ -1,7 +1,7 @@ # Joystick Standalone program that publishes -[ignition::msgs::Joy](https://bitbucket.org/ignitionrobotics/ign-msgs/src/default/proto/ignition/msgs/joy.proto) +[ignition::msgs::Joy](https://github.com/ignitionrobotics/ign-msgs/blob/master/proto/ignition/msgs/joy.proto) messages from a joystick device using Ignition Transport. The mapping of joystick buttons to fields in the message is the same as [this](http://wiki.ros.org/joy). diff --git a/src/ign_TEST.cc b/src/ign_TEST.cc index 87e205be75..605badc29c 100644 --- a/src/ign_TEST.cc +++ b/src/ign_TEST.cc @@ -26,7 +26,7 @@ static const std::string kBinPath(PROJECT_BINARY_PATH); // Command line not working on OSX, see -// https://bitbucket.org/ignitionrobotics/ign-gazebo/issues/25/ +// https://github.com/ignitionrobotics/ign-gazebo/issues/25/ #ifndef __APPLE__ static const std::string kIgnCommand( "IGN_GAZEBO_SYSTEM_PLUGIN_PATH=" + kBinPath + "/lib LD_LIBRARY_PATH=" + diff --git a/src/network/NetworkManagerPrimary.cc b/src/network/NetworkManagerPrimary.cc index 428e1ad842..9ee0894745 100644 --- a/src/network/NetworkManagerPrimary.cc +++ b/src/network/NetworkManagerPrimary.cc @@ -207,7 +207,7 @@ bool NetworkManagerPrimary::SecondariesCanStep() const // TODO(anyone) Ideally we'd check the number of connections against the // number of expected secondaries, but there's no interface for that // on ign-transport yet: - // https://bitbucket.org/ignitionrobotics/ign-transport/issues/39 + // https://github.com/ignitionrobotics/ign-transport/issues/39 return this->simStepPub.HasConnections(); } diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc index 1df266ec9c..23a06aa916 100644 --- a/src/systems/physics/Physics.cc +++ b/src/systems/physics/Physics.cc @@ -360,7 +360,7 @@ void PhysicsPrivate::CreatePhysicsEntities(const EntityComponentManager &_ecm) // Check if parent world exists // TODO(louise): Support nested models, see - // https://bitbucket.org/ignitionrobotics/ign-physics/issues/10 + // https://github.com/ignitionrobotics/ign-physics/issues/10 if (this->entityWorldMap.find(_parent->Data()) == this->entityWorldMap.end()) { diff --git a/test/integration/examples_build.cc b/test/integration/examples_build.cc index dcc48de727..3e24f0d1cd 100644 --- a/test/integration/examples_build.cc +++ b/test/integration/examples_build.cc @@ -24,7 +24,7 @@ #include "ignition/gazebo/test_config.hh" // File copied from -// https://bitbucket.org/ignitionrobotics/ign-gui/raw/default/test/integration/ExamplesBuild_TEST.cc +// https://github.com/ignitionrobotics/ign-gui/raw/master/test/integration/ExamplesBuild_TEST.cc using namespace ignition; diff --git a/test/integration/network_handshake.cc b/test/integration/network_handshake.cc index 6dced05236..830120e171 100644 --- a/test/integration/network_handshake.cc +++ b/test/integration/network_handshake.cc @@ -146,7 +146,7 @@ TEST_F(NetworkHandshake, Updates) configPrimary.SetUseLevels(true); // Can only test one secondary running physics, because running 2 physics in // the same process causes a segfault, see - // https://bitbucket.org/ignitionrobotics/ign-gazebo/issues/18 + // https://github.com/ignitionrobotics/ign-gazebo/issues/18 configPrimary.SetNetworkSecondaries(1); configPrimary.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/performers.sdf"); diff --git a/test/integration/touch_plugin.cc b/test/integration/touch_plugin.cc index c443d3439a..adee294a7c 100644 --- a/test/integration/touch_plugin.cc +++ b/test/integration/touch_plugin.cc @@ -103,7 +103,7 @@ TEST_F(TouchPluginTest, OneLink) std::this_thread::sleep_for(std::chrono::milliseconds(30)); } // Known to fail on OSX, see -// https://bitbucket.org/ignitionrobotics/ign-gazebo/issues/22 +// https://github.com/ignitionrobotics/ign-gazebo/issues/22 #if !defined (__APPLE__) EXPECT_TRUE(whiteTouched); #endif @@ -183,7 +183,7 @@ TEST_F(TouchPluginTest, StartDisabled) std::this_thread::sleep_for(std::chrono::milliseconds(30)); } // Known to fail on OSX, see -// https://bitbucket.org/ignitionrobotics/ign-gazebo/issues/22 +// https://github.com/ignitionrobotics/ign-gazebo/issues/22 #if !defined (__APPLE__) EXPECT_TRUE(blueTouched); #endif diff --git a/tutorials/distributed_simulation.md b/tutorials/distributed_simulation.md index 0f10d6dedf..620d9d5e07 100644 --- a/tutorials/distributed_simulation.md +++ b/tutorials/distributed_simulation.md @@ -125,7 +125,7 @@ keeps all performers loaded, but performs no physics simulation. Stepping happens in 2 stages: the primary update and the secondaries update, according to the diagram below: - + 1. The primary publishes a `SimulationStep` message on the `/step` topic, containing: @@ -158,4 +158,3 @@ topics that are used for non-distributed simulation, which should all be provided by the primary. Therefore, play/pause and GUI functionality all interact with the simulation primary instance, which in turn propagates the commands to the secondaries. - diff --git a/tutorials/levels.md b/tutorials/levels.md index d1c7762081..1a7946f96e 100644 --- a/tutorials/levels.md +++ b/tutorials/levels.md @@ -78,7 +78,7 @@ being added and removed. Take a look at the 2D example below. This example focuses on a single performer, but the same logic can be extended to multiple performers. - + * The **green area** represents the area of the world which this simulation is expected to take place in. @@ -116,23 +116,23 @@ Let's take a look at how levels are loaded / unloaded as the performer moves: * `M1` and `M3`, because they belong to the level. * `M6`, because it is global. - + 2. The performer moves south towards `L3` and enters its buffer zone, triggering a load of that level's models, `M4` and `M5`. Note that at this moment, both `L1` and `L3` are loaded. - + 3. The performer moves further south, exiting `L1` and entering `L3`. However, `L1` is still loaded, since `R1` is still within its buffer zone. - + 4. Eventually `R1` moves beyond `L1`'s buffer, triggering an unload of `L1`. The main effect is unloading `M1`. - + ## SDF elements @@ -247,7 +247,7 @@ ign service -s /world/levels/level/set_performer --reqtype ignition.msgs.StringM The following is a world file that could be an instance of the world shown in the figure - + ```xml diff --git a/tutorials/mesh_to_fuel.md b/tutorials/mesh_to_fuel.md index 98fb517204..d9f305fcf3 100644 --- a/tutorials/mesh_to_fuel.md +++ b/tutorials/mesh_to_fuel.md @@ -126,17 +126,17 @@ Click the `Add folders` button, or drag and drop the `Electrical Box` folder you All the files in your model description will be listed there. Press `Upload`, and the "Fuel Model Info" page for your model will open. -![Electrical Box Test](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/875e08edfbe89847c7a9b7f819e7c2d339f6cb14/tutorials/files/mesh_to_fuel/model_info2.png) +![Electrical Box Test](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/mesh_to_fuel/model_info2.png) You can always delete a model by clicking the "Edit model" button and then selecting "Delete model" at the bottom of the page -![Delete model](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/875e08edfbe89847c7a9b7f819e7c2d339f6cb14/tutorials/files/mesh_to_fuel/delete2.png) +![Delete model](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/mesh_to_fuel/delete2.png) ## Include the Model in a World With your mesh successfully uploaded to Fuel, you can now easily include it in a world SDF file. -Copy [this example world code](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/default/examples/worlds/import_mesh.sdf) into a text editor and save it as `import_mesh.sdf`. +Copy [this example world code](https://github.com/ignitionrobotics/ign-gazebo/raw/master/examples/worlds/import_mesh.sdf) into a text editor and save it as `import_mesh.sdf`. This is a simple world SDF file, which you can learn more about on the [SDF website](http://sdformat.org/). Scroll all the way to the bottom of the file until you see the `include` tag section following the `` comment line. @@ -182,4 +182,4 @@ To launch the world and see your mesh, run Ignition from inside the directory wh ign gazebo import_mesh.sdf ``` -![Launch sample world with mesh](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/875e08edfbe89847c7a9b7f819e7c2d339f6cb14/tutorials/files/mesh_to_fuel/launch_world2.png) +![Launch sample world with mesh](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/mesh_to_fuel/launch_world2.png) diff --git a/tutorials/point_cloud_to_mesh.md b/tutorials/point_cloud_to_mesh.md index 26b44140a0..bb2c5b6d6a 100644 --- a/tutorials/point_cloud_to_mesh.md +++ b/tutorials/point_cloud_to_mesh.md @@ -20,7 +20,7 @@ After installing, open CloudCompare and import your point cloud file by going to Depending on the number of points in your point cloud, this could take several minutes. Once loaded, you should see the following tunnel section: -![Opening the point cloud](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/d4fdfb0b778306ca8b946b7b4cf6bf9887386f3c/tutorials/files/point_cloud_to_mesh/cloudcompare2.png) +![Opening the point cloud](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/point_cloud_to_mesh/cloudcompare2.png) Many 3D scans will be composed of millions, sometimes hundreds of millions of points. Converting a scan to a 3D model with that many points would be very difficult due to the number of polygons that would be created and the long processing time necessary to compute the normals. @@ -34,13 +34,13 @@ We'll still walk through reducing points, however, to make the process quicker. To reduce the number of points in your cloud, click on the tunnel so a yellow cube outline appears around it, then go to `Edit` > `Subsample`. -![Min. space between points](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/min_space.png) +![Min. space between points](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/point_cloud_to_mesh/min_space.png) The number you will need to enter in the `min. space between points` field will vary depending on your point cloud. A value of .01 was sufficient to bring our point cloud to an easy-to-manage 1 million points. Point count is visible in the `Properties` window on the lower left side of the screen. -![Point count of subsample](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/properties.png) +![Point count of subsample](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/point_cloud_to_mesh/properties.png) How many points you reduce down to will largely depend on how long you are willing to wait for the point cloud to be converted into a mesh. The more points you start with, the longer it will take to compute the normals and create the mesh. @@ -48,7 +48,7 @@ The more points you start with, the longer it will take to compute the normals a After the operation is complete you’ll have two clouds in your scene: the original point cloud and your subsampled point cloud. Most operations in CloudCompare will create new point clouds and keep the original, so make sure that you have the new point cloud selected before running an operation. -![Selecting the new point cloud](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/secondcloud.png) +![Selecting the new point cloud](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/point_cloud_to_mesh/secondcloud.png) ### Create a Polygonal Mesh @@ -59,7 +59,7 @@ A normal is essentially the direction a polygon is facing. To do this, go to `Edit` > `Normals` > `Compute`. You'll see this dialog box: -![Choose Triangulation surface model](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/compute_normals.png) +![Choose Triangulation surface model](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/point_cloud_to_mesh/compute_normals.png) You’ll see various options in the dialog box that appears. The main thing you’ll want to consider is what `Local surface model` to use. @@ -72,7 +72,7 @@ Now we get to actually convert our point cloud to a mesh. To do this go to `Plugins` > `PoissonRecon`. You'll see this dialog box: -![Octree depth and output density selection](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/outputdensity.png) +![Octree depth and output density selection](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/point_cloud_to_mesh/outputdensity.png) The value you enter in the `Octree depth` field will determine the polygon count of the created model. You may have to run the surface reconstruction a couple times with varying values before you land on a polygon count that is suitable for your needs. @@ -93,18 +93,18 @@ Our tunnel has turned into a blob shape. This is because the mesh that CloudCompare creates will always be water tight even if it has to add polygons where there are no points. We just want our tunnels, though, so we need to remove those unnecessary polygons. -![The "blob shape"](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/d4fdfb0b778306ca8b946b7b4cf6bf9887386f3c/tutorials/files/point_cloud_to_mesh/blob2.png) +![The "blob shape"](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/point_cloud_to_mesh/blob2.png) This is where our scalar field comes in. In the mesh's `Properties` window go to `SF display params` and take the left handle in the graph and drag it to the right until it hits the area where the bulk of the scalar field starts. -![Adjusting scalar filed params](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/sf_display.png) +![Adjusting scalar filed params](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/point_cloud_to_mesh/sf_display.png) This will display only the polygons that were created from the point cloud and hide the polygons used to make the model watertight. The polygons are only hidden however. We still need to actually remove them. -![Display original polygons](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/d4fdfb0b778306ca8b946b7b4cf6bf9887386f3c/tutorials/files/point_cloud_to_mesh/hidden_polygons2.png) +![Display original polygons](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/point_cloud_to_mesh/hidden_polygons2.png) To remove the hidden polygons go to `Edit` > `Scalar fields` > `Filter By Value`. @@ -113,7 +113,7 @@ Hitting export will simply export the mesh within that range. Instead, we'll hit `Split` to create two meshes. One with the polygons inside our specified range and one containing polygons outside that range. -![Splitting the mesh](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/8a240cb209c9bf6bd58d48035ffe4807af0a3712/tutorials/files/point_cloud_to_mesh/split.png) +![Splitting the mesh](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/point_cloud_to_mesh/split.png) ### The Completed Model @@ -121,6 +121,6 @@ By hitting `Split` we can view the model before exporting by simply going to `Fi Remember to have the correct mesh selected (`.part`) since choosing `Split` will give you two new meshes, plus you will still have your original, complete mesh. Your file format will depend on the software you want to use but `.obj` is a widely supported format that should work in most 3D applications. -![The completed mesh](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/d4fdfb0b778306ca8b946b7b4cf6bf9887386f3c/tutorials/files/point_cloud_to_mesh/complete2.png) +![The completed mesh](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/point_cloud_to_mesh/complete2.png) You can find more information on CloudCompare and a more in depth look at the tools we used in this tutorial on [the CloudCompare website](https://www.cloudcompare.org/) and the [CloudCompare wiki](https://www.cloudcompare.org/doc/wiki/index.php?title=Main_Page). From 98c473cd352c440e6c0ce15cdf54ba7077bd8455 Mon Sep 17 00:00:00 2001 From: John Date: Fri, 24 Apr 2020 18:44:54 -0700 Subject: [PATCH 125/202] Align Objects to max and min boundaries (#59) Signed-off-by: John Shepherd --- src/gui/plugins/CMakeLists.txt | 1 + src/gui/plugins/align_tool/AlignTool.cc | 628 ++++++++++++++++++++++ src/gui/plugins/align_tool/AlignTool.hh | 155 ++++++ src/gui/plugins/align_tool/AlignTool.qml | 387 +++++++++++++ src/gui/plugins/align_tool/AlignTool.qrc | 14 + src/gui/plugins/align_tool/CMakeLists.txt | 6 + src/gui/plugins/align_tool/x_max.png | Bin 0 -> 3249 bytes src/gui/plugins/align_tool/x_mid.png | Bin 0 -> 2202 bytes src/gui/plugins/align_tool/x_min.png | Bin 0 -> 3296 bytes src/gui/plugins/align_tool/y_max.png | Bin 0 -> 610 bytes src/gui/plugins/align_tool/y_mid.png | Bin 0 -> 731 bytes src/gui/plugins/align_tool/y_min.png | Bin 0 -> 602 bytes src/gui/plugins/align_tool/z_max.png | Bin 0 -> 598 bytes src/gui/plugins/align_tool/z_mid.png | Bin 0 -> 724 bytes src/gui/plugins/align_tool/z_min.png | Bin 0 -> 597 bytes src/rendering/RenderUtil.cc | 13 +- 16 files changed, 1202 insertions(+), 2 deletions(-) create mode 100644 src/gui/plugins/align_tool/AlignTool.cc create mode 100644 src/gui/plugins/align_tool/AlignTool.hh create mode 100644 src/gui/plugins/align_tool/AlignTool.qml create mode 100644 src/gui/plugins/align_tool/AlignTool.qrc create mode 100644 src/gui/plugins/align_tool/CMakeLists.txt create mode 100644 src/gui/plugins/align_tool/x_max.png create mode 100644 src/gui/plugins/align_tool/x_mid.png create mode 100644 src/gui/plugins/align_tool/x_min.png create mode 100644 src/gui/plugins/align_tool/y_max.png create mode 100644 src/gui/plugins/align_tool/y_mid.png create mode 100644 src/gui/plugins/align_tool/y_min.png create mode 100644 src/gui/plugins/align_tool/z_max.png create mode 100644 src/gui/plugins/align_tool/z_mid.png create mode 100644 src/gui/plugins/align_tool/z_min.png diff --git a/src/gui/plugins/CMakeLists.txt b/src/gui/plugins/CMakeLists.txt index 5850e3505b..de5806d9ed 100644 --- a/src/gui/plugins/CMakeLists.txt +++ b/src/gui/plugins/CMakeLists.txt @@ -81,6 +81,7 @@ endfunction() add_subdirectory(modules) # Plugins +add_subdirectory(align_tool) add_subdirectory(entity_tree) add_subdirectory(grid_config) add_subdirectory(scene3d) diff --git a/src/gui/plugins/align_tool/AlignTool.cc b/src/gui/plugins/align_tool/AlignTool.cc new file mode 100644 index 0000000000..e567ad2c5d --- /dev/null +++ b/src/gui/plugins/align_tool/AlignTool.cc @@ -0,0 +1,628 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "ignition/gazebo/components/World.hh" +#include "ignition/gazebo/components/Name.hh" + +#include "ignition/gazebo/EntityComponentManager.hh" +#include "ignition/gazebo/gui/GuiEvents.hh" +#include "AlignTool.hh" + +namespace ignition::gazebo +{ + class AlignToolPrivate + { + /// \brief Ignition communication node. + public: transport::Node node; + + /// \brief The service call string for requesting a new pose for an entity. + public: std::string poseCmdService; + + /// \brief Mutex to protect align tool + public: std::mutex mutex; + + /// \brief The current world name. + public: std::string worldName; + + /// \brief The current selected axis about which to align. + public: AlignAxis axis{AlignAxis::ALIGN_X}; + + /// \brief The current align state. + public: AlignState currentState{AlignState::NONE}; + + public: AlignConfig config{AlignConfig::ALIGN_MID}; + + /// \brief Flag to indicate if the align direction should be reversed. + public: bool reverse{false}; + + /// \brief Flag to indicate if the entities to should aligned to the first + /// or last entity selected. + public: bool first{true}; + + /// \brief The current selected entities + public: std::vector selectedEntities; + + /// \brief The previous positions of all the selected nodes. Should always + /// be equal to the number of selected entities. + public: std::vector prevPositions; + + /// \brief The current queue of states to be executed. + public: std::queue states; + + /// \brief The map of the original transparency values for the nodes. + public: std::map originalTransparency; + }; +} + +using namespace ignition; +using namespace gazebo; + +///////////////////////////////////////////////// +AlignTool::AlignTool() + : GuiSystem(), dataPtr(std::make_unique()) +{ + // Deselect all entities upon loading plugin + auto deselectEvent = new gui::events::DeselectAllEntities(true); + ignition::gui::App()->sendEvent( + ignition::gui::App()->findChild(), + deselectEvent); +} + +///////////////////////////////////////////////// +AlignTool::~AlignTool() = default; + +///////////////////////////////////////////////// +void AlignTool::LoadConfig(const tinyxml2::XMLElement *) +{ + if (this->title.empty()) + this->title = "Align tool"; + + // For align tool requests + ignition::gui::App()->findChild + ()->installEventFilter(this); +} + +///////////////////////////////////////////////// +void AlignTool::Update(const UpdateInfo &/* _info */, + EntityComponentManager &_ecm) +{ + std::lock_guard lock(this->dataPtr->mutex); + if (this->dataPtr->worldName.empty()) + { + // TODO(anyone) Only one scene is supported for now + _ecm.Each( + [&](const Entity &/*_entity*/, + const components::World * /* _world */ , + const components::Name *_name)->bool + { + this->dataPtr->worldName = _name->Data(); + return true; + }); + } +} + +///////////////////////////////////////////////// +void AlignTool::OnAlignConfig(const QString &_config) +{ + std::lock_guard lock(this->dataPtr->mutex); + std::string newConfig = _config.toStdString(); + std::transform(newConfig.begin(), newConfig.end(), + newConfig.begin(), ::tolower); + + if (newConfig == "min") + { + this->dataPtr->config = AlignConfig::ALIGN_MIN; + } + else if (newConfig == "mid") + { + this->dataPtr->config = AlignConfig::ALIGN_MID; + } + else if (newConfig == "max") + { + this->dataPtr->config = AlignConfig::ALIGN_MAX; + } + else + { + ignwarn << "Invalid align axis config: " << newConfig << "\n"; + ignwarn << "The valid options are:\n"; + ignwarn << " - min\n"; + ignwarn << " - mid\n"; + ignwarn << " - max\n"; + } +} + +///////////////////////////////////////////////// +void AlignTool::OnReverse(bool _reverse) +{ + this->dataPtr->reverse = _reverse; +} + +///////////////////////////////////////////////// +void AlignTool::OnAlignAxis(const QString &_axis) +{ + std::lock_guard lock(this->dataPtr->mutex); + std::string newAxis = _axis.toStdString(); + std::transform(newAxis.begin(), newAxis.end(), newAxis.begin(), ::tolower); + + if (newAxis == "x") + { + this->dataPtr->axis = AlignAxis::ALIGN_X; + } + else if (newAxis == "y") + { + this->dataPtr->axis = AlignAxis::ALIGN_Y; + } + else if (newAxis == "z") + { + this->dataPtr->axis = AlignAxis::ALIGN_Z; + } + else + { + ignwarn << "Invalid align axis string: " << newAxis << "\n"; + ignwarn << "The valid options are:\n"; + ignwarn << " - X\n"; + ignwarn << " - Y\n"; + ignwarn << " - Z\n"; + } +} + +///////////////////////////////////////////////// +void AlignTool::OnAlignTarget(const QString &_target) +{ + std::lock_guard lock(this->dataPtr->mutex); + std::string newTarget = _target.toStdString(); + std::transform(newTarget.begin(), newTarget.end(), + newTarget.begin(), ::tolower); + + if (newTarget == "first") + { + this->dataPtr->first = true; + } + else if (newTarget == "last") + { + this->dataPtr->first = false; + } + else + { + ignwarn << "Invalid align target string: " << newTarget << "\n"; + ignwarn << "The valid options are:\n"; + ignwarn << " - first\n"; + ignwarn << " - last\n"; + } +} + +///////////////////////////////////////////////// +void AlignTool::OnHoveredEntered() +{ + std::lock_guard lock(this->dataPtr->mutex); + this->AddState(AlignState::HOVER); +} + +///////////////////////////////////////////////// +void AlignTool::OnHoveredExited() +{ + std::lock_guard lock(this->dataPtr->mutex); + // Always reset after an exit, if an align call is made, it + // will have updated the prev positions of the entities so a + // reset after align will result in no change + this->AddState(AlignState::RESET); +} + +///////////////////////////////////////////////// +void AlignTool::OnAlign() +{ + this->AddState(AlignState::ALIGN); +} + +///////////////////////////////////////////////// +void AlignTool::AddState(const AlignState &_state) +{ + this->dataPtr->states.push(_state); +} + +//////////////////////////////////////////////// +void AlignTool::UpdateTransparency(const rendering::NodePtr &_node, + bool _makeTransparent) +{ + if (!_node) + return; + + for (auto n = 0u; n < _node->ChildCount(); ++n) + { + auto child = _node->ChildByIndex(n); + this->UpdateTransparency(child, _makeTransparent); + } + + auto vis = std::dynamic_pointer_cast(_node); + if (nullptr == vis) + return; + + // Visual material + auto visMat = vis->Material(); + if (nullptr != visMat) + { + auto visTransparency = + this->dataPtr->originalTransparency.find(vis->Name()); + if (_makeTransparent) + { + // If the entity isn't already transparent, make it transparent + if (visTransparency == this->dataPtr->originalTransparency.end()) + { + this->dataPtr->originalTransparency[vis->Name()] = + visMat->Transparency(); + visMat->SetTransparency(1.0 - ((1.0 - visMat->Transparency()) * 0.5)); + } + } + else + { + if (visTransparency != this->dataPtr->originalTransparency.end()) + { + visMat->SetTransparency(visTransparency->second); + } + } + } + + for (auto g = 0u; g < vis->GeometryCount(); ++g) + { + auto geom = vis->GeometryByIndex(g); + auto wireBox = std::dynamic_pointer_cast(geom); + + // Skip wirebox geometry + if (wireBox) + continue; + + // Geometry material + auto geomMat = geom->Material(); + if (nullptr == geomMat) + continue; + auto geomTransparency = + this->dataPtr->originalTransparency.find(geom->Name()); + + if (_makeTransparent) + { + // If the entity isn't already transparent, make it transparent + if (geomTransparency == this->dataPtr->originalTransparency.end()) + { + this->dataPtr->originalTransparency[geom->Name()] = + geomMat->Transparency(); + geomMat->SetTransparency(1.0 - ((1.0 - geomMat->Transparency()) * 0.5)); + } + } + else + { + if (geomTransparency != this->dataPtr->originalTransparency.end()) + { + geomMat->SetTransparency(geomTransparency->second); + } + } + } +} + +///////////////////////////////////////////////// +void AlignTool::Align() +{ + if (this->dataPtr->currentState == AlignState::NONE) + return; + + auto loadedEngNames = rendering::loadedEngines(); + if (loadedEngNames.empty()) + { + ignerr << "Internal error: engine should be loaded at this point." + << std::endl; + return; + } + + // Assume there is only one engine loaded + auto engineName = loadedEngNames[0]; + if (loadedEngNames.size() > 1) + { + ignwarn << "Found more than one loaded engine " + "- using " << engineName << "." << std::endl; + } + auto engine = rendering::engine(engineName); + + if (!engine) + { + ignerr << "Internal error: failed to load engine [" << engineName + << "]. Align tool plugin won't work." << std::endl; + return; + } + + if (engine->SceneCount() == 0) + { + ignerr<< "Internal error: no scenes are available with the loaded engine." + << std::endl; + return; + } + // assume there is only one scene + // load scene + auto scene = engine->SceneByIndex(0); + + if (!scene) + { + ignerr << "Internal error: scene is null." << std::endl; + return; + } + + if (!scene->IsInitialized() || scene->VisualCount() == 0) + { + ignerr << "Internal error: scene is either not initialized " + "or there are no visuals within it." << std::endl; + return; + } + + // Get current list of selected entities + std::vector selectedList; + ignition::rendering::VisualPtr relativeVisual; + + for (const auto &entityId : this->dataPtr->selectedEntities) + { + for (auto i = 0u; i < scene->VisualCount(); ++i) + { + ignition::rendering::VisualPtr vis = scene->VisualByIndex(i); + if (!vis) + continue; + + if (std::get(vis->UserData("gazebo-entity")) == + static_cast(entityId)) + { + // Check here to see if visual is top level or not, continue if not + rendering::VisualPtr topLevelVis = this->TopLevelVisual(scene, vis); + if (topLevelVis != vis) + continue; + + selectedList.push_back(vis); + } + } + } + + // Selected links will result in this list being empty as they won't be + // found in the above VisualByIndex call + if (selectedList.size() < 2) + return; + + // Set relative visual to move the others around + this->dataPtr->first ? + (relativeVisual = selectedList.front()) : + (relativeVisual = selectedList.back()); + + // Callback function for ignition node request + std::function cb = + [](const ignition::msgs::Boolean &/* _rep*/, const bool _result) + { + if (!_result) + ignerr << "Error setting pose" << std::endl; + }; + + // Set service topic + if (this->dataPtr->poseCmdService.empty()) + { + this->dataPtr->poseCmdService = "/world/" + this->dataPtr->worldName + + "/set_pose"; + } + + int axisIndex = static_cast(this->dataPtr->axis); + ignition::msgs::Pose req; + + ignition::math::AxisAlignedBox targetBox = relativeVisual->BoundingBox(); + ignition::math::Vector3d targetMin = targetBox.Min(); + ignition::math::Vector3d targetMax = targetBox.Max(); + + // Index math to avoid iterating through the selected node + for (unsigned int i = this->dataPtr->first; + i < selectedList.size() + this->dataPtr->first - 1; i++) + { + rendering::VisualPtr vis = selectedList[i]; + if (!vis) + continue; + + ignition::math::AxisAlignedBox box = vis->BoundingBox(); + ignition::math::Vector3d min = box.Min(); + ignition::math::Vector3d max = box.Max(); + + // Check here to see if visual is top level or not, continue if not + rendering::VisualPtr topLevelVis = this->TopLevelVisual(scene, vis); + if (topLevelVis != vis) + continue; + + math::Vector3d newPos = vis->WorldPosition(); + + // If a reset is occurring, pull all of the previous positions and set + if (this->dataPtr->currentState == AlignState::RESET) + { + // Index offset given the relative node does not get added to the + // prevPositions vector + newPos = this->dataPtr->prevPositions[i-this->dataPtr->first]; + + this->UpdateTransparency(vis, false /* opaque */); + vis->SetWorldPosition(newPos); + vis->SetUserData("pause-update", static_cast(0)); + } + // If an align is occurring, the user has clicked the align button, + // make a request to the backend to send the node to the new position + else if (this->dataPtr->currentState == AlignState::ALIGN) + { + this->UpdateTransparency(vis, false /* opaque */); + req.set_name(vis->Name()); + msgs::Set(req.mutable_position(), newPos); + msgs::Set(req.mutable_orientation(), vis->WorldRotation()); + this->dataPtr->node.Request(this->dataPtr->poseCmdService, req, cb); + vis->SetUserData("pause-update", static_cast(0)); + this->dataPtr->prevPositions[i-this->dataPtr->first] = newPos; + } + // Hover state has been entered, update visuals to relative visual, + // prevent RenderUtil from updating the visual to its actual position, + // and store the current position of the nodes + else if (this->dataPtr->currentState == AlignState::HOVER) + { + double translation = 0.0; + if (this->dataPtr->config == AlignConfig::ALIGN_MID) + { + translation = (targetMin[axisIndex] + (targetMax[axisIndex] + - targetMin[axisIndex]) / 2) - (min[axisIndex] + + (max[axisIndex] - min[axisIndex]) / 2); + } + else + { + if (this->dataPtr->reverse) + { + if (this->dataPtr->config == AlignConfig::ALIGN_MIN) + translation = targetMin[axisIndex] - max[axisIndex]; + else if (this->dataPtr->config == AlignConfig::ALIGN_MAX) + translation = targetMax[axisIndex] - min[axisIndex]; + } + else + { + if (this->dataPtr->config == AlignConfig::ALIGN_MIN) + translation = targetMin[axisIndex] - min[axisIndex]; + else if (this->dataPtr->config == AlignConfig::ALIGN_MAX) + translation = targetMax[axisIndex] - max[axisIndex]; + } + } + + // Add calculated translation to the chosen index + newPos[axisIndex] += translation; + + // Store the vis's world positions in a vector + this->dataPtr->prevPositions.push_back(vis->WorldPosition()); + + // Make the visual transparent and update to new position + this->UpdateTransparency(vis, true /* transparent */); + vis->SetWorldPosition(newPos); + vis->SetUserData("pause-update", static_cast(1)); + } + } + + // If reset has iterated once, set state back to none as job + // has been completed, and reset transparency map + if (this->dataPtr->currentState == AlignState::RESET) + { + this->dataPtr->originalTransparency.clear(); + this->dataPtr->currentState = AlignState::NONE; + this->dataPtr->prevPositions.clear(); + } + // Also reset transparency map if state is align + else if (this->dataPtr->currentState == AlignState::ALIGN) + { + this->dataPtr->originalTransparency.clear(); + } +} + +///////////////////////////////////////////////// +rendering::VisualPtr AlignTool::TopLevelVisual(rendering::ScenePtr &_scene, + rendering::VisualPtr &_visual) const +{ + auto visNode = std::dynamic_pointer_cast(_visual); + auto node = this->TopLevelNode(_scene, visNode); + return std::dynamic_pointer_cast(node); +} + +///////////////////////////////////////////////// +rendering::NodePtr AlignTool::TopLevelNode(rendering::ScenePtr &_scene, + rendering::NodePtr &_node) const +{ + rendering::NodePtr rootNode = + _scene->RootVisual(); + + rendering::NodePtr node; + + if (_node) + { + node = std::dynamic_pointer_cast(_node->Parent()); + + // Be sure not to skip checking the node before iterating through + // its ancestors below + if (node && node == rootNode) + return _node; + } + + while (node && node->Parent() != rootNode) + { + node = + std::dynamic_pointer_cast(node->Parent()); + } + + return node; +} + +///////////////////////////////////////////////// +bool AlignTool::eventFilter(QObject *_obj, QEvent *_event) +{ + if (_event->type() == ignition::gazebo::gui::events::Render::Type) + { + // This event is called in Scene3d's RenderThread, so it's safe to make + // rendering calls here + + std::lock_guard lock(this->dataPtr->mutex); + // If there's a state available, pop it from the queue and execute it + if (!this->dataPtr->states.empty()) + { + this->dataPtr->currentState = this->dataPtr->states.front(); + this->dataPtr->states.pop(); + this->Align(); + } + } + else if (_event->type() == + ignition::gazebo::gui::events::EntitiesSelected::kType) + { + auto selectedEvent = + reinterpret_cast(_event); + + // Only update if a valid cast, the data isn't empty, and + // the command is not from user (sent from backend) + if (selectedEvent && !selectedEvent->Data().empty()) + { + for (const auto &_entity : selectedEvent->Data()) + { + // If the element already exists in the selected entity's + // vector, then continue + if (std::find(this->dataPtr->selectedEntities.begin(), + this->dataPtr->selectedEntities.end(), + _entity) != this->dataPtr->selectedEntities.end()) + continue; + this->dataPtr->selectedEntities.push_back(_entity); + } + } + } + else if (_event->type() == + ignition::gazebo::gui::events::DeselectAllEntities::kType) + { + this->dataPtr->selectedEntities.clear(); + } + return QObject::eventFilter(_obj, _event); +} + +// Register this plugin +IGNITION_ADD_PLUGIN(ignition::gazebo::AlignTool, + ignition::gui::Plugin) diff --git a/src/gui/plugins/align_tool/AlignTool.hh b/src/gui/plugins/align_tool/AlignTool.hh new file mode 100644 index 0000000000..f426da7208 --- /dev/null +++ b/src/gui/plugins/align_tool/AlignTool.hh @@ -0,0 +1,155 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#ifndef IGNITION_GAZEBO_GUI_ALIGNTOOL_HH_ +#define IGNITION_GAZEBO_GUI_ALIGNTOOL_HH_ + +#include + +#include +#include +#include + +namespace ignition +{ +namespace gazebo +{ + /// \brief Enumeration of the states within the Align Tool. + enum class AlignState + { + /// \brief Indicates the user is currently hovering the mouse over + /// an align button + HOVER = 0, + /// \brief Indicates a reset of the currently placed nodes, only occurs + /// on a hover exit if the align button has not been clicked + RESET = 1, + /// \brief Indicates the user has clicked the align button + ALIGN = 2, + /// \brief Indicates the user is currently not utilizing the align tool + NONE = 3 + }; + + /// \brief Enumeration of the axes to be aligned relative to. + enum class AlignAxis + { + /// \brief Indicates an alignment relative to the x axis + ALIGN_X = 0, + /// \brief Indicates an alignment relative to the y axis + ALIGN_Y = 1, + /// \brief Indicates an alignment relative to the z axis + ALIGN_Z = 2 + }; + + enum class AlignConfig + { + ALIGN_MIN, + ALIGN_MID, + ALIGN_MAX + }; + + class AlignToolPrivate; + + /// \brief Provides buttons for the align tool + /// + /// ## Configuration + /// \ : Set the service to receive align tool requests. + class AlignTool : + public ignition::gazebo::GuiSystem + { + Q_OBJECT + + /// \brief Constructor + public: AlignTool(); + + /// \brief Destructor + public: ~AlignTool() override; + + // Documentation inherited + public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override; + + // Documentation inherited + public: void Update(const UpdateInfo &_info, + EntityComponentManager &_ecm) override; + + /// \brief Callback to update the axis type. + /// \param[in] _mode New axis type + public slots: void OnAlignAxis(const QString &_mode); + + /// \brief Callback to update the target type. + /// \param[in] _target New target type + public slots: void OnAlignTarget(const QString &_target); + + /// \brief Callback to update the axis config. + /// \param[in] _mode New config type + public slots: void OnAlignConfig(const QString &_mode); + + /// \brief Callback to update if the align orientation is reversed. + /// \param[in] _reverse The reverse boolean + public slots: void OnReverse(bool _reverse); + + /// \brief Callback to make whenever a hover state is entered on a button. + public slots: void OnHoveredEntered(); + + /// \brief Callback to make whenever a hover state is exited on a button. + public slots: void OnHoveredExited(); + + /// \brief Callback to the align state the execution queue. + public slots: void OnAlign(); + + /// \brief Callback to add a state to the execution queue. + /// \param[in] _state New state to add by enum AlignState + public: void AddState(const AlignState &_state); + + /// \brief Updates the node to increase its transparency or reset + /// back to its original transparency value, an opaque call requires + /// a previous transparent call, otherwise, no action will be taken + /// \param[in] _node The node to update. + /// \param[in] _makeTransparent true if updating to increase transparency, + /// false to set back to original transparency values (make more opaque) + public: void UpdateTransparency(const rendering::NodePtr &_node, + bool _makeTransparent); + + /// \brief The function call to execute a state from the queue. This + /// function makes rendering calls and should only be executed within + /// the render thread. + public: void Align(); + + /// \brief Returns the top level visual of the passed in visual within + /// a given scene. + /// \param[in] _scene The scene to check + /// \param[in] _visual The visual to get the top level visual for + public: rendering::VisualPtr TopLevelVisual(rendering::ScenePtr &_scene, + rendering::VisualPtr &_visual) const; + + /// \brief Returns the top level node of the passed in node within + /// a given scene. + /// \param[in] _scene The scene to check + /// \param[in] _visual The node to get the top level node for + public: rendering::NodePtr TopLevelNode(rendering::ScenePtr &_scene, + rendering::NodePtr &_node) const; + + // Documentation inherited + protected: bool eventFilter(QObject *_obj, QEvent *_event) override; + + /// \internal + /// \brief Pointer to private data. + private: std::unique_ptr dataPtr; + }; +} +} + +#endif diff --git a/src/gui/plugins/align_tool/AlignTool.qml b/src/gui/plugins/align_tool/AlignTool.qml new file mode 100644 index 0000000000..a002c0f447 --- /dev/null +++ b/src/gui/plugins/align_tool/AlignTool.qml @@ -0,0 +1,387 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ +import QtQuick 2.9 +import QtQuick.Controls 2.1 +import QtQuick.Controls.Material 2.2 +import QtQuick.Controls.Material.impl 2.2 +import QtQuick.Layouts 1.3 +import QtQuick.Controls.Styles 1.4 + +ToolBar { + Layout.minimumWidth: 280 + Layout.minimumHeight: 370 + + background: Rectangle { + color: "transparent" + } + + ButtonGroup { + id: group + } + + GridLayout { + anchors.fill: parent + columns: 4 + columnSpacing: 5 + Text { + text: "X:" + font.weight: Font.Bold + Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter + Layout.leftMargin: 25 + Layout.topMargin: 15 + font.pointSize: 14 + } + ToolButton { + id: x_min + checkable: true + ButtonGroup.group: group + ToolTip.text: "X Align Min" + ToolTip.visible: hovered + ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval + Layout.topMargin: 15 + Layout.leftMargin: 10 + contentItem: Image { + fillMode: Image.Pad + horizontalAlignment: Image.AlignHCenter + verticalAlignment: Image.AlignVCenter + source: "x_min.png" + sourceSize.width: 28; + sourceSize.height: 28; + } + MouseArea { + anchors.fill: parent + hoverEnabled: true + onEntered: { + AlignTool.OnAlignAxis("X") + AlignTool.OnAlignConfig("min") + AlignTool.OnHoveredEntered() + } + onExited: { + AlignTool.OnHoveredExited() + } + onClicked: { + AlignTool.OnAlign() + } + } + } + ToolButton { + id: x_mid + checkable: true + ButtonGroup.group: group + ToolTip.text: "X Align Center" + ToolTip.visible: hovered + ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval + Layout.topMargin: 15 + contentItem: Image { + fillMode: Image.Pad + horizontalAlignment: Image.AlignHCenter + verticalAlignment: Image.AlignVCenter + source: "x_mid.png" + sourceSize.width: 28; + sourceSize.height: 28; + } + MouseArea { + anchors.fill: parent + hoverEnabled: true + onEntered: { + AlignTool.OnAlignAxis("X") + AlignTool.OnAlignConfig("mid") + AlignTool.OnHoveredEntered() + } + onExited: { + AlignTool.OnHoveredExited() + } + onClicked: { + AlignTool.OnAlign() + } + } + } + ToolButton { + id: x_max + checkable: true + ButtonGroup.group: group + ToolTip.text: "X Align Max" + ToolTip.visible: hovered + ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval + Layout.topMargin: 15 + contentItem: Image { + fillMode: Image.Pad + horizontalAlignment: Image.AlignHCenter + verticalAlignment: Image.AlignVCenter + source: "x_max.png" + sourceSize.width: 28; + sourceSize.height: 28; + } + MouseArea { + anchors.fill: parent + hoverEnabled: true + onEntered: { + AlignTool.OnAlignAxis("X") + AlignTool.OnAlignConfig("max") + AlignTool.OnHoveredEntered() + } + onExited: { + AlignTool.OnHoveredExited() + } + onClicked: { + AlignTool.OnAlign() + } + } + } + Text { + text: "Y:" + font.weight: Font.Bold + Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter + Layout.leftMargin: 25 + font.pointSize: 14 + } + ToolButton { + id: y_min + checkable: true + ButtonGroup.group: group + ToolTip.text: "Y Align Min" + ToolTip.visible: hovered + ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval + Layout.leftMargin: 10 + contentItem: Image { + fillMode: Image.Pad + horizontalAlignment: Image.AlignHCenter + verticalAlignment: Image.AlignVCenter + source: "y_min.png" + sourceSize.width: 28; + sourceSize.height: 28; + } + MouseArea { + anchors.fill: parent + hoverEnabled: true + onEntered: { + AlignTool.OnAlignAxis("Y") + AlignTool.OnAlignConfig("min") + AlignTool.OnHoveredEntered() + } + onExited: { + AlignTool.OnHoveredExited() + } + onClicked: { + AlignTool.OnAlign() + } + } + } + ToolButton { + id: y_mid + checkable: true + ButtonGroup.group: group + ToolTip.text: "Y Align Center" + ToolTip.visible: hovered + ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval + contentItem: Image { + fillMode: Image.Pad + horizontalAlignment: Image.AlignHCenter + verticalAlignment: Image.AlignVCenter + source: "y_mid.png" + sourceSize.width: 28; + sourceSize.height: 28; + } + MouseArea { + anchors.fill: parent + hoverEnabled: true + onEntered: { + AlignTool.OnAlignAxis("Y") + AlignTool.OnAlignConfig("mid") + AlignTool.OnHoveredEntered() + } + onExited: { + AlignTool.OnHoveredExited() + } + onClicked: { + AlignTool.OnAlign() + } + } + } + ToolButton { + id: y_max + checkable: true + ButtonGroup.group: group + ToolTip.text: "Y Align Max" + ToolTip.visible: hovered + ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval + contentItem: Image { + fillMode: Image.Pad + horizontalAlignment: Image.AlignHCenter + verticalAlignment: Image.AlignVCenter + source: "y_max.png" + sourceSize.width: 28; + sourceSize.height: 28; + } + MouseArea { + anchors.fill: parent + hoverEnabled: true + onEntered: { + AlignTool.OnAlignAxis("Y") + AlignTool.OnAlignConfig("max") + AlignTool.OnHoveredEntered() + } + onExited: { + AlignTool.OnHoveredExited() + } + onClicked: { + AlignTool.OnAlign() + } + } + } + Text { + text: "Z:" + font.weight: Font.Bold + Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter + Layout.leftMargin: 25 + font.pointSize: 14 + } + ToolButton { + id: z_min + checkable: true + ButtonGroup.group: group + ToolTip.text: "Z Align Min" + ToolTip.visible: hovered + ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval + Layout.leftMargin: 10 + contentItem: Image { + fillMode: Image.Pad + horizontalAlignment: Image.AlignHCenter + verticalAlignment: Image.AlignVCenter + source: "z_min.png" + sourceSize.width: 28; + sourceSize.height: 28; + } + MouseArea { + anchors.fill: parent + hoverEnabled: true + onEntered: { + AlignTool.OnAlignAxis("Z") + AlignTool.OnAlignConfig("min") + AlignTool.OnHoveredEntered() + } + onExited: { + AlignTool.OnHoveredExited() + } + onClicked: { + AlignTool.OnAlign() + } + } + } + ToolButton { + id: z_mid + checkable: true + ButtonGroup.group: group + ToolTip.text: "Z Align Mid" + ToolTip.visible: hovered + ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval + contentItem: Image { + fillMode: Image.Pad + horizontalAlignment: Image.AlignHCenter + verticalAlignment: Image.AlignVCenter + source: "z_mid.png" + sourceSize.width: 28; + sourceSize.height: 28; + } + MouseArea { + anchors.fill: parent + hoverEnabled: true + onEntered: { + AlignTool.OnAlignAxis("Z") + AlignTool.OnAlignConfig("mid") + AlignTool.OnHoveredEntered() + } + onExited: { + AlignTool.OnHoveredExited() + } + onClicked: { + AlignTool.OnAlign() + } + } + } + ToolButton { + id: z_max + checkable: true + ButtonGroup.group: group + ToolTip.text: "Z Align Max" + ToolTip.visible: hovered + ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval + contentItem: Image { + fillMode: Image.Pad + horizontalAlignment: Image.AlignHCenter + verticalAlignment: Image.AlignVCenter + source: "z_max.png" + sourceSize.width: 28; + sourceSize.height: 28; + } + MouseArea { + anchors.fill: parent + hoverEnabled: true + onEntered: { + AlignTool.OnAlignAxis("Z") + AlignTool.OnAlignConfig("max") + AlignTool.OnHoveredEntered() + } + onExited: { + AlignTool.OnHoveredExited() + } + onClicked: { + AlignTool.OnAlign() + } + } + } + CheckBox { + text: qsTr("Reverse") + Layout.columnSpan: 4 + Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter + Layout.leftMargin: 10 + checked: false + onClicked: { + AlignTool.OnReverse(checked) + } + } + RowLayout { + Layout.columnSpan: 4 + spacing: 10 + Text { + text: "Relative to:" + font.weight: Font.Bold + Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter + Layout.leftMargin: 15 + Layout.bottomMargin: 5 + } + ComboBox { + currentIndex: 0 + width: 1 + Layout.leftMargin: 10 + Layout.bottomMargin: 5 + model: ListModel { + id: relativeAlignList + ListElement { text: "First" } + ListElement { text: "Last" } + } + onCurrentIndexChanged: AlignTool.OnAlignTarget(relativeAlignList.get(currentIndex).text) + } + } + Text { + Layout.columnSpan: 4 + text: "Remember to Pause" + font.weight: Font.Bold + Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter + } + } +} diff --git a/src/gui/plugins/align_tool/AlignTool.qrc b/src/gui/plugins/align_tool/AlignTool.qrc new file mode 100644 index 0000000000..118a482689 --- /dev/null +++ b/src/gui/plugins/align_tool/AlignTool.qrc @@ -0,0 +1,14 @@ + + + AlignTool.qml + x_min.png + x_mid.png + x_max.png + y_min.png + y_mid.png + y_max.png + z_min.png + z_mid.png + z_max.png + + diff --git a/src/gui/plugins/align_tool/CMakeLists.txt b/src/gui/plugins/align_tool/CMakeLists.txt new file mode 100644 index 0000000000..f9bbcf83f9 --- /dev/null +++ b/src/gui/plugins/align_tool/CMakeLists.txt @@ -0,0 +1,6 @@ +gz_add_gui_plugin(AlignTool + SOURCES AlignTool.cc + QT_HEADERS AlignTool.hh + PUBLIC_LINK_LIBS + ${IGNITION-RENDERING_LIBRARIES} +) diff --git a/src/gui/plugins/align_tool/x_max.png b/src/gui/plugins/align_tool/x_max.png new file mode 100644 index 0000000000000000000000000000000000000000..4b11aea552a1ef91a8a4c1c58f081067cb90b229 GIT binary patch literal 3249 zcmaJ^c{mhY7oY77r5LYJghnDwwy~9^!DwX3I<~Q884^*9-55$?gi4LwAYtrVwrp9Z zn5Zmc=Oz1=eSP_+@Bi<6?m727_dd`0oqO(c&hI`q%J3fg?CFcA0RX_+yV@vYrj7rj ztf!ds+?}Z!rU7~zqcs4<-2w~D#VH3}GzxI?XHXh)-!OOBytFO7neL1~3e*r!@n>$b z_}takVi`Zh4ZRK-gmF;-0Ct(XD0Nf+;gz&QPl5jPv?dpvFC#_ixR$oJPh%GcsV|Gs~8&_L$`t0ss_Qr z&-Q=W3e}R>h^{fCv;N5s?FMW 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entity being manipulated (last selected) // TODO(anyone) Check top level visual instead of parent auto vis = std::dynamic_pointer_cast(node); + int updateNode = 0; Entity entityId = kNullEntity; if (vis) + { + // Get information from the visual's user data to indicate if + // the render thread should pause updating it's true location, + // this functionality is needed for temporal placement of a + // visual such as an align preview + updateNode = std::get(vis->UserData("pause-update")); entityId = std::get(vis->UserData("gazebo-entity")); - if (this->dataPtr->transformActive && + } + if ((this->dataPtr->transformActive && (pose.first == this->dataPtr->selectedEntities.back() || - entityId == this->dataPtr->selectedEntities.back())) + entityId == this->dataPtr->selectedEntities.back())) || + updateNode) { continue; } From 98d41cd7bd6a0f7c9293c0e1cbca81e59c5db0dc Mon Sep 17 00:00:00 2001 From: John Date: Fri, 1 May 2020 15:50:03 -0700 Subject: [PATCH 126/202] Add force focus when mouse enters render window (#97) Signed-off-by: John Shepherd --- Changelog.md | 3 +++ src/gui/plugins/scene3d/GzScene3D.qml | 3 +++ src/gui/plugins/scene3d/Scene3D.cc | 7 +++++++ src/gui/plugins/scene3d/Scene3D.hh | 4 ++++ 4 files changed, 17 insertions(+) diff --git a/Changelog.md b/Changelog.md index b29c298cac..22650446f0 100644 --- a/Changelog.md +++ b/Changelog.md @@ -25,6 +25,9 @@ 1. Axis-Aligned Bounding Boxes * [BitBucket pull request 565](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/565) +1. Add window focus upon mouse entering the render window + * [Github pull request 97](https://github.com/ignitionrobotics/ign-gazebo/pull/97) + ## Ignition Gazebo 3.x ### Ignition Gazebo 3.X.X diff --git a/src/gui/plugins/scene3d/GzScene3D.qml b/src/gui/plugins/scene3d/GzScene3D.qml index 661c0fb57a..aeec5ce7fc 100644 --- a/src/gui/plugins/scene3d/GzScene3D.qml +++ b/src/gui/plugins/scene3d/GzScene3D.qml @@ -37,6 +37,9 @@ Rectangle { anchors.fill: parent hoverEnabled: true acceptedButtons: Qt.NoButton + onEntered: { + GzScene3D.OnFocusWindow() + } } RenderWindow { diff --git a/src/gui/plugins/scene3d/Scene3D.cc b/src/gui/plugins/scene3d/Scene3D.cc index 7c34ce5f1b..65c7bf0f2c 100644 --- a/src/gui/plugins/scene3d/Scene3D.cc +++ b/src/gui/plugins/scene3d/Scene3D.cc @@ -2062,6 +2062,13 @@ void Scene3D::OnDropped(const QString &_drop, int _mouseX, int _mouseY) req, cb); } +///////////////////////////////////////////////// +void Scene3D::OnFocusWindow() +{ + auto renderWindow = this->PluginItem()->findChild(); + renderWindow->forceActiveFocus(); +} + ///////////////////////////////////////////////// void RenderWindowItem::SetXYZSnap(const math::Vector3d &_xyz) { diff --git a/src/gui/plugins/scene3d/Scene3D.hh b/src/gui/plugins/scene3d/Scene3D.hh index efff2db3b3..01f997ffca 100644 --- a/src/gui/plugins/scene3d/Scene3D.hh +++ b/src/gui/plugins/scene3d/Scene3D.hh @@ -96,6 +96,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { public slots: void OnDropped(const QString &_drop, int _mouseX, int _mouseY); + /// \brief Callback when the mouse enters the render window to + /// focus the window for mouse/key events + public slots: void OnFocusWindow(); + // Documentation inherited protected: bool eventFilter(QObject *_obj, QEvent *_event) override; From 6332a61de6728b3aeb080fd587a04b569788f2a5 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Wed, 13 May 2020 13:30:38 -0700 Subject: [PATCH 127/202] [master] Workflow updates (#130) * [master] Workflow updates Signed-off-by: Louise Poubel --- .github/ci-bionic/dependencies.yaml | 13 ++++++ .github/workflows/ci-bionic.yml | 50 +++++++++++++++++++++ .github/workflows/pr-collection-labeler.yml | 13 ++++++ .github/workflows/triage.yml | 19 ++++++++ README.md | 8 ++-- codecov.yml | 2 - 6 files changed, 99 insertions(+), 6 deletions(-) create mode 100644 .github/ci-bionic/dependencies.yaml create mode 100644 .github/workflows/ci-bionic.yml create mode 100644 .github/workflows/pr-collection-labeler.yml create mode 100644 .github/workflows/triage.yml diff --git a/.github/ci-bionic/dependencies.yaml b/.github/ci-bionic/dependencies.yaml new file mode 100644 index 0000000000..f85b9cf56c --- /dev/null +++ b/.github/ci-bionic/dependencies.yaml @@ -0,0 +1,13 @@ +repositories: + ign-rendering: + type: git + url: https://github.com/ignitionrobotics/ign-rendering + version: master + ign-gui: + type: git + url: https://github.com/ignitionrobotics/ign-gui + version: master + ign-sensors: + type: git + url: https://github.com/ignitionrobotics/ign-sensors + version: master diff --git a/.github/workflows/ci-bionic.yml b/.github/workflows/ci-bionic.yml new file mode 100644 index 0000000000..3b3229190e --- /dev/null +++ b/.github/workflows/ci-bionic.yml @@ -0,0 +1,50 @@ +name: Ubuntu Bionic CI + +on: [push, pull_request] + +jobs: + bionic-ci: + runs-on: ubuntu-latest + name: Ubuntu Bionic CI + steps: + - name: Checkout + uses: actions/checkout@v2 + - name: Bionic CI + id: ci + uses: ignition-tooling/ubuntu-bionic-ci-action@master + with: + apt-dependencies: | + libignition-cmake2-dev + libignition-math6-eigen3-dev + libignition-msgs5-dev + libignition-plugin-dev + libignition-tools-dev + libignition-transport8-dev + libsdformat9-dev + libignition-fuel-tools4-dev + libignition-physics2-dev + libignition-common3-dev + libogre-1.9-dev + libogre-2.1-dev + libglew-dev + libfreeimage-dev + freeglut3-dev + libxmu-dev + libxi-dev + uuid-dev + xvfb + qtbase5-dev + libtinyxml2-dev + libprotoc-dev + libprotobuf-dev + qtdeclarative5-dev + qtquickcontrols2-5-dev + qml-module-qtquick2 + qml-module-qtquick-controls + qml-module-qtquick-controls2 + qml-module-qtquick-dialogs + qml-module-qtquick-layouts + qml-module-qt-labs-folderlistmodel + qml-module-qt-labs-settings + qml-module-qtgraphicaleffects + codecov-token: ${{ secrets.CODECOV_TOKEN }} diff --git a/.github/workflows/pr-collection-labeler.yml b/.github/workflows/pr-collection-labeler.yml new file mode 100644 index 0000000000..99e9730bcd --- /dev/null +++ b/.github/workflows/pr-collection-labeler.yml @@ -0,0 +1,13 @@ +name: PR Collection Labeler + +on: pull_request + +jobs: + pr_collection_labeler: + runs-on: ubuntu-latest + steps: + - name: Add collection labels + if: github.event.action == 'opened' + uses: ignition-tooling/pr-collection-labeler@v1 + with: + github-token: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/triage.yml b/.github/workflows/triage.yml new file mode 100644 index 0000000000..69c16ac81b --- /dev/null +++ b/.github/workflows/triage.yml @@ -0,0 +1,19 @@ +on: + issues: + types: [opened] + pull_request: + types: [opened] +name: Ticket opened +jobs: + assign: + name: Add ticket to inbox + runs-on: ubuntu-latest + steps: + - name: Add ticket to inbox + uses: technote-space/create-project-card-action@v1 + with: + PROJECT: Core development + COLUMN: Inbox + GITHUB_TOKEN: ${{ secrets.TRIAGE_TOKEN }} + CHECK_ORG_PROJECT: true + diff --git a/README.md b/README.md index abcc25a332..e72a573b48 100644 --- a/README.md +++ b/README.md @@ -9,10 +9,10 @@ Build | Status -- | -- -Test coverage | [![codecov](https://codecov.io/bb/ignitionrobotics/ign-gazebo/branch/default/graph/badge.svg)](https://codecov.io/bb/ignitionrobotics/ign-gazebo) -Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-default-bionic-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-default-bionic-amd64) -Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-default-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-default-homebrew-amd64) -Windows | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-default-windows7-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-default-windows7-amd64) +Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-gazebo/branch/master/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-gazebo) +Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-master-bionic-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-master-bionic-amd64) +Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-master-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-master-homebrew-amd64) +Windows | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-master-windows7-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-master-windows7-amd64) Ignition Gazebo is an open source robotics simulator. Through Ignition Gazebo users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services. diff --git a/codecov.yml b/codecov.yml index 2418d88d75..b52d0c4968 100644 --- a/codecov.yml +++ b/codecov.yml @@ -1,4 +1,2 @@ -codecov: - branch: default ignore: - "test" From b47cb81d10320bc3278cb7effb6939b63596d805 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Wed, 20 May 2020 18:29:02 -0700 Subject: [PATCH 128/202] fix log test and other cleanups Signed-off-by: Louise Poubel --- CMakeLists.txt | 1 - include/ignition/gazebo/gui/GuiRunner.hh | 2 - src/ServerPrivate.cc | 77 +++--------------------- src/ign.cc | 1 - test/integration/log_system.cc | 7 ++- 5 files changed, 11 insertions(+), 77 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index fa2fdcbbc7..67e6a63d61 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -83,7 +83,6 @@ ign_find_package (Qt5 Quick QuickControls2 REQUIRED - VERSION 3.1 PKGCONFIG "Qt5Core Qt5Quick Qt5QuickControls2") #-------------------------------------- diff --git a/include/ignition/gazebo/gui/GuiRunner.hh b/include/ignition/gazebo/gui/GuiRunner.hh index e77e9bd361..564ac183f0 100644 --- a/include/ignition/gazebo/gui/GuiRunner.hh +++ b/include/ignition/gazebo/gui/GuiRunner.hh @@ -20,8 +20,6 @@ #include #include -#include -#include #include #include diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc index 1f49669602..465cb5128f 100644 --- a/src/ServerPrivate.cc +++ b/src/ServerPrivate.cc @@ -207,67 +207,12 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) // SDF.) if (pluginName->GetAsString() == LoggingPlugin::RecordPluginName()) { - std::string recordPath = _config.LogRecordPath(); - std::string cmpPath = _config.LogRecordCompressPath(); - - // Set record path - if (!_config.LogRecordPath().empty()) - { - bool overwriteSdf = false; - // If is specified in SDF, check whether to replace it - if (pluginElem->HasElement("path") && - !pluginElem->Get("path").empty()) - { - // If record path came from command line, overwrite SDF - if (_config.LogIgnoreSdfPath()) - { - overwriteSdf = true; - } - // TODO(anyone) In Ignition-D, remove this. will be - // permanently ignored in favor of common::ignLogDirectory(). - // Always overwrite SDF. - // Otherwise, record path is same as the default timestamp log - // path. Take the path in SDF . - // Deprecated. - else - { - ignwarn << "--record-path is not specified on command line. " - << " is specified in SDF. Will record to . " - << "Console will be logged to [" << ignLogDirectory() - << "]. Note: In Ignition-D, will be ignored, and " - << "all recordings will be written to default console log " - << "path if no path is specified on command line.\n"; - overwriteSdf = false; - - // Take in SDF - recordPath = pluginElem->Get("path"); - - // Update path for compressed file to match record path - cmpPath = std::string(recordPath); - if (!std::string(1, cmpPath.back()).compare( - ignition::common::separator(""))) - { - // Remove the separator at end of path - cmpPath = cmpPath.substr(0, cmpPath.length() - 1); - } - cmpPath += ".zip"; - } - } - else - { - overwriteSdf = true; - } - - if (overwriteSdf) - { - sdf::ElementPtr pathElem = std::make_shared(); - pathElem->SetName("path"); - pluginElem->AddElementDescription(pathElem); - pathElem = pluginElem->GetElement("path"); - pathElem->AddValue("string", "", false, ""); - pathElem->Set(recordPath); - } - } + sdf::ElementPtr pathElem = std::make_shared(); + pathElem->SetName("path"); + pluginElem->AddElementDescription(pathElem); + pathElem = pluginElem->GetElement("path"); + pathElem->AddValue("string", "", false, ""); + pathElem->Set(_config.LogRecordPath()); // If resource flag specified on command line, replace in SDF if (_config.LogRecordResources()) @@ -296,19 +241,11 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) pluginElem->AddElementDescription(cPathElem); cPathElem = pluginElem->GetElement("compress_path"); cPathElem->AddValue("string", "", false, ""); - cPathElem->Set(cmpPath); + cPathElem->Set(_config.LogRecordCompressPath()); } return; } - - // If playback plugin also specified, do not add a record plugin - if (pluginName->GetAsString() == LoggingPlugin::PlaybackPluginName()) - { - ignwarn << "Both record and playback are specified. " - << "Ignoring record.\n"; - return; - } } } diff --git a/src/ign.cc b/src/ign.cc index 89a1223229..d069b6a3f6 100644 --- a/src/ign.cc +++ b/src/ign.cc @@ -192,7 +192,6 @@ extern "C" IGNITION_GAZEBO_VISIBLE int runServer(const char *_sdfString, // In Blueprint and Citadel, LogRecord will record to if no // --record-path is specified on command line. serverConfig.SetLogRecordPath(recordPathMod); - serverConfig.SetLogIgnoreSdfPath(true); } // Empty record path specified. Use default. else diff --git a/test/integration/log_system.cc b/test/integration/log_system.cc index 24bb1cafab..594bb1ad7d 100644 --- a/test/integration/log_system.cc +++ b/test/integration/log_system.cc @@ -445,12 +445,14 @@ TEST_F(LogSystemTest, LogPaths) } // Check state.tlog is no longer stored to path specified in SDF - EXPECT_FALSE(common::exists(common::joinPaths(this->logDir, - "state.tlog"))); + auto stateFile = common::joinPaths(this->logDir, "state.tlog"); + EXPECT_FALSE(common::exists(stateFile)) << stateFile; #ifndef __APPLE__ EXPECT_EQ(0, entryCount(this->logDir)); #endif + return; + // Remove artifacts. Recreate new directory this->RemoveLogsDir(); this->CreateLogsDir(); @@ -1479,7 +1481,6 @@ TEST_F(LogSystemTest, LogCompress) // Set record path recordServerConfig.SetLogRecordPath(this->logDir); - recordServerConfig.SetLogIgnoreSdfPath(true); // This tells server to call AddRecordPlugin() where flags are passed to // recorder. From d693bb636e09754ec16c782ff22d9dc6b93282ad Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Wed, 20 May 2020 19:01:38 -0700 Subject: [PATCH 129/202] fix more tests Signed-off-by: Louise Poubel --- test/integration/log_system.cc | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/test/integration/log_system.cc b/test/integration/log_system.cc index 594bb1ad7d..da841133d5 100644 --- a/test/integration/log_system.cc +++ b/test/integration/log_system.cc @@ -273,14 +273,18 @@ class LogSystemTest : public ::testing::Test // Run the server to record, passing in compress flag. // \param[in] _recordSdfRoot SDF Root element of the world to load + // \param[in] _recordPath Path for SDF state file // \param[in] _cmpPath Path for compressed file public: void RunCompress(sdf::Root &_recordSdfRoot, - const std::string &_cmpPath) + const std::string &_recordPath, const std::string &_cmpPath) { // Pass changed SDF to server ServerConfig recordServerConfig; recordServerConfig.SetSdfString(_recordSdfRoot.Element()->ToString("")); + // Set record path + recordServerConfig.SetLogRecordPath(_recordPath); + // Set compress path recordServerConfig.SetLogRecordCompressPath(_cmpPath); @@ -451,8 +455,6 @@ TEST_F(LogSystemTest, LogPaths) EXPECT_EQ(0, entryCount(this->logDir)); #endif - return; - // Remove artifacts. Recreate new directory this->RemoveLogsDir(); this->CreateLogsDir(); @@ -1560,7 +1562,7 @@ TEST_F(LogSystemTest, LogCompressOverwrite) EXPECT_TRUE(common::exists(recordPath)); EXPECT_FALSE(common::exists(defaultCmpPath)); - this->RunCompress(recordSdfRoot, defaultCmpPath); + this->RunCompress(recordSdfRoot, recordPath, defaultCmpPath); } EXPECT_TRUE(common::exists(defaultCmpPath)); @@ -1572,11 +1574,11 @@ TEST_F(LogSystemTest, LogCompressOverwrite) EXPECT_FALSE(common::exists(recordPath)); EXPECT_TRUE(common::exists(defaultCmpPath)); - this->RunCompress(recordSdfRoot, defaultCmpPath); + this->RunCompress(recordSdfRoot, recordPath, defaultCmpPath); } EXPECT_TRUE(common::exists(defaultCmpPath)); - EXPECT_FALSE(common::exists(recordPath)); + EXPECT_FALSE(common::exists(recordPath)) << recordPath; this->RemoveLogsDir(); } @@ -1606,7 +1608,7 @@ TEST_F(LogSystemTest, LogCompressCmdLine) // Compress only, both recorded directory and compressed file exist { // Create compressed file - this->RunCompress(recordSdfRoot, defaultCmpPath); + this->RunCompress(recordSdfRoot, recordPath, defaultCmpPath); // Recreate recording directory so that it exists common::createDirectories(recordPath); From eec39843e26a1716e540e49c72d47edc73d738fe Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Thu, 21 May 2020 16:52:22 -0700 Subject: [PATCH 130/202] re-add playback name check Signed-off-by: Louise Poubel --- src/ServerPrivate.cc | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc index 465cb5128f..7be02901d6 100644 --- a/src/ServerPrivate.cc +++ b/src/ServerPrivate.cc @@ -204,9 +204,11 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) // If record plugin already specified in SDF, and record flags are // specified on command line, replace SDF parameters with those on // command line. (If none specified on command line, use those in - // SDF.) + // SDF - except for the record path.) if (pluginName->GetAsString() == LoggingPlugin::RecordPluginName()) { + // Explicitly allowing empty record paths through, always override + // sdf::ElementPtr pathElem = std::make_shared(); pathElem->SetName("path"); pluginElem->AddElementDescription(pathElem); @@ -246,6 +248,14 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) return; } + + // If playback plugin also specified, do not add a record plugin + if (pluginName->GetAsString() == LoggingPlugin::PlaybackPluginName()) + { + ignwarn << "Both record and playback are specified. " + << "Ignoring record.\n"; + return; + } } } From 7db0326356281304cfe7cc225fc3d4e2559cb224 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Fri, 22 May 2020 13:24:18 +0200 Subject: [PATCH 131/202] Fix for issue 43 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- src/gui/plugins/video_recorder/VideoRecorder.cc | 9 ++++++++- src/gui/plugins/video_recorder/VideoRecorder.hh | 3 ++- src/gui/plugins/video_recorder/VideoRecorder.qml | 8 +++++++- 3 files changed, 17 insertions(+), 3 deletions(-) diff --git a/src/gui/plugins/video_recorder/VideoRecorder.cc b/src/gui/plugins/video_recorder/VideoRecorder.cc index cdde859871..490815f881 100644 --- a/src/gui/plugins/video_recorder/VideoRecorder.cc +++ b/src/gui/plugins/video_recorder/VideoRecorder.cc @@ -103,9 +103,16 @@ void VideoRecorder::OnStop() } ///////////////////////////////////////////////// -void VideoRecorder::OnSave(const QString &_url) +void VideoRecorder::OnSave(const QString &_url, const QString &_format) { std::string path = QUrl(_url).toLocalFile().toStdString(); + std::string format = _format.toStdString(); + + bool urlHasFormat = path.substr(path.find_last_of(".") + 1) == format; + if(!urlHasFormat) { + path = path + "." + format; + } + bool result = common::moveFile(this->dataPtr->filename, path); if (!result) diff --git a/src/gui/plugins/video_recorder/VideoRecorder.hh b/src/gui/plugins/video_recorder/VideoRecorder.hh index b9f98e8ddf..63d15e8507 100644 --- a/src/gui/plugins/video_recorder/VideoRecorder.hh +++ b/src/gui/plugins/video_recorder/VideoRecorder.hh @@ -51,7 +51,8 @@ namespace gazebo /// \brief Callback when user selects a path to save the recorded video /// \param[in] _url Path of the file to save the recorded video - public slots: void OnSave(const QString &_url); + /// \param[in] _format Format of the file to save the recorded video + public slots: void OnSave(const QString &_url, const QString &_format); /// \brief Callback when user cancels saving the recorded video public slots: void OnCancel(); diff --git a/src/gui/plugins/video_recorder/VideoRecorder.qml b/src/gui/plugins/video_recorder/VideoRecorder.qml index 3853f2b7bb..772c596212 100644 --- a/src/gui/plugins/video_recorder/VideoRecorder.qml +++ b/src/gui/plugins/video_recorder/VideoRecorder.qml @@ -37,8 +37,9 @@ ToolBar { title: "Save the recorded video" folder: shortcuts.home selectExisting: false + nameFilters: [ "*.mp4", "*.ogv" ] onAccepted: { - VideoRecorder.OnSave(fileDialog.fileUrl) + VideoRecorder.OnSave(fileDialog.fileUrl, recordMenu.saveFormat) close() } onRejected: { @@ -70,9 +71,12 @@ ToolBar { Menu { id: recordMenu y: record.height + property string saveFormat MenuItem { text: "mp4" onTriggered: { + recordMenu.saveFormat = "mp4" + fileDialog.selectedNameFilter = "*.mp4" VideoRecorder.OnStart("mp4") animation.start() } @@ -80,6 +84,8 @@ ToolBar { MenuItem { text: "ogv" onTriggered: { + recordMenu.saveFormat = "ogv" + fileDialog.selectedNameFilter = "*.ogv" VideoRecorder.OnStart("ogv") animation.start() } From 5e6d96bfa01a3ca435eb003b871abef077484f0e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Fri, 22 May 2020 13:53:08 +0200 Subject: [PATCH 132/202] Follow Style Guides MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- src/gui/plugins/video_recorder/VideoRecorder.cc | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/gui/plugins/video_recorder/VideoRecorder.cc b/src/gui/plugins/video_recorder/VideoRecorder.cc index 490815f881..6aa7c9667d 100644 --- a/src/gui/plugins/video_recorder/VideoRecorder.cc +++ b/src/gui/plugins/video_recorder/VideoRecorder.cc @@ -109,9 +109,8 @@ void VideoRecorder::OnSave(const QString &_url, const QString &_format) std::string format = _format.toStdString(); bool urlHasFormat = path.substr(path.find_last_of(".") + 1) == format; - if(!urlHasFormat) { + if (!urlHasFormat) path = path + "." + format; - } bool result = common::moveFile(this->dataPtr->filename, path); From 5661a18a663105499627043449d54736f107aec7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Fri, 22 May 2020 18:32:52 +0200 Subject: [PATCH 133/202] Fixed docblock showGrid (#152) Signed-off-by: ahcorde --- include/ignition/gazebo/rendering/RenderUtil.hh | 1 - 1 file changed, 1 deletion(-) diff --git a/include/ignition/gazebo/rendering/RenderUtil.hh b/include/ignition/gazebo/rendering/RenderUtil.hh index ceae02465e..7e150fb30a 100644 --- a/include/ignition/gazebo/rendering/RenderUtil.hh +++ b/include/ignition/gazebo/rendering/RenderUtil.hh @@ -95,7 +95,6 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { public: void SetAmbientLight(const math::Color &_ambient); /// \brief Show grid view in the scene - /// \param[in] _scene Pointer to the scene object public: void ShowGrid(); /// \brief Set whether to use the current GL context From 61c9185abe24dce4e386e2870a264b73b8fc8a77 Mon Sep 17 00:00:00 2001 From: Mabel Zhang Date: Fri, 22 May 2020 16:57:26 -0400 Subject: [PATCH 134/202] =?UTF-8?q?3=20=E2=9E=A1=EF=B8=8F=204=20logging=20?= =?UTF-8?q?(#151)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * strip specified by user * update logging tests to ignore SDF Signed-off-by: Mabel Zhang --- src/ServerPrivate.cc | 29 ++++-- src/ign.cc | 10 +- src/systems/log/LogRecord.cc | 2 +- test/integration/log_system.cc | 180 ++++----------------------------- 4 files changed, 43 insertions(+), 178 deletions(-) diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc index 7be02901d6..82744a9833 100644 --- a/src/ServerPrivate.cc +++ b/src/ServerPrivate.cc @@ -207,14 +207,23 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) // SDF - except for the record path.) if (pluginName->GetAsString() == LoggingPlugin::RecordPluginName()) { - // Explicitly allowing empty record paths through, always override - // - sdf::ElementPtr pathElem = std::make_shared(); - pathElem->SetName("path"); - pluginElem->AddElementDescription(pathElem); - pathElem = pluginElem->GetElement("path"); - pathElem->AddValue("string", "", false, ""); - pathElem->Set(_config.LogRecordPath()); + // TODO(anyone) Specify paths below in a Component instead of + // injecting SDF, so as to not confuse the specified by user + // stripped here, and the one injected below. With Components, + // would not need to strip user-specified , can simply + // ignore it when setting component values. + + if (!_config.LogRecordPath().empty()) + { + // Explicitly allowing empty record paths through, always override + // + sdf::ElementPtr pathElem = std::make_shared(); + pathElem->SetName("record_path"); + pluginElem->AddElementDescription(pathElem); + pathElem = pluginElem->GetElement("record_path"); + pathElem->AddValue("string", "", false, ""); + pathElem->Set(_config.LogRecordPath()); + } // If resource flag specified on command line, replace in SDF if (_config.LogRecordResources()) @@ -274,9 +283,9 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) if (!_config.LogRecordPath().empty()) { sdf::ElementPtr pathElem = std::make_shared(); - pathElem->SetName("path"); + pathElem->SetName("record_path"); recordElem->AddElementDescription(pathElem); - pathElem = recordElem->GetElement("path"); + pathElem = recordElem->GetElement("record_path"); pathElem->AddValue("string", "", false, ""); pathElem->Set(_config.LogRecordPath()); } diff --git a/src/ign.cc b/src/ign.cc index d069b6a3f6..212cdc211b 100644 --- a/src/ign.cc +++ b/src/ign.cc @@ -185,13 +185,6 @@ extern "C" IGNITION_GAZEBO_VISIBLE int runServer(const char *_sdfString, { ignLogInit(recordPathMod, "server_console.log"); } - // TODO(anyone) In Ignition-D, to be moved to outside and after this - // if-else statement, after all ignLogInit() calls have been finalized, - // so that in SDF will always be ignored in favor of logging both - // console logs and LogRecord recordings to common::ignLogDirectory(). - // In Blueprint and Citadel, LogRecord will record to if no - // --record-path is specified on command line. - serverConfig.SetLogRecordPath(recordPathMod); } // Empty record path specified. Use default. else @@ -200,9 +193,8 @@ extern "C" IGNITION_GAZEBO_VISIBLE int runServer(const char *_sdfString, ignLogInit(recordPathMod, "server_console.log"); ignmsg << "Recording states to default path [" << recordPathMod << "]" << std::endl; - - serverConfig.SetLogRecordPath(recordPathMod); } + serverConfig.SetLogRecordPath(recordPathMod); } else { diff --git a/src/systems/log/LogRecord.cc b/src/systems/log/LogRecord.cc index 423895299c..d67e624433 100644 --- a/src/systems/log/LogRecord.cc +++ b/src/systems/log/LogRecord.cc @@ -213,7 +213,7 @@ void LogRecord::Configure(const Entity &_entity, // activate one recorder. if (!LogRecordPrivate::started) { - auto logPath = _sdf->Get("path"); + auto logPath = _sdf->Get("record_path"); // Path is initialized by server if record is set from command line options. // Otherwise, path is loaded from SDF. If a path is not specified in // SDF, initialize to default here. diff --git a/test/integration/log_system.cc b/test/integration/log_system.cc index da841133d5..46dcb50762 100644 --- a/test/integration/log_system.cc +++ b/test/integration/log_system.cc @@ -275,12 +275,12 @@ class LogSystemTest : public ::testing::Test // \param[in] _recordSdfRoot SDF Root element of the world to load // \param[in] _recordPath Path for SDF state file // \param[in] _cmpPath Path for compressed file - public: void RunCompress(sdf::Root &_recordSdfRoot, + public: void RunCompress(const std::string &_recordSdfPath, const std::string &_recordPath, const std::string &_cmpPath) { // Pass changed SDF to server ServerConfig recordServerConfig; - recordServerConfig.SetSdfString(_recordSdfRoot.Element()->ToString("")); + recordServerConfig.SetSdfFile(_recordSdfPath); // Set record path recordServerConfig.SetLogRecordPath(_recordPath); @@ -404,6 +404,9 @@ TEST_F(LogSystemTest, LogDefaults) EXPECT_TRUE(common::exists(common::joinPaths(timestampPath, "state.tlog"))); EXPECT_EQ(2, entryCount(timestampPath)); + + // Remove artifacts. Recreate new directory + this->RemoveLogsDir(); #endif // Revert environment variable after test is done @@ -572,7 +575,7 @@ TEST_F(LogSystemTest, LogPaths) this->CreateLogsDir(); // Test case 4: - // A path is specified in SDF. + // A path is specified in SDF - a feature removed in Ignition Dome. // A different path is specified via C++ API. // Should take C++ API path. State log should be stored here. Console log is // not initialized because ign.cc is not triggered. @@ -638,7 +641,7 @@ TEST_F(LogSystemTest, LogPaths) this->CreateLogsDir(); // Test case 6: - // A path is specified in SDF. + // A path is specified in SDF - a feature removed in Ignition Dome. // A path is specified by --record-path on command line. // Path in SDF should be ignored. Both state and console logs should be // stored to --record-path path. @@ -695,18 +698,13 @@ TEST_F(LogSystemTest, RecordAndPlayback) std::string(PROJECT_SOURCE_PATH), "test", "worlds", "log_record_dbl_pendulum.sdf"); - // Change log path in SDF to build directory - sdf::Root recordSdfRoot; - this->ChangeLogPath(recordSdfRoot, recordSdfPath, "LogRecord", - this->logDir); - EXPECT_EQ(1u, recordSdfRoot.WorldCount()); - - // Pass changed SDF to server ServerConfig recordServerConfig; - recordServerConfig.SetSdfString(recordSdfRoot.Element()->ToString("")); - Server recordServer(recordServerConfig); + recordServerConfig.SetSdfFile(recordSdfPath); + recordServerConfig.SetUseLogRecord(true); + recordServerConfig.SetLogRecordPath(this->logDir); // Run for a few seconds to record different poses + Server recordServer(recordServerConfig); recordServer.Run(true, 1000, false); } @@ -1022,14 +1020,10 @@ TEST_F(LogSystemTest, LogOverwrite) // Record something to create some files { - // Change log path in SDF to build directory - sdf::Root recordSdfRoot; - this->ChangeLogPath(recordSdfRoot, recordSdfPath, "LogRecord", - this->logDir); - - // Pass changed SDF to server ServerConfig recordServerConfig; - recordServerConfig.SetSdfString(recordSdfRoot.Element()->ToString("")); + recordServerConfig.SetSdfFile(recordSdfPath); + recordServerConfig.SetUseLogRecord(true); + recordServerConfig.SetLogRecordPath(this->logDir); // Run for a few seconds to record different poses Server recordServer(recordServerConfig); @@ -1057,45 +1051,7 @@ TEST_F(LogSystemTest, LogOverwrite) // Test case 1: // Path exists, no overwrite flag. LogRecord.cc should still overwrite by // default behavior whenever the specified path already exists. - // Path is set by SDF. { - EXPECT_TRUE(common::exists(this->logDir)); - - // Change log path in SDF to build directory - sdf::Root recordSdfRoot; - this->ChangeLogPath(recordSdfRoot, recordSdfPath, "LogRecord", - this->logDir); - - // Pass changed SDF to server - ServerConfig recordServerConfig; - recordServerConfig.SetSdfString(recordSdfRoot.Element()->ToString("")); - - // Run for a few seconds to record different poses - Server recordServer(recordServerConfig); - recordServer.Run(true, 100, false); - } - - // Log files still exist - EXPECT_TRUE(common::exists(tlogPath)); - EXPECT_TRUE(common::exists(clogPath)); - -#ifndef __APPLE__ - // No new files were created - EXPECT_EQ(2, entryCount(this->logsDir)); - EXPECT_EQ(2, entryCount(this->logDir)); - - // Test timestamp is newer - EXPECT_GT(std::filesystem::last_write_time(tlogStdPath), tlogPrevTime); - // Update timestamp for next test - tlogPrevTime = std::filesystem::last_write_time(tlogStdPath); -#endif - - // Test case 2: - // Path exists, no overwrite flag. LogRecord.cc should still overwrite by - // default behavior whenever the specified path already exists. - // Path is set by C++ API. - { - // Pass SDF file to server ServerConfig recordServerConfig; recordServerConfig.SetSdfFile(recordSdfPath); recordServerConfig.SetUseLogRecord(true); @@ -1119,86 +1075,8 @@ TEST_F(LogSystemTest, LogOverwrite) EXPECT_GT(std::filesystem::last_write_time(tlogStdPath), tlogPrevTime); // Update timestamp for next test tlogPrevTime = std::filesystem::last_write_time(tlogStdPath); -#endif - - // Test case 3: - // Path exists, no overwrite flag. LogRecord.cc should still overwrite by - // default behavior whenever the specified path already exists. - // Path is set by SDF. - // Server is run from command line, ign.cc should initialize new default - // timestamp directory, where console log should be recorded. State log should - // be recorded to the path in SDF. - - // Change environment variable so that test files aren't written to $HOME - std::string homeOrig; - common::env(IGN_HOMEDIR, homeOrig); - std::string homeFake = common::joinPaths(this->logsDir, "default"); - EXPECT_EQ(setenv(IGN_HOMEDIR, homeFake.c_str(), 1), 0); - - // Store number of files before running - auto logPath = common::joinPaths(homeFake.c_str(), ".ignition", "gazebo", - "log"); -#ifndef __APPLE__ - int nEntries = entryCount(logPath); - std::vector entriesBefore; - entryList(logPath, entriesBefore); - - std::string tmpRecordSdfPath = common::joinPaths(this->logsDir, - "with_record_path.sdf"); - - { - // Change log path in SDF to build directory - sdf::Root recordSdfRoot; - this->ChangeLogPath(recordSdfRoot, recordSdfPath, "LogRecord", - this->logDir); - EXPECT_EQ(1u, recordSdfRoot.WorldCount()); - // Save changed SDF to temporary file - // TODO(anyone): Does this work on Apple? - std::ofstream ofs(tmpRecordSdfPath); - ofs << recordSdfRoot.Element()->ToString("").c_str(); - ofs.close(); - - // Command line triggers ign.cc, which handles initializing ignLogDirectory - std::string cmd = kIgnCommand + " -r -v 4 --iterations 5 " - + tmpRecordSdfPath; - std::cout << "Running command [" << cmd << "]" << std::endl; - - // Run - std::string output = customExecStr(cmd); - std::cout << output << std::endl; - } - - // State log file still exists - EXPECT_TRUE(common::exists(tlogPath)); - - // Check the diff of list of files and assume there is a single diff, it - // being the newly created log directory from the run above. - EXPECT_EQ(nEntries + 1, entryCount(logPath)); - std::vector entriesAfter; - entryList(logPath, entriesAfter); - std::vector entriesDiff; - entryDiff(entriesBefore, entriesAfter, entriesDiff); - EXPECT_EQ(1ul, entriesDiff.size()); - // This should be $HOME/.ignition/..., default path - std::string timestampPath = entriesDiff[0]; - - EXPECT_FALSE(timestampPath.empty()); - EXPECT_EQ(0, timestampPath.compare(0, logPath.length(), logPath)); - EXPECT_TRUE(common::exists(timestampPath)); - EXPECT_TRUE(common::exists(common::joinPaths(timestampPath, - "server_console.log"))); - EXPECT_EQ(1, entryCount(timestampPath)); - - // Cleanup - common::removeFile(tmpRecordSdfPath); - common::removeAll(homeFake); - common::removeAll(timestampPath); - - // Revert environment variable after test is done - EXPECT_EQ(setenv(IGN_HOMEDIR, homeOrig.c_str(), 1), 0); - - // Test case 4: + // Test case 2: // Path exists, command line --log-overwrite, should overwrite by // command-line logic in ign.cc { @@ -1226,7 +1104,7 @@ TEST_F(LogSystemTest, LogOverwrite) // Update timestamp for next test tlogPrevTime = std::filesystem::last_write_time(tlogStdPath); - // Test case 5: + // Test case 3: // Path exists, no --log-overwrite, should create new files by command-line // logic in ign.cc { @@ -1436,14 +1314,10 @@ TEST_F(LogSystemTest, LogCompress) std::string(PROJECT_SOURCE_PATH), "test", "worlds", "log_record_dbl_pendulum.sdf"); - // Change log path in SDF to build directory - sdf::Root recordSdfRoot; - this->ChangeLogPath(recordSdfRoot, recordSdfPath, "LogRecord", - recordPath); - - // Pass changed SDF to server ServerConfig recordServerConfig; - recordServerConfig.SetSdfString(recordSdfRoot.Element()->ToString("")); + recordServerConfig.SetSdfFile(recordSdfPath); + recordServerConfig.SetUseLogRecord(true); + recordServerConfig.SetLogRecordPath(recordPath); // Set compress flag recordServerConfig.SetLogRecordCompressPath(defaultCmpPath); @@ -1548,11 +1422,6 @@ TEST_F(LogSystemTest, LogCompressOverwrite) std::string(PROJECT_SOURCE_PATH), "test", "worlds", "log_record_dbl_pendulum.sdf"); - // Change log path in SDF to build directory - sdf::Root recordSdfRoot; - this->ChangeLogPath(recordSdfRoot, recordSdfPath, "LogRecord", - recordPath); - // Compress + overwrite, recorded directory exists, compressed file does not { // Create recording directory so that it exists @@ -1562,7 +1431,7 @@ TEST_F(LogSystemTest, LogCompressOverwrite) EXPECT_TRUE(common::exists(recordPath)); EXPECT_FALSE(common::exists(defaultCmpPath)); - this->RunCompress(recordSdfRoot, recordPath, defaultCmpPath); + this->RunCompress(recordSdfPath, recordPath, defaultCmpPath); } EXPECT_TRUE(common::exists(defaultCmpPath)); @@ -1574,7 +1443,7 @@ TEST_F(LogSystemTest, LogCompressOverwrite) EXPECT_FALSE(common::exists(recordPath)); EXPECT_TRUE(common::exists(defaultCmpPath)); - this->RunCompress(recordSdfRoot, recordPath, defaultCmpPath); + this->RunCompress(recordSdfPath, recordPath, defaultCmpPath); } EXPECT_TRUE(common::exists(defaultCmpPath)); @@ -1600,15 +1469,10 @@ TEST_F(LogSystemTest, LogCompressCmdLine) std::string(PROJECT_SOURCE_PATH), "test", "worlds", "log_record_dbl_pendulum.sdf"); - // Change log path in SDF to build directory - sdf::Root recordSdfRoot; - this->ChangeLogPath(recordSdfRoot, recordSdfPath, "LogRecord", - recordPath); - // Compress only, both recorded directory and compressed file exist { // Create compressed file - this->RunCompress(recordSdfRoot, recordPath, defaultCmpPath); + this->RunCompress(recordSdfPath, recordPath, defaultCmpPath); // Recreate recording directory so that it exists common::createDirectories(recordPath); From becf06a1da036bbfe662edfb88ae97660363e842 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Mon, 25 May 2020 13:03:31 +0200 Subject: [PATCH 135/202] Improve format saving logic MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- src/gui/plugins/video_recorder/VideoRecorder.cc | 3 ++- src/gui/plugins/video_recorder/VideoRecorder.qml | 5 +---- 2 files changed, 3 insertions(+), 5 deletions(-) diff --git a/src/gui/plugins/video_recorder/VideoRecorder.cc b/src/gui/plugins/video_recorder/VideoRecorder.cc index 6aa7c9667d..5e033134f8 100644 --- a/src/gui/plugins/video_recorder/VideoRecorder.cc +++ b/src/gui/plugins/video_recorder/VideoRecorder.cc @@ -107,8 +107,9 @@ void VideoRecorder::OnSave(const QString &_url, const QString &_format) { std::string path = QUrl(_url).toLocalFile().toStdString(); std::string format = _format.toStdString(); + format = format.substr(2); - bool urlHasFormat = path.substr(path.find_last_of(".") + 1) == format; + bool urlHasFormat = path.substr(path.find_last_of(".") + 1) != path; if (!urlHasFormat) path = path + "." + format; diff --git a/src/gui/plugins/video_recorder/VideoRecorder.qml b/src/gui/plugins/video_recorder/VideoRecorder.qml index 772c596212..facdadd50b 100644 --- a/src/gui/plugins/video_recorder/VideoRecorder.qml +++ b/src/gui/plugins/video_recorder/VideoRecorder.qml @@ -39,7 +39,7 @@ ToolBar { selectExisting: false nameFilters: [ "*.mp4", "*.ogv" ] onAccepted: { - VideoRecorder.OnSave(fileDialog.fileUrl, recordMenu.saveFormat) + VideoRecorder.OnSave(fileDialog.fileUrl, fileDialog.selectedNameFilter) close() } onRejected: { @@ -71,11 +71,9 @@ ToolBar { Menu { id: recordMenu y: record.height - property string saveFormat MenuItem { text: "mp4" onTriggered: { - recordMenu.saveFormat = "mp4" fileDialog.selectedNameFilter = "*.mp4" VideoRecorder.OnStart("mp4") animation.start() @@ -84,7 +82,6 @@ ToolBar { MenuItem { text: "ogv" onTriggered: { - recordMenu.saveFormat = "ogv" fileDialog.selectedNameFilter = "*.ogv" VideoRecorder.OnStart("ogv") animation.start() From 03a3bb2b28d4f0c619de3c4c1e1a0bfebdafbf90 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Fri, 29 May 2020 12:47:19 +0200 Subject: [PATCH 136/202] Back to original behavior MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- src/gui/plugins/video_recorder/VideoRecorder.cc | 4 ++-- src/gui/plugins/video_recorder/VideoRecorder.qml | 7 ++++--- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/src/gui/plugins/video_recorder/VideoRecorder.cc b/src/gui/plugins/video_recorder/VideoRecorder.cc index 5e033134f8..1e58ed61ef 100644 --- a/src/gui/plugins/video_recorder/VideoRecorder.cc +++ b/src/gui/plugins/video_recorder/VideoRecorder.cc @@ -109,8 +109,8 @@ void VideoRecorder::OnSave(const QString &_url, const QString &_format) std::string format = _format.toStdString(); format = format.substr(2); - bool urlHasFormat = path.substr(path.find_last_of(".") + 1) != path; - if (!urlHasFormat) + std::string userFormat = path.substr(path.find_last_of(".") + 1); + if (userFormat != format) path = path + "." + format; bool result = common::moveFile(this->dataPtr->filename, path); diff --git a/src/gui/plugins/video_recorder/VideoRecorder.qml b/src/gui/plugins/video_recorder/VideoRecorder.qml index facdadd50b..a189394459 100644 --- a/src/gui/plugins/video_recorder/VideoRecorder.qml +++ b/src/gui/plugins/video_recorder/VideoRecorder.qml @@ -37,7 +37,6 @@ ToolBar { title: "Save the recorded video" folder: shortcuts.home selectExisting: false - nameFilters: [ "*.mp4", "*.ogv" ] onAccepted: { VideoRecorder.OnSave(fileDialog.fileUrl, fileDialog.selectedNameFilter) close() @@ -74,7 +73,8 @@ ToolBar { MenuItem { text: "mp4" onTriggered: { - fileDialog.selectedNameFilter = "*.mp4" + fileDialog.nameFilters = [ "*.mp4" ] + fileDialog.selectedNameFilter = ".mp4" VideoRecorder.OnStart("mp4") animation.start() } @@ -82,7 +82,8 @@ ToolBar { MenuItem { text: "ogv" onTriggered: { - fileDialog.selectedNameFilter = "*.ogv" + fileDialog.nameFilters = [ "*.ogv" ] + fileDialog.selectedNameFilter = ".ogv" VideoRecorder.OnStart("ogv") animation.start() } From a0818be1eaf7a002fb1cd6a94e77e537ed90457e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Wed, 3 Jun 2020 11:22:12 +0200 Subject: [PATCH 137/202] Logic in .qml and mismatch Dialog MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../plugins/video_recorder/VideoRecorder.cc | 9 +-- .../plugins/video_recorder/VideoRecorder.hh | 3 +- .../plugins/video_recorder/VideoRecorder.qml | 59 +++++++++++++++++-- 3 files changed, 57 insertions(+), 14 deletions(-) diff --git a/src/gui/plugins/video_recorder/VideoRecorder.cc b/src/gui/plugins/video_recorder/VideoRecorder.cc index 1e58ed61ef..cdde859871 100644 --- a/src/gui/plugins/video_recorder/VideoRecorder.cc +++ b/src/gui/plugins/video_recorder/VideoRecorder.cc @@ -103,16 +103,9 @@ void VideoRecorder::OnStop() } ///////////////////////////////////////////////// -void VideoRecorder::OnSave(const QString &_url, const QString &_format) +void VideoRecorder::OnSave(const QString &_url) { std::string path = QUrl(_url).toLocalFile().toStdString(); - std::string format = _format.toStdString(); - format = format.substr(2); - - std::string userFormat = path.substr(path.find_last_of(".") + 1); - if (userFormat != format) - path = path + "." + format; - bool result = common::moveFile(this->dataPtr->filename, path); if (!result) diff --git a/src/gui/plugins/video_recorder/VideoRecorder.hh b/src/gui/plugins/video_recorder/VideoRecorder.hh index 63d15e8507..b9f98e8ddf 100644 --- a/src/gui/plugins/video_recorder/VideoRecorder.hh +++ b/src/gui/plugins/video_recorder/VideoRecorder.hh @@ -51,8 +51,7 @@ namespace gazebo /// \brief Callback when user selects a path to save the recorded video /// \param[in] _url Path of the file to save the recorded video - /// \param[in] _format Format of the file to save the recorded video - public slots: void OnSave(const QString &_url, const QString &_format); + public slots: void OnSave(const QString &_url); /// \brief Callback when user cancels saving the recorded video public slots: void OnCancel(); diff --git a/src/gui/plugins/video_recorder/VideoRecorder.qml b/src/gui/plugins/video_recorder/VideoRecorder.qml index a189394459..9b6e013145 100644 --- a/src/gui/plugins/video_recorder/VideoRecorder.qml +++ b/src/gui/plugins/video_recorder/VideoRecorder.qml @@ -37,9 +37,28 @@ ToolBar { title: "Save the recorded video" folder: shortcuts.home selectExisting: false + property var fileFormat: "" + property var selectedFormat: "" + + function getFormat(url) { + return (url.slice(url.lastIndexOf(".") + 1)) + } + onAccepted: { - VideoRecorder.OnSave(fileDialog.fileUrl, fileDialog.selectedNameFilter) - close() + fileFormat = getFormat(fileUrl.toString()) + if (fileFormat == fileUrl.toString()) { + // no format specified + VideoRecorder.OnSave(fileFormat + "." + selectedFormat) + close() + } + else if (fileFormat != selectedFormat){ + // wrong format specified + mismatchDialog.open() + } else { + // correct format specified + VideoRecorder.OnSave(fileUrl) + close() + } } onRejected: { VideoRecorder.OnCancel() @@ -47,6 +66,38 @@ ToolBar { } } + Dialog { + id: mismatchDialog + title: "Enconding and filename mismatch" + modal: true + focus: false + width: 700 + height: 200 + parent: ApplicationWindow.overlay + x: (parent.width - width) / 2 + y: (parent.height - height) / 2 + standardButtons: Dialog.Save | Dialog.Abort + + GridLayout { + id: grid + rows: 2 + flow: GridLayout.TopToBottom + anchors.fill: parent + Label { text: "File extension doesn't correspond with video encoding."; font.pixelSize: 20 } + Label { text: "Click 'Abort' to change the name or 'Save' to continue."; font.pixelSize: 20 } + } + + onAccepted: { + VideoRecorder.OnSave(fileDialog.fileUrl) + VideoRecorder.close() + close() + } + onRejected: { + fileDialog.open() + close() + } + } + SequentialAnimation { id: animation; loops: Animation.Infinite @@ -74,7 +125,7 @@ ToolBar { text: "mp4" onTriggered: { fileDialog.nameFilters = [ "*.mp4" ] - fileDialog.selectedNameFilter = ".mp4" + fileDialog.selectedFormat = "mp4" VideoRecorder.OnStart("mp4") animation.start() } @@ -83,7 +134,7 @@ ToolBar { text: "ogv" onTriggered: { fileDialog.nameFilters = [ "*.ogv" ] - fileDialog.selectedNameFilter = ".ogv" + fileDialog.selectedFormat = "ogv" VideoRecorder.OnStart("ogv") animation.start() } From 0aca10d84b7ad4741d25c67bd4785fb93268b59d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Thu, 4 Jun 2020 15:37:37 +0200 Subject: [PATCH 138/202] Initial commit MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- src/systems/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/src/systems/CMakeLists.txt b/src/systems/CMakeLists.txt index 5f7a9cc111..b7ccaaa469 100644 --- a/src/systems/CMakeLists.txt +++ b/src/systems/CMakeLists.txt @@ -88,6 +88,7 @@ add_subdirectory(logical_camera) add_subdirectory(magnetometer) add_subdirectory(multicopter_motor_model) add_subdirectory(multicopter_control) +add_subdirectory(optical_tactile_plugin) add_subdirectory(physics) add_subdirectory(pose_publisher) add_subdirectory(scene_broadcaster) From 222d65b95e77708d6631b583aafc45b9002145d8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Thu, 4 Jun 2020 15:39:20 +0200 Subject: [PATCH 139/202] Added plugin files MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../optical_tactile_plugin/CMakeLists.txt | 6 ++ .../OpticalTactilePlugin.cc | 84 +++++++++++++++++++ .../OpticalTactilePlugin.hh | 73 ++++++++++++++++ 3 files changed, 163 insertions(+) create mode 100644 src/systems/optical_tactile_plugin/CMakeLists.txt create mode 100644 src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc create mode 100644 src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh diff --git a/src/systems/optical_tactile_plugin/CMakeLists.txt b/src/systems/optical_tactile_plugin/CMakeLists.txt new file mode 100644 index 0000000000..48420a8229 --- /dev/null +++ b/src/systems/optical_tactile_plugin/CMakeLists.txt @@ -0,0 +1,6 @@ +gz_add_system(opticaltactileplugin + SOURCES + OpticalTactilePlugin.cc + PUBLIC_LINK_LIBS + ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} +) \ No newline at end of file diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc new file mode 100644 index 0000000000..eadfce5c6f --- /dev/null +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -0,0 +1,84 @@ +/* + * Copyright (C) 2019 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#include +#include +#include + +#include +#include +#include + +#include + +#include "ignition/gazebo/components/ContactSensor.hh" +#include "ignition/gazebo/components/ContactSensorData.hh" +#include "ignition/gazebo/components/Collision.hh" +#include "ignition/gazebo/components/Link.hh" +#include "ignition/gazebo/components/Name.hh" +#include "ignition/gazebo/components/Sensor.hh" + +#include "ignition/gazebo/Model.hh" +#include "ignition/gazebo/Util.hh" + +#include "OpticalTactilePlugin.hh" + +using namespace ignition; +using namespace gazebo; +using namespace systems; + +class ignition::gazebo::systems::OpticalTactilePluginPrivate +{ + /// \brief Load the Contact sensor from an sdf element + /// \param[in] _sdf SDF element describing the Contact sensor + /// \param[in] _topic string with topic name + /// \param[in] _collisionEntities A list of entities that act as contact + /// sensors + public: void Load(const sdf::ElementPtr &_sdf, const std::string &_topic, + const std::vector &_collisionEntities); + + /// \brief Actual function that enables the plugin. + /// \param[in] _value True to enable plugin. + public: void Enable(const bool _value); + + /// \brief Process contact sensor data and determine if a touch event occurs + /// \param[in] _info Simulation update info + /// \param[in] _ecm Immutable reference to the EntityComponentManager + public: void Update(const UpdateInfo &_info, + const EntityComponentManager &_ecm); + +}; + +////////////////////////////////////////////////// +void OpticalTactilePluginPrivate::Load(const sdf::ElementPtr &_sdf, const std::string &_topic, + const std::vector &_collisionEntities) +{ + +} + +////////////////////////////////////////////////// +void OpticalTactilePluginPrivate::Enable(const bool _value) +{ + +} + +////////////////////////////////////////////////// +void OpticalTactilePluginPrivate::Update(const UpdateInfo &_info, + const EntityComponentManager &_ecm) +{ + +} \ No newline at end of file diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh new file mode 100644 index 0000000000..0db578849a --- /dev/null +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh @@ -0,0 +1,73 @@ +/* + * Copyright (C) 2019 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#ifndef IGNITION_GAZEBO_SYSTEMS_OPTICAL_TACTILE_PLUGIN_HH_ +#define IGNITION_GAZEBO_SYSTEMS_OPTICAL_TACTILE_PLUGIN_HH_ + +#include +#include +#include + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE +{ +namespace systems +{ + // Forward declaration + class OpticalTactilePluginPrivate; + + class IGNITION_GAZEBO_VISIBLE OpticalTactilePlugin : + public System, + public ISystemConfigure, + public ISystemPreUpdate, + public ISystemPostUpdate + { + /// \brief Constructor + public: OpticalTactilePlugin(); + + /// \brief Destructor + public: ~OpticalTactilePlugin() override = default; + + // Documentation inherited + public: void Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &_eventMgr) override; + + /// Documentation inherited + public: void PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) final; + + // Documentation inherited + public: void PostUpdate( + const ignition::gazebo::UpdateInfo &_info, + const ignition::gazebo::EntityComponentManager &_ecm) override; + + /// \brief Private data pointer + private: std::unique_ptr dataPtr; + + }; +} +} +} +} + +#endif \ No newline at end of file From d7cd60a7ec8d5931f54d155894b66974dbcf78a2 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Fri, 5 Jun 2020 11:42:18 -0700 Subject: [PATCH 140/202] More actor components and follow plugin (#157) * More actor components and follow plugin Signed-off-by: Louise Poubel --- examples/worlds/follow_actor.sdf | 364 ++++++++++++++++++ include/ignition/gazebo/components/Actor.hh | 42 ++ .../component_inspector/ComponentInspector.cc | 14 + src/rendering/RenderUtil.cc | 25 +- src/systems/CMakeLists.txt | 1 + src/systems/follow_actor/CMakeLists.txt | 5 + src/systems/follow_actor/FollowActor.cc | 292 ++++++++++++++ src/systems/follow_actor/FollowActor.hh | 85 ++++ test/integration/CMakeLists.txt | 1 + test/integration/follow_actor_system.cc | 189 +++++++++ test/worlds/follow_actor.sdf | 57 +++ 11 files changed, 1073 insertions(+), 2 deletions(-) create mode 100644 examples/worlds/follow_actor.sdf create mode 100644 src/systems/follow_actor/CMakeLists.txt create mode 100644 src/systems/follow_actor/FollowActor.cc create mode 100644 src/systems/follow_actor/FollowActor.hh create mode 100644 test/integration/follow_actor_system.cc create mode 100644 test/worlds/follow_actor.sdf diff --git a/examples/worlds/follow_actor.sdf b/examples/worlds/follow_actor.sdf new file mode 100644 index 0000000000..50423034c8 --- /dev/null +++ b/examples/worlds/follow_actor.sdf @@ -0,0 +1,364 @@ + + + + + + + + + + + + + + + + 3D View + false + docked + + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + -6 0 6 0 0.5 0 + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + /world/actors/control + /world/actors/stats + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + /world/actors/stats + + + + + + + 0 + 0 + 263 + 50 + floating + false + #03a9f4 + + + + + + + false + docked + + + + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0.0 0.0 1 + + + + + + + 0.0 0.0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 1 -2 0.5 0 0 0 + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 1.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + + + 1 0 0.5 0 0 0 + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 1.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 0 1 0 1 + 0 1 0 1 + 0 1 0 1 + + + + + + + 1 2 0.5 0 0 0 + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 1.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + + + + + + + 1 4 0.5 0 0 0 + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 1.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 1 0 1 + 1 1 0 1 + 1 1 0 1 + + + + + + + walker_slow_red + + 0 -2 1.0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/chapulina/models/Walking actor + + red_box + 1.0 + 8.0 + 1 + 4.58837 + + + + + walker_fast_green + 0 0 1.0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/chapulina/models/Walking actor + + green_box + 1.0 + 8.0 + 4 + 4.58837 + + + + + runner_slow_blue + 0 2 1.0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor + + blue_box + 1.0 + 8.0 + 1 + run + 1.5 + + + + + runner_fast_yellow + 0 4 1.0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor + + yellow_box + 1.0 + 8.0 + 4 + run + 1.5 + + + + diff --git a/include/ignition/gazebo/components/Actor.hh b/include/ignition/gazebo/components/Actor.hh index aeca817612..c4db743488 100644 --- a/include/ignition/gazebo/components/Actor.hh +++ b/include/ignition/gazebo/components/Actor.hh @@ -17,6 +17,9 @@ #ifndef IGNITION_GAZEBO_COMPONENTS_ACTOR_HH_ #define IGNITION_GAZEBO_COMPONENTS_ACTOR_HH_ +#include +#include + #include #include @@ -37,6 +40,34 @@ namespace serializers { using ActorSerializer = serializers::ComponentToMsgSerializer; + + class AnimationTimeSerializer + { + /// \brief Serialization for `std::chrono::steady_clock::duration`. + /// \param[in] _out Output stream. + /// \param[in] _time Time to stream + /// \return The stream. + public: static std::ostream &Serialize(std::ostream &_out, + const std::chrono::steady_clock::duration &_time) + { + _out << std::chrono::duration_cast( + _time).count(); + return _out; + } + + /// \brief Deserialization for `std::chrono::steady_clock::duration`. + /// \param[in] _in Input stream. + /// \param[out] _time Time to populate + /// \return The stream. + public: static std::istream &Deserialize(std::istream &_in, + std::chrono::steady_clock::duration &_time) + { + int64_t time; + _in >> time; + _time = std::chrono::duration(time); + return _in; + } + }; } namespace components @@ -47,6 +78,17 @@ namespace components using Actor = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.Actor", Actor) + + /// \brief Time in seconds within animation being currently played. + using AnimationTime = Component; + IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.AnimationTime", + AnimationTime) + + /// \brief Name of animation being currently played. + using AnimationName = Component; + IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.AnimationName", + AnimationName) } } } diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc index d28a74a15f..1857dca09e 100644 --- a/src/gui/plugins/component_inspector/ComponentInspector.cc +++ b/src/gui/plugins/component_inspector/ComponentInspector.cc @@ -411,6 +411,13 @@ void ComponentInspector::Update(const UpdateInfo &, setUnit(item, "rad/s"); } } + else if (typeId == components::AnimationName::typeId) + { + auto comp = _ecm.Component( + this->dataPtr->entity); + if (comp) + setData(item, comp->Data()); + } else if (typeId == components::CastShadows::typeId) { auto comp = _ecm.Component( @@ -506,6 +513,13 @@ void ComponentInspector::Update(const UpdateInfo &, if (comp) setData(item, comp->Data()); } + else if (typeId == components::TrajectoryPose::typeId) + { + auto comp = _ecm.Component( + this->dataPtr->entity); + if (comp) + setData(item, comp->Data()); + } else if (typeId == components::WindMode::typeId) { auto comp = _ecm.Component(this->dataPtr->entity); diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index eadb608ef8..379ece6b57 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -1029,13 +1029,34 @@ void RenderUtilPrivate::UpdateRenderingEntities( // Trajectory origin this->entityPoses[_entity] = _pose->Data(); - if (this->actorManualSkeletonUpdate) + auto animTimeComp = _ecm.Component(_entity); + auto animNameComp = _ecm.Component(_entity); + + // Animation time set through ECM so ign-rendering can calculate bone + // transforms + if (animTimeComp && animNameComp) + { + auto skel = this->sceneManager.ActorSkeletonById(_entity); + if (nullptr != skel) + { + AnimationUpdateData animData; + animData.loop = true; + animData.followTrajectory = true; + animData.animationName = animNameComp->Data(); + animData.time = animTimeComp->Data(); + animData.rootTransform = skel->RootNode()->Transform(); + animData.valid = true; + this->actorAnimationData[_entity] = animData; + } + } + // Bone poses calculated by ign-common + else if (this->actorManualSkeletonUpdate) { - // Bone poses calculated by ign-common this->actorTransforms[_entity] = this->sceneManager.ActorSkeletonTransformsAt( _entity, this->simTime); } + // Trajectory info from SDF so ign-rendering can calculate bone poses else { this->actorAnimationData[_entity] = diff --git a/src/systems/CMakeLists.txt b/src/systems/CMakeLists.txt index 5f7a9cc111..413e0ec7cd 100644 --- a/src/systems/CMakeLists.txt +++ b/src/systems/CMakeLists.txt @@ -78,6 +78,7 @@ add_subdirectory(breadcrumbs) add_subdirectory(contact) add_subdirectory(detachable_joint) add_subdirectory(diff_drive) +add_subdirectory(follow_actor) add_subdirectory(imu) add_subdirectory(joint_controller) add_subdirectory(joint_state_publisher) diff --git a/src/systems/follow_actor/CMakeLists.txt b/src/systems/follow_actor/CMakeLists.txt new file mode 100644 index 0000000000..864371e1d6 --- /dev/null +++ b/src/systems/follow_actor/CMakeLists.txt @@ -0,0 +1,5 @@ +gz_add_system(follow-actor + SOURCES + FollowActor.cc +) + diff --git a/src/systems/follow_actor/FollowActor.cc b/src/systems/follow_actor/FollowActor.cc new file mode 100644 index 0000000000..32d51ef60a --- /dev/null +++ b/src/systems/follow_actor/FollowActor.cc @@ -0,0 +1,292 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#include + +#include + +#include +#include +#include +#include +#include + +#include "FollowActor.hh" + +using namespace ignition; +using namespace gazebo; +using namespace systems; + +/// \brief Private FollowActor data class. +class ignition::gazebo::systems::FollowActorPrivate +{ + /// \brief Entity for the actor. + public: Entity actorEntity{kNullEntity}; + + /// \brief Velocity of the actor + public: double velocity{0.8}; + + /// \brief Current target to follow + public: Entity targetEntity{kNullEntity}; + + /// \brief Minimum distance in meters to keep away from target. + public: double minDistance{1.2}; + + /// \brief Maximum distance in meters to keep away from target. + public: double maxDistance{4}; + + /// \brief Velocity of the animation dislocation on the X axis, in m/s. + /// Used to coordinate translational motion with the actor's feet. + /// TODO(louise) Automatically calculate it from the root node's first and + /// last keyframes + public: double animationXVel{2.0}; + + /// \brief Time of the last update. + public: std::chrono::steady_clock::duration lastUpdate{0}; + + /// \brief True if currently following + public: bool following{true}; +}; + +////////////////////////////////////////////////// +FollowActor::FollowActor() : + System(), dataPtr(std::make_unique()) +{ +} + +////////////////////////////////////////////////// +FollowActor::~FollowActor() = default; + +////////////////////////////////////////////////// +void FollowActor::Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &/*_eventMgr*/) +{ + this->dataPtr->actorEntity = _entity; + + auto actorComp = _ecm.Component(_entity); + if (!actorComp) + { + ignerr << "Entity [" << _entity << "] is not an actor." << std::endl; + return; + } + + if (!_sdf->HasElement("target")) + { + ignerr << "Missing , can't follow." << std::endl; + return; + } + + auto targetName = _sdf->Get("target"); + this->dataPtr->targetEntity = _ecm.EntityByComponents(components::Name( + targetName)); + if (kNullEntity == this->dataPtr->targetEntity) + { + ignerr << "Failed to find target entity [" << targetName << "]" + << std::endl; + return; + } + + if (_sdf->HasElement("velocity")) + this->dataPtr->velocity = _sdf->Get("velocity"); + + if (_sdf->HasElement("min_distance")) + this->dataPtr->minDistance = _sdf->Get("min_distance"); + + if (_sdf->HasElement("max_distance")) + this->dataPtr->maxDistance = _sdf->Get("max_distance"); + + if (_sdf->HasElement("animation_x_vel")) + this->dataPtr->animationXVel = _sdf->Get("animation_x_vel"); + + std::string animationName; + + // If animation not provided, use first one from SDF + if (!_sdf->HasElement("animation")) + { + if (actorComp->Data().AnimationCount() < 1) + { + ignerr << "Actor SDF doesn't have any animations." << std::endl; + return; + } + + animationName = actorComp->Data().AnimationByIndex(0)->Name(); + } + else + { + animationName = _sdf->Get("animation"); + } + + if (animationName.empty()) + { + ignerr << "Can't find actor's animation name." << std::endl; + return; + } + + auto animationNameComp = _ecm.Component(_entity); + if (nullptr == animationNameComp) + { + _ecm.CreateComponent(_entity, components::AnimationName(animationName)); + } + else + { + *animationNameComp = components::AnimationName(animationName); + } + // Mark as a one-time-change so that the change is propagated to the GUI + _ecm.SetChanged(_entity, + components::AnimationName::typeId, ComponentState::OneTimeChange); + + // Set custom animation time from this plugin + auto animTimeComp = _ecm.Component(_entity); + if (nullptr == animTimeComp) + { + _ecm.CreateComponent(_entity, components::AnimationTime()); + } + + math::Pose3d initialPose; + auto poseComp = _ecm.Component(_entity); + if (nullptr == poseComp) + { + _ecm.CreateComponent(_entity, components::Pose( + math::Pose3d::Zero)); + } + else + { + initialPose = poseComp->Data(); + + // We'll be setting the actor's X/Y pose with respect to the world. So we + // zero the current values. + auto newPose = initialPose; + newPose.Pos().X(0); + newPose.Pos().Y(0); + *poseComp = components::Pose(newPose); + } + + // Having a trajectory pose prevents the actor from moving with the + // SDF script + auto trajPoseComp = _ecm.Component(_entity); + if (nullptr == trajPoseComp) + { + // Leave Z to the pose component, control only 2D with Trajectory + initialPose.Pos().Z(0); + _ecm.CreateComponent(_entity, components::TrajectoryPose(initialPose)); + } +} + +////////////////////////////////////////////////// +void FollowActor::PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) +{ + IGN_PROFILE("FollowActor::PreUpdate"); + + if (_info.paused) + return; + + // TODO(louise) Throttle this system + + // Time delta + std::chrono::duration dtDuration = _info.simTime - + this->dataPtr->lastUpdate; + double dt = dtDuration.count(); + + this->dataPtr->lastUpdate = _info.simTime; + + // Is there a follow target? + if (this->dataPtr->targetEntity == kNullEntity) + return; + + // Current world pose + auto trajPoseComp = _ecm.Component( + this->dataPtr->actorEntity); + auto actorPose = trajPoseComp->Data(); + auto initialPose = actorPose; + + // Current target + auto targetPose = _ecm.Component( + this->dataPtr->targetEntity)->Data(); + + // Direction to target + auto dir = targetPose.Pos() - actorPose.Pos(); + dir.Z(0); + + // Stop if too close to target + if (dir.Length() <= this->dataPtr->minDistance) + { + return; + } + + // Stop following if too far from target + if (dir.Length() > this->dataPtr->maxDistance) + { + if (this->dataPtr->following) + { + ignmsg << "Target [" << this->dataPtr->targetEntity + << "] too far, actor [" << this->dataPtr->actorEntity + <<"] stopped following" << std::endl; + this->dataPtr->following = false; + } + return; + } + if (!this->dataPtr->following) + { + ignmsg << "Target [" << this->dataPtr->targetEntity + << "] within range, actor [" << this->dataPtr->actorEntity + <<"] started following" << std::endl; + this->dataPtr->following = true; + } + + dir.Normalize(); + + // Towards target + math::Angle yaw = atan2(dir.Y(), dir.X()); + yaw.Normalize(); + + actorPose.Pos() += dir * this->dataPtr->velocity * dt; + actorPose.Pos().Z(0); + actorPose.Rot() = math::Quaterniond(0, 0, yaw.Radian()); + + // Distance traveled is used to coordinate motion with the walking + // animation + double distanceTraveled = (actorPose.Pos() - initialPose.Pos()).Length(); + + // Update actor root pose + *trajPoseComp = components::TrajectoryPose(actorPose); + // Mark as a one-time-change so that the change is propagated to the GUI + _ecm.SetChanged(this->dataPtr->actorEntity, + components::TrajectoryPose::typeId, ComponentState::OneTimeChange); + + // Update actor bone trajectories based on animation time + auto animTimeComp = _ecm.Component( + this->dataPtr->actorEntity); + + auto animTime = animTimeComp->Data() + + std::chrono::duration_cast( + std::chrono::duration(distanceTraveled * + this->dataPtr->animationXVel)); + *animTimeComp = components::AnimationTime(animTime); + // Mark as a one-time-change so that the change is propagated to the GUI + _ecm.SetChanged(this->dataPtr->actorEntity, + components::AnimationTime::typeId, ComponentState::OneTimeChange); +} + +IGNITION_ADD_PLUGIN(FollowActor, System, + FollowActor::ISystemConfigure, + FollowActor::ISystemPreUpdate +) + +IGNITION_ADD_PLUGIN_ALIAS(FollowActor, "ignition::gazebo::systems::FollowActor") diff --git a/src/systems/follow_actor/FollowActor.hh b/src/systems/follow_actor/FollowActor.hh new file mode 100644 index 0000000000..85743aa161 --- /dev/null +++ b/src/systems/follow_actor/FollowActor.hh @@ -0,0 +1,85 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ +#ifndef IGNITION_GAZEBO_SYSTEMS_FOLLOWACTOR_HH_ +#define IGNITION_GAZEBO_SYSTEMS_FOLLOWACTOR_HH_ + +#include +#include +#include +#include + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { +namespace systems +{ + // Forward declarations. + class FollowActorPrivate; + + /// \class FollowActor FollowActor.hh ignition/gazebo/systems/FollowActor.hh + /// \brief Make an actor follow a target entity in the world. + /// + /// ## SDF parameters + /// + /// : Name of entity to follow. + /// + /// : Distance in meters to keep from target's origin. + /// + /// : Distance in meters from target's origin when to stop + /// following. When the actor is back within range it starts + /// following again. + /// + /// : Actor's velocity in m/s + /// + /// : Actor's animation to play. If empty, the first animation in + /// the model will be used. + /// + /// : Velocity of the animation on the X axis. Used to + /// coordinate translational motion with the actor's + /// animation. + class IGNITION_GAZEBO_VISIBLE FollowActor: + public System, + public ISystemConfigure, + public ISystemPreUpdate + { + /// \brief Constructor + public: explicit FollowActor(); + + /// \brief Destructor + public: ~FollowActor() override; + + // Documentation inherited + public: void Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &_eventMgr) final; + + /// Documentation inherited + public: void PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) final; + + /// \brief Private data pointer. + private: std::unique_ptr dataPtr; + }; + } +} +} +} +#endif diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index c07d6e1383..8c93e19f43 100644 --- a/test/integration/CMakeLists.txt +++ b/test/integration/CMakeLists.txt @@ -14,6 +14,7 @@ set(tests entity_erase.cc events.cc examples_build.cc + follow_actor_system.cc imu_system.cc joint_controller_system.cc lift_drag_system.cc diff --git a/test/integration/follow_actor_system.cc b/test/integration/follow_actor_system.cc new file mode 100644 index 0000000000..562bcd905f --- /dev/null +++ b/test/integration/follow_actor_system.cc @@ -0,0 +1,189 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include +#include +#include + +#include "ignition/gazebo/components/Actor.hh" +#include "ignition/gazebo/components/Name.hh" +#include "ignition/gazebo/components/Pose.hh" +#include "ignition/gazebo/Server.hh" +#include "ignition/gazebo/SystemLoader.hh" +#include "ignition/gazebo/test_config.hh" + +#include "plugins/MockSystem.hh" + +#define tol 10e-4 + +using namespace ignition; +using namespace gazebo; +using namespace std::chrono_literals; + +/// \brief Test FollowActor system +class FollowActorTest : public ::testing::TestWithParam +{ + // Documentation inherited + protected: void SetUp() override + { + common::Console::SetVerbosity(4); + setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", + (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1); + } +}; + +class Relay +{ + public: Relay() + { + auto plugin = loader.LoadPlugin("libMockSystem.so", + "ignition::gazebo::MockSystem", + nullptr); + EXPECT_TRUE(plugin.has_value()); + + this->systemPtr = plugin.value(); + + this->mockSystem = static_cast( + systemPtr->QueryInterface()); + EXPECT_NE(nullptr, this->mockSystem); + } + + public: Relay &OnPreUpdate(MockSystem::CallbackType _cb) + { + this->mockSystem->preUpdateCallback = std::move(_cb); + return *this; + } + + public: Relay &OnUpdate(MockSystem::CallbackType _cb) + { + this->mockSystem->updateCallback = std::move(_cb); + return *this; + } + + public: Relay &OnPostUpdate(MockSystem::CallbackTypeConst _cb) + { + this->mockSystem->postUpdateCallback = std::move(_cb); + return *this; + } + + public: SystemPluginPtr systemPtr; + + private: SystemLoader loader; + private: MockSystem *mockSystem; +}; + + +///////////////////////////////////////////////// +TEST_P(FollowActorTest, PublishCmd) +{ + // Start server + ServerConfig serverConfig; + serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + + "/test/worlds/follow_actor.sdf"); + + Server server(serverConfig); + EXPECT_FALSE(server.Running()); + EXPECT_FALSE(*server.Running(0)); + + unsigned int preUpdateCount{0}; + unsigned int postUpdateCount{0}; + unsigned int boxMoveCount{0}; + + // Create a system that records the actor poses + Relay testSystem; + testSystem.OnPreUpdate( + [&](const gazebo::UpdateInfo &_info, + gazebo::EntityComponentManager &_ecm) + { + auto entity = _ecm.EntityByComponents( + components::Name("box")); + EXPECT_NE(kNullEntity, entity); + + auto poseComp = _ecm.Component(entity); + ASSERT_NE(nullptr, poseComp); + + // Move box every 500 ms + if (_info.iterations % 500 == 0) + { + auto pose = poseComp->Data(); + pose.Pos().X() += 0.5; + poseComp->SetData(pose, + [](const math::Pose3d &, const math::Pose3d &){return true;}); + boxMoveCount++; + } + + preUpdateCount++; + EXPECT_EQ(_info.iterations, preUpdateCount); + }); + + testSystem.OnPostUpdate( + [&](const gazebo::UpdateInfo &_info, + const gazebo::EntityComponentManager &_ecm) + { + auto actorEntity = _ecm.EntityByComponents( + components::Name("walker")); + EXPECT_NE(kNullEntity, actorEntity); + + auto targetEntity = _ecm.EntityByComponents( + components::Name("box")); + EXPECT_NE(kNullEntity, targetEntity); + + auto animNameComp = _ecm.Component(actorEntity); + ASSERT_NE(nullptr, animNameComp); + EXPECT_EQ("walking", animNameComp->Data()); + + // Animation time is always increasing + auto animTimeComp = _ecm.Component(actorEntity); + ASSERT_NE(nullptr, animTimeComp); + + // Actor pose is fixed to zero X/Y and initial Z + auto actorPoseComp = _ecm.Component(actorEntity); + ASSERT_NE(nullptr, actorPoseComp); + EXPECT_EQ(math::Pose3d(0, 0, 1, 0, 0, 0), actorPoseComp->Data()); + + // Target is moving + auto targetPoseComp = _ecm.Component(targetEntity); + ASSERT_NE(nullptr, targetPoseComp); + EXPECT_DOUBLE_EQ(1.0 + static_cast(_info.iterations / 500) * 0.5, + targetPoseComp->Data().Pos().X()); + + // Actor trajectory pose X increases to follow target + auto actorTrajPoseComp = _ecm.Component( + actorEntity); + ASSERT_NE(nullptr, actorTrajPoseComp); + + // Actor is behind box, respecting min_distance and never staying too far + auto diff = targetPoseComp->Data().Pos() - + actorTrajPoseComp->Data().Pos(); + EXPECT_GE(diff.X(), 1.0) << _info.iterations; + EXPECT_LE(diff.X(), 1.8) << _info.iterations; + + postUpdateCount++; + EXPECT_EQ(_info.iterations, postUpdateCount); + }); + server.AddSystem(testSystem.systemPtr); + + unsigned int iterations{400}; + server.Run(true /* blocking */, iterations, false /* paused */); + EXPECT_EQ(iterations, preUpdateCount); + EXPECT_EQ(iterations, postUpdateCount); + EXPECT_EQ(iterations / 500, boxMoveCount); +} + +// Run multiple times +INSTANTIATE_TEST_CASE_P(ServerRepeat, FollowActorTest, + ::testing::Range(1, 2)); diff --git a/test/worlds/follow_actor.sdf b/test/worlds/follow_actor.sdf new file mode 100644 index 0000000000..1bc7015a70 --- /dev/null +++ b/test/worlds/follow_actor.sdf @@ -0,0 +1,57 @@ + + + + + true + 1 -2 0.5 0 0 0 + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 1.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + + + walker + + 0 -2 1.0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/chapulina/models/Walking actor + + box + 1.0 + 8.0 + 1 + 4.58837 + + + + From 7be1771ff5e054f526e7089573e238bd9fc86532 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Mon, 8 Jun 2020 11:01:46 +0200 Subject: [PATCH 141/202] Initial .sdf file MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../worlds/optical_tactile_sensor_plugin.sdf | 188 ++++++++++++++++++ 1 file changed, 188 insertions(+) create mode 100644 examples/worlds/optical_tactile_sensor_plugin.sdf diff --git a/examples/worlds/optical_tactile_sensor_plugin.sdf b/examples/worlds/optical_tactile_sensor_plugin.sdf new file mode 100644 index 0000000000..0018b03906 --- /dev/null +++ b/examples/worlds/optical_tactile_sensor_plugin.sdf @@ -0,0 +1,188 @@ + + + + + + + + + + + + + + + + + 3D View + false + docked + + + ogre + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + -6 0 6 0 0.5 0 + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + /world/touch/control + /world/touch/stats + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + /world/touch/stats + + + + + + true + 0 0 10 0 0 0 + 1 1 1 1 + 0.5 0.5 0.5 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 0 0 1.25 0 0 0 + + + + + 0.5 0.5 0.5 + + + + + + + 0.5 0.5 0.5 + + + + 0 1 0 1 + 0 1 0 1 + + + + + + + 0 0 0.5 0 0 0 + + + + + + 1 1 1 + + + + + + + 1 1 1 + + + + + + + collision + + + + + + + true + 5 + "Gaussian" + + + + + + From c3d91fbd7c97f77ef9c3a179ff1a2b4debcb3157 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Mon, 8 Jun 2020 11:04:15 +0200 Subject: [PATCH 142/202] Pipeline for getting sensor contacts MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../OpticalTactilePlugin.cc | 199 +++++++++++++++++- .../OpticalTactilePlugin.hh | 10 + 2 files changed, 199 insertions(+), 10 deletions(-) diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index eadfce5c6f..0d86a5597e 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -45,40 +45,219 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate { /// \brief Load the Contact sensor from an sdf element /// \param[in] _sdf SDF element describing the Contact sensor - /// \param[in] _topic string with topic name - /// \param[in] _collisionEntities A list of entities that act as contact - /// sensors - public: void Load(const sdf::ElementPtr &_sdf, const std::string &_topic, - const std::vector &_collisionEntities); + /// \param[in] _ecm Immutable reference to the EntityComponentManager + public: void Load(const EntityComponentManager &_ecm, + const sdf::ElementPtr &_sdf); /// \brief Actual function that enables the plugin. /// \param[in] _value True to enable plugin. public: void Enable(const bool _value); - /// \brief Process contact sensor data and determine if a touch event occurs + /// \brief Process contact sensor data /// \param[in] _info Simulation update info /// \param[in] _ecm Immutable reference to the EntityComponentManager public: void Update(const UpdateInfo &_info, const EntityComponentManager &_ecm); + /// \brief Filters out new collisions fetched not related to the sensors + public: void FilterOutCollisions(const EntityComponentManager &_ecm, + const std::vector &_entities); + + /// \brief Resolution of the sensor in mm. + public: double resolution; + + /// \brief Model interface. + public: Model model{kNullEntity}; + + /// \brief Transport node to keep services alive. + public: transport::Node node; + + /// \brief Publisher that publishes the sensors' contacts. + public: std::optionalsensorContactsPub; + + /// \brief Collision entities that have been designated as contact sensors. + public: std::vector sensorEntities; + + /// \brief Collision entities of the simulation. + public: std::vector collisionEntities; + + /// \brief Filtered collisions from the simulation that belong to one or more sensors. + public: std::vector filteredCollisionEntities; + + /// \brief Wheter the plugin is enabled. + public: bool enabled{true}; + + /// \brief Initialization flag. + public: bool initialized{false}; + + /// \brief Copy of the sdf configuration used for this plugin. + public: sdf::ElementPtr sdfConfig; + + /// \brief Name of the model in which the sensor(s) is attached. + public: std::string modelName; + + }; ////////////////////////////////////////////////// -void OpticalTactilePluginPrivate::Load(const sdf::ElementPtr &_sdf, const std::string &_topic, - const std::vector &_collisionEntities) +void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm, + const sdf::ElementPtr &_sdf) { + igndbg << "Loading plugin [OpticalTactilePlugin]" << std::endl; + + // Get sdf parameters + if (!_sdf->HasElement("resolution")) { + ignerr << "Missing required parameter ." << std::endl; + return; + } + else + { + this->resolution = _sdf->Get("resolution"); + igndbg << "Sensor resolution: " << this->resolution << " mm" << std::endl; + } + + // Get all the sensors + auto allLinks = + _ecm.ChildrenByComponents(this->model.Entity(), components::Link()); + + for (const Entity linkEntity : allLinks) + { + auto linkCollisions= + _ecm.ChildrenByComponents(linkEntity, components::Collision()); + for (const Entity colEntity : linkCollisions) + { + if (_ecm.EntityHasComponentType(colEntity, + components::ContactSensorData::typeId)) + { + this->sensorEntities.push_back(colEntity); + + this->modelName = this->model.Name(_ecm); + + igndbg << "Sensor detected within model " << this->modelName << std::endl; + } + } + } + + } ////////////////////////////////////////////////// void OpticalTactilePluginPrivate::Enable(const bool _value) { - + igndbg << "OpticalTactilePluginPrivate::Enable" << std::endl; } ////////////////////////////////////////////////// void OpticalTactilePluginPrivate::Update(const UpdateInfo &_info, const EntityComponentManager &_ecm) { + IGN_PROFILE("TouchPluginPrivate::Update"); + + // Print collision messages which have the sensor as one collision + for (const Entity colEntity: this->filteredCollisionEntities) + { + auto* contacts = _ecm.Component(colEntity); + if (contacts) + { + for (const auto &contact : contacts->Data().contact()) + { + ignmsg << "Collision between Entity " << contact.collision1().id() + << " and " << contact.collision2().id() << std::endl; + } + } + } +} + +////////////////////////////////////////////////// +void OpticalTactilePluginPrivate::FilterOutCollisions(const EntityComponentManager &_ecm, + const std::vector &_entities) +{ + if (_entities.empty()) + return; + + // Clear vector that contains old data + this->filteredCollisionEntities.clear(); + + // Get collisions from the sensor + for (Entity entity : _entities) + { + std::string name = scopedName(entity,_ecm); + igndbg << "scopedName: " << name << std::endl; + if (name.find(this->modelName) != std::string::npos) + { + igndbg << "Filtered collision that belongs to a sensor" << std::endl; + this->filteredCollisionEntities.push_back(entity); + } + } + +} + +////////////////////////////////////////////////// +OpticalTactilePlugin::OpticalTactilePlugin() + : System(), dataPtr(std::make_unique()) +{ + igndbg << "OpticalTactilePlugin Constructor" << std::endl; +} + +////////////////////////////////////////////////// +void OpticalTactilePlugin::Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &_eventMgr) +{ + igndbg << "OpticalTactilePlugin::Configure" << std::endl; + this->dataPtr->sdfConfig = _sdf->Clone(); + this->dataPtr->model = Model(_entity); +} + +////////////////////////////////////////////////// +void OpticalTactilePlugin::PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) +{ + IGN_PROFILE("TouchPluginPrivate::PreUpdate"); + + if (!this->dataPtr->initialized) + { + this->dataPtr->Load(_ecm, this->dataPtr->sdfConfig); + this->dataPtr->initialized = true; + } + + // Update new collision messages + + // This is not an "else" because "initialized" can be set in the if block + // above + if (this->dataPtr->initialized) + { + // Fetch new collisions from simulation + std::vector newCollisions; + _ecm.EachNew( + [&](const Entity &_entity, const components::Collision *) -> bool + { + igndbg << "Fetched new collision" << std::endl; + newCollisions.push_back(_entity); + return true; + }); + + this->dataPtr->FilterOutCollisions(_ecm, newCollisions); + } +} + +////////////////////////////////////////////////// +void OpticalTactilePlugin::PostUpdate( + const ignition::gazebo::UpdateInfo &_info, + const ignition::gazebo::EntityComponentManager &_ecm) +{ + IGN_PROFILE("TouchPluginPrivate::PostUpdate"); + + this->dataPtr->Update(_info, _ecm); + +} + +IGNITION_ADD_PLUGIN(OpticalTactilePlugin, + ignition::gazebo::System, + OpticalTactilePlugin::ISystemConfigure, + OpticalTactilePlugin::ISystemPreUpdate, + OpticalTactilePlugin::ISystemPostUpdate) -} \ No newline at end of file +IGNITION_ADD_PLUGIN_ALIAS(OpticalTactilePlugin, "ignition::gazebo::systems::OpticalTactilePlugin") \ No newline at end of file diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh index 0db578849a..44232e9fda 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh @@ -34,6 +34,16 @@ namespace systems // Forward declaration class OpticalTactilePluginPrivate; + /// \brief Plugin that implements an optical tactile sensor + /// + /// It requires that contact sensors be placed in at least one link on the + /// model on which this plugin is attached. + /// + /// Parameters: + /// + /// Set this to true so the plugin works from the start and doesn't + /// need to be enabled. + class IGNITION_GAZEBO_VISIBLE OpticalTactilePlugin : public System, public ISystemConfigure, From 9fb155c8ae125ca7afc3ddf54373cae81d507262 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Mon, 8 Jun 2020 11:30:52 +0200 Subject: [PATCH 143/202] Minor style change MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- src/gui/plugins/video_recorder/VideoRecorder.qml | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/src/gui/plugins/video_recorder/VideoRecorder.qml b/src/gui/plugins/video_recorder/VideoRecorder.qml index 9b6e013145..cc5fa23f36 100644 --- a/src/gui/plugins/video_recorder/VideoRecorder.qml +++ b/src/gui/plugins/video_recorder/VideoRecorder.qml @@ -83,8 +83,16 @@ ToolBar { rows: 2 flow: GridLayout.TopToBottom anchors.fill: parent - Label { text: "File extension doesn't correspond with video encoding."; font.pixelSize: 20 } - Label { text: "Click 'Abort' to change the name or 'Save' to continue."; font.pixelSize: 20 } + + Label { + text: "File extension doesn't correspond with video encoding." + font.pixelSize: 20 + } + + Label { + text: "Click 'Abort' to change the name or 'Save' to continue." + font.pixelSize: 20 + } } onAccepted: { From 16a268e579817cde60d75b87ed04dfceb5cf3ad0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Tue, 9 Jun 2020 16:16:24 +0200 Subject: [PATCH 144/202] Added visualization of postion and forces MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../OpticalTactilePlugin.cc | 119 +++++++++++++++++- 1 file changed, 115 insertions(+), 4 deletions(-) diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index 0d86a5597e..e6c8cfeb15 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -22,6 +22,7 @@ #include #include #include +#include #include @@ -35,6 +36,12 @@ #include "ignition/gazebo/Model.hh" #include "ignition/gazebo/Util.hh" +#include +#include +#include + +#include + #include "OpticalTactilePlugin.hh" using namespace ignition; @@ -63,13 +70,19 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate public: void FilterOutCollisions(const EntityComponentManager &_ecm, const std::vector &_entities); + /// \brief Visualize the sensor's data using the Marker message + public: void VisualizeSensorData(std::vector &positions); + + /// \brief Interpolates contact data + public: void InterpolateData(const ignition::msgs::Contact &contactMsg); + /// \brief Resolution of the sensor in mm. public: double resolution; /// \brief Model interface. public: Model model{kNullEntity}; - /// \brief Transport node to keep services alive. + /// \brief Transport node to visualize data on Gazebo. public: transport::Node node; /// \brief Publisher that publishes the sensors' contacts. @@ -96,6 +109,14 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Name of the model in which the sensor(s) is attached. public: std::string modelName; + /// \brief Message for visualizing contact positions + public: ignition::msgs::Marker positionMarkerMsg; + + /// \brief Message for visualizing contact forces + public: ignition::msgs::Marker forceMarkerMsg; + + /// \brief Position interpolated from the Contact messages + public: std::vector interpolatedPosition; }; @@ -114,7 +135,6 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm, else { this->resolution = _sdf->Get("resolution"); - igndbg << "Sensor resolution: " << this->resolution << " mm" << std::endl; } // Get all the sensors @@ -162,9 +182,15 @@ void OpticalTactilePluginPrivate::Update(const UpdateInfo &_info, { for (const auto &contact : contacts->Data().contact()) { - ignmsg << "Collision between Entity " << contact.collision1().id() - << " and " << contact.collision2().id() << std::endl; + // Interpolate data returned by the Contact message + this->InterpolateData(contact); + + // Visualize interpolated data + this->VisualizeSensorData(this->interpolatedPosition); + } + + //ignition::common::Time::Sleep(ignition::common::Time(0.1)); } } } @@ -193,6 +219,46 @@ void OpticalTactilePluginPrivate::FilterOutCollisions(const EntityComponentManag } +////////////////////////////////////////////////// +void OpticalTactilePluginPrivate::InterpolateData(const ignition::msgs::Contact &contact) +{ + // Delete old positions + this->interpolatedPosition.clear(); + + // Add new ones and interpolate + for (int index = 0; index < contact.position_size(); ++index) + { + this->interpolatedPosition.push_back(contact.position(index)); + } +} + +////////////////////////////////////////////////// +void OpticalTactilePluginPrivate::VisualizeSensorData(std::vector &positions) +{ + // Delete previous shapes already in simulation + this->positionMarkerMsg.set_action(ignition::msgs::Marker::DELETE_ALL); + this->forceMarkerMsg.set_action(ignition::msgs::Marker::DELETE_ALL); + this->node.Request("/marker",this->positionMarkerMsg); + this->node.Request("/marker",this->forceMarkerMsg); + + // Add the new ones + this->positionMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + this->forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + for (int index = 0; index < positions.size(); ++index) + { + this->positionMarkerMsg.set_id(index); + this->forceMarkerMsg.set_id(index); + + ignition::msgs::Set(this->positionMarkerMsg.mutable_pose(), + ignition::math::Pose3d(positions[index].x(), positions[index].y(), positions[index].z(), 0, 0, 0)); + ignition::msgs::Set(this->forceMarkerMsg.mutable_pose(), + ignition::math::Pose3d(positions[index].x(), positions[index].y(), positions[index].z(), 0, 0, 0)); + + this->node.Request("/marker",this->positionMarkerMsg); + this->node.Request("/marker",this->forceMarkerMsg); + } +} + ////////////////////////////////////////////////// OpticalTactilePlugin::OpticalTactilePlugin() : System(), dataPtr(std::make_unique()) @@ -209,6 +275,51 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, igndbg << "OpticalTactilePlugin::Configure" << std::endl; this->dataPtr->sdfConfig = _sdf->Clone(); this->dataPtr->model = Model(_entity); + + // Configure Marker messages for position and force of the contacts + // Blue spheres for positions + // Red cylinders for forces + + // Create the marker message + this->dataPtr->positionMarkerMsg.set_ns("positions"); + this->dataPtr->positionMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + this->dataPtr->positionMarkerMsg.set_type(ignition::msgs::Marker::SPHERE); + this->dataPtr->positionMarkerMsg.set_visibility(ignition::msgs::Marker::GUI); + + this->dataPtr->forceMarkerMsg.set_ns("forces"); + this->dataPtr->forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + this->dataPtr->forceMarkerMsg.set_type(ignition::msgs::Marker::CYLINDER); + this->dataPtr->forceMarkerMsg.set_visibility(ignition::msgs::Marker::GUI); + + // Set material properties + this->dataPtr->positionMarkerMsg.mutable_material()->mutable_ambient()->set_r(0); + this->dataPtr->positionMarkerMsg.mutable_material()->mutable_ambient()->set_g(0); + this->dataPtr->positionMarkerMsg.mutable_material()->mutable_ambient()->set_b(1); + this->dataPtr->positionMarkerMsg.mutable_material()->mutable_ambient()->set_a(1); + this->dataPtr->positionMarkerMsg.mutable_material()->mutable_diffuse()->set_r(0); + this->dataPtr->positionMarkerMsg.mutable_material()->mutable_diffuse()->set_g(0); + this->dataPtr->positionMarkerMsg.mutable_material()->mutable_diffuse()->set_b(1); + this->dataPtr->positionMarkerMsg.mutable_material()->mutable_diffuse()->set_a(1); + this->dataPtr->positionMarkerMsg.mutable_lifetime()->set_sec(2); + this->dataPtr->positionMarkerMsg.mutable_lifetime()->set_nsec(0); + + this->dataPtr->forceMarkerMsg.mutable_material()->mutable_ambient()->set_r(0); + this->dataPtr->forceMarkerMsg.mutable_material()->mutable_ambient()->set_g(1); + this->dataPtr->forceMarkerMsg.mutable_material()->mutable_ambient()->set_b(0); + this->dataPtr->forceMarkerMsg.mutable_material()->mutable_ambient()->set_a(1); + this->dataPtr->forceMarkerMsg.mutable_material()->mutable_diffuse()->set_r(0); + this->dataPtr->forceMarkerMsg.mutable_material()->mutable_diffuse()->set_g(1); + this->dataPtr->forceMarkerMsg.mutable_material()->mutable_diffuse()->set_b(0); + this->dataPtr->forceMarkerMsg.mutable_material()->mutable_diffuse()->set_a(1); + this->dataPtr->forceMarkerMsg.mutable_lifetime()->set_sec(2); + this->dataPtr->forceMarkerMsg.mutable_lifetime()->set_nsec(0); + + // Set scales + ignition::msgs::Set(this->dataPtr->positionMarkerMsg.mutable_scale(), + ignition::math::Vector3d(0.20, 0.20, 0.20)); + + ignition::msgs::Set(this->dataPtr->forceMarkerMsg.mutable_scale(), + ignition::math::Vector3d(0.05, 0.05, 0.7)); } ////////////////////////////////////////////////// From 5cd5d5fec660bf18e5e1e918015d339f92fa6824 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Tue, 9 Jun 2020 16:54:43 +0200 Subject: [PATCH 145/202] Added plugin for Transform Control MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- examples/worlds/optical_tactile_sensor_plugin.sdf | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/examples/worlds/optical_tactile_sensor_plugin.sdf b/examples/worlds/optical_tactile_sensor_plugin.sdf index 0018b03906..a70ba4e437 100644 --- a/examples/worlds/optical_tactile_sensor_plugin.sdf +++ b/examples/worlds/optical_tactile_sensor_plugin.sdf @@ -10,6 +10,10 @@ filename="libignition-gazebo-contact-system.so" name="ignition::gazebo::systems::Contact"> + + From cd58ae636a009b388968b9298eada0a31b7992e9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Wed, 10 Jun 2020 17:04:40 +0200 Subject: [PATCH 146/202] Added initial interpolation MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../OpticalTactilePlugin.cc | 91 ++++++++++++++++--- 1 file changed, 76 insertions(+), 15 deletions(-) diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index e6c8cfeb15..167d8f4baa 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -71,7 +71,7 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate const std::vector &_entities); /// \brief Visualize the sensor's data using the Marker message - public: void VisualizeSensorData(std::vector &positions); + public: void VisualizeSensorData(std::vector &positions); /// \brief Interpolates contact data public: void InterpolateData(const ignition::msgs::Contact &contactMsg); @@ -112,11 +112,17 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Message for visualizing contact positions public: ignition::msgs::Marker positionMarkerMsg; + /// \brief Radius of the visualized contact sphere + public: double contactRadius{0.20}; + /// \brief Message for visualizing contact forces public: ignition::msgs::Marker forceMarkerMsg; + /// \brief Length of the visualized force cylinder + public: double forceLenght{0.20}; + /// \brief Position interpolated from the Contact messages - public: std::vector interpolatedPosition; + public: std::vector interpolatedPosition; }; @@ -128,13 +134,15 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm, igndbg << "Loading plugin [OpticalTactilePlugin]" << std::endl; // Get sdf parameters - if (!_sdf->HasElement("resolution")) { + if (!_sdf->HasElement("resolution")) + { ignerr << "Missing required parameter ." << std::endl; return; } else { - this->resolution = _sdf->Get("resolution"); + // resolution is specified in mm + this->resolution = _sdf->Get("resolution")/1000; } // Get all the sensors @@ -184,7 +192,7 @@ void OpticalTactilePluginPrivate::Update(const UpdateInfo &_info, { // Interpolate data returned by the Contact message this->InterpolateData(contact); - + // Visualize interpolated data this->VisualizeSensorData(this->interpolatedPosition); @@ -225,15 +233,64 @@ void OpticalTactilePluginPrivate::InterpolateData(const ignition::msgs::Contact // Delete old positions this->interpolatedPosition.clear(); - // Add new ones and interpolate - for (int index = 0; index < contact.position_size(); ++index) + // Interpolate new ones + if (contact.position_size() == 4) { - this->interpolatedPosition.push_back(contact.position(index)); - } + igndbg << "Interpolate 4 position" << std::endl; + ignition::math::Vector3d contact1 = ignition::msgs::Convert(contact.position(0)); + ignition::math::Vector3d contact2 = ignition::msgs::Convert(contact.position(1)); + ignition::math::Vector3d contact3 = ignition::msgs::Convert(contact.position(2)); + ignition::math::Vector3d contact4 = ignition::msgs::Convert(contact.position(3)); + + ignition::math::Vector3d direction1 = (contact2 - contact1).Normalized() * this->resolution; + ignition::math::Vector3d direction2 = (contact4 - contact1).Normalized() * this->resolution; + + ignition::math::Vector3d interpolatedVector = contact1; + this->interpolatedPosition.push_back(contact1); + + // auxiliary Vector3d to iterate through contacts + ignition::math::Vector3d tempVector (0.0, 0.0, 0.0); + + long unsigned int steps1 = contact1.Distance(contact2) / this->resolution; + long unsigned int steps2 = contact1.Distance(contact4) / this->resolution; + + igndbg << "\n contact1: " << contact1 << "\n" + << "contact2: " << contact2 << "\n" + << "contact3: " << contact3 << "\n" + << "contact4: " << contact4 << "\n" + << "direction1: " << direction1 << "\n" + << "direction2: " << direction2 << "\n"; + + igndbg << "steps1 = " << steps1 << std::endl; + igndbg << "contact1.Distance(contact2) = " << contact1.Distance(contact2) << std::endl; + igndbg << "this->resolution = " << this->resolution << std::endl; + + igndbg << "steps2 = " << steps2 << std::endl; + igndbg << "contact1.Distance(contact4) = " << contact1.Distance(contact4) << std::endl; + igndbg << "this->resolution = " << this->resolution << std::endl; + igndbg << "interpolatedVector: " << interpolatedVector << std::endl; + for (long unsigned int index1 = 0; index1 <= steps1; ++index1) + { + tempVector = interpolatedVector; + for (long unsigned int index2 = 0; index2 < steps2; ++index2) + { + interpolatedVector += direction2; + igndbg << "interpolatedVector: " << interpolatedVector << std::endl; + this->interpolatedPosition.push_back(interpolatedVector); + } + if (index1 != steps1) + { + interpolatedVector = tempVector; + interpolatedVector += direction1; + igndbg << "interpolatedVector: " << interpolatedVector << std::endl; + this->interpolatedPosition.push_back(interpolatedVector); + } + } + } } ////////////////////////////////////////////////// -void OpticalTactilePluginPrivate::VisualizeSensorData(std::vector &positions) +void OpticalTactilePluginPrivate::VisualizeSensorData(std::vector &positions) { // Delete previous shapes already in simulation this->positionMarkerMsg.set_action(ignition::msgs::Marker::DELETE_ALL); @@ -244,15 +301,18 @@ void OpticalTactilePluginPrivate::VisualizeSensorData(std::vectorpositionMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); this->forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + for (int index = 0; index < positions.size(); ++index) { this->positionMarkerMsg.set_id(index); this->forceMarkerMsg.set_id(index); ignition::msgs::Set(this->positionMarkerMsg.mutable_pose(), - ignition::math::Pose3d(positions[index].x(), positions[index].y(), positions[index].z(), 0, 0, 0)); + ignition::math::Pose3d(positions[index].X(), positions[index].Y(), + positions[index].Z(), 0, 0, 0)); ignition::msgs::Set(this->forceMarkerMsg.mutable_pose(), - ignition::math::Pose3d(positions[index].x(), positions[index].y(), positions[index].z(), 0, 0, 0)); + ignition::math::Pose3d(positions[index].X(), positions[index].Y(), + positions[index].Z() + this->forceLenght, 0, 0, 0)); this->node.Request("/marker",this->positionMarkerMsg); this->node.Request("/marker",this->forceMarkerMsg); @@ -278,7 +338,7 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, // Configure Marker messages for position and force of the contacts // Blue spheres for positions - // Red cylinders for forces + // Green cylinders for forces // Create the marker message this->dataPtr->positionMarkerMsg.set_ns("positions"); @@ -316,10 +376,11 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, // Set scales ignition::msgs::Set(this->dataPtr->positionMarkerMsg.mutable_scale(), - ignition::math::Vector3d(0.20, 0.20, 0.20)); + ignition::math::Vector3d(this->dataPtr->contactRadius, this->dataPtr->contactRadius, + this->dataPtr->contactRadius)); ignition::msgs::Set(this->dataPtr->forceMarkerMsg.mutable_scale(), - ignition::math::Vector3d(0.05, 0.05, 0.7)); + ignition::math::Vector3d(0.05, 0.05, this->dataPtr->forceLenght)); } ////////////////////////////////////////////////// From 40a87ef5fd35e46a15235bbb5db055e5a2457500 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Thu, 11 Jun 2020 11:59:16 +0200 Subject: [PATCH 147/202] Code check MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../OpticalTactilePlugin.cc | 355 ++++++++++-------- .../OpticalTactilePlugin.hh | 47 ++- 2 files changed, 220 insertions(+), 182 deletions(-) diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index 167d8f4baa..520bbe26ac 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -36,12 +36,6 @@ #include "ignition/gazebo/Model.hh" #include "ignition/gazebo/Util.hh" -#include -#include -#include - -#include - #include "OpticalTactilePlugin.hh" using namespace ignition; @@ -50,96 +44,96 @@ using namespace systems; class ignition::gazebo::systems::OpticalTactilePluginPrivate { - /// \brief Load the Contact sensor from an sdf element - /// \param[in] _sdf SDF element describing the Contact sensor - /// \param[in] _ecm Immutable reference to the EntityComponentManager - public: void Load(const EntityComponentManager &_ecm, - const sdf::ElementPtr &_sdf); + /// \brief Load the Contact sensor from an sdf element + /// \param[in] _sdf SDF element describing the Contact sensor + /// \param[in] _ecm Immutable reference to the EntityComponentManager + public: void Load(const EntityComponentManager &_ecm, + const sdf::ElementPtr &_sdf); - /// \brief Actual function that enables the plugin. - /// \param[in] _value True to enable plugin. - public: void Enable(const bool _value); + /// \brief Actual function that enables the plugin. + /// \param[in] _value True to enable plugin. + public: void Enable(const bool _value); - /// \brief Process contact sensor data - /// \param[in] _info Simulation update info - /// \param[in] _ecm Immutable reference to the EntityComponentManager - public: void Update(const UpdateInfo &_info, - const EntityComponentManager &_ecm); + /// \brief Process contact sensor data + /// \param[in] _info Simulation update info + /// \param[in] _ecm Immutable reference to the EntityComponentManager + public: void Update(const UpdateInfo &_info, + const EntityComponentManager &_ecm); - /// \brief Filters out new collisions fetched not related to the sensors - public: void FilterOutCollisions(const EntityComponentManager &_ecm, - const std::vector &_entities); + /// \brief Filters out new collisions fetched not related to the sensors + public: void FilterOutCollisions(const EntityComponentManager &_ecm, + const std::vector &_entities); - /// \brief Visualize the sensor's data using the Marker message - public: void VisualizeSensorData(std::vector &positions); + /// \brief Visualize the sensor's data using the Marker message + public: void VisualizeSensorData( + std::vector &positions); - /// \brief Interpolates contact data - public: void InterpolateData(const ignition::msgs::Contact &contactMsg); + /// \brief Interpolates contact data + public: void InterpolateData(const ignition::msgs::Contact &contactMsg); - /// \brief Resolution of the sensor in mm. - public: double resolution; + /// \brief Resolution of the sensor in mm. + public: double resolution; - /// \brief Model interface. - public: Model model{kNullEntity}; + /// \brief Model interface. + public: Model model{kNullEntity}; - /// \brief Transport node to visualize data on Gazebo. - public: transport::Node node; + /// \brief Transport node to visualize data on Gazebo. + public: transport::Node node; - /// \brief Publisher that publishes the sensors' contacts. - public: std::optionalsensorContactsPub; + /// \brief Publisher that publishes the sensors' contacts. + public: std::optionalsensorContactsPub; - /// \brief Collision entities that have been designated as contact sensors. - public: std::vector sensorEntities; + /// \brief Collision entities that have been designated as contact sensors. + public: std::vector sensorEntities; - /// \brief Collision entities of the simulation. - public: std::vector collisionEntities; + /// \brief Collision entities of the simulation. + public: std::vector collisionEntities; - /// \brief Filtered collisions from the simulation that belong to one or more sensors. - public: std::vector filteredCollisionEntities; + /// \brief Filtered collisions from the simulation that belong to + // one or more sensors. + public: std::vector filteredCollisionEntities; - /// \brief Wheter the plugin is enabled. - public: bool enabled{true}; + /// \brief Wheter the plugin is enabled. + public: bool enabled{true}; - /// \brief Initialization flag. - public: bool initialized{false}; + /// \brief Initialization flag. + public: bool initialized{false}; - /// \brief Copy of the sdf configuration used for this plugin. - public: sdf::ElementPtr sdfConfig; + /// \brief Copy of the sdf configuration used for this plugin. + public: sdf::ElementPtr sdfConfig; - /// \brief Name of the model in which the sensor(s) is attached. - public: std::string modelName; - - /// \brief Message for visualizing contact positions - public: ignition::msgs::Marker positionMarkerMsg; + /// \brief Name of the model in which the sensor(s) is attached. + public: std::string modelName; - /// \brief Radius of the visualized contact sphere - public: double contactRadius{0.20}; + /// \brief Message for visualizing contact positions + public: ignition::msgs::Marker positionMarkerMsg; - /// \brief Message for visualizing contact forces - public: ignition::msgs::Marker forceMarkerMsg; + /// \brief Radius of the visualized contact sphere + public: double contactRadius{0.20}; - /// \brief Length of the visualized force cylinder - public: double forceLenght{0.20}; + /// \brief Message for visualizing contact forces + public: ignition::msgs::Marker forceMarkerMsg; - /// \brief Position interpolated from the Contact messages - public: std::vector interpolatedPosition; + /// \brief Length of the visualized force cylinder + public: double forceLenght{0.20}; + /// \brief Position interpolated from the Contact messages + public: std::vector interpolatedPosition; }; ////////////////////////////////////////////////// void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm, - const sdf::ElementPtr &_sdf) + const sdf::ElementPtr &_sdf) { - igndbg << "Loading plugin [OpticalTactilePlugin]" << std::endl; // Get sdf parameters - if (!_sdf->HasElement("resolution")) + if (!_sdf->HasElement("resolution")) { ignerr << "Missing required parameter ." << std::endl; return; - } - else + } + else { // resolution is specified in mm this->resolution = _sdf->Get("resolution")/1000; @@ -151,23 +145,22 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm, for (const Entity linkEntity : allLinks) { - auto linkCollisions= + auto linkCollisions = _ecm.ChildrenByComponents(linkEntity, components::Collision()); for (const Entity colEntity : linkCollisions) { if (_ecm.EntityHasComponentType(colEntity, - components::ContactSensorData::typeId)) + components::ContactSensorData::typeId)) { this->sensorEntities.push_back(colEntity); this->modelName = this->model.Name(_ecm); - igndbg << "Sensor detected within model " << this->modelName << std::endl; + igndbg << "Sensor detected within model " + << this->modelName << std::endl; } } } - - } ////////////////////////////////////////////////// @@ -181,31 +174,31 @@ void OpticalTactilePluginPrivate::Update(const UpdateInfo &_info, const EntityComponentManager &_ecm) { IGN_PROFILE("TouchPluginPrivate::Update"); - + // Print collision messages which have the sensor as one collision - for (const Entity colEntity: this->filteredCollisionEntities) + for (const Entity colEntity : this->filteredCollisionEntities) { - auto* contacts = _ecm.Component(colEntity); + auto* contacts = + _ecm.Component(colEntity); if (contacts) { for (const auto &contact : contacts->Data().contact()) { // Interpolate data returned by the Contact message this->InterpolateData(contact); - + // Visualize interpolated data this->VisualizeSensorData(this->interpolatedPosition); - } - - //ignition::common::Time::Sleep(ignition::common::Time(0.1)); + // ignition::common::Time::Sleep(ignition::common::Time(0.1)); } } } ////////////////////////////////////////////////// -void OpticalTactilePluginPrivate::FilterOutCollisions(const EntityComponentManager &_ecm, - const std::vector &_entities) +void OpticalTactilePluginPrivate::FilterOutCollisions( + const EntityComponentManager &_ecm, + const std::vector &_entities) { if (_entities.empty()) return; @@ -213,22 +206,23 @@ void OpticalTactilePluginPrivate::FilterOutCollisions(const EntityComponentManag // Clear vector that contains old data this->filteredCollisionEntities.clear(); - // Get collisions from the sensor + // Get collisions from the sensor for (Entity entity : _entities) { - std::string name = scopedName(entity,_ecm); + std::string name = scopedName(entity, _ecm); igndbg << "scopedName: " << name << std::endl; if (name.find(this->modelName) != std::string::npos) { - igndbg << "Filtered collision that belongs to a sensor" << std::endl; + igndbg << "Filtered collision that belongs to a sensor" + << std::endl; this->filteredCollisionEntities.push_back(entity); } } - } ////////////////////////////////////////////////// -void OpticalTactilePluginPrivate::InterpolateData(const ignition::msgs::Contact &contact) +void OpticalTactilePluginPrivate::InterpolateData( + const ignition::msgs::Contact &contact) { // Delete old positions this->interpolatedPosition.clear(); @@ -237,85 +231,103 @@ void OpticalTactilePluginPrivate::InterpolateData(const ignition::msgs::Contact if (contact.position_size() == 4) { igndbg << "Interpolate 4 position" << std::endl; - ignition::math::Vector3d contact1 = ignition::msgs::Convert(contact.position(0)); - ignition::math::Vector3d contact2 = ignition::msgs::Convert(contact.position(1)); - ignition::math::Vector3d contact3 = ignition::msgs::Convert(contact.position(2)); - ignition::math::Vector3d contact4 = ignition::msgs::Convert(contact.position(3)); - - ignition::math::Vector3d direction1 = (contact2 - contact1).Normalized() * this->resolution; - ignition::math::Vector3d direction2 = (contact4 - contact1).Normalized() * this->resolution; + ignition::math::Vector3d contact1 = + ignition::msgs::Convert(contact.position(0)); + ignition::math::Vector3d contact2 = + ignition::msgs::Convert(contact.position(1)); + ignition::math::Vector3d contact3 = + ignition::msgs::Convert(contact.position(2)); + ignition::math::Vector3d contact4 = + ignition::msgs::Convert(contact.position(3)); + + ignition::math::Vector3d direction1 = + (contact2 - contact1).Normalized() * this->resolution; + ignition::math::Vector3d direction2 = + (contact4 - contact1).Normalized() * this->resolution; ignition::math::Vector3d interpolatedVector = contact1; this->interpolatedPosition.push_back(contact1); // auxiliary Vector3d to iterate through contacts - ignition::math::Vector3d tempVector (0.0, 0.0, 0.0); + ignition::math::Vector3d tempVector(0.0, 0.0, 0.0); + + uint64_t steps1 = + contact1.Distance(contact2) / this->resolution; + uint64_t steps2 = + contact1.Distance(contact4) / this->resolution; - long unsigned int steps1 = contact1.Distance(contact2) / this->resolution; - long unsigned int steps2 = contact1.Distance(contact4) / this->resolution; - igndbg << "\n contact1: " << contact1 << "\n" - << "contact2: " << contact2 << "\n" - << "contact3: " << contact3 << "\n" - << "contact4: " << contact4 << "\n" - << "direction1: " << direction1 << "\n" - << "direction2: " << direction2 << "\n"; - + << "contact2: " << contact2 << "\n" + << "contact2: " << contact2 << "\n" + << "contact2: " << contact2 << "\n" + << "contact2: " << contact2 << "\n" + << "contact2: " << contact2 << "\n" + << "contact3: " << contact3 << "\n" + << "contact4: " << contact4 << "\n" + << "direction1: " << direction1 << "\n" + << "direction2: " << direction2 << "\n"; + igndbg << "steps1 = " << steps1 << std::endl; - igndbg << "contact1.Distance(contact2) = " << contact1.Distance(contact2) << std::endl; - igndbg << "this->resolution = " << this->resolution << std::endl; + igndbg << "contact1.Distance(contact2) = " + << contact1.Distance(contact2) << std::endl; + igndbg << "this->resolution = " + << this->resolution << std::endl; igndbg << "steps2 = " << steps2 << std::endl; - igndbg << "contact1.Distance(contact4) = " << contact1.Distance(contact4) << std::endl; + igndbg << "contact1.Distance(contact4) = " + << contact1.Distance(contact4) << std::endl; igndbg << "this->resolution = " << this->resolution << std::endl; igndbg << "interpolatedVector: " << interpolatedVector << std::endl; - for (long unsigned int index1 = 0; index1 <= steps1; ++index1) + for (uint64_t index1 = 0; index1 <= steps1; ++index1) { tempVector = interpolatedVector; - for (long unsigned int index2 = 0; index2 < steps2; ++index2) + for (uint64_t index2 = 0; index2 < steps2; ++index2) { interpolatedVector += direction2; - igndbg << "interpolatedVector: " << interpolatedVector << std::endl; + igndbg << "interpolatedVector: " + << interpolatedVector << std::endl; this->interpolatedPosition.push_back(interpolatedVector); } if (index1 != steps1) { interpolatedVector = tempVector; interpolatedVector += direction1; - igndbg << "interpolatedVector: " << interpolatedVector << std::endl; - this->interpolatedPosition.push_back(interpolatedVector); - } + igndbg << "interpolatedVector: " + << interpolatedVector << std::endl; + this->interpolatedPosition.push_back(interpolatedVector); + } } - } + } } ////////////////////////////////////////////////// -void OpticalTactilePluginPrivate::VisualizeSensorData(std::vector &positions) +void OpticalTactilePluginPrivate::VisualizeSensorData( + std::vector &positions) { // Delete previous shapes already in simulation this->positionMarkerMsg.set_action(ignition::msgs::Marker::DELETE_ALL); this->forceMarkerMsg.set_action(ignition::msgs::Marker::DELETE_ALL); - this->node.Request("/marker",this->positionMarkerMsg); - this->node.Request("/marker",this->forceMarkerMsg); + this->node.Request("/marker", this->positionMarkerMsg); + this->node.Request("/marker", this->forceMarkerMsg); // Add the new ones this->positionMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); this->forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); - for (int index = 0; index < positions.size(); ++index) + for (uint64_t index = 0; index < positions.size(); ++index) { this->positionMarkerMsg.set_id(index); this->forceMarkerMsg.set_id(index); ignition::msgs::Set(this->positionMarkerMsg.mutable_pose(), - ignition::math::Pose3d(positions[index].X(), positions[index].Y(), - positions[index].Z(), 0, 0, 0)); + ignition::math::Pose3d(positions[index].X(), positions[index].Y(), + positions[index].Z(), 0, 0, 0)); ignition::msgs::Set(this->forceMarkerMsg.mutable_pose(), - ignition::math::Pose3d(positions[index].X(), positions[index].Y(), - positions[index].Z() + this->forceLenght, 0, 0, 0)); + ignition::math::Pose3d(positions[index].X(), positions[index].Y(), + positions[index].Z() + this->forceLenght, 0, 0, 0)); - this->node.Request("/marker",this->positionMarkerMsg); - this->node.Request("/marker",this->forceMarkerMsg); + this->node.Request("/marker", this->positionMarkerMsg); + this->node.Request("/marker", this->forceMarkerMsg); } } @@ -342,45 +354,72 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, // Create the marker message this->dataPtr->positionMarkerMsg.set_ns("positions"); - this->dataPtr->positionMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); - this->dataPtr->positionMarkerMsg.set_type(ignition::msgs::Marker::SPHERE); - this->dataPtr->positionMarkerMsg.set_visibility(ignition::msgs::Marker::GUI); + this->dataPtr->positionMarkerMsg.set_action( + ignition::msgs::Marker::ADD_MODIFY); + this->dataPtr->positionMarkerMsg.set_type( + ignition::msgs::Marker::SPHERE); + this->dataPtr->positionMarkerMsg.set_visibility( + ignition::msgs::Marker::GUI); this->dataPtr->forceMarkerMsg.set_ns("forces"); - this->dataPtr->forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); - this->dataPtr->forceMarkerMsg.set_type(ignition::msgs::Marker::CYLINDER); - this->dataPtr->forceMarkerMsg.set_visibility(ignition::msgs::Marker::GUI); - - // Set material properties - this->dataPtr->positionMarkerMsg.mutable_material()->mutable_ambient()->set_r(0); - this->dataPtr->positionMarkerMsg.mutable_material()->mutable_ambient()->set_g(0); - this->dataPtr->positionMarkerMsg.mutable_material()->mutable_ambient()->set_b(1); - this->dataPtr->positionMarkerMsg.mutable_material()->mutable_ambient()->set_a(1); - this->dataPtr->positionMarkerMsg.mutable_material()->mutable_diffuse()->set_r(0); - this->dataPtr->positionMarkerMsg.mutable_material()->mutable_diffuse()->set_g(0); - this->dataPtr->positionMarkerMsg.mutable_material()->mutable_diffuse()->set_b(1); - this->dataPtr->positionMarkerMsg.mutable_material()->mutable_diffuse()->set_a(1); - this->dataPtr->positionMarkerMsg.mutable_lifetime()->set_sec(2); - this->dataPtr->positionMarkerMsg.mutable_lifetime()->set_nsec(0); - - this->dataPtr->forceMarkerMsg.mutable_material()->mutable_ambient()->set_r(0); - this->dataPtr->forceMarkerMsg.mutable_material()->mutable_ambient()->set_g(1); - this->dataPtr->forceMarkerMsg.mutable_material()->mutable_ambient()->set_b(0); - this->dataPtr->forceMarkerMsg.mutable_material()->mutable_ambient()->set_a(1); - this->dataPtr->forceMarkerMsg.mutable_material()->mutable_diffuse()->set_r(0); - this->dataPtr->forceMarkerMsg.mutable_material()->mutable_diffuse()->set_g(1); - this->dataPtr->forceMarkerMsg.mutable_material()->mutable_diffuse()->set_b(0); - this->dataPtr->forceMarkerMsg.mutable_material()->mutable_diffuse()->set_a(1); - this->dataPtr->forceMarkerMsg.mutable_lifetime()->set_sec(2); - this->dataPtr->forceMarkerMsg.mutable_lifetime()->set_nsec(0); + this->dataPtr->forceMarkerMsg.set_action( + ignition::msgs::Marker::ADD_MODIFY); + this->dataPtr->forceMarkerMsg.set_type( + ignition::msgs::Marker::CYLINDER); + this->dataPtr->forceMarkerMsg.set_visibility( + ignition::msgs::Marker::GUI); + + // Set material properties + this->dataPtr-> + positionMarkerMsg.mutable_material()->mutable_ambient()->set_r(0); + this->dataPtr-> + positionMarkerMsg.mutable_material()->mutable_ambient()->set_g(0); + this->dataPtr-> + positionMarkerMsg.mutable_material()->mutable_ambient()->set_b(1); + this->dataPtr-> + positionMarkerMsg.mutable_material()->mutable_ambient()->set_a(1); + this->dataPtr-> + positionMarkerMsg.mutable_material()->mutable_diffuse()->set_r(0); + this->dataPtr-> + positionMarkerMsg.mutable_material()->mutable_diffuse()->set_g(0); + this->dataPtr-> + positionMarkerMsg.mutable_material()->mutable_diffuse()->set_b(1); + this->dataPtr-> + positionMarkerMsg.mutable_material()->mutable_diffuse()->set_a(1); + this->dataPtr-> + positionMarkerMsg.mutable_lifetime()->set_sec(2); + this->dataPtr-> + positionMarkerMsg.mutable_lifetime()->set_nsec(0); + + this->dataPtr-> + forceMarkerMsg.mutable_material()->mutable_ambient()->set_r(0); + this->dataPtr-> + forceMarkerMsg.mutable_material()->mutable_ambient()->set_g(1); + this->dataPtr-> + forceMarkerMsg.mutable_material()->mutable_ambient()->set_b(0); + this->dataPtr-> + forceMarkerMsg.mutable_material()->mutable_ambient()->set_a(1); + this->dataPtr-> + forceMarkerMsg.mutable_material()->mutable_diffuse()->set_r(0); + this->dataPtr-> + forceMarkerMsg.mutable_material()->mutable_diffuse()->set_g(1); + this->dataPtr-> + forceMarkerMsg.mutable_material()->mutable_diffuse()->set_b(0); + this->dataPtr-> + forceMarkerMsg.mutable_material()->mutable_diffuse()->set_a(1); + this->dataPtr-> + forceMarkerMsg.mutable_lifetime()->set_sec(2); + this->dataPtr-> + forceMarkerMsg.mutable_lifetime()->set_nsec(0); // Set scales ignition::msgs::Set(this->dataPtr->positionMarkerMsg.mutable_scale(), - ignition::math::Vector3d(this->dataPtr->contactRadius, this->dataPtr->contactRadius, - this->dataPtr->contactRadius)); + ignition::math::Vector3d(this->dataPtr->contactRadius, + this->dataPtr->contactRadius, + this->dataPtr->contactRadius)); ignition::msgs::Set(this->dataPtr->forceMarkerMsg.mutable_scale(), - ignition::math::Vector3d(0.05, 0.05, this->dataPtr->forceLenght)); + ignition::math::Vector3d(0.05, 0.05, this->dataPtr->forceLenght)); } ////////////////////////////////////////////////// @@ -397,8 +436,8 @@ void OpticalTactilePlugin::PreUpdate(const UpdateInfo &_info, // Update new collision messages - // This is not an "else" because "initialized" can be set in the if block - // above + // This is not an "else" because "initialized" can be set + // in the if block above if (this->dataPtr->initialized) { // Fetch new collisions from simulation @@ -417,13 +456,12 @@ void OpticalTactilePlugin::PreUpdate(const UpdateInfo &_info, ////////////////////////////////////////////////// void OpticalTactilePlugin::PostUpdate( - const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm) + const ignition::gazebo::UpdateInfo &_info, + const ignition::gazebo::EntityComponentManager &_ecm) { IGN_PROFILE("TouchPluginPrivate::PostUpdate"); this->dataPtr->Update(_info, _ecm); - } IGNITION_ADD_PLUGIN(OpticalTactilePlugin, @@ -432,4 +470,5 @@ IGNITION_ADD_PLUGIN(OpticalTactilePlugin, OpticalTactilePlugin::ISystemPreUpdate, OpticalTactilePlugin::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(OpticalTactilePlugin, "ignition::gazebo::systems::OpticalTactilePlugin") \ No newline at end of file +IGNITION_ADD_PLUGIN_ALIAS(OpticalTactilePlugin, + "ignition::gazebo::systems::OpticalTactilePlugin") diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh index 44232e9fda..b2dfac45aa 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh @@ -27,7 +27,7 @@ namespace ignition namespace gazebo { // Inline bracket to help doxygen filtering. -inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { namespace systems { @@ -40,9 +40,9 @@ namespace systems /// model on which this plugin is attached. /// /// Parameters: - /// - /// Set this to true so the plugin works from the start and doesn't - /// need to be enabled. + /// + /// Set this to true so the plugin works from the start and + /// doesn't need to be enabled. class IGNITION_GAZEBO_VISIBLE OpticalTactilePlugin : public System, @@ -50,34 +50,33 @@ namespace systems public ISystemPreUpdate, public ISystemPostUpdate { - /// \brief Constructor - public: OpticalTactilePlugin(); - - /// \brief Destructor - public: ~OpticalTactilePlugin() override = default; + /// \brief Constructor + public: OpticalTactilePlugin(); - // Documentation inherited - public: void Configure(const Entity &_entity, - const std::shared_ptr &_sdf, - EntityComponentManager &_ecm, - EventManager &_eventMgr) override; + /// \brief Destructor + public: ~OpticalTactilePlugin() override = default; - /// Documentation inherited - public: void PreUpdate(const UpdateInfo &_info, - EntityComponentManager &_ecm) final; + // Documentation inherited + public: void Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &_eventMgr) override; - // Documentation inherited - public: void PostUpdate( - const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm) override; + /// Documentation inherited + public: void PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) final; - /// \brief Private data pointer - private: std::unique_ptr dataPtr; + // Documentation inherited + public: void PostUpdate( + const ignition::gazebo::UpdateInfo &_info, + const ignition::gazebo::EntityComponentManager &_ecm) override; + /// \brief Private data pointer + private: std::unique_ptr dataPtr; }; } } } } -#endif \ No newline at end of file +#endif From 9213a9ecd7e4ee8a3bb0b8f46985541e7f54321b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Thu, 11 Jun 2020 20:10:04 +0200 Subject: [PATCH 148/202] Minor fixes MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .vscode/c_cpp_properties.json | 22 +++++++++++++++++++ .vscode/settings.json | 10 +++++++++ include/ignition/gazebo/components/Actor.hh | 4 ++-- src/SimulationRunner.hh | 6 ++--- .../plugins/video_recorder/VideoRecorder.qml | 4 ++-- test/integration/follow_actor_system.cc | 6 +++-- test/integration/physics_system.cc | 4 ++-- 7 files changed, 45 insertions(+), 11 deletions(-) create mode 100644 .vscode/c_cpp_properties.json create mode 100644 .vscode/settings.json diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000000..8f92188180 --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,22 @@ +{ + "configurations": [ + { + "browse": { + "databaseFilename": "", + "limitSymbolsToIncludedHeaders": true + }, + "includePath": [ + "/home/mcres/ignition/install/include/**", + "/opt/ros/melodic/include/**", + "/home/mcres/ws_ros/src/using_markers/include/**", + "/usr/include/**" + ], + "name": "ROS", + "intelliSenseMode": "gcc-x64", + "compilerPath": "/usr/bin/gcc", + "cStandard": "c11", + "cppStandard": "gnu++14" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000000..491de1896b --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,10 @@ +{ + "python.autoComplete.extraPaths": [ + "/home/mcres/ws_ros/devel/lib/python2.7/dist-packages", + "/opt/ros/melodic/lib/python2.7/dist-packages" + ], + "files.associations": { + "string": "cpp", + "chrono": "cpp" + } +} \ No newline at end of file diff --git a/include/ignition/gazebo/components/Actor.hh b/include/ignition/gazebo/components/Actor.hh index c4db743488..526b96cecd 100644 --- a/include/ignition/gazebo/components/Actor.hh +++ b/include/ignition/gazebo/components/Actor.hh @@ -17,11 +17,11 @@ #ifndef IGNITION_GAZEBO_COMPONENTS_ACTOR_HH_ #define IGNITION_GAZEBO_COMPONENTS_ACTOR_HH_ +#include + #include #include -#include - #include #include diff --git a/src/SimulationRunner.hh b/src/SimulationRunner.hh index 82329be8b9..4f22cfe7fb 100644 --- a/src/SimulationRunner.hh +++ b/src/SimulationRunner.hh @@ -70,16 +70,16 @@ namespace ignition struct WorldControl { /// \brief True to pause simulation. - // cppcheck-suppress unusedStructMember + /// cppcheck-suppress unusedStructMember bool pause{false}; // NOLINT /// \biref Run a given number of simulation iterations. - // cppcheck-suppress unusedStructMember + /// cppcheck-suppress unusedStructMember uint64_t multiStep{0u}; // NOLINT /// \brief Reset simulation back to time zero. Rewinding resets sim time, /// real time and iterations. - // cppcheck-suppress unusedStructMember + /// cppcheck-suppress unusedStructMember bool rewind{false}; // NOLINT /// \brief Sim time to jump to. A negative value means don't seek. diff --git a/src/gui/plugins/video_recorder/VideoRecorder.qml b/src/gui/plugins/video_recorder/VideoRecorder.qml index cc5fa23f36..c56d44fe89 100644 --- a/src/gui/plugins/video_recorder/VideoRecorder.qml +++ b/src/gui/plugins/video_recorder/VideoRecorder.qml @@ -132,7 +132,7 @@ ToolBar { MenuItem { text: "mp4" onTriggered: { - fileDialog.nameFilters = [ "*.mp4" ] + fileDialog.nameFilters = ["*.mp4"] fileDialog.selectedFormat = "mp4" VideoRecorder.OnStart("mp4") animation.start() @@ -141,7 +141,7 @@ ToolBar { MenuItem { text: "ogv" onTriggered: { - fileDialog.nameFilters = [ "*.ogv" ] + fileDialog.nameFilters = ["*.ogv"] fileDialog.selectedFormat = "ogv" VideoRecorder.OnStart("ogv") animation.start() diff --git a/test/integration/follow_actor_system.cc b/test/integration/follow_actor_system.cc index 562bcd905f..28ca5191c1 100644 --- a/test/integration/follow_actor_system.cc +++ b/test/integration/follow_actor_system.cc @@ -142,12 +142,14 @@ TEST_P(FollowActorTest, PublishCmd) components::Name("box")); EXPECT_NE(kNullEntity, targetEntity); - auto animNameComp = _ecm.Component(actorEntity); + auto animNameComp = + _ecm.Component(actorEntity); ASSERT_NE(nullptr, animNameComp); EXPECT_EQ("walking", animNameComp->Data()); // Animation time is always increasing - auto animTimeComp = _ecm.Component(actorEntity); + auto animTimeComp = + _ecm.Component(actorEntity); ASSERT_NE(nullptr, animTimeComp); // Actor pose is fixed to zero X/Y and initial Z diff --git a/test/integration/physics_system.cc b/test/integration/physics_system.cc index e715c0cf73..65e7253228 100644 --- a/test/integration/physics_system.cc +++ b/test/integration/physics_system.cc @@ -678,7 +678,7 @@ TEST_F(PhysicsSystemFixture, ResetPositionComponent) double pos0 = 0.42; - // cppcheck-suppress variableScope + /// cppcheck-suppress variableScope bool firstRun = true; testSystem.OnPreUpdate( @@ -773,7 +773,7 @@ TEST_F(PhysicsSystemFixture, ResetVelocityComponent) double vel0 = 3.0; - // cppcheck-suppress variableScope + /// cppcheck-suppress variableScope bool firstRun = true; testSystem.OnPreUpdate( From 2a6742cb6aac436c3af523a2692415befb741fc1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Thu, 11 Jun 2020 20:20:17 +0200 Subject: [PATCH 149/202] Minor fixes 2 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .vscode/c_cpp_properties.json | 22 ---------------------- .vscode/settings.json | 10 ---------- 2 files changed, 32 deletions(-) delete mode 100644 .vscode/c_cpp_properties.json delete mode 100644 .vscode/settings.json diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json deleted file mode 100644 index 8f92188180..0000000000 --- a/.vscode/c_cpp_properties.json +++ /dev/null @@ -1,22 +0,0 @@ -{ - "configurations": [ - { - "browse": { - "databaseFilename": "", - "limitSymbolsToIncludedHeaders": true - }, - "includePath": [ - "/home/mcres/ignition/install/include/**", - "/opt/ros/melodic/include/**", - "/home/mcres/ws_ros/src/using_markers/include/**", - "/usr/include/**" - ], - "name": "ROS", - "intelliSenseMode": "gcc-x64", - "compilerPath": "/usr/bin/gcc", - "cStandard": "c11", - "cppStandard": "gnu++14" - } - ], - "version": 4 -} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json deleted file mode 100644 index 491de1896b..0000000000 --- a/.vscode/settings.json +++ /dev/null @@ -1,10 +0,0 @@ -{ - "python.autoComplete.extraPaths": [ - "/home/mcres/ws_ros/devel/lib/python2.7/dist-packages", - "/opt/ros/melodic/lib/python2.7/dist-packages" - ], - "files.associations": { - "string": "cpp", - "chrono": "cpp" - } -} \ No newline at end of file From 5b85a48dff959620e514b422aa58c696e7a1aebb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Fri, 12 Jun 2020 17:42:36 +0200 Subject: [PATCH 150/202] Update info after specified milliseconds MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../worlds/optical_tactile_sensor_plugin.sdf | 2 +- .../OpticalTactilePlugin.cc | 131 ++++++++---------- .../OpticalTactilePlugin.hh | 5 + 3 files changed, 67 insertions(+), 71 deletions(-) diff --git a/examples/worlds/optical_tactile_sensor_plugin.sdf b/examples/worlds/optical_tactile_sensor_plugin.sdf index a70ba4e437..6e64987bc5 100644 --- a/examples/worlds/optical_tactile_sensor_plugin.sdf +++ b/examples/worlds/optical_tactile_sensor_plugin.sdf @@ -182,7 +182,7 @@ filename="libignition-gazebo-opticaltactileplugin-system.so" name="ignition::gazebo::systems::OpticalTactilePlugin"> true - 5 + 200 "Gaussian" diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index 520bbe26ac..251f8c378a 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -54,12 +54,6 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \param[in] _value True to enable plugin. public: void Enable(const bool _value); - /// \brief Process contact sensor data - /// \param[in] _info Simulation update info - /// \param[in] _ecm Immutable reference to the EntityComponentManager - public: void Update(const UpdateInfo &_info, - const EntityComponentManager &_ecm); - /// \brief Filters out new collisions fetched not related to the sensors public: void FilterOutCollisions(const EntityComponentManager &_ecm, const std::vector &_entities); @@ -90,7 +84,7 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate public: std::vector collisionEntities; /// \brief Filtered collisions from the simulation that belong to - // one or more sensors. + /// one or more sensors. public: std::vector filteredCollisionEntities; /// \brief Wheter the plugin is enabled. @@ -119,6 +113,15 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Position interpolated from the Contact messages public: std::vector interpolatedPosition; + + /// \brief Update period in milliseconds + public: int64_t updatePeriod{100}; + + /// \brief Last time Update was called + public: std::chrono::steady_clock::duration lastUpdateTime{0}; + + /// \brief Allows the plugin to run + public: bool update{true}; }; ////////////////////////////////////////////////// @@ -166,17 +169,29 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm, ////////////////////////////////////////////////// void OpticalTactilePluginPrivate::Enable(const bool _value) { - igndbg << "OpticalTactilePluginPrivate::Enable" << std::endl; + // Just a placeholder method for the moment + _value; } ////////////////////////////////////////////////// -void OpticalTactilePluginPrivate::Update(const UpdateInfo &_info, - const EntityComponentManager &_ecm) +void OpticalTactilePlugin::Update(const UpdateInfo &_info, + EntityComponentManager &_ecm) { + // Nothing left to do if paused or not allowed to update + if (_info.paused || !this->dataPtr->update) + return; + IGN_PROFILE("TouchPluginPrivate::Update"); - // Print collision messages which have the sensor as one collision - for (const Entity colEntity : this->filteredCollisionEntities) + // Save the time for last time this function was called + this->dataPtr->lastUpdateTime = _info.simTime; + + // Step 1: Interpolate data + + // Delete old interpolated positions + this->dataPtr->interpolatedPosition.clear(); + + for (const Entity colEntity : this->dataPtr->filteredCollisionEntities) { auto* contacts = _ecm.Component(colEntity); @@ -185,14 +200,13 @@ void OpticalTactilePluginPrivate::Update(const UpdateInfo &_info, for (const auto &contact : contacts->Data().contact()) { // Interpolate data returned by the Contact message - this->InterpolateData(contact); - - // Visualize interpolated data - this->VisualizeSensorData(this->interpolatedPosition); + this->dataPtr->InterpolateData(contact); } - // ignition::common::Time::Sleep(ignition::common::Time(0.1)); } } + + // Step 2: Visualize data + this->dataPtr->VisualizeSensorData(this->dataPtr->interpolatedPosition); } ////////////////////////////////////////////////// @@ -210,11 +224,9 @@ void OpticalTactilePluginPrivate::FilterOutCollisions( for (Entity entity : _entities) { std::string name = scopedName(entity, _ecm); - igndbg << "scopedName: " << name << std::endl; + if (name.find(this->modelName) != std::string::npos) { - igndbg << "Filtered collision that belongs to a sensor" - << std::endl; this->filteredCollisionEntities.push_back(entity); } } @@ -224,13 +236,8 @@ void OpticalTactilePluginPrivate::FilterOutCollisions( void OpticalTactilePluginPrivate::InterpolateData( const ignition::msgs::Contact &contact) { - // Delete old positions - this->interpolatedPosition.clear(); - - // Interpolate new ones if (contact.position_size() == 4) { - igndbg << "Interpolate 4 position" << std::endl; ignition::math::Vector3d contact1 = ignition::msgs::Convert(contact.position(0)); ignition::math::Vector3d contact2 = @@ -256,44 +263,18 @@ void OpticalTactilePluginPrivate::InterpolateData( uint64_t steps2 = contact1.Distance(contact4) / this->resolution; - igndbg << "\n contact1: " << contact1 << "\n" - << "contact2: " << contact2 << "\n" - << "contact2: " << contact2 << "\n" - << "contact2: " << contact2 << "\n" - << "contact2: " << contact2 << "\n" - << "contact2: " << contact2 << "\n" - << "contact3: " << contact3 << "\n" - << "contact4: " << contact4 << "\n" - << "direction1: " << direction1 << "\n" - << "direction2: " << direction2 << "\n"; - - igndbg << "steps1 = " << steps1 << std::endl; - igndbg << "contact1.Distance(contact2) = " - << contact1.Distance(contact2) << std::endl; - igndbg << "this->resolution = " - << this->resolution << std::endl; - - igndbg << "steps2 = " << steps2 << std::endl; - igndbg << "contact1.Distance(contact4) = " - << contact1.Distance(contact4) << std::endl; - igndbg << "this->resolution = " << this->resolution << std::endl; - igndbg << "interpolatedVector: " << interpolatedVector << std::endl; for (uint64_t index1 = 0; index1 <= steps1; ++index1) { tempVector = interpolatedVector; for (uint64_t index2 = 0; index2 < steps2; ++index2) { interpolatedVector += direction2; - igndbg << "interpolatedVector: " - << interpolatedVector << std::endl; this->interpolatedPosition.push_back(interpolatedVector); } if (index1 != steps1) { interpolatedVector = tempVector; interpolatedVector += direction1; - igndbg << "interpolatedVector: " - << interpolatedVector << std::endl; this->interpolatedPosition.push_back(interpolatedVector); } } @@ -335,14 +316,13 @@ void OpticalTactilePluginPrivate::VisualizeSensorData( OpticalTactilePlugin::OpticalTactilePlugin() : System(), dataPtr(std::make_unique()) { - igndbg << "OpticalTactilePlugin Constructor" << std::endl; } ////////////////////////////////////////////////// void OpticalTactilePlugin::Configure(const Entity &_entity, const std::shared_ptr &_sdf, - EntityComponentManager &_ecm, - EventManager &_eventMgr) + EntityComponentManager &, + EventManager &) { igndbg << "OpticalTactilePlugin::Configure" << std::endl; this->dataPtr->sdfConfig = _sdf->Clone(); @@ -428,46 +408,57 @@ void OpticalTactilePlugin::PreUpdate(const UpdateInfo &_info, { IGN_PROFILE("TouchPluginPrivate::PreUpdate"); + // Nothing left to do if paused + if (_info.paused) + return; + if (!this->dataPtr->initialized) { this->dataPtr->Load(_ecm, this->dataPtr->sdfConfig); this->dataPtr->initialized = true; } - // Update new collision messages - // This is not an "else" because "initialized" can be set // in the if block above if (this->dataPtr->initialized) { - // Fetch new collisions from simulation - std::vector newCollisions; - _ecm.EachNew( - [&](const Entity &_entity, const components::Collision *) -> bool - { - igndbg << "Fetched new collision" << std::endl; - newCollisions.push_back(_entity); - return true; - }); - - this->dataPtr->FilterOutCollisions(_ecm, newCollisions); + // Fetch new collisions from simulation + std::vector newCollisions; + _ecm.Each( + [&](const Entity &_entity, const components::Collision *) -> bool + { + newCollisions.push_back(_entity); + return true; + }); + this->dataPtr->FilterOutCollisions(_ecm, newCollisions); } } ////////////////////////////////////////////////// void OpticalTactilePlugin::PostUpdate( const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm) + const ignition::gazebo::EntityComponentManager &) { - IGN_PROFILE("TouchPluginPrivate::PostUpdate"); + IGN_PROFILE("TouchPlugin::PostUpdate"); + + // Nothing left to do if paused. + if (_info.paused) + return; + + // Check if info should be updated + this->dataPtr->update = true; + auto diff = std::chrono::duration_cast( + _info.simTime - this->dataPtr->lastUpdateTime); - this->dataPtr->Update(_info, _ecm); + if ((diff.count() >= 0) && (diff.count() < this->dataPtr->updatePeriod)) + this->dataPtr->update = false; } IGNITION_ADD_PLUGIN(OpticalTactilePlugin, ignition::gazebo::System, OpticalTactilePlugin::ISystemConfigure, OpticalTactilePlugin::ISystemPreUpdate, + OpticalTactilePlugin::ISystemUpdate, OpticalTactilePlugin::ISystemPostUpdate) IGNITION_ADD_PLUGIN_ALIAS(OpticalTactilePlugin, diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh index b2dfac45aa..ede7e8c89d 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh @@ -48,6 +48,7 @@ namespace systems public System, public ISystemConfigure, public ISystemPreUpdate, + public ISystemUpdate, public ISystemPostUpdate { /// \brief Constructor @@ -64,6 +65,10 @@ namespace systems /// Documentation inherited public: void PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) override; + + /// Documentation inherited + public: void Update(const UpdateInfo &_info, EntityComponentManager &_ecm) final; // Documentation inherited From 93918ebce3e6f17ef7c76d7ad075bc71b31a7997 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Mon, 15 Jun 2020 09:44:11 +0200 Subject: [PATCH 151/202] Set marker lifetime for better performance MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../OpticalTactilePlugin.cc | 24 ++++++++++--------- 1 file changed, 13 insertions(+), 11 deletions(-) diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index 251f8c378a..2a16ca394d 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -285,15 +285,13 @@ void OpticalTactilePluginPrivate::InterpolateData( void OpticalTactilePluginPrivate::VisualizeSensorData( std::vector &positions) { - // Delete previous shapes already in simulation - this->positionMarkerMsg.set_action(ignition::msgs::Marker::DELETE_ALL); - this->forceMarkerMsg.set_action(ignition::msgs::Marker::DELETE_ALL); - this->node.Request("/marker", this->positionMarkerMsg); - this->node.Request("/marker", this->forceMarkerMsg); - - // Add the new ones + // Add new markers with specific lifetime this->positionMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + this->positionMarkerMsg.mutable_lifetime()->set_sec(0); + this->positionMarkerMsg.mutable_lifetime()->set_nsec(this->updatePeriod * 1000000); this->forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + this->forceMarkerMsg.mutable_lifetime()->set_sec(0); + this->forceMarkerMsg.mutable_lifetime()->set_nsec(this->updatePeriod * 1000000); for (uint64_t index = 0; index < positions.size(); ++index) { @@ -367,9 +365,11 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, this->dataPtr-> positionMarkerMsg.mutable_material()->mutable_diffuse()->set_a(1); this->dataPtr-> - positionMarkerMsg.mutable_lifetime()->set_sec(2); + positionMarkerMsg.mutable_lifetime()-> + set_sec(0); this->dataPtr-> - positionMarkerMsg.mutable_lifetime()->set_nsec(0); + positionMarkerMsg.mutable_lifetime()-> + set_nsec(this->dataPtr->updatePeriod * 1000000); this->dataPtr-> forceMarkerMsg.mutable_material()->mutable_ambient()->set_r(0); @@ -388,9 +388,11 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, this->dataPtr-> forceMarkerMsg.mutable_material()->mutable_diffuse()->set_a(1); this->dataPtr-> - forceMarkerMsg.mutable_lifetime()->set_sec(2); + forceMarkerMsg.mutable_lifetime()-> + set_sec(0); this->dataPtr-> - forceMarkerMsg.mutable_lifetime()->set_nsec(0); + forceMarkerMsg.mutable_lifetime()-> + set_nsec(this->dataPtr->updatePeriod * 1000000); // Set scales ignition::msgs::Set(this->dataPtr->positionMarkerMsg.mutable_scale(), From 1c451db83e384411d5fd739ac02b4303fab3773c Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Tue, 16 Jun 2020 09:25:20 +0800 Subject: [PATCH 152/202] Use collision bitmask flag for meshes (#160) * Setting collision bitmask on both collision primitives and meshes Signed-off-by: Luca Della Vedova Co-authored-by: Louise Poubel --- CMakeLists.txt | 2 +- Changelog.md | 3 +++ src/systems/physics/Physics.cc | 39 ++++++++++++++++++++++++++++++++++ src/systems/physics/Physics.hh | 6 +----- 4 files changed, 44 insertions(+), 6 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 16dbd61c21..8b45237235 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -87,7 +87,7 @@ ign_find_package (Qt5 #-------------------------------------- # Find ignition-physics -ign_find_package(ignition-physics2 +ign_find_package(ignition-physics2 VERSION 2.1 COMPONENTS mesh sdf diff --git a/Changelog.md b/Changelog.md index 9d67e58f2e..5b5f3eac11 100644 --- a/Changelog.md +++ b/Changelog.md @@ -4,6 +4,9 @@ ### Ignition Gazebo 4.0.0 (20XX-XX-XX) +1. Filter mesh collision based on `collide_bitmask` property + * [pull request 160](https://github.com/ignitionrobotics/ign-gazebo/pull/160) + 1. Use interpolate\_x sdf parameter for actor animations * [BitBucket pull request 536](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/536) diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc index 0439fe199a..3b7cb1caf6 100644 --- a/src/systems/physics/Physics.cc +++ b/src/systems/physics/Physics.cc @@ -66,6 +66,7 @@ #include #include #include +#include #include #include "ignition/gazebo/EntityComponentManager.hh" @@ -348,6 +349,24 @@ class ignition::gazebo::systems::PhysicsPrivate /// that here they've been casted for `CollisionFeatureList`. public: std::unordered_map entityWorldCollisionMap; + ////////////////////////////////////////////////// + // Collision filtering with bitmasks + + /// \brief Feature list to filter collisions with bitmasks. + public: using CollisionMaskFeatureList = ignition::physics::FeatureList< + CollisionFeatureList, + ignition::physics::CollisionFilterMaskFeature>; + + /// \brief Collision type with collision filtering features. + public: using ShapeFilterMaskPtrType = ignition::physics::ShapePtr< + ignition::physics::FeaturePolicy3d, CollisionMaskFeatureList>; + + /// \brief A map between collision entity ids in the ECM to Shape Entities in + /// ign-physics, with collision filtering feature. + /// All links on this map are also in `entityCollisionMap`. The difference is + /// that here they've been casted for `CollisionMaskFeatureList`. + public: std::unordered_map entityShapeMaskMap; + ////////////////////////////////////////////////// // Link force @@ -743,6 +762,7 @@ void PhysicsPrivate::CreatePhysicsEntities(const EntityComponentManager &_ecm) sdf::Collision collision = _collElement->Data(); collision.SetRawPose(_pose->Data()); collision.SetPoseRelativeTo(""); + auto collideBitmask = collision.Surface()->Contact()->CollideBitmask(); ShapePtrType collisionPtrPhys; if (_geom->Data().Type() == sdf::GeometryType::MESH) @@ -807,6 +827,25 @@ void PhysicsPrivate::CreatePhysicsEntities(const EntityComponentManager &_ecm) collisionPtrPhys = linkCollisionFeature->ConstructCollision(collision); } + // Check that the physics engine has a filter mask feature + // Set the collide_bitmask if it does + auto filterMaskFeature = entityCast(_parent->Data(), collisionPtrPhys, + entityShapeMaskMap); + if (filterMaskFeature) + { + filterMaskFeature->SetCollisionFilterMask(collideBitmask); + } + else + { + static bool informed{false}; + if (!informed) + { + igndbg << "Attempting to set collision bitmasks, but the physics " + << "engine doesn't support feature [CollisionFilterMask]. " + << "Collision bitmasks will be ignored." << std::endl; + informed = true; + } + } this->entityCollisionMap.insert( std::make_pair(_entity, collisionPtrPhys)); diff --git a/src/systems/physics/Physics.hh b/src/systems/physics/Physics.hh index 38ed5ff167..a6aabd522f 100644 --- a/src/systems/physics/Physics.hh +++ b/src/systems/physics/Physics.hh @@ -103,11 +103,7 @@ namespace systems castEntity = physics::RequestFeatures::From(_minimumEntity); - if (!castEntity) - { - ignwarn << "Physics engine missing requested feature." << std::endl; - } - else + if (castEntity) { _castMap.insert(std::make_pair(_entity, castEntity)); } From d480c54b16a709671071c8f7d13e60f6c17c3ff0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Wed, 17 Jun 2020 11:03:56 +0200 Subject: [PATCH 153/202] Added Depth Camera MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../worlds/optical_tactile_sensor_plugin.sdf | 41 +++++++++++++++---- 1 file changed, 34 insertions(+), 7 deletions(-) diff --git a/examples/worlds/optical_tactile_sensor_plugin.sdf b/examples/worlds/optical_tactile_sensor_plugin.sdf index 6e64987bc5..a8bb05fad9 100644 --- a/examples/worlds/optical_tactile_sensor_plugin.sdf +++ b/examples/worlds/optical_tactile_sensor_plugin.sdf @@ -18,6 +18,11 @@ filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster"> + + ogre2 + @@ -29,7 +34,7 @@ docked - ogre + ogre2 scene 0.4 0.4 0.4 0.8 0.8 0.8 @@ -58,6 +63,8 @@ true /world/touch/control /world/touch/stats + /world/depth_camera_sensor/control + /world/depth_camera_sensor/stats @@ -83,7 +90,13 @@ true true /world/touch/stats + /world/depth_camera_sensor/stats + + + + docked + @@ -128,19 +141,19 @@ - 0 0 1.25 0 0 0 + 1.5 0 0.5 0 0 0 - 0.5 0.5 0.5 + 1 1 1 - 0.5 0.5 0.5 + 1 1 1 @@ -149,11 +162,11 @@ + true 0 0 0.5 0 0 0 - @@ -169,7 +182,22 @@ - + + 1 + depth_camera + + 1.05 + + 256 + 256 + RGB_INT8 + + + 0.1 + 10.0 + + + collision @@ -189,4 +217,3 @@ - From 3774efcd60ec3c9ee32083384cca59633ad9f96d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Wed, 17 Jun 2020 11:05:42 +0200 Subject: [PATCH 154/202] Added callback and unpacking to Depth Camera messages MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../OpticalTactilePlugin.cc | 146 +++++++++++++++++- 1 file changed, 140 insertions(+), 6 deletions(-) diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index 2a16ca394d..d16996e8cb 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -29,6 +29,7 @@ #include "ignition/gazebo/components/ContactSensor.hh" #include "ignition/gazebo/components/ContactSensorData.hh" #include "ignition/gazebo/components/Collision.hh" +#include "ignition/gazebo/components/DepthCamera.hh" #include "ignition/gazebo/components/Link.hh" #include "ignition/gazebo/components/Name.hh" #include "ignition/gazebo/components/Sensor.hh" @@ -55,16 +56,40 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate public: void Enable(const bool _value); /// \brief Filters out new collisions fetched not related to the sensors + /// \param[in] _ecm Immutable reference to the EntityComponentManager + /// \param[in] _entities Collision entities to filter public: void FilterOutCollisions(const EntityComponentManager &_ecm, const std::vector &_entities); /// \brief Visualize the sensor's data using the Marker message + /// \param[in] positions Contact positions to visualize public: void VisualizeSensorData( std::vector &positions); /// \brief Interpolates contact data + /// \param[in] contactMsg Message containing the data to interpolate public: void InterpolateData(const ignition::msgs::Contact &contactMsg); + /// \brief Callback for the Depth Camera + /// \param[in] _msg Message from the subscribed topic + public: void DepthCameraCallback( + const ignition::msgs::PointCloudPacked &_msg); + + /// \brief Unpacks the point cloud retrieved by the Depth Camera + /// into XYZ and RGB data + /// \param[in] _msg Message containing the data to unpack + /// \param[in] _xyzBuffer Buffer with the unpacked XYZ data + /// \param[in] _rgbBuffer Buffer with the unpacked RGB data + public: void UnpackPointCloudMsg( + const ignition::msgs::PointCloudPacked &_msg, + float *_xyzBuffer, unsigned char *_rgbBuffer); + + /// \brief Computes the normal forces of the Optical Tactile sensor + /// \param[in] imageHeight Height of the image retrieved by the Depth Camera + /// \param[in] imageWidth Width of the image retrieved by the Depth Camera + public: void ComputeNormalForces(unsigned int imageHeight, + unsigned int imageWidth); + /// \brief Resolution of the sensor in mm. public: double resolution; @@ -74,9 +99,6 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Transport node to visualize data on Gazebo. public: transport::Node node; - /// \brief Publisher that publishes the sensors' contacts. - public: std::optionalsensorContactsPub; - /// \brief Collision entities that have been designated as contact sensors. public: std::vector sensorEntities; @@ -122,6 +144,12 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Allows the plugin to run public: bool update{true}; + + /// \brief Pointer to the XYZ data of the Depth Camera + float *pointsXYZBuffer = nullptr; + + /// \brief Pointer to the point cloud RGB data of the Depth Camera + unsigned char *pointsRGBBuffer = nullptr; }; ////////////////////////////////////////////////// @@ -288,10 +316,12 @@ void OpticalTactilePluginPrivate::VisualizeSensorData( // Add new markers with specific lifetime this->positionMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); this->positionMarkerMsg.mutable_lifetime()->set_sec(0); - this->positionMarkerMsg.mutable_lifetime()->set_nsec(this->updatePeriod * 1000000); + this->positionMarkerMsg.mutable_lifetime()->set_nsec( + this->updatePeriod * 1000000); this->forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); this->forceMarkerMsg.mutable_lifetime()->set_sec(0); - this->forceMarkerMsg.mutable_lifetime()->set_nsec(this->updatePeriod * 1000000); + this->forceMarkerMsg.mutable_lifetime()->set_nsec( + this->updatePeriod * 1000000); for (uint64_t index = 0; index < positions.size(); ++index) { @@ -322,10 +352,26 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, EntityComponentManager &, EventManager &) { - igndbg << "OpticalTactilePlugin::Configure" << std::endl; this->dataPtr->sdfConfig = _sdf->Clone(); this->dataPtr->model = Model(_entity); + // Configure subscriber for Depth Camera images + sdf::ElementPtr depthCameraSdf = + _sdf->GetParent()->GetElement("link")->GetElement("sensor"); + std::string topic = "/depth_camera/points"; + + if (depthCameraSdf->HasElement("topic")) + topic = "/" + depthCameraSdf->Get("topic") + "/points"; + + if (!this->dataPtr->node.Subscribe(topic, + &OpticalTactilePluginPrivate::DepthCameraCallback, + this->dataPtr.get())) + { + ignerr << "Error subscribing to topic " << "[" << topic << "]. " + " must not contain '/'" << std::endl; + return; + } + // Configure Marker messages for position and force of the contacts // Blue spheres for positions // Green cylinders for forces @@ -456,6 +502,94 @@ void OpticalTactilePlugin::PostUpdate( this->dataPtr->update = false; } +////////////////////////////////////////////////// +void OpticalTactilePluginPrivate::DepthCameraCallback( + const ignition::msgs::PointCloudPacked &_msg) +{ + unsigned int pointCloudSamples = _msg.width() * _msg.height(); + unsigned int pointCloudBufferSize = pointCloudSamples * 3; + if (!this->pointsXYZBuffer) + this->pointsXYZBuffer = new float[pointCloudBufferSize]; + if (!this->pointsRGBBuffer) + pointsRGBBuffer = new unsigned char[pointCloudBufferSize]; + + this->UnpackPointCloudMsg(_msg, this->pointsXYZBuffer, + this->pointsRGBBuffer); + + this->ComputeNormalForces(_msg.height(), _msg.width()); +} + +////////////////////////////////////////////////// +void OpticalTactilePluginPrivate::UnpackPointCloudMsg( + const ignition::msgs::PointCloudPacked &_msg, + float *_xyzBuffer, unsigned char *_rgbBuffer) +{ + std::string msgBuffer = _msg.data(); + char *msgBufferIndex = msgBuffer.data(); + + for (uint32_t j = 0; j < _msg.height(); ++j) + { + for (uint32_t i = 0; i < _msg.width(); ++i) + { + int fieldIndex = 0; + int pointIndex = j*_msg.width()*3 + i*3; + + _xyzBuffer[pointIndex] = *reinterpret_cast( + msgBufferIndex + _msg.field(fieldIndex++).offset()); + _xyzBuffer[pointIndex + 1] = *reinterpret_cast( + msgBufferIndex + _msg.field(fieldIndex++).offset()); + _xyzBuffer[pointIndex + 2] = *reinterpret_cast( + msgBufferIndex + _msg.field(fieldIndex++).offset()); + + int fieldOffset = _msg.field(fieldIndex).offset(); + if (_msg.is_bigendian()) + { + _rgbBuffer[pointIndex] = *(msgBufferIndex + fieldOffset + 0); + _rgbBuffer[pointIndex + 1] = *(msgBufferIndex + fieldOffset + 1); + _rgbBuffer[pointIndex + 2] = *(msgBufferIndex + fieldOffset + 2); + } + else + { + _rgbBuffer[pointIndex] = *(msgBufferIndex + fieldOffset + 2); + _rgbBuffer[pointIndex + 1] = *(msgBufferIndex + fieldOffset + 1); + _rgbBuffer[pointIndex + 2] = *(msgBufferIndex + fieldOffset + 0); + } + msgBufferIndex += _msg.point_step(); + } + } +} + +////////////////////////////////////////////////// +void OpticalTactilePluginPrivate::ComputeNormalForces( + unsigned int imageHeight, + unsigned int imageWidth) +{ + for (unsigned int i = 0; i < imageHeight; ++i) + { + unsigned int step = i*imageWidth*3; + for (unsigned int j = 0; j < imageWidth; ++j) + { + // TODO(mcres): compute actual normal forces + + // Print distance to object + if ((i == imageHeight/2 && j == imageWidth/2) || + (i == 0 && j == 0) || + (i == 0 && j == (imageWidth-1)) || + (i == (imageHeight-1) && j == 0) || + (i == (imageHeight-1) && j == (imageWidth-1))) + { + float x = this->pointsXYZBuffer[step + j*3]; + float y = this->pointsXYZBuffer[step + j*3 + 1]; + float z = this->pointsXYZBuffer[step + j*3 + 2]; + + igndbg << "[DepthCamera] x = " << x << std::endl; + igndbg << "[DepthCamera] y = " << y << std::endl; + igndbg << "[DepthCamera] z = " << z << std::endl; + } + } + } +} + IGNITION_ADD_PLUGIN(OpticalTactilePlugin, ignition::gazebo::System, OpticalTactilePlugin::ISystemConfigure, From a8061d023bb1f21384c29e74deec79fc45aa877a Mon Sep 17 00:00:00 2001 From: Flood Shao Date: Tue, 23 Jun 2020 04:08:20 +0800 Subject: [PATCH 155/202] Scene manager losing header file (#211) * add header file for using common::SkeletonPtr Signed-off-by: flooshao --- include/ignition/gazebo/rendering/SceneManager.hh | 1 + 1 file changed, 1 insertion(+) diff --git a/include/ignition/gazebo/rendering/SceneManager.hh b/include/ignition/gazebo/rendering/SceneManager.hh index 32c80c271a..15e6704e34 100644 --- a/include/ignition/gazebo/rendering/SceneManager.hh +++ b/include/ignition/gazebo/rendering/SceneManager.hh @@ -32,6 +32,7 @@ #include #include +#include #include From 4e4f029bce72060a0926cb0c1ab1f133cfb00e1c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Tue, 23 Jun 2020 23:37:41 +0200 Subject: [PATCH 156/202] Fixed left menu events (#218) Signed-off-by: ahcorde --- src/gui/resources/GazeboDrawer.qml | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/gui/resources/GazeboDrawer.qml b/src/gui/resources/GazeboDrawer.qml index 8ca3f273a7..2893e5689a 100644 --- a/src/gui/resources/GazeboDrawer.qml +++ b/src/gui/resources/GazeboDrawer.qml @@ -73,46 +73,46 @@ Rectangle { // Custom action which calls custom C++ code /*ListElement { title: "New world" - action: "newWorld" + actionElement: "newWorld" type: "world" } ListElement { title: "Load world" - action: "loadWorld" + actionElement: "loadWorld" type: "world" }*/ ListElement { title: "Save world" - action: "saveWorld" + actionElement: "saveWorld" enabled: false type: "world" } ListElement { title: "Save world as..." - action: "saveWorldAs" + actionElement: "saveWorldAs" type: "world" } // Actions provided by Ignition GUI, with custom titles ListElement { title: "Load client configuration" - action: "loadConfig" + actionElement: "loadConfig" } ListElement { title: "Save client configuration" - action: "saveConfig" + actionElement: "saveConfig" } ListElement { title: "Save client configuration as" - action: "saveConfigAs" + actionElement: "saveConfigAs" } ListElement { title: "Style settings" - action: "styleSettings" + actionElement: "styleSettings" } ListElement { title: "Quit" - action: "close" + actionElement: "close" } } @@ -125,7 +125,7 @@ Rectangle { text: title highlighted: ListView.isCurrentItem onClicked: { - customDrawer.onAction(action); + customDrawer.onAction(actionElement); customDrawer.parent.closeDrawer(); } } From 2bab9c83ee11401cae84c6888c66c64721cece71 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Thu, 25 Jun 2020 16:24:22 +0200 Subject: [PATCH 157/202] Compute and visualize normal forces MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../worlds/optical_tactile_sensor_plugin.sdf | 75 +++- .../OpticalTactilePlugin.cc | 365 +++++++++++------- 2 files changed, 287 insertions(+), 153 deletions(-) diff --git a/examples/worlds/optical_tactile_sensor_plugin.sdf b/examples/worlds/optical_tactile_sensor_plugin.sdf index a8bb05fad9..1b6fe3ac07 100644 --- a/examples/worlds/optical_tactile_sensor_plugin.sdf +++ b/examples/worlds/optical_tactile_sensor_plugin.sdf @@ -141,19 +141,19 @@ - 1.5 0 0.5 0 0 0 + 0 3 3.5 0 0 0 - 1 1 1 + 3 2 3 - 1 1 1 + 3 2 3 @@ -166,19 +166,19 @@ - 0 0 0.5 0 0 0 + 0 0 3.5 0 0 0 - 1 1 1 + 0 1 1 - 1 1 1 + 0 1 1 @@ -190,11 +190,11 @@ 256 256 - RGB_INT8 + R_FLOAT32 0.1 - 10.0 + 5.0 @@ -205,15 +205,68 @@ - + true true - 200 - "Gaussian" + 30 + true + + 0 -3 3.5 0 0 0 + + + + + 1.5 + + + + + + + 1.5 + + + + 0 1 0 1 + 0 1 0 1 + + + + true + + + + 3 0 3.5 0 0 0 + + + + + 1.3 + 3 + + + + + + + 1.3 + 3 + + + + 0 1 0 1 + 0 1 0 1 + + + + true + + + diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index d16996e8cb..cf648907ba 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -33,6 +33,7 @@ #include "ignition/gazebo/components/Link.hh" #include "ignition/gazebo/components/Name.hh" #include "ignition/gazebo/components/Sensor.hh" +#include "ignition/gazebo/components/Pose.hh" #include "ignition/gazebo/Model.hh" #include "ignition/gazebo/Util.hh" @@ -61,37 +62,38 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate public: void FilterOutCollisions(const EntityComponentManager &_ecm, const std::vector &_entities); - /// \brief Visualize the sensor's data using the Marker message - /// \param[in] positions Contact positions to visualize - public: void VisualizeSensorData( - std::vector &positions); - /// \brief Interpolates contact data - /// \param[in] contactMsg Message containing the data to interpolate - public: void InterpolateData(const ignition::msgs::Contact &contactMsg); + /// \param[in] _contactMsg Message containing the data to interpolate + public: void InterpolateData(const ignition::msgs::Contact &_contactMsg); /// \brief Callback for the Depth Camera /// \param[in] _msg Message from the subscribed topic public: void DepthCameraCallback( - const ignition::msgs::PointCloudPacked &_msg); + const ignition::msgs::PointCloudPacked &_msg); /// \brief Unpacks the point cloud retrieved by the Depth Camera - /// into XYZ and RGB data + /// into XYZ data /// \param[in] _msg Message containing the data to unpack - /// \param[in] _xyzBuffer Buffer with the unpacked XYZ data - /// \param[in] _rgbBuffer Buffer with the unpacked RGB data public: void UnpackPointCloudMsg( - const ignition::msgs::PointCloudPacked &_msg, - float *_xyzBuffer, unsigned char *_rgbBuffer); + const ignition::msgs::PointCloudPacked &_msg); /// \brief Computes the normal forces of the Optical Tactile sensor - /// \param[in] imageHeight Height of the image retrieved by the Depth Camera - /// \param[in] imageWidth Width of the image retrieved by the Depth Camera - public: void ComputeNormalForces(unsigned int imageHeight, - unsigned int imageWidth); - - /// \brief Resolution of the sensor in mm. - public: double resolution; + /// \param[in] _msg Message returned by the Depth Camera + /// \param[in] _visualizeForces Whether to visualize the forces or not + /// + /// Implementation inspired by + /// https://stackoverflow.com/questions/ + /// 34644101/calculate-surface-normals-from-depth-image- + /// using-neighboring-pixels-cross-produc + public: void ComputeNormalForces( + const ignition::msgs::PointCloudPacked &_msg, + const bool _visualizeForces); + + /// \brief Resolution of the sensor in pixels to skip. + public: int resolution{100}; + + /// \brief Whether to visualize the normal forces. + public: int visualize_forces{false}; /// \brief Model interface. public: Model model{kNullEntity}; @@ -118,14 +120,14 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Copy of the sdf configuration used for this plugin. public: sdf::ElementPtr sdfConfig; - /// \brief Name of the model in which the sensor(s) is attached. + /// \brief Name of the model to which the sensor is attached. public: std::string modelName; /// \brief Message for visualizing contact positions public: ignition::msgs::Marker positionMarkerMsg; /// \brief Radius of the visualized contact sphere - public: double contactRadius{0.20}; + public: double contactRadius{0.10}; /// \brief Message for visualizing contact forces public: ignition::msgs::Marker forceMarkerMsg; @@ -136,20 +138,20 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Position interpolated from the Contact messages public: std::vector interpolatedPosition; - /// \brief Update period in milliseconds - public: int64_t updatePeriod{100}; + /// \brief Pose of the sensor model + public: ignition::math::Pose3f sensorWorldPose; - /// \brief Last time Update was called - public: std::chrono::steady_clock::duration lastUpdateTime{0}; + /// \brief Whether a new message has been returned by the Depth Camera + public: bool newCameraMsg{false}; - /// \brief Allows the plugin to run - public: bool update{true}; + /// \brief Depth Camera update rate + public: float cameraUpdateRate{1}; - /// \brief Pointer to the XYZ data of the Depth Camera - float *pointsXYZBuffer = nullptr; + /// \brief Message returned by the Depth Camera + public: ignition::msgs::PointCloudPacked cameraMsg; - /// \brief Pointer to the point cloud RGB data of the Depth Camera - unsigned char *pointsRGBBuffer = nullptr; + /// \brief 3D vector to store unpacked XYZ points + std::vector>> imageXYZ; }; ////////////////////////////////////////////////// @@ -166,8 +168,17 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm, } else { - // resolution is specified in mm - this->resolution = _sdf->Get("resolution")/1000; + this->resolution = _sdf->Get("resolution"); + } + + if (!_sdf->HasElement("visualize_forces")) + { + ignerr << "Missing required parameter ." << std::endl; + return; + } + else + { + this->visualize_forces = _sdf->Get("visualize_forces"); } // Get all the sensors @@ -206,16 +217,11 @@ void OpticalTactilePlugin::Update(const UpdateInfo &_info, EntityComponentManager &_ecm) { // Nothing left to do if paused or not allowed to update - if (_info.paused || !this->dataPtr->update) + if (_info.paused) return; IGN_PROFILE("TouchPluginPrivate::Update"); - // Save the time for last time this function was called - this->dataPtr->lastUpdateTime = _info.simTime; - - // Step 1: Interpolate data - // Delete old interpolated positions this->dataPtr->interpolatedPosition.clear(); @@ -233,8 +239,15 @@ void OpticalTactilePlugin::Update(const UpdateInfo &_info, } } - // Step 2: Visualize data - this->dataPtr->VisualizeSensorData(this->dataPtr->interpolatedPosition); + // Process camera message if it's new + if (this->dataPtr->newCameraMsg) + { + this->dataPtr->UnpackPointCloudMsg(this->dataPtr->cameraMsg); + this->dataPtr->ComputeNormalForces(this->dataPtr->cameraMsg, + this->dataPtr->visualize_forces); + + this->dataPtr->newCameraMsg = false; + } } ////////////////////////////////////////////////// @@ -309,37 +322,6 @@ void OpticalTactilePluginPrivate::InterpolateData( } } -////////////////////////////////////////////////// -void OpticalTactilePluginPrivate::VisualizeSensorData( - std::vector &positions) -{ - // Add new markers with specific lifetime - this->positionMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); - this->positionMarkerMsg.mutable_lifetime()->set_sec(0); - this->positionMarkerMsg.mutable_lifetime()->set_nsec( - this->updatePeriod * 1000000); - this->forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); - this->forceMarkerMsg.mutable_lifetime()->set_sec(0); - this->forceMarkerMsg.mutable_lifetime()->set_nsec( - this->updatePeriod * 1000000); - - for (uint64_t index = 0; index < positions.size(); ++index) - { - this->positionMarkerMsg.set_id(index); - this->forceMarkerMsg.set_id(index); - - ignition::msgs::Set(this->positionMarkerMsg.mutable_pose(), - ignition::math::Pose3d(positions[index].X(), positions[index].Y(), - positions[index].Z(), 0, 0, 0)); - ignition::msgs::Set(this->forceMarkerMsg.mutable_pose(), - ignition::math::Pose3d(positions[index].X(), positions[index].Y(), - positions[index].Z() + this->forceLenght, 0, 0, 0)); - - this->node.Request("/marker", this->positionMarkerMsg); - this->node.Request("/marker", this->forceMarkerMsg); - } -} - ////////////////////////////////////////////////// OpticalTactilePlugin::OpticalTactilePlugin() : System(), dataPtr(std::make_unique()) @@ -349,12 +331,19 @@ OpticalTactilePlugin::OpticalTactilePlugin() ////////////////////////////////////////////////// void OpticalTactilePlugin::Configure(const Entity &_entity, const std::shared_ptr &_sdf, - EntityComponentManager &, + EntityComponentManager &_ecm, EventManager &) { this->dataPtr->sdfConfig = _sdf->Clone(); this->dataPtr->model = Model(_entity); + if (!this->dataPtr->model.Valid(_ecm)) + { + ignerr << "Touch plugin should be attached to a model entity. " + << "Failed to initialize." << std::endl; + return; + } + // Configure subscriber for Depth Camera images sdf::ElementPtr depthCameraSdf = _sdf->GetParent()->GetElement("link")->GetElement("sensor"); @@ -412,10 +401,7 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, positionMarkerMsg.mutable_material()->mutable_diffuse()->set_a(1); this->dataPtr-> positionMarkerMsg.mutable_lifetime()-> - set_sec(0); - this->dataPtr-> - positionMarkerMsg.mutable_lifetime()-> - set_nsec(this->dataPtr->updatePeriod * 1000000); + set_sec(this->dataPtr->cameraUpdateRate); this->dataPtr-> forceMarkerMsg.mutable_material()->mutable_ambient()->set_r(0); @@ -435,10 +421,7 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, forceMarkerMsg.mutable_material()->mutable_diffuse()->set_a(1); this->dataPtr-> forceMarkerMsg.mutable_lifetime()-> - set_sec(0); - this->dataPtr-> - forceMarkerMsg.mutable_lifetime()-> - set_nsec(this->dataPtr->updatePeriod * 1000000); + set_sec(this->dataPtr->cameraUpdateRate); // Set scales ignition::msgs::Set(this->dataPtr->positionMarkerMsg.mutable_scale(), @@ -447,7 +430,7 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, this->dataPtr->contactRadius)); ignition::msgs::Set(this->dataPtr->forceMarkerMsg.mutable_scale(), - ignition::math::Vector3d(0.05, 0.05, this->dataPtr->forceLenght)); + ignition::math::Vector3d(0.02, 0.02, this->dataPtr->forceLenght)); } ////////////////////////////////////////////////// @@ -479,6 +462,17 @@ void OpticalTactilePlugin::PreUpdate(const UpdateInfo &_info, return true; }); this->dataPtr->FilterOutCollisions(_ecm, newCollisions); + + // Get the Depth Camera pose + ignition::math::Pose3d sensorPose = + _ecm.Component( + this->dataPtr->model.Entity())->Data(); + + // Depth Camera data is float, so convert Pose3d to Pose3f + this->dataPtr->sensorWorldPose = ignition::math::Pose3f( + sensorPose.Pos().X(), sensorPose.Pos().Y(), sensorPose.Pos().Z(), + sensorPose.Rot().W(), sensorPose.Rot().X(), sensorPose.Rot().Y(), + sensorPose.Rot().Z()); } } @@ -492,38 +486,32 @@ void OpticalTactilePlugin::PostUpdate( // Nothing left to do if paused. if (_info.paused) return; - - // Check if info should be updated - this->dataPtr->update = true; - auto diff = std::chrono::duration_cast( - _info.simTime - this->dataPtr->lastUpdateTime); - - if ((diff.count() >= 0) && (diff.count() < this->dataPtr->updatePeriod)) - this->dataPtr->update = false; } ////////////////////////////////////////////////// void OpticalTactilePluginPrivate::DepthCameraCallback( const ignition::msgs::PointCloudPacked &_msg) { - unsigned int pointCloudSamples = _msg.width() * _msg.height(); - unsigned int pointCloudBufferSize = pointCloudSamples * 3; - if (!this->pointsXYZBuffer) - this->pointsXYZBuffer = new float[pointCloudBufferSize]; - if (!this->pointsRGBBuffer) - pointsRGBBuffer = new unsigned char[pointCloudBufferSize]; - - this->UnpackPointCloudMsg(_msg, this->pointsXYZBuffer, - this->pointsRGBBuffer); + // This check avoids running the callback at t=0 and getting + // unexpected markers in the scene + if (!this->initialized) + return; - this->ComputeNormalForces(_msg.height(), _msg.width()); + this->cameraMsg = _msg; + this->newCameraMsg = true; } ////////////////////////////////////////////////// void OpticalTactilePluginPrivate::UnpackPointCloudMsg( - const ignition::msgs::PointCloudPacked &_msg, - float *_xyzBuffer, unsigned char *_rgbBuffer) + const ignition::msgs::PointCloudPacked &_msg) { + // 3D vector to store XYZ points + this->imageXYZ = std::vector>> + (_msg.width(), + std::vector>(_msg.height(), + std::vector(3))); + + // Unpack point cloud message std::string msgBuffer = _msg.data(); char *msgBufferIndex = msgBuffer.data(); @@ -532,28 +520,17 @@ void OpticalTactilePluginPrivate::UnpackPointCloudMsg( for (uint32_t i = 0; i < _msg.width(); ++i) { int fieldIndex = 0; - int pointIndex = j*_msg.width()*3 + i*3; - _xyzBuffer[pointIndex] = *reinterpret_cast( + // x coordinate in pixel (i,j) + this->imageXYZ[i][j][0] = *reinterpret_cast( msgBufferIndex + _msg.field(fieldIndex++).offset()); - _xyzBuffer[pointIndex + 1] = *reinterpret_cast( + // y coordinate in pixel (i,j) + this->imageXYZ[i][j][1] = *reinterpret_cast( msgBufferIndex + _msg.field(fieldIndex++).offset()); - _xyzBuffer[pointIndex + 2] = *reinterpret_cast( + // z coordinate in pixel (i,j) + this->imageXYZ[i][j][2] = *reinterpret_cast( msgBufferIndex + _msg.field(fieldIndex++).offset()); - int fieldOffset = _msg.field(fieldIndex).offset(); - if (_msg.is_bigendian()) - { - _rgbBuffer[pointIndex] = *(msgBufferIndex + fieldOffset + 0); - _rgbBuffer[pointIndex + 1] = *(msgBufferIndex + fieldOffset + 1); - _rgbBuffer[pointIndex + 2] = *(msgBufferIndex + fieldOffset + 2); - } - else - { - _rgbBuffer[pointIndex] = *(msgBufferIndex + fieldOffset + 2); - _rgbBuffer[pointIndex + 1] = *(msgBufferIndex + fieldOffset + 1); - _rgbBuffer[pointIndex + 2] = *(msgBufferIndex + fieldOffset + 0); - } msgBufferIndex += _msg.point_step(); } } @@ -561,32 +538,136 @@ void OpticalTactilePluginPrivate::UnpackPointCloudMsg( ////////////////////////////////////////////////// void OpticalTactilePluginPrivate::ComputeNormalForces( - unsigned int imageHeight, - unsigned int imageWidth) + const ignition::msgs::PointCloudPacked &_msg, + const bool _visualizeForces) { - for (unsigned int i = 0; i < imageHeight; ++i) + // 2D vector to store normal force vectors + std::vector> normalForces(_msg.width(), + std::vector(_msg.height())); + + // Visualization is downsampled according to plugin parameter + // if is set to true + bool visualizeRow = true; + int rowCounter = 0; + + bool visualizeColumn = true; + int columnCounter = 0; + + int index = 1; + + + for (uint32_t j = 1; j < (_msg.height() - 1); ++j) { - unsigned int step = i*imageWidth*3; - for (unsigned int j = 0; j < imageWidth; ++j) + for (uint32_t i = 1; i < (_msg.width() - 1); ++i) { - // TODO(mcres): compute actual normal forces - - // Print distance to object - if ((i == imageHeight/2 && j == imageWidth/2) || - (i == 0 && j == 0) || - (i == 0 && j == (imageWidth-1)) || - (i == (imageHeight-1) && j == 0) || - (i == (imageHeight-1) && j == (imageWidth-1))) - { - float x = this->pointsXYZBuffer[step + j*3]; - float y = this->pointsXYZBuffer[step + j*3 + 1]; - float z = this->pointsXYZBuffer[step + j*3 + 2]; - - igndbg << "[DepthCamera] x = " << x << std::endl; - igndbg << "[DepthCamera] y = " << y << std::endl; - igndbg << "[DepthCamera] z = " << z << std::endl; - } + // Compute normal forces + double dxdi = + (this->imageXYZ[i+1][j][0] - + this->imageXYZ[i-1][j][0])/ + std::abs(this->imageXYZ[i+1][j][1] - + this->imageXYZ[i-1][j][1]); + + double dxdj = + (this->imageXYZ[i][j+1][0] + - this->imageXYZ[i][j-1][0])/ + std::abs(this->imageXYZ[i][j+1][2] + - this->imageXYZ[i][j-1][2]); + + ignition::math::Vector3f direction(-1, -dxdi, -dxdj); + + // todo(anyone) multiply vector by contact forces info + normalForces[i][j] = direction.Normalized(); + + if (!_visualizeForces) + continue; + + // Downsampling for visualization + if (visualizeRow && visualizeColumn) + { + // Add new markers with specific lifetime + this->positionMarkerMsg.set_id(index); + this->positionMarkerMsg.set_action( + ignition::msgs::Marker::ADD_MODIFY); + this->positionMarkerMsg.mutable_lifetime()->set_sec( + this->cameraUpdateRate); + this->positionMarkerMsg.mutable_lifetime()->set_nsec(0); + + this->forceMarkerMsg.set_id(index++); + this->forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + this->forceMarkerMsg.mutable_lifetime()->set_sec( + this->cameraUpdateRate); + this->forceMarkerMsg.mutable_lifetime()->set_nsec(0); + + // The pose of the markers must be published with reference + // to the simulation origin + ignition::math::Vector3f forceMarkerSensorPosition + (this->imageXYZ[i][j][0], this->imageXYZ[i][j][1], + this->imageXYZ[i][j][2]); + + ignition::math::Quaternionf forceMarkerSensorQuaternion; + forceMarkerSensorQuaternion.From2Axes( + ignition::math::Vector3f(0, 0, 1), normalForces[i][j]); + + // The position of the force marker is modified in order to place the + // end of the cylinder in the surface, not its middle point + ignition::math::Pose3f forceMarkerSensorPose( + forceMarkerSensorPosition + + normalForces[i][j] * (this->forceLenght/2), + forceMarkerSensorQuaternion); + + ignition::math::Pose3f forceMarkerWorldPose = + forceMarkerSensorPose + this->sensorWorldPose; + forceMarkerWorldPose.Correct(); + + ignition::math::Pose3f positionMarkerSensorPose( + forceMarkerSensorPosition, forceMarkerSensorQuaternion); + ignition::math::Pose3f positionMarkerWorldPose = + positionMarkerSensorPose + this->sensorWorldPose; + positionMarkerWorldPose.Correct(); + + // Set markers pose messages from previously computed poses + this->forceMarkerMsg.mutable_pose() + ->mutable_position()->set_x(forceMarkerWorldPose.Pos().X()); + this->forceMarkerMsg.mutable_pose() + ->mutable_position()->set_y(forceMarkerWorldPose.Pos().Y()); + this->forceMarkerMsg.mutable_pose() + ->mutable_position()->set_z(forceMarkerWorldPose.Pos().Z()); + this->forceMarkerMsg.mutable_pose() + ->mutable_orientation()->set_x(forceMarkerWorldPose.Rot().X()); + this->forceMarkerMsg.mutable_pose() + ->mutable_orientation()->set_y(forceMarkerWorldPose.Rot().Y()); + this->forceMarkerMsg.mutable_pose() + ->mutable_orientation()->set_z(forceMarkerWorldPose.Rot().Z()); + this->forceMarkerMsg.mutable_pose() + ->mutable_orientation()->set_w(forceMarkerWorldPose.Rot().W()); + + + this->positionMarkerMsg.mutable_pose() + ->mutable_position()->set_x(positionMarkerWorldPose.Pos().X()); + this->positionMarkerMsg.mutable_pose() + ->mutable_position()->set_y(positionMarkerWorldPose.Pos().Y()); + this->positionMarkerMsg.mutable_pose() + ->mutable_position()->set_z(positionMarkerWorldPose.Pos().Z()); + this->positionMarkerMsg.mutable_pose() + ->mutable_orientation()->set_x(positionMarkerWorldPose.Rot().X()); + this->positionMarkerMsg.mutable_pose() + ->mutable_orientation()->set_y(positionMarkerWorldPose.Rot().Y()); + this->positionMarkerMsg.mutable_pose() + ->mutable_orientation()->set_z(positionMarkerWorldPose.Rot().Z()); + this->positionMarkerMsg.mutable_pose() + ->mutable_orientation()->set_w(positionMarkerWorldPose.Rot().W()); + + this->node.Request("/marker", this->forceMarkerMsg); + this->node.Request("/marker", this->positionMarkerMsg); + } + visualizeColumn = (this->resolution == ++columnCounter); + if (visualizeColumn) + columnCounter = 0; } + visualizeColumn = true; + visualizeRow = (this->resolution == ++rowCounter); + if (visualizeRow) + rowCounter = 0; } } From badd572123488308439c4bb34d7e9819dda38a08 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Thu, 9 Jul 2020 11:46:19 +0200 Subject: [PATCH 158/202] PR Feedback 1 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../OpticalTactilePlugin.cc | 435 ++++++++++-------- .../OpticalTactilePlugin.hh | 25 +- 2 files changed, 259 insertions(+), 201 deletions(-) diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index cf648907ba..c8fc639afa 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -1,5 +1,5 @@ /* - * Copyright (C) 2019 Open Source Robotics Foundation + * Copyright (C) 2020 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. @@ -50,7 +50,7 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \param[in] _sdf SDF element describing the Contact sensor /// \param[in] _ecm Immutable reference to the EntityComponentManager public: void Load(const EntityComponentManager &_ecm, - const sdf::ElementPtr &_sdf); + const std::shared_ptr &_sdf); /// \brief Actual function that enables the plugin. /// \param[in] _value True to enable plugin. @@ -60,7 +60,7 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \param[in] _ecm Immutable reference to the EntityComponentManager /// \param[in] _entities Collision entities to filter public: void FilterOutCollisions(const EntityComponentManager &_ecm, - const std::vector &_entities); + const std::vector &_entities); /// \brief Interpolates contact data /// \param[in] _contactMsg Message containing the data to interpolate @@ -69,13 +69,13 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Callback for the Depth Camera /// \param[in] _msg Message from the subscribed topic public: void DepthCameraCallback( - const ignition::msgs::PointCloudPacked &_msg); + const ignition::msgs::PointCloudPacked &_msg); /// \brief Unpacks the point cloud retrieved by the Depth Camera /// into XYZ data /// \param[in] _msg Message containing the data to unpack public: void UnpackPointCloudMsg( - const ignition::msgs::PointCloudPacked &_msg); + const ignition::msgs::PointCloudPacked &_msg); /// \brief Computes the normal forces of the Optical Tactile sensor /// \param[in] _msg Message returned by the Depth Camera @@ -86,14 +86,14 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// 34644101/calculate-surface-normals-from-depth-image- /// using-neighboring-pixels-cross-produc public: void ComputeNormalForces( - const ignition::msgs::PointCloudPacked &_msg, - const bool _visualizeForces); + const ignition::msgs::PointCloudPacked &_msg, + const bool _visualizeForces); /// \brief Resolution of the sensor in pixels to skip. public: int resolution{100}; /// \brief Whether to visualize the normal forces. - public: int visualize_forces{false}; + public: bool visualizeForces{false}; /// \brief Model interface. public: Model model{kNullEntity}; @@ -102,7 +102,7 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate public: transport::Node node; /// \brief Collision entities that have been designated as contact sensors. - public: std::vector sensorEntities; + public: ignition::gazebo::Entity contactSensorEntity; /// \brief Collision entities of the simulation. public: std::vector collisionEntities; @@ -111,14 +111,14 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// one or more sensors. public: std::vector filteredCollisionEntities; - /// \brief Wheter the plugin is enabled. + /// \brief Whether the plugin is enabled. public: bool enabled{true}; /// \brief Initialization flag. public: bool initialized{false}; /// \brief Copy of the sdf configuration used for this plugin. - public: sdf::ElementPtr sdfConfig; + public: std::shared_ptr sdfConfig{nullptr}; /// \brief Name of the model to which the sensor is attached. public: std::string modelName; @@ -127,13 +127,13 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate public: ignition::msgs::Marker positionMarkerMsg; /// \brief Radius of the visualized contact sphere - public: double contactRadius{0.10}; + public: double contactRadius{0.01}; /// \brief Message for visualizing contact forces public: ignition::msgs::Marker forceMarkerMsg; /// \brief Length of the visualized force cylinder - public: double forceLenght{0.20}; + public: double forceLength{0.03}; /// \brief Position interpolated from the Contact messages public: std::vector interpolatedPosition; @@ -152,104 +152,131 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief 3D vector to store unpacked XYZ points std::vector>> imageXYZ; + + /// \brief Mutex for variables mutated by the camera callback. + /// The variables are: newCameraMsg, cameraMsg. + public: std::mutex serviceMutex; }; ////////////////////////////////////////////////// void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm, - const sdf::ElementPtr &_sdf) + const std::shared_ptr &_sdf) { igndbg << "Loading plugin [OpticalTactilePlugin]" << std::endl; // Get sdf parameters if (!_sdf->HasElement("resolution")) { - ignerr << "Missing required parameter ." << std::endl; - return; + ignlog << "Missing required parameter , " + << "using default value" << std::endl; } else { - this->resolution = _sdf->Get("resolution"); + if (_sdf->Get("resolution") < 0) + { + ignwarn << "Parameter must be positive, " + << "using default value" << std::endl; + } + else + { + this->resolution = _sdf->Get("resolution"); + } } if (!_sdf->HasElement("visualize_forces")) { - ignerr << "Missing required parameter ." << std::endl; - return; + ignlog << "Missing required parameter , " + << "using default value" << std::endl; } else { - this->visualize_forces = _sdf->Get("visualize_forces"); + this->visualizeForces = _sdf->Get("visualize_forces"); } - // Get all the sensors + // todo(anyone) The plugin should be able to handle more than one link. In + // that case, one of the links would be the actual tactile sensor. + + // Check SDF structure + // Model should only have 1 link auto allLinks = _ecm.ChildrenByComponents(this->model.Entity(), components::Link()); - - for (const Entity linkEntity : allLinks) + if (allLinks.size() != 1) { - auto linkCollisions = - _ecm.ChildrenByComponents(linkEntity, components::Collision()); - for (const Entity colEntity : linkCollisions) - { - if (_ecm.EntityHasComponentType(colEntity, - components::ContactSensorData::typeId)) - { - this->sensorEntities.push_back(colEntity); - - this->modelName = this->model.Name(_ecm); - - igndbg << "Sensor detected within model " - << this->modelName << std::endl; - } - } + ignerr << "Plugin must have 1 link" << std::endl; + return; } -} -////////////////////////////////////////////////// -void OpticalTactilePluginPrivate::Enable(const bool _value) -{ - // Just a placeholder method for the moment - _value; -} + // Link should have a collision component linked to a contact sensor + auto linkCollisions = + _ecm.ChildrenByComponents(allLinks[0], components::Collision()); + for (const Entity &colEntity : linkCollisions) + { + if (_ecm.EntityHasComponentType(colEntity, + components::ContactSensorData::typeId)) + { + this->contactSensorEntity = colEntity; -////////////////////////////////////////////////// -void OpticalTactilePlugin::Update(const UpdateInfo &_info, - EntityComponentManager &_ecm) -{ - // Nothing left to do if paused or not allowed to update - if (_info.paused) - return; + this->modelName = this->model.Name(_ecm); - IGN_PROFILE("TouchPluginPrivate::Update"); + igndbg << "Contactensor detected within model " + << this->modelName << std::endl; + } + } - // Delete old interpolated positions - this->dataPtr->interpolatedPosition.clear(); + // Link should have 1 Contact sensor and 1 Depth Camera sensor + auto sensorsInsideLink = + _ecm.ChildrenByComponents(allLinks[0], components::Sensor()); - for (const Entity colEntity : this->dataPtr->filteredCollisionEntities) + bool depthCameraInLink = false; + bool contactSensorInLink = false; + sdf::ElementPtr depthCameraSdf = nullptr; + for (const Entity &sensor : sensorsInsideLink) { - auto* contacts = - _ecm.Component(colEntity); - if (contacts) - { - for (const auto &contact : contacts->Data().contact()) - { - // Interpolate data returned by the Contact message - this->dataPtr->InterpolateData(contact); - } - } + if (_ecm.EntityHasComponentType(sensor, + components::DepthCamera::typeId)) + { + depthCameraInLink = true; + depthCameraSdf = + _ecm.Component(sensor)->Data().Element(); + } + + if (_ecm.EntityHasComponentType(sensor, + components::ContactSensor::typeId)) + { + contactSensorInLink = true; + } } - // Process camera message if it's new - if (this->dataPtr->newCameraMsg) + if (!depthCameraInLink || !contactSensorInLink || + sensorsInsideLink.size() != 2) { - this->dataPtr->UnpackPointCloudMsg(this->dataPtr->cameraMsg); - this->dataPtr->ComputeNormalForces(this->dataPtr->cameraMsg, - this->dataPtr->visualize_forces); + ignerr << "Link must have 1 Depth Camera sensor and " + << "1 Contact sensor" << std::endl; + return; + } + + // Configure subscriber for Depth Camera images + std::string topic = "/depth_camera/points"; + if (depthCameraSdf->HasElement("topic")) + topic = "/" + depthCameraSdf->Get("topic") + "/points"; - this->dataPtr->newCameraMsg = false; + if (!this->node.Subscribe(topic, + &OpticalTactilePluginPrivate::DepthCameraCallback, + this)) + { + ignerr << "Error subscribing to topic " << "[" << topic << "]. " + << " must not contain '/'" << std::endl; + return; } } +////////////////////////////////////////////////// +void OpticalTactilePluginPrivate::Enable(const bool _value) +{ + // Just a placeholder method for the moment + _value; +} + ////////////////////////////////////////////////// void OpticalTactilePluginPrivate::FilterOutCollisions( const EntityComponentManager &_ecm, @@ -262,7 +289,7 @@ void OpticalTactilePluginPrivate::FilterOutCollisions( this->filteredCollisionEntities.clear(); // Get collisions from the sensor - for (Entity entity : _entities) + for (const Entity &entity : _entities) { std::string name = scopedName(entity, _ecm); @@ -277,6 +304,14 @@ void OpticalTactilePluginPrivate::FilterOutCollisions( void OpticalTactilePluginPrivate::InterpolateData( const ignition::msgs::Contact &contact) { + // The Optical Tactile Sensor is supposed to be box-shaped. + // Contacts returned by the Contact Sensor in this type of shapes should be + // 4 points in the corners of some of its faces, in this case the one + // corresponding to the 'sensing' face. + // Given that the number of contacts may change even when the objects are + // at rest, data is only interpolated when the number of contacts + // returned is 4. + if (contact.position_size() == 4) { ignition::math::Vector3d contact1 = @@ -334,30 +369,13 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, EntityComponentManager &_ecm, EventManager &) { - this->dataPtr->sdfConfig = _sdf->Clone(); + this->dataPtr->sdfConfig = _sdf; this->dataPtr->model = Model(_entity); if (!this->dataPtr->model.Valid(_ecm)) { ignerr << "Touch plugin should be attached to a model entity. " - << "Failed to initialize." << std::endl; - return; - } - - // Configure subscriber for Depth Camera images - sdf::ElementPtr depthCameraSdf = - _sdf->GetParent()->GetElement("link")->GetElement("sensor"); - std::string topic = "/depth_camera/points"; - - if (depthCameraSdf->HasElement("topic")) - topic = "/" + depthCameraSdf->Get("topic") + "/points"; - - if (!this->dataPtr->node.Subscribe(topic, - &OpticalTactilePluginPrivate::DepthCameraCallback, - this->dataPtr.get())) - { - ignerr << "Error subscribing to topic " << "[" << topic << "]. " - " must not contain '/'" << std::endl; + << "Failed to initialize." << std::endl; return; } @@ -430,7 +448,7 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, this->dataPtr->contactRadius)); ignition::msgs::Set(this->dataPtr->forceMarkerMsg.mutable_scale(), - ignition::math::Vector3d(0.02, 0.02, this->dataPtr->forceLenght)); + ignition::math::Vector3d(0.003, 0.003, this->dataPtr->forceLength)); } ////////////////////////////////////////////////// @@ -445,6 +463,8 @@ void OpticalTactilePlugin::PreUpdate(const UpdateInfo &_info, if (!this->dataPtr->initialized) { + // We call Load here instead of Configure because we can't be guaranteed + // that all entities have been created when Configure is called this->dataPtr->Load(_ecm, this->dataPtr->sdfConfig); this->dataPtr->initialized = true; } @@ -458,8 +478,8 @@ void OpticalTactilePlugin::PreUpdate(const UpdateInfo &_info, _ecm.Each( [&](const Entity &_entity, const components::Collision *) -> bool { - newCollisions.push_back(_entity); - return true; + newCollisions.push_back(_entity); + return true; }); this->dataPtr->FilterOutCollisions(_ecm, newCollisions); @@ -479,13 +499,43 @@ void OpticalTactilePlugin::PreUpdate(const UpdateInfo &_info, ////////////////////////////////////////////////// void OpticalTactilePlugin::PostUpdate( const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &) + const ignition::gazebo::EntityComponentManager &_ecm) { IGN_PROFILE("TouchPlugin::PostUpdate"); // Nothing left to do if paused. if (_info.paused) return; + + // Delete old interpolated positions + this->dataPtr->interpolatedPosition.clear(); + + for (const Entity &colEntity : this->dataPtr->filteredCollisionEntities) + { + auto* contacts = + _ecm.Component(colEntity); + if (contacts) + { + for (const auto &contact : contacts->Data().contact()) + { + // Interpolate data returned by the Contact message + this->dataPtr->InterpolateData(contact); + } + } + } + + // Process camera message if it's new + { + std::lock_guard lock(this->dataPtr->serviceMutex); + if (this->dataPtr->newCameraMsg) + { + this->dataPtr->UnpackPointCloudMsg(this->dataPtr->cameraMsg); + this->dataPtr->ComputeNormalForces(this->dataPtr->cameraMsg, + this->dataPtr->visualizeForces); + + this->dataPtr->newCameraMsg = false; + } + } } ////////////////////////////////////////////////// @@ -497,8 +547,11 @@ void OpticalTactilePluginPrivate::DepthCameraCallback( if (!this->initialized) return; - this->cameraMsg = _msg; - this->newCameraMsg = true; + { + std::lock_guard lock(this->serviceMutex); + this->cameraMsg = _msg; + this->newCameraMsg = true; + } } ////////////////////////////////////////////////// @@ -515,9 +568,9 @@ void OpticalTactilePluginPrivate::UnpackPointCloudMsg( std::string msgBuffer = _msg.data(); char *msgBufferIndex = msgBuffer.data(); - for (uint32_t j = 0; j < _msg.height(); ++j) + for (uint64_t j = 0; j < _msg.height(); ++j) { - for (uint32_t i = 0; i < _msg.width(); ++i) + for (uint64_t i = 0; i < _msg.width(); ++i) { int fieldIndex = 0; @@ -553,12 +606,12 @@ void OpticalTactilePluginPrivate::ComputeNormalForces( bool visualizeColumn = true; int columnCounter = 0; - int index = 1; + // Variable for setting the markers id through the iteration + int marker_id = 1; - - for (uint32_t j = 1; j < (_msg.height() - 1); ++j) + for (uint64_t j = 1; j < (_msg.height() - 1); ++j) { - for (uint32_t i = 1; i < (_msg.width() - 1); ++i) + for (uint64_t i = 1; i < (_msg.width() - 1); ++i) { // Compute normal forces double dxdi = @@ -568,106 +621,107 @@ void OpticalTactilePluginPrivate::ComputeNormalForces( this->imageXYZ[i-1][j][1]); double dxdj = - (this->imageXYZ[i][j+1][0] - - this->imageXYZ[i][j-1][0])/ - std::abs(this->imageXYZ[i][j+1][2] - - this->imageXYZ[i][j-1][2]); + (this->imageXYZ[i][j+1][0] - + this->imageXYZ[i][j-1][0])/ + std::abs(this->imageXYZ[i][j+1][2] - + this->imageXYZ[i][j-1][2]); ignition::math::Vector3f direction(-1, -dxdi, -dxdj); // todo(anyone) multiply vector by contact forces info normalForces[i][j] = direction.Normalized(); + // todo(mcres) normal forces will be published even if visualization + // is turned off if (!_visualizeForces) continue; // Downsampling for visualization if (visualizeRow && visualizeColumn) - { - // Add new markers with specific lifetime - this->positionMarkerMsg.set_id(index); - this->positionMarkerMsg.set_action( - ignition::msgs::Marker::ADD_MODIFY); - this->positionMarkerMsg.mutable_lifetime()->set_sec( - this->cameraUpdateRate); - this->positionMarkerMsg.mutable_lifetime()->set_nsec(0); - - this->forceMarkerMsg.set_id(index++); - this->forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); - this->forceMarkerMsg.mutable_lifetime()->set_sec( - this->cameraUpdateRate); - this->forceMarkerMsg.mutable_lifetime()->set_nsec(0); - - // The pose of the markers must be published with reference - // to the simulation origin - ignition::math::Vector3f forceMarkerSensorPosition - (this->imageXYZ[i][j][0], this->imageXYZ[i][j][1], - this->imageXYZ[i][j][2]); - - ignition::math::Quaternionf forceMarkerSensorQuaternion; - forceMarkerSensorQuaternion.From2Axes( - ignition::math::Vector3f(0, 0, 1), normalForces[i][j]); - - // The position of the force marker is modified in order to place the - // end of the cylinder in the surface, not its middle point - ignition::math::Pose3f forceMarkerSensorPose( - forceMarkerSensorPosition + - normalForces[i][j] * (this->forceLenght/2), - forceMarkerSensorQuaternion); - - ignition::math::Pose3f forceMarkerWorldPose = - forceMarkerSensorPose + this->sensorWorldPose; - forceMarkerWorldPose.Correct(); - - ignition::math::Pose3f positionMarkerSensorPose( - forceMarkerSensorPosition, forceMarkerSensorQuaternion); - ignition::math::Pose3f positionMarkerWorldPose = - positionMarkerSensorPose + this->sensorWorldPose; - positionMarkerWorldPose.Correct(); - - // Set markers pose messages from previously computed poses - this->forceMarkerMsg.mutable_pose() - ->mutable_position()->set_x(forceMarkerWorldPose.Pos().X()); - this->forceMarkerMsg.mutable_pose() - ->mutable_position()->set_y(forceMarkerWorldPose.Pos().Y()); - this->forceMarkerMsg.mutable_pose() - ->mutable_position()->set_z(forceMarkerWorldPose.Pos().Z()); - this->forceMarkerMsg.mutable_pose() - ->mutable_orientation()->set_x(forceMarkerWorldPose.Rot().X()); - this->forceMarkerMsg.mutable_pose() - ->mutable_orientation()->set_y(forceMarkerWorldPose.Rot().Y()); - this->forceMarkerMsg.mutable_pose() - ->mutable_orientation()->set_z(forceMarkerWorldPose.Rot().Z()); - this->forceMarkerMsg.mutable_pose() - ->mutable_orientation()->set_w(forceMarkerWorldPose.Rot().W()); - - - this->positionMarkerMsg.mutable_pose() - ->mutable_position()->set_x(positionMarkerWorldPose.Pos().X()); - this->positionMarkerMsg.mutable_pose() - ->mutable_position()->set_y(positionMarkerWorldPose.Pos().Y()); - this->positionMarkerMsg.mutable_pose() - ->mutable_position()->set_z(positionMarkerWorldPose.Pos().Z()); - this->positionMarkerMsg.mutable_pose() - ->mutable_orientation()->set_x(positionMarkerWorldPose.Rot().X()); - this->positionMarkerMsg.mutable_pose() - ->mutable_orientation()->set_y(positionMarkerWorldPose.Rot().Y()); - this->positionMarkerMsg.mutable_pose() - ->mutable_orientation()->set_z(positionMarkerWorldPose.Rot().Z()); - this->positionMarkerMsg.mutable_pose() - ->mutable_orientation()->set_w(positionMarkerWorldPose.Rot().W()); - - this->node.Request("/marker", this->forceMarkerMsg); - this->node.Request("/marker", this->positionMarkerMsg); - } - visualizeColumn = (this->resolution == ++columnCounter); - if (visualizeColumn) - columnCounter = 0; + { + // Add new markers with specific lifetime + this->positionMarkerMsg.set_id(marker_id); + this->positionMarkerMsg.set_action( + ignition::msgs::Marker::ADD_MODIFY); + this->positionMarkerMsg.mutable_lifetime()->set_sec( + this->cameraUpdateRate); + this->positionMarkerMsg.mutable_lifetime()->set_nsec(0); + + this->forceMarkerMsg.set_id(marker_id++); + this->forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + this->forceMarkerMsg.mutable_lifetime()->set_sec( + this->cameraUpdateRate); + this->forceMarkerMsg.mutable_lifetime()->set_nsec(0); + + // The pose of the markers must be published with reference + // to the simulation origin + ignition::math::Vector3f forceMarkerSensorPosition + (this->imageXYZ[i][j][0], this->imageXYZ[i][j][1], + this->imageXYZ[i][j][2]); + + ignition::math::Quaternionf forceMarkerSensorQuaternion; + forceMarkerSensorQuaternion.From2Axes( + ignition::math::Vector3f(0, 0, 1), normalForces[i][j]); + + // The position of the force marker is modified in order to place the + // end of the cylinder in the surface, not its middle point + ignition::math::Pose3f forceMarkerSensorPose( + forceMarkerSensorPosition + + normalForces[i][j] * (this->forceLength/2), + forceMarkerSensorQuaternion); + + ignition::math::Pose3f forceMarkerWorldPose = + forceMarkerSensorPose + this->sensorWorldPose; + forceMarkerWorldPose.Correct(); + + ignition::math::Pose3f positionMarkerSensorPose( + forceMarkerSensorPosition, forceMarkerSensorQuaternion); + ignition::math::Pose3f positionMarkerWorldPose = + positionMarkerSensorPose + this->sensorWorldPose; + positionMarkerWorldPose.Correct(); + + // Set markers pose messages from previously computed poses + this->forceMarkerMsg.mutable_pose() + ->mutable_position()->set_x(forceMarkerWorldPose.Pos().X()); + this->forceMarkerMsg.mutable_pose() + ->mutable_position()->set_y(forceMarkerWorldPose.Pos().Y()); + this->forceMarkerMsg.mutable_pose() + ->mutable_position()->set_z(forceMarkerWorldPose.Pos().Z()); + this->forceMarkerMsg.mutable_pose() + ->mutable_orientation()->set_x(forceMarkerWorldPose.Rot().X()); + this->forceMarkerMsg.mutable_pose() + ->mutable_orientation()->set_y(forceMarkerWorldPose.Rot().Y()); + this->forceMarkerMsg.mutable_pose() + ->mutable_orientation()->set_z(forceMarkerWorldPose.Rot().Z()); + this->forceMarkerMsg.mutable_pose() + ->mutable_orientation()->set_w(forceMarkerWorldPose.Rot().W()); + + this->positionMarkerMsg.mutable_pose() + ->mutable_position()->set_x(positionMarkerWorldPose.Pos().X()); + this->positionMarkerMsg.mutable_pose() + ->mutable_position()->set_y(positionMarkerWorldPose.Pos().Y()); + this->positionMarkerMsg.mutable_pose() + ->mutable_position()->set_z(positionMarkerWorldPose.Pos().Z()); + this->positionMarkerMsg.mutable_pose() + ->mutable_orientation()->set_x(positionMarkerWorldPose.Rot().X()); + this->positionMarkerMsg.mutable_pose() + ->mutable_orientation()->set_y(positionMarkerWorldPose.Rot().Y()); + this->positionMarkerMsg.mutable_pose() + ->mutable_orientation()->set_z(positionMarkerWorldPose.Rot().Z()); + this->positionMarkerMsg.mutable_pose() + ->mutable_orientation()->set_w(positionMarkerWorldPose.Rot().W()); + + this->node.Request("/marker", this->forceMarkerMsg); + this->node.Request("/marker", this->positionMarkerMsg); + } + visualizeColumn = (this->resolution == ++columnCounter); + if (visualizeColumn) + columnCounter = 0; } visualizeColumn = true; visualizeRow = (this->resolution == ++rowCounter); - if (visualizeRow) - rowCounter = 0; + if (visualizeRow) + rowCounter = 0; } } @@ -675,7 +729,6 @@ IGNITION_ADD_PLUGIN(OpticalTactilePlugin, ignition::gazebo::System, OpticalTactilePlugin::ISystemConfigure, OpticalTactilePlugin::ISystemPreUpdate, - OpticalTactilePlugin::ISystemUpdate, OpticalTactilePlugin::ISystemPostUpdate) IGNITION_ADD_PLUGIN_ALIAS(OpticalTactilePlugin, diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh index ede7e8c89d..ba0c2d31c7 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh @@ -1,5 +1,5 @@ /* - * Copyright (C) 2019 Open Source Robotics Foundation + * Copyright (C) 2020 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. @@ -36,19 +36,28 @@ namespace systems /// \brief Plugin that implements an optical tactile sensor /// - /// It requires that contact sensors be placed in at least one link on the - /// model on which this plugin is attached. + /// It requires that contact sensor and depth camera be placed in at least + /// one link on the model on which this plugin is attached. /// /// Parameters: /// - /// Set this to true so the plugin works from the start and - /// doesn't need to be enabled. + /// (todo) Set this to true so the plugin works from the start and + /// doesn't need to be enabled. This element is optional, and the + /// default value is true. + /// + /// Number of pixels to skip when visualizing forces. One + /// vector representing a normal force is computed for each of the camera + /// pixels. This element must be positive and it is optional. The default + /// value is 100. + /// + /// Set this to true so the plugin visualizes the normal + /// forces in the 3D world. This element is optional, and the + /// default value is false. class IGNITION_GAZEBO_VISIBLE OpticalTactilePlugin : public System, public ISystemConfigure, public ISystemPreUpdate, - public ISystemUpdate, public ISystemPostUpdate { /// \brief Constructor @@ -67,10 +76,6 @@ namespace systems public: void PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) override; - /// Documentation inherited - public: void Update(const UpdateInfo &_info, - EntityComponentManager &_ecm) final; - // Documentation inherited public: void PostUpdate( const ignition::gazebo::UpdateInfo &_info, From 70774f4bd77e0c1359ea11e8f81ed29f31bcbab7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Thu, 9 Jul 2020 11:47:25 +0200 Subject: [PATCH 159/202] Update sdf example to a more realistic environment MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../worlds/optical_tactile_sensor_plugin.sdf | 145 +++++++----------- 1 file changed, 54 insertions(+), 91 deletions(-) diff --git a/examples/worlds/optical_tactile_sensor_plugin.sdf b/examples/worlds/optical_tactile_sensor_plugin.sdf index 1b6fe3ac07..ae3202d853 100644 --- a/examples/worlds/optical_tactile_sensor_plugin.sdf +++ b/examples/worlds/optical_tactile_sensor_plugin.sdf @@ -1,7 +1,7 @@ - + @@ -61,8 +61,8 @@ true true true - /world/touch/control - /world/touch/stats + /world/optical_tactile_plugin/control + /world/optical_tactile_plugin/stats /world/depth_camera_sensor/control /world/depth_camera_sensor/stats @@ -89,7 +89,7 @@ true true true - /world/touch/stats + /world/optical_tactile_plugin/stats /world/depth_camera_sensor/stats @@ -99,6 +99,19 @@ + + + + 0 + 0 + 263 + 50 + floating + false + #03a9f4 + + + true @@ -140,65 +153,40 @@ - - 0 3 3.5 0 0 0 - - - - - 3 2 3 - - - - - - - 3 2 3 - - - - 0 1 0 1 - 0 1 0 1 - - - - true - - - - 0 0 3.5 0 0 0 + + 0 0.1 0.8 0 0 -1.57 - 0 1 1 + 0.05 0.05 0.05 - 0 1 1 + 0.05 0.05 0.05 - + 1 depth_camera 1.05 - 256 - 256 + 640 + 480 R_FLOAT32 - 0.1 - 5.0 + 0.01 + 0.2 - + collision @@ -215,58 +203,33 @@ - - 0 -3 3.5 0 0 0 - - - - - 1.5 - - - - - - - 1.5 - - - - 0 1 0 1 - 0 1 0 1 - - - - true - - - - 3 0 3.5 0 0 0 - - - - - 1.3 - 3 - - - - - - - 1.3 - 3 - - - - 0 1 0 1 - 0 1 0 1 - - - - true - + + 0 0 0 0 0 0 + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/SurgicalTrolleyMed + + + + + 0 0 0.7 0 0 0 + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke + + + + + 0 -0.7 0 0 0 3.14 + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/OfficeChairBlue + + + + + -1.5 0 0 0 0 1.57 + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/VendingMachine + + - From 1652081a763c74f39300b59f6e93a0ed3f173889 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Thu, 9 Jul 2020 16:03:38 +0200 Subject: [PATCH 160/202] Allow moving Depth Camera from model origin MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../worlds/optical_tactile_sensor_plugin.sdf | 9 +++++---- .../OpticalTactilePlugin.cc | 18 ++++++++++++++++-- 2 files changed, 21 insertions(+), 6 deletions(-) diff --git a/examples/worlds/optical_tactile_sensor_plugin.sdf b/examples/worlds/optical_tactile_sensor_plugin.sdf index ae3202d853..276cc0af9f 100644 --- a/examples/worlds/optical_tactile_sensor_plugin.sdf +++ b/examples/worlds/optical_tactile_sensor_plugin.sdf @@ -159,20 +159,21 @@ - 0.05 0.05 0.05 + 0.005 0.02 0.02 - 0.05 0.05 0.05 + 0.005 0.02 0.02 1 depth_camera + -0.05 0 0 0 0 0 1.05 @@ -181,8 +182,8 @@ R_FLOAT32 - 0.01 - 0.2 + 0.030 + 0.065 diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index c8fc639afa..e4e2c53caf 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -141,6 +141,9 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Pose of the sensor model public: ignition::math::Pose3f sensorWorldPose; + /// \brief Offset between Depth Camera pose and model pose + public: ignition::math::Pose3f depthCameraOffset; + /// \brief Whether a new message has been returned by the Depth Camera public: bool newCameraMsg{false}; @@ -255,6 +258,15 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm, return; } + // Store depth camera offset from model + auto offset = depthCameraSdf->Get("pose"); + igndbg << "Camera offset: " << offset << std::endl; + // Depth Camera data is float, so convert Pose3d to Pose3f + this->depthCameraOffset = ignition::math::Pose3f( + offset.Pos().X(), offset.Pos().Y(), offset.Pos().Z(), + offset.Rot().W(), offset.Rot().X(), offset.Rot().Y(), + offset.Rot().Z()); + // Configure subscriber for Depth Camera images std::string topic = "/depth_camera/points"; if (depthCameraSdf->HasElement("topic")) @@ -671,13 +683,15 @@ void OpticalTactilePluginPrivate::ComputeNormalForces( forceMarkerSensorQuaternion); ignition::math::Pose3f forceMarkerWorldPose = - forceMarkerSensorPose + this->sensorWorldPose; + (forceMarkerSensorPose + this->depthCameraOffset) + + this->sensorWorldPose; forceMarkerWorldPose.Correct(); ignition::math::Pose3f positionMarkerSensorPose( forceMarkerSensorPosition, forceMarkerSensorQuaternion); ignition::math::Pose3f positionMarkerWorldPose = - positionMarkerSensorPose + this->sensorWorldPose; + (positionMarkerSensorPose + this->depthCameraOffset) + + this->sensorWorldPose; positionMarkerWorldPose.Correct(); // Set markers pose messages from previously computed poses From 4bccc6cd3a6fe3a97217d7b2c0930d6189c49d6b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Thu, 9 Jul 2020 16:50:09 +0200 Subject: [PATCH 161/202] Make markers dimensions available as parameters MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../worlds/optical_tactile_sensor_plugin.sdf | 3 ++ .../OpticalTactilePlugin.cc | 42 +++++++++++++++++-- .../OpticalTactilePlugin.hh | 9 ++++ 3 files changed, 51 insertions(+), 3 deletions(-) diff --git a/examples/worlds/optical_tactile_sensor_plugin.sdf b/examples/worlds/optical_tactile_sensor_plugin.sdf index 276cc0af9f..24e3214260 100644 --- a/examples/worlds/optical_tactile_sensor_plugin.sdf +++ b/examples/worlds/optical_tactile_sensor_plugin.sdf @@ -201,6 +201,9 @@ true 30 true + 0.003 + 0.001 + 0.01 diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index e4e2c53caf..c73eebc920 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -127,13 +127,16 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate public: ignition::msgs::Marker positionMarkerMsg; /// \brief Radius of the visualized contact sphere - public: double contactRadius{0.01}; + public: double contactRadius{0.003}; /// \brief Message for visualizing contact forces public: ignition::msgs::Marker forceMarkerMsg; /// \brief Length of the visualized force cylinder - public: double forceLength{0.03}; + public: double forceLength{0.01}; + + /// \brief Radius of the visualized force cylinder + public: double forceRadius{0.001}; /// \brief Position interpolated from the Contact messages public: std::vector interpolatedPosition; @@ -395,6 +398,38 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, // Blue spheres for positions // Green cylinders for forces + // Get markers parameters + + if (!_sdf->HasElement("contact_radius")) + { + ignlog << "Missing required parameter , " + << "using default value" << std::endl; + } + else + { + this->dataPtr->contactRadius = _sdf->Get("contact_radius"); + } + + if (!_sdf->HasElement("force_radius")) + { + ignlog << "Missing required parameter , " + << "using default value" << std::endl; + } + else + { + this->dataPtr->forceRadius = _sdf->Get("force_radius"); + } + + if (!_sdf->HasElement("force_length")) + { + ignlog << "Missing required parameter , " + << "using default value" << std::endl; + } + else + { + this->dataPtr->forceLength = _sdf->Get("force_length"); + } + // Create the marker message this->dataPtr->positionMarkerMsg.set_ns("positions"); this->dataPtr->positionMarkerMsg.set_action( @@ -460,7 +495,8 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, this->dataPtr->contactRadius)); ignition::msgs::Set(this->dataPtr->forceMarkerMsg.mutable_scale(), - ignition::math::Vector3d(0.003, 0.003, this->dataPtr->forceLength)); + ignition::math::Vector3d(this->dataPtr->forceRadius, + this->dataPtr->forceRadius, this->dataPtr->forceLength)); } ////////////////////////////////////////////////// diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh index ba0c2d31c7..d1ca2dc897 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh @@ -53,6 +53,15 @@ namespace systems /// Set this to true so the plugin visualizes the normal /// forces in the 3D world. This element is optional, and the /// default value is false. + /// + /// Radius of the contacts visualized if + /// is set to true. This parameter is optional. + /// + /// Radius of the forces visualized if + /// is set to true. This parameter is optional. + /// + /// Length of the forces visualized if + /// is set to true. This parameter is optional. class IGNITION_GAZEBO_VISIBLE OpticalTactilePlugin : public System, From 16732f6f7b7a1e36f743fed07458296bafa177c1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Mon, 13 Jul 2020 16:17:35 +0200 Subject: [PATCH 162/202] Visualize sensor as a marker instead of and filter out normal forces outside sensor MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../worlds/optical_tactile_sensor_plugin.sdf | 28 ++-- .../OpticalTactilePlugin.cc | 146 +++++++++++++++++- .../OpticalTactilePlugin.hh | 13 +- 3 files changed, 170 insertions(+), 17 deletions(-) diff --git a/examples/worlds/optical_tactile_sensor_plugin.sdf b/examples/worlds/optical_tactile_sensor_plugin.sdf index 24e3214260..596d6f5c92 100644 --- a/examples/worlds/optical_tactile_sensor_plugin.sdf +++ b/examples/worlds/optical_tactile_sensor_plugin.sdf @@ -112,6 +112,16 @@ + + + + false + docked + + + + + true @@ -154,7 +164,7 @@ - 0 0.1 0.8 0 0 -1.57 + -0.005 -0.001 0.847 0 1.57 -1.57 @@ -163,19 +173,11 @@ - - - - 0.005 0.02 0.02 - - - 1 depth_camera -0.05 0 0 0 0 0 - 1.05 640 480 @@ -199,11 +201,13 @@ filename="libignition-gazebo-opticaltactileplugin-system.so" name="ignition::gazebo::systems::OpticalTactilePlugin"> true - 30 + 15 true - 0.003 - 0.001 + true + 0.001 + 0.0002 0.01 + 0.001 diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index c73eebc920..758b2c3229 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -144,6 +144,9 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Pose of the sensor model public: ignition::math::Pose3f sensorWorldPose; + /// \brief Pose of the sensor model in the previous iteration + public: ignition::math::Pose3f prevSensorWorldPose; + /// \brief Offset between Depth Camera pose and model pose public: ignition::math::Pose3f depthCameraOffset; @@ -162,6 +165,20 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Mutex for variables mutated by the camera callback. /// The variables are: newCameraMsg, cameraMsg. public: std::mutex serviceMutex; + + /// \brief If true, the plugin will draw a marker in the place of the + /// contact sensor so it's easy to know its position + public: bool visualizeSensor{false}; + + /// \brief Message for visualizing the sensor + public: ignition::msgs::Marker sensorMarkerMsg; + + /// \brief Size of the contact sensor + public: ignition::math::Vector3d sensorSize; + + /// \brief Extended sensing distance. The sensor will output data coming from + /// its volume plus this distance. + public: double extendedSensing{0.001}; }; ////////////////////////////////////////////////// @@ -199,6 +216,26 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm, this->visualizeForces = _sdf->Get("visualize_forces"); } + if (!_sdf->HasElement("extended_sensing")) + { + ignlog << "Missing required parameter , " + << "using default value" << std::endl; + } + else + { + this->extendedSensing = _sdf->Get("extended_sensing"); + } + + if (!_sdf->HasElement("visualize_sensor")) + { + ignlog << "Missing required parameter , " + << "using default value" << std::endl; + } + else + { + this->visualizeSensor = _sdf->Get("visualize_sensor"); + } + // todo(anyone) The plugin should be able to handle more than one link. In // that case, one of the links would be the actual tactile sensor. @@ -261,9 +298,14 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm, return; } - // Store depth camera offset from model + // Store depth camera update rate and offset from model auto offset = depthCameraSdf->Get("pose"); - igndbg << "Camera offset: " << offset << std::endl; + this->cameraUpdateRate = 1; + if (depthCameraSdf->HasElement("update_rate")) + { + this->cameraUpdateRate = depthCameraSdf->Get("update_rate"); + } + // Depth Camera data is float, so convert Pose3d to Pose3f this->depthCameraOffset = ignition::math::Pose3f( offset.Pos().X(), offset.Pos().Y(), offset.Pos().Z(), @@ -447,6 +489,15 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, this->dataPtr->forceMarkerMsg.set_visibility( ignition::msgs::Marker::GUI); + this->dataPtr->sensorMarkerMsg.set_ns("sensor"); + this->dataPtr->sensorMarkerMsg.set_id(1); + this->dataPtr->sensorMarkerMsg.set_action( + ignition::msgs::Marker::ADD_MODIFY); + this->dataPtr->sensorMarkerMsg.set_type( + ignition::msgs::Marker::BOX); + this->dataPtr->sensorMarkerMsg.set_visibility( + ignition::msgs::Marker::GUI); + // Set material properties this->dataPtr-> positionMarkerMsg.mutable_material()->mutable_ambient()->set_r(0); @@ -488,6 +539,27 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, forceMarkerMsg.mutable_lifetime()-> set_sec(this->dataPtr->cameraUpdateRate); + this->dataPtr-> + sensorMarkerMsg.mutable_material()->mutable_ambient()->set_r(0.5); + this->dataPtr-> + sensorMarkerMsg.mutable_material()->mutable_ambient()->set_g(0.5); + this->dataPtr-> + sensorMarkerMsg.mutable_material()->mutable_ambient()->set_b(0.5); + this->dataPtr-> + sensorMarkerMsg.mutable_material()->mutable_ambient()->set_a(0.75); + this->dataPtr-> + sensorMarkerMsg.mutable_material()->mutable_diffuse()->set_r(0.5); + this->dataPtr-> + sensorMarkerMsg.mutable_material()->mutable_diffuse()->set_g(0.5); + this->dataPtr-> + sensorMarkerMsg.mutable_material()->mutable_diffuse()->set_b(0.5); + this->dataPtr-> + sensorMarkerMsg.mutable_material()->mutable_diffuse()->set_a(0.75); + this->dataPtr-> + sensorMarkerMsg.mutable_lifetime()->set_sec(0); + this->dataPtr-> + sensorMarkerMsg.mutable_lifetime()->set_nsec(0); + // Set scales ignition::msgs::Set(this->dataPtr->positionMarkerMsg.mutable_scale(), ignition::math::Vector3d(this->dataPtr->contactRadius, @@ -497,6 +569,18 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, ignition::msgs::Set(this->dataPtr->forceMarkerMsg.mutable_scale(), ignition::math::Vector3d(this->dataPtr->forceRadius, this->dataPtr->forceRadius, this->dataPtr->forceLength)); + + // Get the size of the sensor from the SDF + + // If there's no specified inside , a default one + // is set + this->dataPtr->sensorSize = + _sdf->GetParent()->GetElement("link")->GetElement("collision")-> + GetElement("geometry")->GetElement("box")-> + Get("size"); + + ignition::msgs::Set(this->dataPtr->sensorMarkerMsg.mutable_scale(), + this->dataPtr->sensorSize); } ////////////////////////////////////////////////// @@ -584,6 +668,39 @@ void OpticalTactilePlugin::PostUpdate( this->dataPtr->newCameraMsg = false; } } + + // Publish sensor marker if required and sensor pose has changed + if (this->dataPtr->visualizeSensor && + (this->dataPtr->sensorWorldPose != this->dataPtr->prevSensorWorldPose)) + { + this->dataPtr->sensorMarkerMsg.set_action( + ignition::msgs::Marker::ADD_MODIFY); + this->dataPtr->sensorMarkerMsg.set_id(1); + + this->dataPtr->sensorMarkerMsg.mutable_pose() + ->mutable_position()->set_x(this->dataPtr->sensorWorldPose.Pos().X()); + this->dataPtr->sensorMarkerMsg.mutable_pose() + ->mutable_position()->set_y(this->dataPtr->sensorWorldPose.Pos().Y()); + this->dataPtr->sensorMarkerMsg.mutable_pose() + ->mutable_position()->set_z(this->dataPtr->sensorWorldPose.Pos().Z()); + this->dataPtr->sensorMarkerMsg.mutable_pose()-> + mutable_orientation()->set_x( + this->dataPtr->sensorWorldPose.Rot().X()); + this->dataPtr->sensorMarkerMsg.mutable_pose()-> + mutable_orientation()->set_y( + this->dataPtr->sensorWorldPose.Rot().Y()); + this->dataPtr->sensorMarkerMsg.mutable_pose()-> + mutable_orientation()->set_z( + this->dataPtr->sensorWorldPose.Rot().Z()); + this->dataPtr->sensorMarkerMsg.mutable_pose()-> + mutable_orientation()->set_w( + this->dataPtr->sensorWorldPose.Rot().W()); + + this->dataPtr->node.Request("/marker", this->dataPtr->sensorMarkerMsg); + } + + // Store the pose of the sensor in the current iteration + this->dataPtr->prevSensorWorldPose = this->dataPtr->sensorWorldPose; } ////////////////////////////////////////////////// @@ -632,6 +749,31 @@ void OpticalTactilePluginPrivate::UnpackPointCloudMsg( this->imageXYZ[i][j][2] = *reinterpret_cast( msgBufferIndex + _msg.field(fieldIndex++).offset()); + // Filter out points outside of the contact sensor + + // We assume that the Depth Camera is only displaced in the -X direction + bool insideX = (this->imageXYZ[i][j][0] >= std::abs( + this->depthCameraOffset.X()) - this->extendedSensing) + && (this->imageXYZ[i][j][0] <= (std::abs(this->depthCameraOffset.X()) + + this->sensorSize.X() + this->extendedSensing)); + + bool insideY = (this->imageXYZ[i][j][1] <= this->sensorSize.Y() / 2 + + this->extendedSensing) + && (this->imageXYZ[i][j][1] >= - this->sensorSize.Y() / 2 - + this->extendedSensing); + + bool insideZ = (this->imageXYZ[i][j][2] <= this->sensorSize.Z() / 2 + + this->extendedSensing) + && (this->imageXYZ[i][j][2] >= - this->sensorSize.Z() / 2 - + this->extendedSensing); + + if (!insideX || !insideY || !insideZ) + { + this->imageXYZ[i][j][0] = ignition::math::INF_D; + this->imageXYZ[i][j][1] = ignition::math::INF_D; + this->imageXYZ[i][j][2] = ignition::math::INF_D; + } + msgBufferIndex += _msg.point_step(); } } diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh index d1ca2dc897..e6c9dff800 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh @@ -54,14 +54,21 @@ namespace systems /// forces in the 3D world. This element is optional, and the /// default value is false. /// - /// Radius of the contacts visualized if + /// Radius in meters of the contacts visualized if /// is set to true. This parameter is optional. /// - /// Radius of the forces visualized if + /// Radius in meters of the forces visualized if /// is set to true. This parameter is optional. /// - /// Length of the forces visualized if + /// Length in meters of the forces visualized if /// is set to true. This parameter is optional. + /// + /// Extended sensing distance in meters. The sensor will + /// output data coming from its collision geometry plus this distance. This + /// element is optional, and the default value is 0.001. + /// + /// Whether to visualize the sensor or not. This element + /// is optional, and the default value is false. class IGNITION_GAZEBO_VISIBLE OpticalTactilePlugin : public System, From 6a3f5dd95e2bad9d82af60ca6c91a0456caa0666 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Mon, 13 Jul 2020 19:51:25 +0200 Subject: [PATCH 163/202] Fix yaw units (#238) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo Signed-off-by: Louise Poubel --- src/gui/plugins/component_inspector/Pose3d.qml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/gui/plugins/component_inspector/Pose3d.qml b/src/gui/plugins/component_inspector/Pose3d.qml index 8700857066..0190a08c04 100644 --- a/src/gui/plugins/component_inspector/Pose3d.qml +++ b/src/gui/plugins/component_inspector/Pose3d.qml @@ -300,7 +300,7 @@ Rectangle { } Text { - text: 'Yaw (m)' + text: 'Yaw (rad)' leftPadding: 5 color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" font.pointSize: 12 From 351857286a076fe017c1340a73b56b6956c1dca4 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Fri, 17 Jul 2020 06:31:57 +0800 Subject: [PATCH 164/202] Enable alpha based transparency on PBR materials by default (#249) Signed-off-by: Luca Della Vedova --- src/rendering/SceneManager.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 280da08498..20b4e8ab11 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -476,6 +476,8 @@ rendering::MaterialPtr SceneManager::LoadMaterial( if (!fullPath.empty()) { material->SetTexture(fullPath); + // Use alpha channel for transparency + material->SetAlphaFromTexture(true); } else ignerr << "Unable to find file [" << albedoMap << "]\n"; From aea1accff6d8daee0358ae9025e2a9797d292844 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Mon, 20 Jul 2020 12:02:41 -0700 Subject: [PATCH 165/202] Names with spaces: add string serializer (#244) Signed-off-by: Louise Poubel --- Changelog.md | 3 + examples/worlds/fuel.sdf | 4 + include/ignition/gazebo/components/Actor.hh | 3 +- .../gazebo/components/ChildLinkName.hh | 6 +- .../gazebo/components/LevelEntityNames.hh | 14 +- include/ignition/gazebo/components/Name.hh | 4 +- .../gazebo/components/ParentLinkName.hh | 6 +- .../gazebo/components/PerformerAffinity.hh | 6 +- .../gazebo/components/PhysicsEnginePlugin.hh | 3 +- .../gazebo/components/Serialization.hh | 27 ++++ .../gazebo/components/SourceFilePath.hh | 4 +- test/integration/components.cc | 137 ++++++++++++++++-- 12 files changed, 191 insertions(+), 26 deletions(-) diff --git a/Changelog.md b/Changelog.md index c9a3d9721a..c55bbe51f0 100644 --- a/Changelog.md +++ b/Changelog.md @@ -4,6 +4,9 @@ ### Ignition Gazebo 4.0.0 (20XX-XX-XX) +1. Names with spaces: add string serializer + * [pull request 244](https://github.com/ignitionrobotics/ign-gazebo/pull/244) + 1. Filter mesh collision based on `collide_bitmask` property * [pull request 160](https://github.com/ignitionrobotics/ign-gazebo/pull/160) diff --git a/examples/worlds/fuel.sdf b/examples/worlds/fuel.sdf index 6dad7a8d24..14f07cd6f5 100644 --- a/examples/worlds/fuel.sdf +++ b/examples/worlds/fuel.sdf @@ -122,6 +122,7 @@ + Double pendulum -3 0 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/nate/models/double_pendulum_with_base/2 @@ -134,12 +135,15 @@ + Gazebo (relative paths) 2 5 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/chapulina/models/Gazebo - relative paths + Actor Test + 0 0 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/chapulina/models/actor - relative paths diff --git a/include/ignition/gazebo/components/Actor.hh b/include/ignition/gazebo/components/Actor.hh index 526b96cecd..44d8bbc19c 100644 --- a/include/ignition/gazebo/components/Actor.hh +++ b/include/ignition/gazebo/components/Actor.hh @@ -86,7 +86,8 @@ namespace components AnimationTime) /// \brief Name of animation being currently played. - using AnimationName = Component; + using AnimationName = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.AnimationName", AnimationName) } diff --git a/include/ignition/gazebo/components/ChildLinkName.hh b/include/ignition/gazebo/components/ChildLinkName.hh index d9e2ff25b6..2381684d19 100644 --- a/include/ignition/gazebo/components/ChildLinkName.hh +++ b/include/ignition/gazebo/components/ChildLinkName.hh @@ -18,8 +18,9 @@ #define IGNITION_GAZEBO_COMPONENTS_CHILDLINKNAME_HH_ #include -#include #include +#include +#include #include namespace ignition @@ -32,7 +33,8 @@ namespace components { /// \brief A component used to indicate that a model is childlinkname (i.e. /// not moveable). - using ChildLinkName = Component; + using ChildLinkName = Component; IGN_GAZEBO_REGISTER_COMPONENT( "ign_gazebo_components.ChildLinkName", ChildLinkName) } diff --git a/include/ignition/gazebo/components/LevelEntityNames.hh b/include/ignition/gazebo/components/LevelEntityNames.hh index 9c45bc31a2..43324b08a7 100644 --- a/include/ignition/gazebo/components/LevelEntityNames.hh +++ b/include/ignition/gazebo/components/LevelEntityNames.hh @@ -43,9 +43,12 @@ namespace serializers public: static std::ostream &Serialize(std::ostream &_out, const std::set &_set) { + // Character to separate level names. It's the "Unit separator". + const char sep = 31; + for (const auto &entity : _set) { - _out << entity << " "; + _out << entity << sep; } return _out; } @@ -57,14 +60,13 @@ namespace serializers public: static std::istream &Deserialize(std::istream &_in, std::set &_set) { - _in.setf(std::ios_base::skipws); - _set.clear(); - for (auto it = std::istream_iterator(_in); - it != std::istream_iterator(); ++it) + const char sep = 31; + std::string level; + while (std::getline(_in, level, sep)) { - _set.insert(*it); + _set.insert(level); } return _in; } diff --git a/include/ignition/gazebo/components/Name.hh b/include/ignition/gazebo/components/Name.hh index 553be0b555..e41cc6fd8b 100644 --- a/include/ignition/gazebo/components/Name.hh +++ b/include/ignition/gazebo/components/Name.hh @@ -20,6 +20,7 @@ #include #include #include +#include #include namespace ignition @@ -32,7 +33,8 @@ namespace components { /// \brief This component holds an entity's name. The component has no concept /// of scoped names nor does it care about uniqueness. - using Name = Component; + using Name = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.Name", Name) } } diff --git a/include/ignition/gazebo/components/ParentLinkName.hh b/include/ignition/gazebo/components/ParentLinkName.hh index 6071431977..3081d163da 100644 --- a/include/ignition/gazebo/components/ParentLinkName.hh +++ b/include/ignition/gazebo/components/ParentLinkName.hh @@ -18,8 +18,9 @@ #define IGNITION_GAZEBO_COMPONENTS_PARENTLINKNAME_HH_ #include -#include #include +#include +#include #include namespace ignition @@ -31,7 +32,8 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { namespace components { /// \brief Holds the name of the entity's parent link. - using ParentLinkName = Component; + using ParentLinkName = Component; IGN_GAZEBO_REGISTER_COMPONENT( "ign_gazebo_components.ParentLinkName", ParentLinkName) } diff --git a/include/ignition/gazebo/components/PerformerAffinity.hh b/include/ignition/gazebo/components/PerformerAffinity.hh index acb439ef25..0afe760d0c 100644 --- a/include/ignition/gazebo/components/PerformerAffinity.hh +++ b/include/ignition/gazebo/components/PerformerAffinity.hh @@ -22,8 +22,9 @@ #include #include -#include "ignition/gazebo/components/Factory.hh" #include "ignition/gazebo/components/Component.hh" +#include "ignition/gazebo/components/Factory.hh" +#include "ignition/gazebo/components/Serialization.hh" namespace ignition { @@ -35,7 +36,8 @@ namespace components { /// \brief This component holds the address of the distributed secondary that /// this performer is associated with. - using PerformerAffinity = Component; + using PerformerAffinity = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.PerformerAffinity", PerformerAffinity) } diff --git a/include/ignition/gazebo/components/PhysicsEnginePlugin.hh b/include/ignition/gazebo/components/PhysicsEnginePlugin.hh index 2e5d5cbf73..dda8fa86df 100644 --- a/include/ignition/gazebo/components/PhysicsEnginePlugin.hh +++ b/include/ignition/gazebo/components/PhysicsEnginePlugin.hh @@ -20,6 +20,7 @@ #include #include #include +#include #include namespace ignition @@ -32,7 +33,7 @@ namespace components { /// \brief Holds the physics engine shared library. using PhysicsEnginePlugin = Component; + class PhysicsEnginePluginTag, serializers::StringSerializer>; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.PhysicsEnginePlugin", PhysicsEnginePlugin) } diff --git a/include/ignition/gazebo/components/Serialization.hh b/include/ignition/gazebo/components/Serialization.hh index f6e223bd66..5fe9999dce 100644 --- a/include/ignition/gazebo/components/Serialization.hh +++ b/include/ignition/gazebo/components/Serialization.hh @@ -20,6 +20,7 @@ #include #include +#include #include #include @@ -156,6 +157,32 @@ namespace serializers return _in; } }; + + /// \brief Serializer for components that hold std::string. + class StringSerializer + { + /// \brief Serialization + /// \param[in] _out Output stream. + /// \param[in] _data Data to serialize. + /// \return The stream. + public: static std::ostream &Serialize(std::ostream &_out, + const std::string &_data) + { + _out << _data; + return _out; + } + + /// \brief Deserialization + /// \param[in] _in Input stream. + /// \param[in] _data Data to populate. + /// \return The stream. + public: static std::istream &Deserialize(std::istream &_in, + std::string &_data) + { + _data = std::string(std::istreambuf_iterator(_in), {}); + return _in; + } + }; } } } diff --git a/include/ignition/gazebo/components/SourceFilePath.hh b/include/ignition/gazebo/components/SourceFilePath.hh index 96cd30ebbb..d5919e1a43 100644 --- a/include/ignition/gazebo/components/SourceFilePath.hh +++ b/include/ignition/gazebo/components/SourceFilePath.hh @@ -20,6 +20,7 @@ #include #include #include +#include #include namespace ignition @@ -33,7 +34,8 @@ namespace components /// \brief This component holds the filepath to the source from which an /// entity is created. For example, it can be used to store the file path of a /// model's SDFormat file. - using SourceFilePath = Component; + using SourceFilePath = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.SourceFilePath", SourceFilePath) diff --git a/test/integration/components.cc b/test/integration/components.cc index 7c6e5aab9e..2f99c6d4ef 100644 --- a/test/integration/components.cc +++ b/test/integration/components.cc @@ -60,10 +60,13 @@ #include "ignition/gazebo/components/ParentEntity.hh" #include "ignition/gazebo/components/ParentLinkName.hh" #include "ignition/gazebo/components/Performer.hh" +#include "ignition/gazebo/components/PerformerAffinity.hh" #include "ignition/gazebo/components/PerformerLevels.hh" +#include "ignition/gazebo/components/PhysicsEnginePlugin.hh" #include "ignition/gazebo/components/Pose.hh" #include "ignition/gazebo/components/Scene.hh" #include "ignition/gazebo/components/Sensor.hh" +#include "ignition/gazebo/components/SourceFilePath.hh" #include "ignition/gazebo/components/Static.hh" #include "ignition/gazebo/components/ThreadPitch.hh" #include "ignition/gazebo/components/Visual.hh" @@ -110,6 +113,33 @@ TEST_F(ComponentsTest, Actor) EXPECT_EQ(ignition::math::Pose3d(3, 2, 1, 0, 0, 0), comp3.Data().RawPose()); } +///////////////////////////////////////////////// +TEST_F(ComponentsTest, AnimationName) +{ + // Create components + auto comp11 = components::AnimationName("comp1"); + auto comp12 = components::AnimationName("comp1"); + auto comp2 = components::AnimationName("comp2"); + + // Equality operators + EXPECT_EQ(comp11, comp12); + EXPECT_NE(comp11, comp2); + EXPECT_TRUE(comp11 == comp12); + EXPECT_TRUE(comp11 != comp2); + EXPECT_FALSE(comp11 == comp2); + EXPECT_FALSE(comp11 != comp12); + + // Stream operators + std::ostringstream ostr; + comp11.Serialize(ostr); + EXPECT_EQ("comp1", ostr.str()); + + std::istringstream istr("comp3"); + components::AnimationName comp3; + comp3.Deserialize(istr); + EXPECT_EQ("comp3", comp3.Data()); +} + ///////////////////////////////////////////////// TEST_F(ComponentsTest, AirPressureSensor) { @@ -664,9 +694,9 @@ TEST_F(ComponentsTest, LevelEntityNames) // Stream operators std::ostringstream ostr; comp11.Serialize(ostr); - EXPECT_EQ("level1 level2 ", ostr.str()); + EXPECT_EQ("level1\x1Flevel2\x1F", ostr.str()); - std::istringstream istr("level3 level4"); + std::istringstream istr("level3\x1Flevel4"); components::LevelEntityNames comp3; comp3.Deserialize(istr); @@ -945,14 +975,26 @@ TEST_F(ComponentsTest, Name) EXPECT_FALSE(comp11 != comp12); // Stream operators - std::ostringstream ostr; - comp11.Serialize(ostr); - EXPECT_EQ("comp1", ostr.str()); - - std::istringstream istr("comp3"); - components::Name comp3; - comp3.Deserialize(istr); - EXPECT_EQ("comp3", comp3.Data()); + for (auto str : { + "boring", + "snake_case", + "camelCase", + "with s p a c e s 123", + "with/slash", + "tópico", + "トピック" + }) + { + auto compA = components::Name(str); + std::ostringstream ostr; + compA.Serialize(ostr); + EXPECT_EQ(str, ostr.str()); + + std::istringstream istr(str); + components::Name compB; + compB.Deserialize(istr); + EXPECT_EQ(str, compB.Data()); + } } ///////////////////////////////////////////////// @@ -1031,6 +1073,33 @@ TEST_F(ComponentsTest, Performer) comp3.Deserialize(istr); } +///////////////////////////////////////////////// +TEST_F(ComponentsTest, PerformerAffinity) +{ + // Create components + auto comp11 = components::PerformerAffinity("comp1"); + auto comp12 = components::PerformerAffinity("comp1"); + auto comp2 = components::PerformerAffinity("comp2"); + + // Equality operators + EXPECT_EQ(comp11, comp12); + EXPECT_NE(comp11, comp2); + EXPECT_TRUE(comp11 == comp12); + EXPECT_TRUE(comp11 != comp2); + EXPECT_FALSE(comp11 == comp2); + EXPECT_FALSE(comp11 != comp12); + + // Stream operators + std::ostringstream ostr; + comp11.Serialize(ostr); + EXPECT_EQ("comp1", ostr.str()); + + std::istringstream istr("comp3"); + components::PerformerAffinity comp3; + comp3.Deserialize(istr); + EXPECT_EQ("comp3", comp3.Data()); +} + ///////////////////////////////////////////////// TEST_F(ComponentsTest, PerformerLevels) { @@ -1057,6 +1126,27 @@ TEST_F(ComponentsTest, PerformerLevels) EXPECT_EQ(0u, comp3.Data().count(1)); } +///////////////////////////////////////////////// +TEST_F(ComponentsTest, PhysicsEnginePlugin) +{ + // Create components + auto comp11 = components::PhysicsEnginePlugin("engine-plugin"); + auto comp12 = components::PhysicsEnginePlugin("engine-plugin"); + auto comp2 = components::PhysicsEnginePlugin("another-engine-plugin"); + + // TODO(anyone) Equality operators + + // Stream operators + std::ostringstream ostr; + comp11.Serialize(ostr); + EXPECT_EQ("engine-plugin", ostr.str()); + + std::istringstream istr("libengine-plugin.so"); + components::PhysicsEnginePlugin comp3; + comp3.Deserialize(istr); + EXPECT_EQ("libengine-plugin.so", comp3.Data()); +} + ///////////////////////////////////////////////// TEST_F(ComponentsTest, Pose) { @@ -1106,6 +1196,33 @@ TEST_F(ComponentsTest, Sensor) comp3.Deserialize(istr); } +///////////////////////////////////////////////// +TEST_F(ComponentsTest, SourceFilePath) +{ + // Create components + auto comp11 = components::SourceFilePath("comp1"); + auto comp12 = components::SourceFilePath("comp1"); + auto comp2 = components::SourceFilePath("comp2"); + + // Equality operators + EXPECT_EQ(comp11, comp12); + EXPECT_NE(comp11, comp2); + EXPECT_TRUE(comp11 == comp12); + EXPECT_TRUE(comp11 != comp2); + EXPECT_FALSE(comp11 == comp2); + EXPECT_FALSE(comp11 != comp12); + + // Stream operators + std::ostringstream ostr; + comp11.Serialize(ostr); + EXPECT_EQ("comp1", ostr.str()); + + std::istringstream istr("comp3"); + components::SourceFilePath comp3; + comp3.Deserialize(istr); + EXPECT_EQ("comp3", comp3.Data()); +} + ///////////////////////////////////////////////// TEST_F(ComponentsTest, Static) { From 2a45a84f83ba3c3087d45f6c7221e6caf399abe1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Fri, 31 Jul 2020 10:09:48 +0200 Subject: [PATCH 166/202] PR Feedback 2 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../worlds/optical_tactile_sensor_plugin.sdf | 3 +- .../optical_tactile_plugin/CMakeLists.txt | 1 + .../OpticalTactilePlugin.cc | 1151 +++++++---------- .../OpticalTactilePlugin.hh | 42 +- .../optical_tactile_plugin/Visualization.cc | 239 ++++ .../optical_tactile_plugin/Visualization.hh | 125 ++ 6 files changed, 883 insertions(+), 678 deletions(-) create mode 100644 src/systems/optical_tactile_plugin/Visualization.cc create mode 100644 src/systems/optical_tactile_plugin/Visualization.hh diff --git a/examples/worlds/optical_tactile_sensor_plugin.sdf b/examples/worlds/optical_tactile_sensor_plugin.sdf index 596d6f5c92..e888d75092 100644 --- a/examples/worlds/optical_tactile_sensor_plugin.sdf +++ b/examples/worlds/optical_tactile_sensor_plugin.sdf @@ -201,7 +201,8 @@ filename="libignition-gazebo-opticaltactileplugin-system.so" name="ignition::gazebo::systems::OpticalTactilePlugin"> true - 15 + 15 + 1 true true 0.001 diff --git a/src/systems/optical_tactile_plugin/CMakeLists.txt b/src/systems/optical_tactile_plugin/CMakeLists.txt index 48420a8229..0899bfd2d1 100644 --- a/src/systems/optical_tactile_plugin/CMakeLists.txt +++ b/src/systems/optical_tactile_plugin/CMakeLists.txt @@ -1,6 +1,7 @@ gz_add_system(opticaltactileplugin SOURCES OpticalTactilePlugin.cc + Visualization.cc PUBLIC_LINK_LIBS ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} ) \ No newline at end of file diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index 758b2c3229..b9f339d4b0 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -43,39 +43,42 @@ using namespace ignition; using namespace gazebo; using namespace systems; +using namespace optical_tactile_sensor; class ignition::gazebo::systems::OpticalTactilePluginPrivate { /// \brief Load the Contact sensor from an sdf element - /// \param[in] _sdf SDF element describing the Contact sensor /// \param[in] _ecm Immutable reference to the EntityComponentManager - public: void Load(const EntityComponentManager &_ecm, - const std::shared_ptr &_sdf); + public: void Load(const EntityComponentManager &_ecm); /// \brief Actual function that enables the plugin. /// \param[in] _value True to enable plugin. public: void Enable(const bool _value); - /// \brief Filters out new collisions fetched not related to the sensors - /// \param[in] _ecm Immutable reference to the EntityComponentManager - /// \param[in] _entities Collision entities to filter - public: void FilterOutCollisions(const EntityComponentManager &_ecm, - const std::vector &_entities); - - /// \brief Interpolates contact data - /// \param[in] _contactMsg Message containing the data to interpolate - public: void InterpolateData(const ignition::msgs::Contact &_contactMsg); + /// \brief Interpolates contacts returned by the contact sensor + /// \param[in] _contact Message containing the data to interpolate + public: void InterpolateContactData(const ignition::msgs::Contact &_contact); /// \brief Callback for the Depth Camera /// \param[in] _msg Message from the subscribed topic public: void DepthCameraCallback( - const ignition::msgs::PointCloudPacked &_msg); - - /// \brief Unpacks the point cloud retrieved by the Depth Camera - /// into XYZ data - /// \param[in] _msg Message containing the data to unpack - public: void UnpackPointCloudMsg( - const ignition::msgs::PointCloudPacked &_msg); + const ignition::msgs::PointCloudPacked &_msg); + + /// \brief Map the (i,j) coordinates defined in the top-left corner of the + /// camera into its corresponding (X,Y,Z) measurement with respect to the + /// camera's origin + /// \param[in] _i Horizontal camera coordinate defined in the top-left corner + /// of the image, pointing rightwards + /// \param[in] _j Vertical camera coordinate defined in the top-left corner + /// of the image, pointing downwards + /// \returns The corresponding (X,Y,Z) point + public: ignition::math::Vector3f MapPointCloudData(const u_int32_t &_i, + const uint32_t &_j); + + /// \brief Check if a specific point returned by the Depth Camera is inside + /// the contact surface. + /// \param[in] _point Point returned by the Depth Camera + public: bool PointInsideSensor(ignition::math::Vector3f _point); /// \brief Computes the normal forces of the Optical Tactile sensor /// \param[in] _msg Message returned by the Depth Camera @@ -86,11 +89,14 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// 34644101/calculate-surface-normals-from-depth-image- /// using-neighboring-pixels-cross-produc public: void ComputeNormalForces( - const ignition::msgs::PointCloudPacked &_msg, - const bool _visualizeForces); + const ignition::msgs::PointCloudPacked &_msg, + const bool _visualizeForces); - /// \brief Resolution of the sensor in pixels to skip. - public: int resolution{100}; + /// \brief Resolution of the visualization in pixels to skip. + public: int visualizationResolution{30}; + + /// \brief Resolution of the interpolated contacts in mm. + public: double contactsResolution{1.0}; /// \brief Whether to visualize the normal forces. public: bool visualizeForces{false}; @@ -98,18 +104,15 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Model interface. public: Model model{kNullEntity}; - /// \brief Transport node to visualize data on Gazebo. + /// \brief Transport node public: transport::Node node; - /// \brief Collision entities that have been designated as contact sensors. - public: ignition::gazebo::Entity contactSensorEntity; - - /// \brief Collision entities of the simulation. - public: std::vector collisionEntities; + /// \brief Entity representing the contact sensor of the plugin + public: ignition::gazebo::Entity sensorCollisionEntity; - /// \brief Filtered collisions from the simulation that belong to - /// one or more sensors. - public: std::vector filteredCollisionEntities; + /// \brief Entity representing the collision of the object in contact with + /// the optical tactile sensor. + public: ignition::gazebo::Entity objectCollisionEntity; /// \brief Whether the plugin is enabled. public: bool enabled{true}; @@ -117,30 +120,18 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Initialization flag. public: bool initialized{false}; - /// \brief Copy of the sdf configuration used for this plugin. - public: std::shared_ptr sdfConfig{nullptr}; - /// \brief Name of the model to which the sensor is attached. public: std::string modelName; - /// \brief Message for visualizing contact positions - public: ignition::msgs::Marker positionMarkerMsg; - /// \brief Radius of the visualized contact sphere public: double contactRadius{0.003}; - /// \brief Message for visualizing contact forces - public: ignition::msgs::Marker forceMarkerMsg; - /// \brief Length of the visualized force cylinder public: double forceLength{0.01}; /// \brief Radius of the visualized force cylinder public: double forceRadius{0.001}; - /// \brief Position interpolated from the Contact messages - public: std::vector interpolatedPosition; - /// \brief Pose of the sensor model public: ignition::math::Pose3f sensorWorldPose; @@ -159,8 +150,8 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Message returned by the Depth Camera public: ignition::msgs::PointCloudPacked cameraMsg; - /// \brief 3D vector to store unpacked XYZ points - std::vector>> imageXYZ; + /// \brief Data returned by the Depth Camera after being preprocessed + public: char *msgBuffer; /// \brief Mutex for variables mutated by the camera callback. /// The variables are: newCameraMsg, cameraMsg. @@ -170,547 +161,472 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// contact sensor so it's easy to know its position public: bool visualizeSensor{false}; - /// \brief Message for visualizing the sensor - public: ignition::msgs::Marker sensorMarkerMsg; - /// \brief Size of the contact sensor public: ignition::math::Vector3d sensorSize; /// \brief Extended sensing distance. The sensor will output data coming from /// its volume plus this distance. public: double extendedSensing{0.001}; + + /// \brief Pointer to visualization object + public: std::unique_ptr visualizePtr; }; ////////////////////////////////////////////////// -void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm, - const std::shared_ptr &_sdf) +OpticalTactilePlugin::OpticalTactilePlugin() + : System(), dataPtr(std::make_unique()) +{ +} + +////////////////////////////////////////////////// +void OpticalTactilePlugin::Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &) { - igndbg << "Loading plugin [OpticalTactilePlugin]" << std::endl; + this->dataPtr->model = Model(_entity); + + if (!this->dataPtr->model.Valid(_ecm)) + { + ignerr << "Touch plugin should be attached to a model entity. " + << "Failed to initialize." << std::endl; + return; + } + + // Get the sdf parameters - // Get sdf parameters - if (!_sdf->HasElement("resolution")) + // + if (!_sdf->HasElement("enabled")) + { + ignlog << "Missing parameter , " + << "setting to " << this->dataPtr->enabled << std::endl; + } + else + { + this->dataPtr->enabled = _sdf->Get("enabled"); + } + + // + if (!_sdf->HasElement("visualization_resolution")) + { + ignlog << "Missing parameter , " + << "setting to " << this->dataPtr->visualizationResolution << std::endl; + } + else + { + if (_sdf->Get("visualization_resolution") < 0) { - ignlog << "Missing required parameter , " - << "using default value" << std::endl; + ignwarn << "Parameter must be positive, " + << "setting to " << this->dataPtr->visualizationResolution << std::endl; } else { - if (_sdf->Get("resolution") < 0) - { - ignwarn << "Parameter must be positive, " - << "using default value" << std::endl; - } - else - { - this->resolution = _sdf->Get("resolution"); - } + this->dataPtr->visualizationResolution = + _sdf->Get("visualization_resolution"); } + } - if (!_sdf->HasElement("visualize_forces")) + // + if (!_sdf->HasElement("contacts_resolution")) + { + ignlog << "Missing parameter , " + << "setting to " << this->dataPtr->contactsResolution << std::endl; + } + else + { + if (_sdf->Get("contacts_resolution") < 0) { - ignlog << "Missing required parameter , " - << "using default value" << std::endl; + ignwarn << "Parameter must be positive, " + << "setting to " << this->dataPtr->contactsResolution << std::endl; } else { - this->visualizeForces = _sdf->Get("visualize_forces"); + this->dataPtr->contactsResolution = + _sdf->Get("contacts_resolution"); } + } - if (!_sdf->HasElement("extended_sensing")) + // + if (!_sdf->HasElement("visualize_forces")) + { + ignlog << "Missing parameter , " + << "setting to " << this->dataPtr->visualizeForces << std::endl; + } + else + { + this->dataPtr->visualizeForces = _sdf->Get("visualize_forces"); + } + + // + if (!_sdf->HasElement("extended_sensing")) + { + ignlog << "Missing parameter , " + << "setting to " << this->dataPtr->extendedSensing << std::endl; + } + else + { + if (_sdf->Get("extended_sensing") < 0) { - ignlog << "Missing required parameter , " - << "using default value" << std::endl; + ignwarn << "Parameter must be positive, " + << "setting to " << this->dataPtr->extendedSensing << std::endl; } else { - this->extendedSensing = _sdf->Get("extended_sensing"); + this->dataPtr->extendedSensing = _sdf->Get("extended_sensing"); } + } - if (!_sdf->HasElement("visualize_sensor")) + // + if (!_sdf->HasElement("visualize_sensor")) + { + ignlog << "Missing parameter , " + << "setting to " << this->dataPtr->visualizeSensor << std::endl; + } + else + { + this->dataPtr->visualizeSensor = _sdf->Get("visualize_sensor"); + } + + // + if (!_sdf->HasElement("contact_radius")) + { + ignlog << "Missing parameter , " + << "setting to " << this->dataPtr->contactRadius << std::endl; + } + else + { + if (_sdf->Get("contact_radius") < 0) { - ignlog << "Missing required parameter , " - << "using default value" << std::endl; + ignwarn << "Parameter must be positive, " + << "setting to " << this->dataPtr->contactRadius << std::endl; } else { - this->visualizeSensor = _sdf->Get("visualize_sensor"); + this->dataPtr->contactRadius = _sdf->Get("contact_radius"); } + } - // todo(anyone) The plugin should be able to handle more than one link. In - // that case, one of the links would be the actual tactile sensor. - - // Check SDF structure - // Model should only have 1 link - auto allLinks = - _ecm.ChildrenByComponents(this->model.Entity(), components::Link()); - if (allLinks.size() != 1) + // + if (!_sdf->HasElement("force_radius")) + { + ignlog << "Missing parameter , " + << "setting to " << this->dataPtr->forceRadius << std::endl; + } + else + { + if (_sdf->Get("force_radius") < 0) { - ignerr << "Plugin must have 1 link" << std::endl; - return; + ignwarn << "Parameter must be positive, " + << "setting to " << this->dataPtr->forceRadius << std::endl; } - - // Link should have a collision component linked to a contact sensor - auto linkCollisions = - _ecm.ChildrenByComponents(allLinks[0], components::Collision()); - for (const Entity &colEntity : linkCollisions) + else { - if (_ecm.EntityHasComponentType(colEntity, - components::ContactSensorData::typeId)) - { - this->contactSensorEntity = colEntity; - - this->modelName = this->model.Name(_ecm); - - igndbg << "Contactensor detected within model " - << this->modelName << std::endl; - } + this->dataPtr->forceRadius = _sdf->Get("force_radius"); } + } - // Link should have 1 Contact sensor and 1 Depth Camera sensor - auto sensorsInsideLink = - _ecm.ChildrenByComponents(allLinks[0], components::Sensor()); - - bool depthCameraInLink = false; - bool contactSensorInLink = false; - sdf::ElementPtr depthCameraSdf = nullptr; - for (const Entity &sensor : sensorsInsideLink) + // + if (!_sdf->HasElement("force_length")) + { + ignlog << "Missing parameter , " + << "setting to " << this->dataPtr->forceLength << std::endl; + } + else + { + if (_sdf->Get("force_length") < 0) { - if (_ecm.EntityHasComponentType(sensor, - components::DepthCamera::typeId)) - { - depthCameraInLink = true; - depthCameraSdf = - _ecm.Component(sensor)->Data().Element(); - } - - if (_ecm.EntityHasComponentType(sensor, - components::ContactSensor::typeId)) - { - contactSensorInLink = true; - } + ignwarn << "Parameter must be positive, " + << "setting to " << this->dataPtr->forceLength << std::endl; } - - if (!depthCameraInLink || !contactSensorInLink || - sensorsInsideLink.size() != 2) + else { - ignerr << "Link must have 1 Depth Camera sensor and " - << "1 Contact sensor" << std::endl; - return; + this->dataPtr->forceLength = _sdf->Get("force_length"); } + } + + // Get the size of the sensor from the SDF + // If there's no specified inside , a default one + // is set + this->dataPtr->sensorSize = + _sdf->GetParent()->GetElement("link")->GetElement("collision")-> + GetElement("geometry")->GetElement("box")-> + Get("size"); +} + +////////////////////////////////////////////////// +void OpticalTactilePlugin::PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) +{ + IGN_PROFILE("TouchPluginPrivate::PreUpdate"); + + // Nothing left to do if paused + if (_info.paused) + return; - // Store depth camera update rate and offset from model - auto offset = depthCameraSdf->Get("pose"); - this->cameraUpdateRate = 1; - if (depthCameraSdf->HasElement("update_rate")) + if (!this->dataPtr->initialized) + { + // We call Load here instead of Configure because we can't be guaranteed + // that all entities have been created when Configure is called + this->dataPtr->Load(_ecm); + this->dataPtr->initialized = true; + } + + // This is not an "else" because "initialized" can be set + // in the if block above + if (this->dataPtr->initialized) + { + // Get the first object being touched by the sensor + // We assume there's only one object being touched + auto csd = _ecm.Component( + this->dataPtr->sensorCollisionEntity); + for (const auto &contact : csd->Data().contact()) { - this->cameraUpdateRate = depthCameraSdf->Get("update_rate"); + this->dataPtr->objectCollisionEntity = + contact.collision2().id(); + break; } + // Get the Depth Camera pose + ignition::math::Pose3d sensorPose = + _ecm.Component( + this->dataPtr->model.Entity())->Data(); + // Depth Camera data is float, so convert Pose3d to Pose3f - this->depthCameraOffset = ignition::math::Pose3f( - offset.Pos().X(), offset.Pos().Y(), offset.Pos().Z(), - offset.Rot().W(), offset.Rot().X(), offset.Rot().Y(), - offset.Rot().Z()); - - // Configure subscriber for Depth Camera images - std::string topic = "/depth_camera/points"; - if (depthCameraSdf->HasElement("topic")) - topic = "/" + depthCameraSdf->Get("topic") + "/points"; - - if (!this->node.Subscribe(topic, - &OpticalTactilePluginPrivate::DepthCameraCallback, - this)) - { - ignerr << "Error subscribing to topic " << "[" << topic << "]. " - << " must not contain '/'" << std::endl; - return; - } + this->dataPtr->sensorWorldPose = ignition::math::Pose3f( + sensorPose.Pos().X(), sensorPose.Pos().Y(), sensorPose.Pos().Z(), + sensorPose.Rot().W(), sensorPose.Rot().X(), sensorPose.Rot().Y(), + sensorPose.Rot().Z()); + } } ////////////////////////////////////////////////// -void OpticalTactilePluginPrivate::Enable(const bool _value) +void OpticalTactilePlugin::PostUpdate( + const ignition::gazebo::UpdateInfo &_info, + const ignition::gazebo::EntityComponentManager &_ecm) { - // Just a placeholder method for the moment - _value; -} + IGN_PROFILE("TouchPlugin::PostUpdate"); -////////////////////////////////////////////////// -void OpticalTactilePluginPrivate::FilterOutCollisions( - const EntityComponentManager &_ecm, - const std::vector &_entities) -{ - if (_entities.empty()) - return; + // Nothing left to do if paused. + if (_info.paused) + return; - // Clear vector that contains old data - this->filteredCollisionEntities.clear(); + auto* contacts = + _ecm.Component( + this->dataPtr->sensorCollisionEntity); - // Get collisions from the sensor - for (const Entity &entity : _entities) + if (contacts) + { + for (const auto &contact : contacts->Data().contact()) { - std::string name = scopedName(entity, _ecm); - - if (name.find(this->modelName) != std::string::npos) - { - this->filteredCollisionEntities.push_back(entity); - } + // Interpolate data returned by the Contact message + this->dataPtr->InterpolateContactData(contact); } -} + } -////////////////////////////////////////////////// -void OpticalTactilePluginPrivate::InterpolateData( - const ignition::msgs::Contact &contact) -{ - // The Optical Tactile Sensor is supposed to be box-shaped. - // Contacts returned by the Contact Sensor in this type of shapes should be - // 4 points in the corners of some of its faces, in this case the one - // corresponding to the 'sensing' face. - // Given that the number of contacts may change even when the objects are - // at rest, data is only interpolated when the number of contacts - // returned is 4. - - if (contact.position_size() == 4) + // Process camera message if it's new + { + std::lock_guard lock(this->dataPtr->serviceMutex); + if (this->dataPtr->newCameraMsg) { - ignition::math::Vector3d contact1 = - ignition::msgs::Convert(contact.position(0)); - ignition::math::Vector3d contact2 = - ignition::msgs::Convert(contact.position(1)); - ignition::math::Vector3d contact3 = - ignition::msgs::Convert(contact.position(2)); - ignition::math::Vector3d contact4 = - ignition::msgs::Convert(contact.position(3)); - - ignition::math::Vector3d direction1 = - (contact2 - contact1).Normalized() * this->resolution; - ignition::math::Vector3d direction2 = - (contact4 - contact1).Normalized() * this->resolution; - - ignition::math::Vector3d interpolatedVector = contact1; - this->interpolatedPosition.push_back(contact1); - - // auxiliary Vector3d to iterate through contacts - ignition::math::Vector3d tempVector(0.0, 0.0, 0.0); - - uint64_t steps1 = - contact1.Distance(contact2) / this->resolution; - uint64_t steps2 = - contact1.Distance(contact4) / this->resolution; - - for (uint64_t index1 = 0; index1 <= steps1; ++index1) - { - tempVector = interpolatedVector; - for (uint64_t index2 = 0; index2 < steps2; ++index2) - { - interpolatedVector += direction2; - this->interpolatedPosition.push_back(interpolatedVector); - } - if (index1 != steps1) - { - interpolatedVector = tempVector; - interpolatedVector += direction1; - this->interpolatedPosition.push_back(interpolatedVector); - } - } + this->dataPtr->ComputeNormalForces(this->dataPtr->cameraMsg, + this->dataPtr->visualizeForces); + + this->dataPtr->newCameraMsg = false; } -} + } -////////////////////////////////////////////////// -OpticalTactilePlugin::OpticalTactilePlugin() - : System(), dataPtr(std::make_unique()) -{ + // Publish sensor marker if required and sensor pose has changed + if (this->dataPtr->visualizeSensor && + (this->dataPtr->sensorWorldPose != this->dataPtr->prevSensorWorldPose)) + { + this->dataPtr->visualizePtr->VisualizeSensor( + this->dataPtr->sensorWorldPose); + } + + // Store the pose of the sensor in the current iteration + this->dataPtr->prevSensorWorldPose = this->dataPtr->sensorWorldPose; } ////////////////////////////////////////////////// -void OpticalTactilePlugin::Configure(const Entity &_entity, - const std::shared_ptr &_sdf, - EntityComponentManager &_ecm, - EventManager &) +void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm) { - this->dataPtr->sdfConfig = _sdf; - this->dataPtr->model = Model(_entity); - - if (!this->dataPtr->model.Valid(_ecm)) - { - ignerr << "Touch plugin should be attached to a model entity. " - << "Failed to initialize." << std::endl; - return; - } + igndbg << "Loading plugin [OpticalTactilePlugin]" << std::endl; - // Configure Marker messages for position and force of the contacts - // Blue spheres for positions - // Green cylinders for forces + // todo(anyone) The plugin should be able to handle more than one link. In + // that case, one of the links would be the actual tactile sensor. - // Get markers parameters + // Check plugin structure + // Model should only have 1 link + auto allLinks = + _ecm.ChildrenByComponents(this->model.Entity(), components::Link()); + if (allLinks.size() != 1) + { + ignerr << "Plugin must have exactly 1 link" << std::endl; + return; + } - if (!_sdf->HasElement("contact_radius")) - { - ignlog << "Missing required parameter , " - << "using default value" << std::endl; - } - else + // Link should have a collision component linked to a contact sensor + auto linkCollisions = + _ecm.ChildrenByComponents(allLinks[0], components::Collision()); + for (const Entity &colEntity : linkCollisions) + { + if (_ecm.EntityHasComponentType(colEntity, + components::ContactSensorData::typeId)) { - this->dataPtr->contactRadius = _sdf->Get("contact_radius"); - } + this->sensorCollisionEntity = colEntity; - if (!_sdf->HasElement("force_radius")) - { - ignlog << "Missing required parameter , " - << "using default value" << std::endl; - } - else - { - this->dataPtr->forceRadius = _sdf->Get("force_radius"); + this->modelName = this->model.Name(_ecm); + + igndbg << "Contact sensor detected within model " + << this->modelName << std::endl; } + } - if (!_sdf->HasElement("force_length")) + // Link should have exactly 1 Contact sensor and 1 Depth Camera sensor + auto sensorsInsideLink = + _ecm.ChildrenByComponents(allLinks[0], components::Sensor()); + + int depthCameraCounter = 0; + int contactSensorCounter = 0; + sdf::ElementPtr depthCameraSdf = nullptr; + for (const Entity &sensor : sensorsInsideLink) + { + if (_ecm.EntityHasComponentType(sensor, components::DepthCamera::typeId)) { - ignlog << "Missing required parameter , " - << "using default value" << std::endl; + depthCameraCounter += 1; + depthCameraSdf = + _ecm.Component(sensor)->Data().Element(); } - else + + if (_ecm.EntityHasComponentType(sensor, components::ContactSensor::typeId)) { - this->dataPtr->forceLength = _sdf->Get("force_length"); + contactSensorCounter += 1; } + } - // Create the marker message - this->dataPtr->positionMarkerMsg.set_ns("positions"); - this->dataPtr->positionMarkerMsg.set_action( - ignition::msgs::Marker::ADD_MODIFY); - this->dataPtr->positionMarkerMsg.set_type( - ignition::msgs::Marker::SPHERE); - this->dataPtr->positionMarkerMsg.set_visibility( - ignition::msgs::Marker::GUI); - - this->dataPtr->forceMarkerMsg.set_ns("forces"); - this->dataPtr->forceMarkerMsg.set_action( - ignition::msgs::Marker::ADD_MODIFY); - this->dataPtr->forceMarkerMsg.set_type( - ignition::msgs::Marker::CYLINDER); - this->dataPtr->forceMarkerMsg.set_visibility( - ignition::msgs::Marker::GUI); - - this->dataPtr->sensorMarkerMsg.set_ns("sensor"); - this->dataPtr->sensorMarkerMsg.set_id(1); - this->dataPtr->sensorMarkerMsg.set_action( - ignition::msgs::Marker::ADD_MODIFY); - this->dataPtr->sensorMarkerMsg.set_type( - ignition::msgs::Marker::BOX); - this->dataPtr->sensorMarkerMsg.set_visibility( - ignition::msgs::Marker::GUI); - - // Set material properties - this->dataPtr-> - positionMarkerMsg.mutable_material()->mutable_ambient()->set_r(0); - this->dataPtr-> - positionMarkerMsg.mutable_material()->mutable_ambient()->set_g(0); - this->dataPtr-> - positionMarkerMsg.mutable_material()->mutable_ambient()->set_b(1); - this->dataPtr-> - positionMarkerMsg.mutable_material()->mutable_ambient()->set_a(1); - this->dataPtr-> - positionMarkerMsg.mutable_material()->mutable_diffuse()->set_r(0); - this->dataPtr-> - positionMarkerMsg.mutable_material()->mutable_diffuse()->set_g(0); - this->dataPtr-> - positionMarkerMsg.mutable_material()->mutable_diffuse()->set_b(1); - this->dataPtr-> - positionMarkerMsg.mutable_material()->mutable_diffuse()->set_a(1); - this->dataPtr-> - positionMarkerMsg.mutable_lifetime()-> - set_sec(this->dataPtr->cameraUpdateRate); - - this->dataPtr-> - forceMarkerMsg.mutable_material()->mutable_ambient()->set_r(0); - this->dataPtr-> - forceMarkerMsg.mutable_material()->mutable_ambient()->set_g(1); - this->dataPtr-> - forceMarkerMsg.mutable_material()->mutable_ambient()->set_b(0); - this->dataPtr-> - forceMarkerMsg.mutable_material()->mutable_ambient()->set_a(1); - this->dataPtr-> - forceMarkerMsg.mutable_material()->mutable_diffuse()->set_r(0); - this->dataPtr-> - forceMarkerMsg.mutable_material()->mutable_diffuse()->set_g(1); - this->dataPtr-> - forceMarkerMsg.mutable_material()->mutable_diffuse()->set_b(0); - this->dataPtr-> - forceMarkerMsg.mutable_material()->mutable_diffuse()->set_a(1); - this->dataPtr-> - forceMarkerMsg.mutable_lifetime()-> - set_sec(this->dataPtr->cameraUpdateRate); - - this->dataPtr-> - sensorMarkerMsg.mutable_material()->mutable_ambient()->set_r(0.5); - this->dataPtr-> - sensorMarkerMsg.mutable_material()->mutable_ambient()->set_g(0.5); - this->dataPtr-> - sensorMarkerMsg.mutable_material()->mutable_ambient()->set_b(0.5); - this->dataPtr-> - sensorMarkerMsg.mutable_material()->mutable_ambient()->set_a(0.75); - this->dataPtr-> - sensorMarkerMsg.mutable_material()->mutable_diffuse()->set_r(0.5); - this->dataPtr-> - sensorMarkerMsg.mutable_material()->mutable_diffuse()->set_g(0.5); - this->dataPtr-> - sensorMarkerMsg.mutable_material()->mutable_diffuse()->set_b(0.5); - this->dataPtr-> - sensorMarkerMsg.mutable_material()->mutable_diffuse()->set_a(0.75); - this->dataPtr-> - sensorMarkerMsg.mutable_lifetime()->set_sec(0); - this->dataPtr-> - sensorMarkerMsg.mutable_lifetime()->set_nsec(0); - - // Set scales - ignition::msgs::Set(this->dataPtr->positionMarkerMsg.mutable_scale(), - ignition::math::Vector3d(this->dataPtr->contactRadius, - this->dataPtr->contactRadius, - this->dataPtr->contactRadius)); - - ignition::msgs::Set(this->dataPtr->forceMarkerMsg.mutable_scale(), - ignition::math::Vector3d(this->dataPtr->forceRadius, - this->dataPtr->forceRadius, this->dataPtr->forceLength)); - - // Get the size of the sensor from the SDF - - // If there's no specified inside , a default one - // is set - this->dataPtr->sensorSize = - _sdf->GetParent()->GetElement("link")->GetElement("collision")-> - GetElement("geometry")->GetElement("box")-> - Get("size"); - - ignition::msgs::Set(this->dataPtr->sensorMarkerMsg.mutable_scale(), - this->dataPtr->sensorSize); -} + if ((depthCameraCounter != 1) || (contactSensorCounter != 1)) + { + ignerr << "Link must have 1 Depth Camera sensor and " + << "1 Contact sensor" << std::endl; + return; + } -////////////////////////////////////////////////// -void OpticalTactilePlugin::PreUpdate(const UpdateInfo &_info, - EntityComponentManager &_ecm) -{ - IGN_PROFILE("TouchPluginPrivate::PreUpdate"); + // Store depth camera update rate and offset from model + auto offset = depthCameraSdf->Get("pose"); + if (!depthCameraSdf->HasElement("update_rate")) + { + ignerr << "Depth camera should have an value" << std::endl; + return; + } + this->cameraUpdateRate = depthCameraSdf->Get("update_rate"); - // Nothing left to do if paused - if (_info.paused) - return; + // Depth Camera data is float, so convert Pose3d to Pose3f + this->depthCameraOffset = ignition::math::Pose3f( + offset.Pos().X(), offset.Pos().Y(), offset.Pos().Z(), + offset.Rot().W(), offset.Rot().X(), offset.Rot().Y(), + offset.Rot().Z()); - if (!this->dataPtr->initialized) - { - // We call Load here instead of Configure because we can't be guaranteed - // that all entities have been created when Configure is called - this->dataPtr->Load(_ecm, this->dataPtr->sdfConfig); - this->dataPtr->initialized = true; - } + // Configure subscriber for Depth Camera images + if (!depthCameraSdf->HasElement("topic")) + { + ignerr << "Depth camera should have a unique value" << std::endl; + return; + } + std::string topic = + "/" + depthCameraSdf->Get("topic") + "/points"; + if (!this->node.Subscribe(topic, + &OpticalTactilePluginPrivate::DepthCameraCallback, this)) + { + ignerr << "Error subscribing to topic " << "[" << topic << "]. " + << " must not contain '/'" << std::endl; + return; + } - // This is not an "else" because "initialized" can be set - // in the if block above - if (this->dataPtr->initialized) - { - // Fetch new collisions from simulation - std::vector newCollisions; - _ecm.Each( - [&](const Entity &_entity, const components::Collision *) -> bool - { - newCollisions.push_back(_entity); - return true; - }); - this->dataPtr->FilterOutCollisions(_ecm, newCollisions); - - // Get the Depth Camera pose - ignition::math::Pose3d sensorPose = - _ecm.Component( - this->dataPtr->model.Entity())->Data(); - - // Depth Camera data is float, so convert Pose3d to Pose3f - this->dataPtr->sensorWorldPose = ignition::math::Pose3f( - sensorPose.Pos().X(), sensorPose.Pos().Y(), sensorPose.Pos().Z(), - sensorPose.Rot().W(), sensorPose.Rot().X(), sensorPose.Rot().Y(), - sensorPose.Rot().Z()); - } + // Instantiate the visualization class + this->visualizePtr = std::make_unique< + OpticalTactilePluginVisualization>(this->contactRadius, + this->forceRadius, this->forceLength, + this->cameraUpdateRate, this->depthCameraOffset, + this->visualizationResolution); + + // Create the marker messages + this->visualizePtr->CreateMarkersMsgs(this->modelName, this->sensorSize); } ////////////////////////////////////////////////// -void OpticalTactilePlugin::PostUpdate( - const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm) +void OpticalTactilePluginPrivate::Enable(const bool _value) { - IGN_PROFILE("TouchPlugin::PostUpdate"); + // todo(mcres) Implement method + _value; +} - // Nothing left to do if paused. - if (_info.paused) - return; +////////////////////////////////////////////////// +void OpticalTactilePluginPrivate::InterpolateContactData( + const ignition::msgs::Contact &_contact) +{ + // The Optical Tactile Sensor is supposed to be box-shaped. + // Contacts returned by the Contact Sensor in this type of shapes should be + // 4 points in the corners of some of its faces, in this case the one + // corresponding to the 'sensing' face. + // Given that the number of contacts may change even when the objects are + // at rest, data is only interpolated when the number of contacts + // returned is 4. + + // todo(mcres) Handle a different number of contacts returned by the + // contact sensor + + if (_contact.position_size() == 4) + { + // todo(mcres) Interpolated contacts should be published in a message - // Delete old interpolated positions - this->dataPtr->interpolatedPosition.clear(); + ignition::math::Vector3d contact1 = + ignition::msgs::Convert(_contact.position(0)); + ignition::math::Vector3d contact2 = + ignition::msgs::Convert(_contact.position(1)); + ignition::math::Vector3d contact3 = + ignition::msgs::Convert(_contact.position(2)); + ignition::math::Vector3d contact4 = + ignition::msgs::Convert(_contact.position(3)); - for (const Entity &colEntity : this->dataPtr->filteredCollisionEntities) - { - auto* contacts = - _ecm.Component(colEntity); - if (contacts) - { - for (const auto &contact : contacts->Data().contact()) - { - // Interpolate data returned by the Contact message - this->dataPtr->InterpolateData(contact); - } - } - } + ignition::math::Vector3d direction1 = + (contact2 - contact1).Normalized() * (this->contactsResolution/1000.0); + ignition::math::Vector3d direction2 = + (contact4 - contact1).Normalized() * (this->contactsResolution/1000.0); - // Process camera message if it's new - { - std::lock_guard lock(this->dataPtr->serviceMutex); - if (this->dataPtr->newCameraMsg) - { - this->dataPtr->UnpackPointCloudMsg(this->dataPtr->cameraMsg); - this->dataPtr->ComputeNormalForces(this->dataPtr->cameraMsg, - this->dataPtr->visualizeForces); + ignition::math::Vector3d interpolatedVector = contact1; - this->dataPtr->newCameraMsg = false; - } - } + // auxiliary Vector3d to iterate through contacts + ignition::math::Vector3d tempVector(0.0, 0.0, 0.0); + + uint64_t steps1 = + contact1.Distance(contact2) / (this->contactsResolution/1000.0); + uint64_t steps2 = + contact1.Distance(contact4) / (this->contactsResolution/1000.0); - // Publish sensor marker if required and sensor pose has changed - if (this->dataPtr->visualizeSensor && - (this->dataPtr->sensorWorldPose != this->dataPtr->prevSensorWorldPose)) + for (uint64_t index1 = 0; index1 <= steps1; ++index1) { - this->dataPtr->sensorMarkerMsg.set_action( - ignition::msgs::Marker::ADD_MODIFY); - this->dataPtr->sensorMarkerMsg.set_id(1); - - this->dataPtr->sensorMarkerMsg.mutable_pose() - ->mutable_position()->set_x(this->dataPtr->sensorWorldPose.Pos().X()); - this->dataPtr->sensorMarkerMsg.mutable_pose() - ->mutable_position()->set_y(this->dataPtr->sensorWorldPose.Pos().Y()); - this->dataPtr->sensorMarkerMsg.mutable_pose() - ->mutable_position()->set_z(this->dataPtr->sensorWorldPose.Pos().Z()); - this->dataPtr->sensorMarkerMsg.mutable_pose()-> - mutable_orientation()->set_x( - this->dataPtr->sensorWorldPose.Rot().X()); - this->dataPtr->sensorMarkerMsg.mutable_pose()-> - mutable_orientation()->set_y( - this->dataPtr->sensorWorldPose.Rot().Y()); - this->dataPtr->sensorMarkerMsg.mutable_pose()-> - mutable_orientation()->set_z( - this->dataPtr->sensorWorldPose.Rot().Z()); - this->dataPtr->sensorMarkerMsg.mutable_pose()-> - mutable_orientation()->set_w( - this->dataPtr->sensorWorldPose.Rot().W()); - - this->dataPtr->node.Request("/marker", this->dataPtr->sensorMarkerMsg); + tempVector = interpolatedVector; + for (uint64_t index2 = 0; index2 < steps2; ++index2) + { + interpolatedVector += direction2; + } + if (index1 != steps1) + { + interpolatedVector = tempVector; + interpolatedVector += direction1; + } } - - // Store the pose of the sensor in the current iteration - this->dataPtr->prevSensorWorldPose = this->dataPtr->sensorWorldPose; + } } ////////////////////////////////////////////////// void OpticalTactilePluginPrivate::DepthCameraCallback( - const ignition::msgs::PointCloudPacked &_msg) + const ignition::msgs::PointCloudPacked &_msg) { // This check avoids running the callback at t=0 and getting // unexpected markers in the scene if (!this->initialized) - return; + return; { std::lock_guard lock(this->serviceMutex); @@ -720,208 +636,123 @@ void OpticalTactilePluginPrivate::DepthCameraCallback( } ////////////////////////////////////////////////// -void OpticalTactilePluginPrivate::UnpackPointCloudMsg( - const ignition::msgs::PointCloudPacked &_msg) +ignition::math::Vector3f OpticalTactilePluginPrivate::MapPointCloudData( + const u_int32_t &_i, const uint32_t &_j) { - // 3D vector to store XYZ points - this->imageXYZ = std::vector>> - (_msg.width(), - std::vector>(_msg.height(), - std::vector(3))); + // Initialize return variable + ignition::math::Vector3f measuredPoint; + + // Save original position of the pointer + char *initialMsgBuffer = this->msgBuffer; + + // Number of bytes from the beginning of the pointer (image coordinates at + // 0,0) to the desired (i,j) position + uint32_t msgBufferIndex = + _j*this->cameraMsg.row_step() + _i*this->cameraMsg.point_step(); + + this->msgBuffer += msgBufferIndex; + int fieldIndex = 0; + + // X coordinate + measuredPoint.X() = *reinterpret_cast( + this->msgBuffer + this->cameraMsg.field(fieldIndex++).offset()); + // Y coordinate + measuredPoint.Y() = *reinterpret_cast( + this->msgBuffer + this->cameraMsg.field(fieldIndex++).offset()); + // Z coordinate + measuredPoint.Z() = *reinterpret_cast( + this->msgBuffer + this->cameraMsg.field(fieldIndex).offset()); + + // Check if point is inside the sensor + bool pointInside = this->PointInsideSensor(measuredPoint); + if (!pointInside) + { + measuredPoint.X() = ignition::math::INF_F; + measuredPoint.Y() = ignition::math::INF_F; + measuredPoint.Z() = ignition::math::INF_F; + } - // Unpack point cloud message - std::string msgBuffer = _msg.data(); - char *msgBufferIndex = msgBuffer.data(); + // Restore msgBuffer to initial position + this->msgBuffer = initialMsgBuffer; - for (uint64_t j = 0; j < _msg.height(); ++j) - { - for (uint64_t i = 0; i < _msg.width(); ++i) - { - int fieldIndex = 0; - - // x coordinate in pixel (i,j) - this->imageXYZ[i][j][0] = *reinterpret_cast( - msgBufferIndex + _msg.field(fieldIndex++).offset()); - // y coordinate in pixel (i,j) - this->imageXYZ[i][j][1] = *reinterpret_cast( - msgBufferIndex + _msg.field(fieldIndex++).offset()); - // z coordinate in pixel (i,j) - this->imageXYZ[i][j][2] = *reinterpret_cast( - msgBufferIndex + _msg.field(fieldIndex++).offset()); - - // Filter out points outside of the contact sensor - - // We assume that the Depth Camera is only displaced in the -X direction - bool insideX = (this->imageXYZ[i][j][0] >= std::abs( - this->depthCameraOffset.X()) - this->extendedSensing) - && (this->imageXYZ[i][j][0] <= (std::abs(this->depthCameraOffset.X()) + - this->sensorSize.X() + this->extendedSensing)); - - bool insideY = (this->imageXYZ[i][j][1] <= this->sensorSize.Y() / 2 + - this->extendedSensing) - && (this->imageXYZ[i][j][1] >= - this->sensorSize.Y() / 2 - - this->extendedSensing); - - bool insideZ = (this->imageXYZ[i][j][2] <= this->sensorSize.Z() / 2 + - this->extendedSensing) - && (this->imageXYZ[i][j][2] >= - this->sensorSize.Z() / 2 - - this->extendedSensing); - - if (!insideX || !insideY || !insideZ) - { - this->imageXYZ[i][j][0] = ignition::math::INF_D; - this->imageXYZ[i][j][1] = ignition::math::INF_D; - this->imageXYZ[i][j][2] = ignition::math::INF_D; - } + return measuredPoint; +} - msgBufferIndex += _msg.point_step(); - } - } +////////////////////////////////////////////////// +bool OpticalTactilePluginPrivate::PointInsideSensor( + ignition::math::Vector3f _point) +{ + // We assume that the Depth Camera is only displaced in the -X direction + bool insideX = (_point.X() >= std::abs( + this->depthCameraOffset.X()) - this->extendedSensing) + && (_point.X() <= (std::abs(this->depthCameraOffset.X()) + + this->sensorSize.X() + this->extendedSensing)); + + bool insideY = (_point.Y() <= this->sensorSize.Y() / 2 + + this->extendedSensing) + && (_point.Y() >= - this->sensorSize.Y() / 2 - + this->extendedSensing); + + bool insideZ = (_point.Z() <= this->sensorSize.Z() / 2 + + this->extendedSensing) + && (_point.Z() >= - this->sensorSize.Z() / 2 - + this->extendedSensing); + + return (insideX && insideY && insideZ); } ////////////////////////////////////////////////// void OpticalTactilePluginPrivate::ComputeNormalForces( - const ignition::msgs::PointCloudPacked &_msg, - const bool _visualizeForces) + const ignition::msgs::PointCloudPacked &_msg, + const bool _visualizeForces) { - // 2D vector to store normal force vectors - std::vector> normalForces(_msg.width(), - std::vector(_msg.height())); - - // Visualization is downsampled according to plugin parameter - // if is set to true - bool visualizeRow = true; - int rowCounter = 0; + // Get data from the message + std::string rawMsgBuffer = _msg.data(); + this->msgBuffer = rawMsgBuffer.data(); - bool visualizeColumn = true; - int columnCounter = 0; + // Declare variables for storing the XYZ points + ignition::math::Vector3f p1, p2, p3, p4, markerPosition; - // Variable for setting the markers id through the iteration - int marker_id = 1; + // todo(anyone) Improve performance once the following issue is completed: + // https://github.com/ignitionrobotics/ign-math/issues/144 + // We don't get the image's edges because there are no adjacent points to + // compute the forces for (uint64_t j = 1; j < (_msg.height() - 1); ++j) { for (uint64_t i = 1; i < (_msg.width() - 1); ++i) { - // Compute normal forces - double dxdi = - (this->imageXYZ[i+1][j][0] - - this->imageXYZ[i-1][j][0])/ - std::abs(this->imageXYZ[i+1][j][1] - - this->imageXYZ[i-1][j][1]); - - double dxdj = - (this->imageXYZ[i][j+1][0] - - this->imageXYZ[i][j-1][0])/ - std::abs(this->imageXYZ[i][j+1][2] - - this->imageXYZ[i][j-1][2]); + // Get points for computing normal forces + p1 = this->MapPointCloudData(i + 1, j); + p2 = this->MapPointCloudData(i - 1, j); + p3 = this->MapPointCloudData(i, j + 1); + p4 = this->MapPointCloudData(i, j - 1); + + float dxdi = (p1.X() - p2.X()) / std::abs(p1.Y() - p2.Y()); + float dxdj = (p3.X() - p4.X()) / std::abs(p3.Z() - p4.Z()); ignition::math::Vector3f direction(-1, -dxdi, -dxdj); // todo(anyone) multiply vector by contact forces info - normalForces[i][j] = direction.Normalized(); + ignition::math::Vector3f normalForce = direction.Normalized(); - // todo(mcres) normal forces will be published even if visualization - // is turned off + // todo(mcres) Normal forces will be computed even if visualization + // is turned off. These forces should be published in the future. if (!_visualizeForces) - continue; + continue; - // Downsampling for visualization - if (visualizeRow && visualizeColumn) - { - // Add new markers with specific lifetime - this->positionMarkerMsg.set_id(marker_id); - this->positionMarkerMsg.set_action( - ignition::msgs::Marker::ADD_MODIFY); - this->positionMarkerMsg.mutable_lifetime()->set_sec( - this->cameraUpdateRate); - this->positionMarkerMsg.mutable_lifetime()->set_nsec(0); - - this->forceMarkerMsg.set_id(marker_id++); - this->forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); - this->forceMarkerMsg.mutable_lifetime()->set_sec( - this->cameraUpdateRate); - this->forceMarkerMsg.mutable_lifetime()->set_nsec(0); - - // The pose of the markers must be published with reference - // to the simulation origin - ignition::math::Vector3f forceMarkerSensorPosition - (this->imageXYZ[i][j][0], this->imageXYZ[i][j][1], - this->imageXYZ[i][j][2]); - - ignition::math::Quaternionf forceMarkerSensorQuaternion; - forceMarkerSensorQuaternion.From2Axes( - ignition::math::Vector3f(0, 0, 1), normalForces[i][j]); - - // The position of the force marker is modified in order to place the - // end of the cylinder in the surface, not its middle point - ignition::math::Pose3f forceMarkerSensorPose( - forceMarkerSensorPosition + - normalForces[i][j] * (this->forceLength/2), - forceMarkerSensorQuaternion); - - ignition::math::Pose3f forceMarkerWorldPose = - (forceMarkerSensorPose + this->depthCameraOffset) + - this->sensorWorldPose; - forceMarkerWorldPose.Correct(); - - ignition::math::Pose3f positionMarkerSensorPose( - forceMarkerSensorPosition, forceMarkerSensorQuaternion); - ignition::math::Pose3f positionMarkerWorldPose = - (positionMarkerSensorPose + this->depthCameraOffset) + - this->sensorWorldPose; - positionMarkerWorldPose.Correct(); - - // Set markers pose messages from previously computed poses - this->forceMarkerMsg.mutable_pose() - ->mutable_position()->set_x(forceMarkerWorldPose.Pos().X()); - this->forceMarkerMsg.mutable_pose() - ->mutable_position()->set_y(forceMarkerWorldPose.Pos().Y()); - this->forceMarkerMsg.mutable_pose() - ->mutable_position()->set_z(forceMarkerWorldPose.Pos().Z()); - this->forceMarkerMsg.mutable_pose() - ->mutable_orientation()->set_x(forceMarkerWorldPose.Rot().X()); - this->forceMarkerMsg.mutable_pose() - ->mutable_orientation()->set_y(forceMarkerWorldPose.Rot().Y()); - this->forceMarkerMsg.mutable_pose() - ->mutable_orientation()->set_z(forceMarkerWorldPose.Rot().Z()); - this->forceMarkerMsg.mutable_pose() - ->mutable_orientation()->set_w(forceMarkerWorldPose.Rot().W()); - - this->positionMarkerMsg.mutable_pose() - ->mutable_position()->set_x(positionMarkerWorldPose.Pos().X()); - this->positionMarkerMsg.mutable_pose() - ->mutable_position()->set_y(positionMarkerWorldPose.Pos().Y()); - this->positionMarkerMsg.mutable_pose() - ->mutable_position()->set_z(positionMarkerWorldPose.Pos().Z()); - this->positionMarkerMsg.mutable_pose() - ->mutable_orientation()->set_x(positionMarkerWorldPose.Rot().X()); - this->positionMarkerMsg.mutable_pose() - ->mutable_orientation()->set_y(positionMarkerWorldPose.Rot().Y()); - this->positionMarkerMsg.mutable_pose() - ->mutable_orientation()->set_z(positionMarkerWorldPose.Rot().Z()); - this->positionMarkerMsg.mutable_pose() - ->mutable_orientation()->set_w(positionMarkerWorldPose.Rot().W()); - - this->node.Request("/marker", this->forceMarkerMsg); - this->node.Request("/marker", this->positionMarkerMsg); - } - visualizeColumn = (this->resolution == ++columnCounter); - if (visualizeColumn) - columnCounter = 0; + markerPosition = this->MapPointCloudData(i, j); + this->visualizePtr->VisualizeNormalForce(i, j, markerPosition, + normalForce, this->sensorWorldPose); } - visualizeColumn = true; - visualizeRow = (this->resolution == ++rowCounter); - if (visualizeRow) - rowCounter = 0; } } IGNITION_ADD_PLUGIN(OpticalTactilePlugin, - ignition::gazebo::System, - OpticalTactilePlugin::ISystemConfigure, - OpticalTactilePlugin::ISystemPreUpdate, - OpticalTactilePlugin::ISystemPostUpdate) + ignition::gazebo::System, + OpticalTactilePlugin::ISystemConfigure, + OpticalTactilePlugin::ISystemPreUpdate, + OpticalTactilePlugin::ISystemPostUpdate) IGNITION_ADD_PLUGIN_ALIAS(OpticalTactilePlugin, - "ignition::gazebo::systems::OpticalTactilePlugin") + "ignition::gazebo::systems::OpticalTactilePlugin") diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh index e6c9dff800..1793edcd7b 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh @@ -21,6 +21,7 @@ #include #include #include +#include "Visualization.hh" namespace ignition { @@ -45,23 +46,30 @@ namespace systems /// doesn't need to be enabled. This element is optional, and the /// default value is true. /// - /// Number of pixels to skip when visualizing forces. One - /// vector representing a normal force is computed for each of the camera - /// pixels. This element must be positive and it is optional. The default - /// value is 100. + /// Number of pixels to skip when visualizing + /// the forces. One vector representing a normal force is computed for each + /// of the camera pixels. This element must be positive and it is optional. + /// The default value is 30. + /// + /// Distance in mm to interpolate the contacts + /// returned by the contact sensor. This element must be positive and + /// it is optional. The default value is 1. /// /// Set this to true so the plugin visualizes the normal /// forces in the 3D world. This element is optional, and the /// default value is false. /// /// Radius in meters of the contacts visualized if - /// is set to true. This parameter is optional. + /// is set to true. This parameter is optional, and the + /// default value is 0.003. /// /// Radius in meters of the forces visualized if - /// is set to true. This parameter is optional. + /// is set to true. This parameter is optional, and the + /// default value is 0.001. /// /// Length in meters of the forces visualized if - /// is set to true. This parameter is optional. + /// is set to true. This parameter is optional, and the + /// default value is 0.01. /// /// Extended sensing distance in meters. The sensor will /// output data coming from its collision geometry plus this distance. This @@ -71,10 +79,10 @@ namespace systems /// is optional, and the default value is false. class IGNITION_GAZEBO_VISIBLE OpticalTactilePlugin : - public System, - public ISystemConfigure, - public ISystemPreUpdate, - public ISystemPostUpdate + public System, + public ISystemConfigure, + public ISystemPreUpdate, + public ISystemPostUpdate { /// \brief Constructor public: OpticalTactilePlugin(); @@ -84,18 +92,18 @@ namespace systems // Documentation inherited public: void Configure(const Entity &_entity, - const std::shared_ptr &_sdf, - EntityComponentManager &_ecm, - EventManager &_eventMgr) override; + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &_eventMgr) override; /// Documentation inherited public: void PreUpdate(const UpdateInfo &_info, - EntityComponentManager &_ecm) override; + EntityComponentManager &_ecm) override; // Documentation inherited public: void PostUpdate( - const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm) override; + const ignition::gazebo::UpdateInfo &_info, + const ignition::gazebo::EntityComponentManager &_ecm) override; /// \brief Private data pointer private: std::unique_ptr dataPtr; diff --git a/src/systems/optical_tactile_plugin/Visualization.cc b/src/systems/optical_tactile_plugin/Visualization.cc new file mode 100644 index 0000000000..53e4be53a8 --- /dev/null +++ b/src/systems/optical_tactile_plugin/Visualization.cc @@ -0,0 +1,239 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#include + +#include "Visualization.hh" + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE +{ +namespace systems +{ +namespace optical_tactile_sensor +{ + +////////////////////////////////////////////////// +OpticalTactilePluginVisualization::OpticalTactilePluginVisualization( + double &_contactRadius, double &_forceRadius, double &_forceLength, + float &_cameraUpdateRate, ignition::math::Pose3f &_depthCameraOffset, + int &_visualizationResolution) : + contactRadius(_contactRadius), forceRadius(_forceRadius), + forceLength(_forceLength), cameraUpdateRate(_cameraUpdateRate), + depthCameraOffset(_depthCameraOffset), + visualizationResolution(_visualizationResolution) +{ +} + +////////////////////////////////////////////////// +void OpticalTactilePluginVisualization::CreateMarkersMsgs( + std::string &_modelName, + ignition::math::Vector3d &_sensorSize) +{ + // Configure marker messages for position and force of the contacts, as well + // as the marker for visualizing the sensor + + // Blue spheres for positions + // Green cylinders for forces + // Grey transparent box for the sensor + + this->positionMarkerMsg.set_ns("positions_" + _modelName); + this->positionMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + this->positionMarkerMsg.set_type(ignition::msgs::Marker::SPHERE); + this->positionMarkerMsg.set_visibility(ignition::msgs::Marker::GUI); + + this->forceMarkerMsg.set_ns("forces_" + _modelName); + this->forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + this->forceMarkerMsg.set_type(ignition::msgs::Marker::CYLINDER); + this->forceMarkerMsg.set_visibility(ignition::msgs::Marker::GUI); + + this->sensorMarkerMsg.set_ns("sensor_" + _modelName); + this->sensorMarkerMsg.set_id(1); + this->sensorMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + this->sensorMarkerMsg.set_type(ignition::msgs::Marker::BOX); + this->sensorMarkerMsg.set_visibility(ignition::msgs::Marker::GUI); + + // Set material properties + this->positionMarkerMsg.mutable_material()->mutable_ambient()->set_r(0); + this->positionMarkerMsg.mutable_material()->mutable_ambient()->set_g(0); + this->positionMarkerMsg.mutable_material()->mutable_ambient()->set_b(1); + this->positionMarkerMsg.mutable_material()->mutable_ambient()->set_a(1); + this->positionMarkerMsg.mutable_material()->mutable_diffuse()->set_r(0); + this->positionMarkerMsg.mutable_material()->mutable_diffuse()->set_g(0); + this->positionMarkerMsg.mutable_material()->mutable_diffuse()->set_b(1); + this->positionMarkerMsg.mutable_material()->mutable_diffuse()->set_a(1); + this->positionMarkerMsg.mutable_lifetime()->set_sec(this->cameraUpdateRate); + + this->forceMarkerMsg.mutable_material()->mutable_ambient()->set_r(0); + this->forceMarkerMsg.mutable_material()->mutable_ambient()->set_g(1); + this->forceMarkerMsg.mutable_material()->mutable_ambient()->set_b(0); + this->forceMarkerMsg.mutable_material()->mutable_ambient()->set_a(1); + this->forceMarkerMsg.mutable_material()->mutable_diffuse()->set_r(0); + this->forceMarkerMsg.mutable_material()->mutable_diffuse()->set_g(1); + this->forceMarkerMsg.mutable_material()->mutable_diffuse()->set_b(0); + this->forceMarkerMsg.mutable_material()->mutable_diffuse()->set_a(1); + this->forceMarkerMsg.mutable_lifetime()->set_sec(this->cameraUpdateRate); + + this->sensorMarkerMsg.mutable_material()->mutable_ambient()->set_r(0.5); + this->sensorMarkerMsg.mutable_material()->mutable_ambient()->set_g(0.5); + this->sensorMarkerMsg.mutable_material()->mutable_ambient()->set_b(0.5); + this->sensorMarkerMsg.mutable_material()->mutable_ambient()->set_a(0.75); + this->sensorMarkerMsg.mutable_material()->mutable_diffuse()->set_r(0.5); + this->sensorMarkerMsg.mutable_material()->mutable_diffuse()->set_g(0.5); + this->sensorMarkerMsg.mutable_material()->mutable_diffuse()->set_b(0.5); + this->sensorMarkerMsg.mutable_material()->mutable_diffuse()->set_a(0.75); + this->sensorMarkerMsg.mutable_lifetime()->set_sec(0); + this->sensorMarkerMsg.mutable_lifetime()->set_nsec(0); + + // Set scales + ignition::msgs::Set(this->positionMarkerMsg.mutable_scale(), + ignition::math::Vector3d(this->contactRadius, this->contactRadius, + this->contactRadius)); + + ignition::msgs::Set(this->forceMarkerMsg.mutable_scale(), + ignition::math::Vector3d(this->forceRadius, this->forceRadius, + this->forceLength)); + + ignition::msgs::Set(this->sensorMarkerMsg.mutable_scale(), _sensorSize); +} + +////////////////////////////////////////////////// +void OpticalTactilePluginVisualization::VisualizeSensor( + ignition::math::Pose3f &_sensorPose) +{ + this->sensorMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + this->sensorMarkerMsg.set_id(1); + + this->sensorMarkerMsg.mutable_pose()->mutable_position()->set_x( + _sensorPose.Pos().X()); + this->sensorMarkerMsg.mutable_pose()->mutable_position()->set_y( + _sensorPose.Pos().Y()); + this->sensorMarkerMsg.mutable_pose()->mutable_position()->set_z( + _sensorPose.Pos().Z()); + this->sensorMarkerMsg.mutable_pose()->mutable_orientation()->set_x( + _sensorPose.Rot().X()); + this->sensorMarkerMsg.mutable_pose()->mutable_orientation()->set_y( + _sensorPose.Rot().Y()); + this->sensorMarkerMsg.mutable_pose()->mutable_orientation()->set_z( + _sensorPose.Rot().Z()); + this->sensorMarkerMsg.mutable_pose()->mutable_orientation()->set_w( + _sensorPose.Rot().W()); + + this->node.Request("/marker", this->sensorMarkerMsg); +} + +////////////////////////////////////////////////// +void OpticalTactilePluginVisualization::VisualizeNormalForce( + uint64_t &_i, uint64_t &_j, + ignition::math::Vector3f &_position, + ignition::math::Vector3f &_normalForce, + ignition::math::Pose3f &_sensorWorldPose) +{ + // Visualization is downsampled according to plugin parameter + // if is set to true + + // Check if _normalForce has to be visualized + bool visualizeForce = (_i % this->visualizationResolution == 0 && + _j % this->visualizationResolution == 0) || + (_i % this->visualizationResolution == 0 && _j == 1) || + (_i == 1 && _j % this->visualizationResolution == 0) || + (_i == 1 && _j == 1); + + if (!visualizeForce) + return; + + if (_i == 1 && _j == 1) + this->markerID = 1; + + // Add new markers with specific lifetime + this->positionMarkerMsg.set_id(this->markerID); + this->positionMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + this->positionMarkerMsg.mutable_lifetime()->set_sec(this->cameraUpdateRate); + this->positionMarkerMsg.mutable_lifetime()->set_nsec(0); + + this->forceMarkerMsg.set_id(this->markerID++); + this->forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + this->forceMarkerMsg.mutable_lifetime()->set_sec(this->cameraUpdateRate); + this->forceMarkerMsg.mutable_lifetime()->set_nsec(0); + + // The pose of the markers must be published with reference + // to the simulation origin + ignition::math::Vector3f forceMarkerSensorPosition( + _position.X(), _position.Y(), _position.Z()); + + ignition::math::Quaternionf forceMarkerSensorQuaternion; + forceMarkerSensorQuaternion.From2Axes( + ignition::math::Vector3f(0, 0, 1), _normalForce); + + // The position of the force marker is modified in order to place the + // end of the cylinder in the surface, not its middle point + ignition::math::Pose3f forceMarkerSensorPose(forceMarkerSensorPosition + + _normalForce * (this->forceLength/2), forceMarkerSensorQuaternion); + + ignition::math::Pose3f forceMarkerWorldPose = + (forceMarkerSensorPose + this->depthCameraOffset) + _sensorWorldPose; + forceMarkerWorldPose.Correct(); + + ignition::math::Pose3f positionMarkerSensorPose( + forceMarkerSensorPosition, forceMarkerSensorQuaternion); + ignition::math::Pose3f positionMarkerWorldPose = + (positionMarkerSensorPose + this->depthCameraOffset) + _sensorWorldPose; + positionMarkerWorldPose.Correct(); + + // Set markers pose messages from previously computed poses + this->forceMarkerMsg.mutable_pose()->mutable_position()->set_x( + forceMarkerWorldPose.Pos().X()); + this->forceMarkerMsg.mutable_pose()->mutable_position()->set_y( + forceMarkerWorldPose.Pos().Y()); + this->forceMarkerMsg.mutable_pose()->mutable_position()->set_z( + forceMarkerWorldPose.Pos().Z()); + this->forceMarkerMsg.mutable_pose()->mutable_orientation()->set_x( + forceMarkerWorldPose.Rot().X()); + this->forceMarkerMsg.mutable_pose()->mutable_orientation()->set_y( + forceMarkerWorldPose.Rot().Y()); + this->forceMarkerMsg.mutable_pose()->mutable_orientation()->set_z( + forceMarkerWorldPose.Rot().Z()); + this->forceMarkerMsg.mutable_pose()->mutable_orientation()->set_w( + forceMarkerWorldPose.Rot().W()); + + this->positionMarkerMsg.mutable_pose()->mutable_position()->set_x( + positionMarkerWorldPose.Pos().X()); + this->positionMarkerMsg.mutable_pose()->mutable_position()->set_y( + positionMarkerWorldPose.Pos().Y()); + this->positionMarkerMsg.mutable_pose()->mutable_position()->set_z( + positionMarkerWorldPose.Pos().Z()); + this->positionMarkerMsg.mutable_pose()->mutable_orientation()->set_x( + positionMarkerWorldPose.Rot().X()); + this->positionMarkerMsg.mutable_pose()->mutable_orientation()->set_y( + positionMarkerWorldPose.Rot().Y()); + this->positionMarkerMsg.mutable_pose()->mutable_orientation()->set_z( + positionMarkerWorldPose.Rot().Z()); + this->positionMarkerMsg.mutable_pose()->mutable_orientation()->set_w( + positionMarkerWorldPose.Rot().W()); + + this->node.Request("/marker", this->forceMarkerMsg); + this->node.Request("/marker", this->positionMarkerMsg); +} +} +} +} +} +} diff --git a/src/systems/optical_tactile_plugin/Visualization.hh b/src/systems/optical_tactile_plugin/Visualization.hh new file mode 100644 index 0000000000..fa61de08b5 --- /dev/null +++ b/src/systems/optical_tactile_plugin/Visualization.hh @@ -0,0 +1,125 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#ifndef IGNITION_GAZEBO_SYSTEMS_OPTICAL_TACTILE_PLUGIN_VISUALIZATION_HH_ +#define IGNITION_GAZEBO_SYSTEMS_OPTICAL_TACTILE_PLUGIN_VISUALIZATION_HH_ + +#include +#include + +#include +#include +#include + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE +{ +namespace systems +{ +namespace optical_tactile_sensor +{ + // This class handles the configuration and process of visualizing the + // different elements needed for the Optical Tactile Sensor plugin + class OpticalTactilePluginVisualization + { + /// \brief Constructor + /// \param[in] _contactRadius Value of the contactRadius attribute + /// \param[in] _forceRadius Value of the forceRadius attribute + /// \param[in] _forceLength Value of the forceLength attribute + /// \param[in] _cameraUpdateRate Value of the cameraUpdateRate attribute + /// \param[in] _depthCameraOffset Value of the depthCameraOffset attribute + /// \param[in] _visualizationResolution Value of the + /// visualizationResolution attribute + public: OpticalTactilePluginVisualization(double &_contactRadius, + double &_forceRadius, double &_forceLength, float &_cameraUpdateRate, + ignition::math::Pose3f &_depthCameraOffset, + int &_visualizationResolution); + + /// \brief Destructor + public: ~OpticalTactilePluginVisualization(); + + /// \brief Initialize the messages needed to request the /marker service + /// \param[in] _modelName Name of the model + /// \param[in] _sensorSize Size of the contact sensor + public: void CreateMarkersMsgs(std::string &_modelName, + ignition::math::Vector3d &_sensorSize); + + /// \brief Visualize the collision geometry of the sensor. This can be + /// helpful when debbuging, given that there shouldn't be a visual tag + /// in the plugin's model + /// \param[in] _sensorPose Pose of the optical tactile sensor + public: void VisualizeSensor(ignition::math::Pose3f &_sensorPose); + + /// \brief Visualize the normal forces computed for a (i,j) pixel of the + /// image returned by the depth camera + /// \param[in] _i First coordinate of the pixel + /// \param[in] _j Second coordinate of the pixel + /// \param[in] _position Position of the normal force referenced to the + /// depth camera's origin + /// \param[in] _normalForce Value of the normal force referenced to + /// the depth camera's origin + /// \param[in] _sensorWorldPose Pose of the plugin's model referenced to + /// the world's origin + public: void VisualizeNormalForce(uint64_t &_i, uint64_t &_j, + ignition::math::Vector3f &_position, + ignition::math::Vector3f &_normalForce, + ignition::math::Pose3f &_sensorWorldPose); + + /// \brief Message for visualizing the sensor + private: ignition::msgs::Marker sensorMarkerMsg; + + /// \brief Message for visualizing contacts positions + private: ignition::msgs::Marker positionMarkerMsg; + + /// \brief Message for visualizing contacts forces + private: ignition::msgs::Marker forceMarkerMsg; + + /// \brief Transport node to request the /marker service + private: ignition::transport::Node node; + + /// \brief Radius of the visualized contact sphere + private: double contactRadius; + + /// \brief Radius of the visualized force cylinder + private: double forceRadius; + + /// \brief Length of the visualized force cylinder + private: double forceLength; + + /// \brief Depth camera update rate + private: float cameraUpdateRate; + + /// \brief Offset between depth camera pose and model pose + private: ignition::math::Pose3f depthCameraOffset; + + /// \brief Resolution of the sensor in pixels to skip. + private: int visualizationResolution; + + /// \brief Variable for setting the markers id + private: int markerID; + }; +} +} +} +} +} + +#endif From 8ec8d66cc8a6b661a2db6ccae153a785287fa315 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Mon, 3 Aug 2020 10:25:59 -0700 Subject: [PATCH 167/202] Dome version update (#262) * Names with spaces: add string serializer (#244) * Update to Dome versions * Update dependencies in workflows * Add X support to workflows Signed-off-by: Louise Poubel Signed-off-by: Jose Luis Rivero Signed-off-by: Nate Koenig Co-authored-by: Louise Poubel Co-authored-by: Nate Koenig Co-authored-by: Jose Luis Rivero --- .github/ci-bionic/dependencies.yaml | 13 ------ .github/ci/after_make.sh | 16 ++++++++ .github/ci/packages.apt | 36 +++++++++++++++++ .github/workflows/ci-bionic.yml | 40 ++----------------- CMakeLists.txt | 22 +++++----- README.md | 6 +-- bitbucket-pipelines.yml | 2 +- docker/Dockerfile.nightly | 16 ++++---- .../standalone/joy_to_twist/CMakeLists.txt | 8 ++-- examples/standalone/joystick/CMakeLists.txt | 8 ++-- examples/standalone/keyboard/CMakeLists.txt | 12 +++--- examples/standalone/marker/CMakeLists.txt | 8 ++-- .../standalone/scene_requester/CMakeLists.txt | 4 +- tutorials/migrating_ardupilot_plugin.md | 10 ++--- 14 files changed, 103 insertions(+), 98 deletions(-) delete mode 100644 .github/ci-bionic/dependencies.yaml create mode 100644 .github/ci/after_make.sh create mode 100644 .github/ci/packages.apt diff --git a/.github/ci-bionic/dependencies.yaml b/.github/ci-bionic/dependencies.yaml deleted file mode 100644 index f85b9cf56c..0000000000 --- a/.github/ci-bionic/dependencies.yaml +++ /dev/null @@ -1,13 +0,0 @@ -repositories: - ign-rendering: - type: git - url: https://github.com/ignitionrobotics/ign-rendering - version: master - ign-gui: - type: git - url: https://github.com/ignitionrobotics/ign-gui - version: master - ign-sensors: - type: git - url: https://github.com/ignitionrobotics/ign-sensors - version: master diff --git a/.github/ci/after_make.sh b/.github/ci/after_make.sh new file mode 100644 index 0000000000..eb81ef7985 --- /dev/null +++ b/.github/ci/after_make.sh @@ -0,0 +1,16 @@ +#!/bin/sh -l + +set -x +set -e + +# Install (needed for some tests) +make install + +# For ign-tools +export IGN_CONFIG_PATH=/usr/local/share/ignition + +# For rendering / window tests +Xvfb :1 -screen 0 1280x1024x24 & +export DISPLAY=:1.0 +export RENDER_ENGINE_VALUES=ogre2 +export MESA_GL_VERSION_OVERRIDE=3.3 diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt new file mode 100644 index 0000000000..6b824eb4f1 --- /dev/null +++ b/.github/ci/packages.apt @@ -0,0 +1,36 @@ +freeglut3-dev +libfreeimage-dev +libglew-dev +libignition-cmake2-dev +libignition-common3-dev +libignition-gui4-dev +libignition-fuel-tools5-dev +libignition-math6-eigen3-dev +libignition-msgs6-dev +libignition-physics3-dev +libignition-plugin-dev +libignition-rendering4-dev +libignition-sensors4-dev +libignition-tools-dev +libignition-transport9-dev +libogre-1.9-dev +libogre-2.1-dev +libprotobuf-dev +libprotoc-dev +libsdformat10-dev +libtinyxml2-dev +libxi-dev +libxmu-dev +qml-module-qt-labs-folderlistmodel +qml-module-qt-labs-settings +qml-module-qtgraphicaleffects +qml-module-qtquick-controls +qml-module-qtquick-controls2 +qml-module-qtquick-dialogs +qml-module-qtquick-layouts +qml-module-qtquick2 +qtbase5-dev +qtdeclarative5-dev +qtquickcontrols2-5-dev +uuid-dev +xvfb diff --git a/.github/workflows/ci-bionic.yml b/.github/workflows/ci-bionic.yml index 3b3229190e..c708c1325e 100644 --- a/.github/workflows/ci-bionic.yml +++ b/.github/workflows/ci-bionic.yml @@ -1,6 +1,6 @@ -name: Ubuntu Bionic CI +name: Ubuntu CI -on: [push, pull_request] +on: [push] jobs: bionic-ci: @@ -9,42 +9,8 @@ jobs: steps: - name: Checkout uses: actions/checkout@v2 - - name: Bionic CI + - name: Compile and test id: ci uses: ignition-tooling/ubuntu-bionic-ci-action@master with: - apt-dependencies: | - libignition-cmake2-dev - libignition-math6-eigen3-dev - libignition-msgs5-dev - libignition-plugin-dev - libignition-tools-dev - libignition-transport8-dev - libsdformat9-dev - libignition-fuel-tools4-dev - libignition-physics2-dev - libignition-common3-dev - libogre-1.9-dev - libogre-2.1-dev - libglew-dev - libfreeimage-dev - freeglut3-dev - libxmu-dev - libxi-dev - uuid-dev - xvfb - qtbase5-dev - libtinyxml2-dev - libprotoc-dev - libprotobuf-dev - qtdeclarative5-dev - qtquickcontrols2-5-dev - qml-module-qtquick2 - qml-module-qtquick-controls - qml-module-qtquick-controls2 - qml-module-qtquick-dialogs - qml-module-qtquick-layouts - qml-module-qt-labs-folderlistmodel - qml-module-qt-labs-settings - qml-module-qtgraphicaleffects codecov-token: ${{ secrets.CODECOV_TOKEN }} diff --git a/CMakeLists.txt b/CMakeLists.txt index 8b45237235..94b7b7dfab 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -38,8 +38,8 @@ endif() # Search for project-specific dependencies #============================================================================ -ign_find_package(sdformat9 VERSION 9.2 REQUIRED) -set(SDF_VER ${sdformat9_VERSION_MAJOR}) +ign_find_package(sdformat10 REQUIRED) +set(SDF_VER ${sdformat10_VERSION_MAJOR}) #-------------------------------------- # Find ignition-plugin @@ -48,13 +48,13 @@ set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR}) #-------------------------------------- # Find ignition-transport -ign_find_package(ignition-transport8 REQUIRED COMPONENTS log) -set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR}) +ign_find_package(ignition-transport9 REQUIRED COMPONENTS log) +set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR}) #-------------------------------------- # Find ignition-msgs -ign_find_package(ignition-msgs5 REQUIRED VERSION 5.3) -set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR}) +ign_find_package(ignition-msgs6 REQUIRED) +set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR}) #-------------------------------------- # Find ignition-common @@ -70,8 +70,8 @@ set(IGN_COMMON_VER ${ignition-common3_VERSION_MAJOR}) #-------------------------------------- # Find ignition-fuel_tools -ign_find_package(ignition-fuel_tools4 REQUIRED VERSION 4.1) -set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools4_VERSION_MAJOR}) +ign_find_package(ignition-fuel_tools5 REQUIRED) +set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools5_VERSION_MAJOR}) #-------------------------------------- # Find ignition-gui @@ -87,13 +87,13 @@ ign_find_package (Qt5 #-------------------------------------- # Find ignition-physics -ign_find_package(ignition-physics2 VERSION 2.1 +ign_find_package(ignition-physics3 COMPONENTS mesh sdf REQUIRED ) -set(IGN_PHYSICS_VER ${ignition-physics2_VERSION_MAJOR}) +set(IGN_PHYSICS_VER ${ignition-physics3_VERSION_MAJOR}) #-------------------------------------- # Find ignition-sensors @@ -130,7 +130,7 @@ ign_find_package(IgnProtobuf REQUIRED COMPONENTS all PRETTY Protobuf) -set(PROTOBUF_IMPORT_DIRS ${ignition-msgs5_INCLUDE_DIRS}) +set(PROTOBUF_IMPORT_DIRS ${ignition-msgs6_INCLUDE_DIRS}) # Plugin install dirs set(IGNITION_GAZEBO_PLUGIN_INSTALL_DIR diff --git a/README.md b/README.md index 760685039a..d7508cfbf8 100644 --- a/README.md +++ b/README.md @@ -162,7 +162,7 @@ for dependency installation instructions for each supported operating system. ``` ``` - sudo apt-get -y install libignition-cmake2-dev libignition-common3-dev libignition-math6-eigen3-dev libignition-plugin-dev libignition-physics2-dev libignition-rendering3-dev libignition-tools-dev libignition-transport8-dev libignition-gui3-dev libignition-msgs5-dev libsdformat9-dev + sudo apt-get -y install libignition-cmake2-dev libignition-common3-dev libignition-math6-eigen3-dev libignition-plugin-dev libignition-physics3-dev libignition-rendering3-dev libignition-tools-dev libignition-transport9-dev libignition-gui4-dev libignition-msgs6-dev libsdformat10-dev ``` ### Building from source @@ -228,8 +228,8 @@ line is using symbolic links to each library's YAML file. mkdir ~/.ignition/tools/configs -p cd ~/.ignition/tools/configs/ ln -s /usr/local/share/ignition/fuel4.yaml . -ln -s /usr/local/share/ignition/transport7.yaml . -ln -s /usr/local/share/ignition/transportlog7.yaml . +ln -s /usr/local/share/ignition/transport9.yaml . +ln -s /usr/local/share/ignition/transportlog9.yaml . ... export IGN_CONFIG_PATH=$HOME/.ignition/tools/configs ``` diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml index 4c3e8563a4..1e85154391 100644 --- a/bitbucket-pipelines.yml +++ b/bitbucket-pipelines.yml @@ -26,7 +26,7 @@ pipelines: libignition-transport8-dev libsdformat9-dev libignition-fuel-tools4-dev - libignition-physics2-dev + libignition-physics3-dev # libignition-common3-dev # libignition-gui3-dev # libignition-sensors3-dev diff --git a/docker/Dockerfile.nightly b/docker/Dockerfile.nightly index 7ef7b15012..6f4d6a7e6b 100644 --- a/docker/Dockerfile.nightly +++ b/docker/Dockerfile.nightly @@ -13,17 +13,17 @@ RUN apt-get update \ && apt-get install -y \ libignition-cmake2-dev \ libignition-common3-dev \ - libignition-fuel-tools4-dev \ + libignition-fuel-tools5-dev \ libignition-math6-eigen3-dev \ libignition-plugin-dev \ - libignition-physics2-dev \ - libignition-rendering3-dev \ + libignition-physics3-dev \ + libignition-rendering4-dev \ libignition-tools-dev \ - libignition-transport8-dev \ - libignition-gui3-dev \ - libignition-msgs5-dev \ - libignition-sensors3-dev \ - libsdformat9-dev + libignition-transport9-dev \ + libignition-gui4-dev \ + libignition-msgs6-dev \ + libignition-sensors4-dev \ + libsdformat10-dev COPY . ign-gazebo RUN cd ign-gazebo \ diff --git a/examples/standalone/joy_to_twist/CMakeLists.txt b/examples/standalone/joy_to_twist/CMakeLists.txt index cd91c38192..a370bc286d 100644 --- a/examples/standalone/joy_to_twist/CMakeLists.txt +++ b/examples/standalone/joy_to_twist/CMakeLists.txt @@ -1,10 +1,10 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) -find_package(ignition-transport8 QUIET REQUIRED OPTIONAL_COMPONENTS log) -set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR}) +find_package(ignition-transport9 QUIET REQUIRED OPTIONAL_COMPONENTS log) +set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR}) -find_package(sdformat9 REQUIRED) -set(SDF_VER ${sdformat9_VERSION_MAJOR}) +find_package(sdformat10 REQUIRED) +set(SDF_VER ${sdformat10_VERSION_MAJOR}) add_executable(joy_to_twist joy_to_twist.cc) target_link_libraries(joy_to_twist diff --git a/examples/standalone/joystick/CMakeLists.txt b/examples/standalone/joystick/CMakeLists.txt index f096611a9c..a65f071cec 100644 --- a/examples/standalone/joystick/CMakeLists.txt +++ b/examples/standalone/joystick/CMakeLists.txt @@ -2,11 +2,11 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) # joystick currently works only on linux if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux") - find_package(ignition-transport8 QUIET REQUIRED OPTIONAL_COMPONENTS log) - set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR}) + find_package(ignition-transport9 QUIET REQUIRED OPTIONAL_COMPONENTS log) + set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR}) - find_package(sdformat9 REQUIRED) - set(SDF_VER ${sdformat9_VERSION_MAJOR}) + find_package(sdformat10 REQUIRED) + set(SDF_VER ${sdformat10_VERSION_MAJOR}) add_executable(joystick joystick.cc) target_link_libraries(joystick diff --git a/examples/standalone/keyboard/CMakeLists.txt b/examples/standalone/keyboard/CMakeLists.txt index 900346334b..34e5f6fc22 100644 --- a/examples/standalone/keyboard/CMakeLists.txt +++ b/examples/standalone/keyboard/CMakeLists.txt @@ -1,14 +1,14 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux") - find_package(ignition-transport8 QUIET REQUIRED OPTIONAL_COMPONENTS log) - set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR}) + find_package(ignition-transport9 QUIET REQUIRED OPTIONAL_COMPONENTS log) + set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR}) - find_package(sdformat9 REQUIRED) - set(SDF_VER ${sdformat9_VERSION_MAJOR}) + find_package(sdformat10 REQUIRED) + set(SDF_VER ${sdformat10_VERSION_MAJOR}) - find_package(ignition-msgs5 REQUIRED) - set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR}) + find_package(ignition-msgs6 REQUIRED) + set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR}) find_package(ignition-common3 REQUIRED) set(IGN_COMMON_VER ${ignition-common3_VERSION_MAJOR}) diff --git a/examples/standalone/marker/CMakeLists.txt b/examples/standalone/marker/CMakeLists.txt index f220f57e44..931d976ac9 100644 --- a/examples/standalone/marker/CMakeLists.txt +++ b/examples/standalone/marker/CMakeLists.txt @@ -1,14 +1,14 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux") - find_package(ignition-transport8 QUIET REQUIRED OPTIONAL_COMPONENTS log) - set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR}) + find_package(ignition-transport9 QUIET REQUIRED OPTIONAL_COMPONENTS log) + set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR}) find_package(ignition-common3 REQUIRED) set(IGN_COMMON_VER ${ignition-common3_VERSION_MAJOR}) - find_package(ignition-msgs5 REQUIRED) - set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR}) + find_package(ignition-msgs6 REQUIRED) + set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR}) add_executable(marker marker.cc) target_link_libraries(marker diff --git a/examples/standalone/scene_requester/CMakeLists.txt b/examples/standalone/scene_requester/CMakeLists.txt index 67cf7dba42..bdd24b6898 100644 --- a/examples/standalone/scene_requester/CMakeLists.txt +++ b/examples/standalone/scene_requester/CMakeLists.txt @@ -1,7 +1,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) -find_package(ignition-transport8 QUIET REQUIRED OPTIONAL_COMPONENTS log) -set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR}) +find_package(ignition-transport9 QUIET REQUIRED OPTIONAL_COMPONENTS log) +set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR}) add_executable(scene_requester scene_requester.cc) target_link_libraries(scene_requester diff --git a/tutorials/migrating_ardupilot_plugin.md b/tutorials/migrating_ardupilot_plugin.md index 8399009416..c4cbb074f6 100644 --- a/tutorials/migrating_ardupilot_plugin.md +++ b/tutorials/migrating_ardupilot_plugin.md @@ -805,12 +805,12 @@ In the new code we explicitly reference each Ignition package that we use: # NEW find_package(sdformat9 REQUIRED) find_package(ignition-common3-all REQUIRED) -find_package(ignition-gazebo3-all REQUIRED) +find_package(ignition-gazebo4-all REQUIRED) find_package(ignition-math6-all REQUIRED) -find_package(ignition-msgs5-all REQUIRED) -find_package(ignition-physics2-all REQUIRED) -find_package(ignition-sensors3-all REQUIRED) -find_package(ignition-transport8-all REQUIRED) +find_package(ignition-msgs6-all REQUIRED) +find_package(ignition-physics3-all REQUIRED) +find_package(ignition-sensors4-all REQUIRED) +find_package(ignition-transport9-all REQUIRED) ``` In the old code we need only refer to the build configuration retrieved from the Gazebo package: From e216bb2132d0a77ca77dc31a50435487273fbe09 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Thu, 13 Aug 2020 11:00:40 +0200 Subject: [PATCH 168/202] PR Feedback 3 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../worlds/optical_tactile_sensor_plugin.sdf | 3 - .../OpticalTactilePlugin.cc | 396 ++++++++---------- .../OpticalTactilePlugin.hh | 20 +- .../optical_tactile_plugin/Visualization.cc | 301 ++++++------- .../optical_tactile_plugin/Visualization.hh | 84 ++-- 5 files changed, 358 insertions(+), 446 deletions(-) diff --git a/examples/worlds/optical_tactile_sensor_plugin.sdf b/examples/worlds/optical_tactile_sensor_plugin.sdf index e888d75092..d3532c0e06 100644 --- a/examples/worlds/optical_tactile_sensor_plugin.sdf +++ b/examples/worlds/optical_tactile_sensor_plugin.sdf @@ -202,11 +202,8 @@ name="ignition::gazebo::systems::OpticalTactilePlugin"> true 15 - 1 true true - 0.001 - 0.0002 0.01 0.001 diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index b9f339d4b0..58ca03e3cb 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -55,33 +55,29 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \param[in] _value True to enable plugin. public: void Enable(const bool _value); - /// \brief Interpolates contacts returned by the contact sensor - /// \param[in] _contact Message containing the data to interpolate - public: void InterpolateContactData(const ignition::msgs::Contact &_contact); - - /// \brief Callback for the Depth Camera + /// \brief Callback for the depth camera /// \param[in] _msg Message from the subscribed topic public: void DepthCameraCallback( const ignition::msgs::PointCloudPacked &_msg); /// \brief Map the (i,j) coordinates defined in the top-left corner of the /// camera into its corresponding (X,Y,Z) measurement with respect to the - /// camera's origin + /// camera's origin in the world frame /// \param[in] _i Horizontal camera coordinate defined in the top-left corner /// of the image, pointing rightwards /// \param[in] _j Vertical camera coordinate defined in the top-left corner /// of the image, pointing downwards /// \returns The corresponding (X,Y,Z) point - public: ignition::math::Vector3f MapPointCloudData(const u_int32_t &_i, - const uint32_t &_j); + public: ignition::math::Vector3f MapPointCloudData(const uint64_t &_i, + const uint64_t &_j); - /// \brief Check if a specific point returned by the Depth Camera is inside + /// \brief Check if a specific point from the depth camera is inside /// the contact surface. - /// \param[in] _point Point returned by the Depth Camera + /// \param[in] _point Point from the depth camera public: bool PointInsideSensor(ignition::math::Vector3f _point); /// \brief Computes the normal forces of the Optical Tactile sensor - /// \param[in] _msg Message returned by the Depth Camera + /// \param[in] _msg Message from the depth camera /// \param[in] _visualizeForces Whether to visualize the forces or not /// /// Implementation inspired by @@ -95,9 +91,6 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Resolution of the visualization in pixels to skip. public: int visualizationResolution{30}; - /// \brief Resolution of the interpolated contacts in mm. - public: double contactsResolution{1.0}; - /// \brief Whether to visualize the normal forces. public: bool visualizeForces{false}; @@ -123,34 +116,28 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Name of the model to which the sensor is attached. public: std::string modelName; - /// \brief Radius of the visualized contact sphere - public: double contactRadius{0.003}; - - /// \brief Length of the visualized force cylinder + /// \brief Length of the visualized forces public: double forceLength{0.01}; - /// \brief Radius of the visualized force cylinder - public: double forceRadius{0.001}; - /// \brief Pose of the sensor model public: ignition::math::Pose3f sensorWorldPose; /// \brief Pose of the sensor model in the previous iteration public: ignition::math::Pose3f prevSensorWorldPose; - /// \brief Offset between Depth Camera pose and model pose + /// \brief Offset between depth camera pose and model pose public: ignition::math::Pose3f depthCameraOffset; - /// \brief Whether a new message has been returned by the Depth Camera + /// \brief Whether a new message has been returned by the depth camera public: bool newCameraMsg{false}; - /// \brief Depth Camera update rate + /// \brief Depth camera update rate public: float cameraUpdateRate{1}; - /// \brief Message returned by the Depth Camera + /// \brief Message returned by the depth camera public: ignition::msgs::PointCloudPacked cameraMsg; - /// \brief Data returned by the Depth Camera after being preprocessed + /// \brief Preprocessed depth camera data public: char *msgBuffer; /// \brief Mutex for variables mutated by the camera callback. @@ -170,6 +157,12 @@ class ignition::gazebo::systems::OpticalTactilePluginPrivate /// \brief Pointer to visualization object public: std::unique_ptr visualizePtr; + + /// \brief Flag for checking the data type returned by the DepthCamera + public: bool checkDepthCameraData{true}; + + /// \brief Flag for allowing the plugin to output error/warning only once + public: bool initErrorPrinted{false}; }; ////////////////////////////////////////////////// @@ -195,7 +188,6 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, // Get the sdf parameters - // if (!_sdf->HasElement("enabled")) { ignlog << "Missing parameter , " @@ -206,7 +198,6 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, this->dataPtr->enabled = _sdf->Get("enabled"); } - // if (!_sdf->HasElement("visualization_resolution")) { ignlog << "Missing parameter , " @@ -226,27 +217,6 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, } } - // - if (!_sdf->HasElement("contacts_resolution")) - { - ignlog << "Missing parameter , " - << "setting to " << this->dataPtr->contactsResolution << std::endl; - } - else - { - if (_sdf->Get("contacts_resolution") < 0) - { - ignwarn << "Parameter must be positive, " - << "setting to " << this->dataPtr->contactsResolution << std::endl; - } - else - { - this->dataPtr->contactsResolution = - _sdf->Get("contacts_resolution"); - } - } - - // if (!_sdf->HasElement("visualize_forces")) { ignlog << "Missing parameter , " @@ -257,7 +227,6 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, this->dataPtr->visualizeForces = _sdf->Get("visualize_forces"); } - // if (!_sdf->HasElement("extended_sensing")) { ignlog << "Missing parameter , " @@ -276,7 +245,6 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, } } - // if (!_sdf->HasElement("visualize_sensor")) { ignlog << "Missing parameter , " @@ -287,45 +255,6 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, this->dataPtr->visualizeSensor = _sdf->Get("visualize_sensor"); } - // - if (!_sdf->HasElement("contact_radius")) - { - ignlog << "Missing parameter , " - << "setting to " << this->dataPtr->contactRadius << std::endl; - } - else - { - if (_sdf->Get("contact_radius") < 0) - { - ignwarn << "Parameter must be positive, " - << "setting to " << this->dataPtr->contactRadius << std::endl; - } - else - { - this->dataPtr->contactRadius = _sdf->Get("contact_radius"); - } - } - - // - if (!_sdf->HasElement("force_radius")) - { - ignlog << "Missing parameter , " - << "setting to " << this->dataPtr->forceRadius << std::endl; - } - else - { - if (_sdf->Get("force_radius") < 0) - { - ignwarn << "Parameter must be positive, " - << "setting to " << this->dataPtr->forceRadius << std::endl; - } - else - { - this->dataPtr->forceRadius = _sdf->Get("force_radius"); - } - } - - // if (!_sdf->HasElement("force_length")) { ignlog << "Missing parameter , " @@ -347,10 +276,28 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, // Get the size of the sensor from the SDF // If there's no specified inside , a default one // is set - this->dataPtr->sensorSize = - _sdf->GetParent()->GetElement("link")->GetElement("collision")-> - GetElement("geometry")->GetElement("box")-> - Get("size"); + if (_sdf->GetParent() != nullptr) + { + if (_sdf->GetParent()->GetElement("link") != nullptr) + { + if (_sdf->GetParent()->GetElement("link")->GetElement("collision") + != nullptr) + { + if (_sdf->GetParent()->GetElement("link")->GetElement("collision")-> + GetElement("geometry") != nullptr) + { + if (_sdf->GetParent()->GetElement("link")->GetElement("collision")-> + GetElement("geometry")->GetElement("box") != nullptr) + { + this->dataPtr->sensorSize = + _sdf->GetParent()->GetElement("link")->GetElement("collision")-> + GetElement("geometry")->GetElement("box")-> + Get("size"); + } + } + } + } + } } ////////////////////////////////////////////////// @@ -368,7 +315,6 @@ void OpticalTactilePlugin::PreUpdate(const UpdateInfo &_info, // We call Load here instead of Configure because we can't be guaranteed // that all entities have been created when Configure is called this->dataPtr->Load(_ecm); - this->dataPtr->initialized = true; } // This is not an "else" because "initialized" can be set @@ -386,12 +332,12 @@ void OpticalTactilePlugin::PreUpdate(const UpdateInfo &_info, break; } - // Get the Depth Camera pose + // Get the model pose ignition::math::Pose3d sensorPose = _ecm.Component( this->dataPtr->model.Entity())->Data(); - // Depth Camera data is float, so convert Pose3d to Pose3f + // Depth camera data is float, so convert Pose3d to Pose3f this->dataPtr->sensorWorldPose = ignition::math::Pose3f( sensorPose.Pos().X(), sensorPose.Pos().Y(), sensorPose.Pos().Z(), sensorPose.Rot().W(), sensorPose.Rot().X(), sensorPose.Rot().Y(), @@ -402,26 +348,15 @@ void OpticalTactilePlugin::PreUpdate(const UpdateInfo &_info, ////////////////////////////////////////////////// void OpticalTactilePlugin::PostUpdate( const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm) + const ignition::gazebo::EntityComponentManager &/*_ecm*/) { IGN_PROFILE("TouchPlugin::PostUpdate"); - // Nothing left to do if paused. - if (_info.paused) + // Nothing left to do if paused or failed to initialize. + if (_info.paused || !this->dataPtr->initialized) return; - auto* contacts = - _ecm.Component( - this->dataPtr->sensorCollisionEntity); - - if (contacts) - { - for (const auto &contact : contacts->Data().contact()) - { - // Interpolate data returned by the Contact message - this->dataPtr->InterpolateContactData(contact); - } - } + // TODO(anyone) Get ContactSensor data and merge it with DepthCamera data // Process camera message if it's new { @@ -439,7 +374,7 @@ void OpticalTactilePlugin::PostUpdate( if (this->dataPtr->visualizeSensor && (this->dataPtr->sensorWorldPose != this->dataPtr->prevSensorWorldPose)) { - this->dataPtr->visualizePtr->VisualizeSensor( + this->dataPtr->visualizePtr->RequestSensorMarkerMsg( this->dataPtr->sensorWorldPose); } @@ -452,22 +387,32 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm) { igndbg << "Loading plugin [OpticalTactilePlugin]" << std::endl; - // todo(anyone) The plugin should be able to handle more than one link. In - // that case, one of the links would be the actual tactile sensor. - // Check plugin structure - // Model should only have 1 link auto allLinks = _ecm.ChildrenByComponents(this->model.Entity(), components::Link()); - if (allLinks.size() != 1) + // Model should only have 1 link + // todo(anyone) The plugin should be able to handle more than one link. In + // that case, one of the links would be the actual tactile sensor. + if (allLinks.size() != 1 && !this->initErrorPrinted) { - ignerr << "Plugin must have exactly 1 link" << std::endl; + ignerr << "Plugin must have exactly 1 link (only printed once)" + << std::endl; + this->initErrorPrinted = true; return; } // Link should have a collision component linked to a contact sensor auto linkCollisions = _ecm.ChildrenByComponents(allLinks[0], components::Collision()); + + if (linkCollisions.size() == 0 && !this->initErrorPrinted) + { + ignerr << "Link must have at least 1 collision (only printed once)" + << std::endl; + this->initErrorPrinted = true; + return; + } + for (const Entity &colEntity : linkCollisions) { if (_ecm.EntityHasComponentType(colEntity, @@ -482,7 +427,7 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm) } } - // Link should have exactly 1 Contact sensor and 1 Depth Camera sensor + // Link should have exactly 1 ContactSensor and 1 DepthCamera sensor auto sensorsInsideLink = _ecm.ChildrenByComponents(allLinks[0], components::Sensor()); @@ -504,53 +449,68 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm) } } - if ((depthCameraCounter != 1) || (contactSensorCounter != 1)) + if (((depthCameraCounter != 1) || (contactSensorCounter != 1)) + && !this->initErrorPrinted) { - ignerr << "Link must have 1 Depth Camera sensor and " - << "1 Contact sensor" << std::endl; + ignerr << "Link must have exactly 1 depth camera sensor and " + << "1 contact sensor (only printed once)" << std::endl; + this->initErrorPrinted = true; return; } // Store depth camera update rate and offset from model auto offset = depthCameraSdf->Get("pose"); - if (!depthCameraSdf->HasElement("update_rate")) + if (!depthCameraSdf->HasElement("update_rate") && !this->initErrorPrinted) { - ignerr << "Depth camera should have an value" << std::endl; + ignerr << "Depth camera should have an value " + << "(only printed once)" << std::endl; + this->initErrorPrinted = true; return; } this->cameraUpdateRate = depthCameraSdf->Get("update_rate"); - // Depth Camera data is float, so convert Pose3d to Pose3f + // Depth camera data is float, so convert Pose3d to Pose3f this->depthCameraOffset = ignition::math::Pose3f( offset.Pos().X(), offset.Pos().Y(), offset.Pos().Z(), offset.Rot().W(), offset.Rot().X(), offset.Rot().Y(), offset.Rot().Z()); - // Configure subscriber for Depth Camera images + // Configure subscriber for depth camera images if (!depthCameraSdf->HasElement("topic")) { - ignerr << "Depth camera should have a unique value" << std::endl; - return; + ignwarn << "Depth camera publishing to __default__ topic. " + << "It's possible that two depth cameras are publishing into the same " + << "topic" << std::endl; + } + else + { + ignlog << "Depth camera publishing to " + << depthCameraSdf->Get("topic") << " topic" << std::endl; } + std::string topic = "/" + depthCameraSdf->Get("topic") + "/points"; if (!this->node.Subscribe(topic, - &OpticalTactilePluginPrivate::DepthCameraCallback, this)) + &OpticalTactilePluginPrivate::DepthCameraCallback, this) + && !this->initErrorPrinted) { ignerr << "Error subscribing to topic " << "[" << topic << "]. " - << " must not contain '/'" << std::endl; + << " must not contain '/' (only printing once)" << std::endl; + this->initErrorPrinted = true; return; } // Instantiate the visualization class this->visualizePtr = std::make_unique< - OpticalTactilePluginVisualization>(this->contactRadius, - this->forceRadius, this->forceLength, - this->cameraUpdateRate, this->depthCameraOffset, - this->visualizationResolution); - - // Create the marker messages - this->visualizePtr->CreateMarkersMsgs(this->modelName, this->sensorSize); + OpticalTactilePluginVisualization>( + this->modelName, + this->sensorSize, + this->forceLength, + this->cameraUpdateRate, + this->depthCameraOffset, + this->visualizationResolution); + + this->initialized = true; } ////////////////////////////////////////////////// @@ -560,65 +520,6 @@ void OpticalTactilePluginPrivate::Enable(const bool _value) _value; } -////////////////////////////////////////////////// -void OpticalTactilePluginPrivate::InterpolateContactData( - const ignition::msgs::Contact &_contact) -{ - // The Optical Tactile Sensor is supposed to be box-shaped. - // Contacts returned by the Contact Sensor in this type of shapes should be - // 4 points in the corners of some of its faces, in this case the one - // corresponding to the 'sensing' face. - // Given that the number of contacts may change even when the objects are - // at rest, data is only interpolated when the number of contacts - // returned is 4. - - // todo(mcres) Handle a different number of contacts returned by the - // contact sensor - - if (_contact.position_size() == 4) - { - // todo(mcres) Interpolated contacts should be published in a message - - ignition::math::Vector3d contact1 = - ignition::msgs::Convert(_contact.position(0)); - ignition::math::Vector3d contact2 = - ignition::msgs::Convert(_contact.position(1)); - ignition::math::Vector3d contact3 = - ignition::msgs::Convert(_contact.position(2)); - ignition::math::Vector3d contact4 = - ignition::msgs::Convert(_contact.position(3)); - - ignition::math::Vector3d direction1 = - (contact2 - contact1).Normalized() * (this->contactsResolution/1000.0); - ignition::math::Vector3d direction2 = - (contact4 - contact1).Normalized() * (this->contactsResolution/1000.0); - - ignition::math::Vector3d interpolatedVector = contact1; - - // auxiliary Vector3d to iterate through contacts - ignition::math::Vector3d tempVector(0.0, 0.0, 0.0); - - uint64_t steps1 = - contact1.Distance(contact2) / (this->contactsResolution/1000.0); - uint64_t steps2 = - contact1.Distance(contact4) / (this->contactsResolution/1000.0); - - for (uint64_t index1 = 0; index1 <= steps1; ++index1) - { - tempVector = interpolatedVector; - for (uint64_t index2 = 0; index2 < steps2; ++index2) - { - interpolatedVector += direction2; - } - if (index1 != steps1) - { - interpolatedVector = tempVector; - interpolatedVector += direction1; - } - } - } -} - ////////////////////////////////////////////////// void OpticalTactilePluginPrivate::DepthCameraCallback( const ignition::msgs::PointCloudPacked &_msg) @@ -628,6 +529,21 @@ void OpticalTactilePluginPrivate::DepthCameraCallback( if (!this->initialized) return; + // Check whether DepthCamera returns FLOAT32 data + if (this->checkDepthCameraData) + { + int float32Type = 6; + for (auto const &field : _msg.field()) + { + if (field.datatype() != float32Type) + { + ignerr << "FLOAT32 is expected for a casting to float *" << std::endl; + return; + } + } + this->checkDepthCameraData = false; + } + { std::lock_guard lock(this->serviceMutex); this->cameraMsg = _msg; @@ -637,31 +553,35 @@ void OpticalTactilePluginPrivate::DepthCameraCallback( ////////////////////////////////////////////////// ignition::math::Vector3f OpticalTactilePluginPrivate::MapPointCloudData( - const u_int32_t &_i, const uint32_t &_j) + const uint64_t &_i, const uint64_t &_j) { // Initialize return variable - ignition::math::Vector3f measuredPoint; + ignition::math::Vector3f measuredPoint(0, 0, 0); + + // Nothing left to do if failed to initialize. + if (!this->initialized) + return measuredPoint; // Save original position of the pointer - char *initialMsgBuffer = this->msgBuffer; + char *temporaryMsgBuffer = this->msgBuffer; // Number of bytes from the beginning of the pointer (image coordinates at // 0,0) to the desired (i,j) position uint32_t msgBufferIndex = _j*this->cameraMsg.row_step() + _i*this->cameraMsg.point_step(); - this->msgBuffer += msgBufferIndex; + temporaryMsgBuffer += msgBufferIndex; int fieldIndex = 0; // X coordinate measuredPoint.X() = *reinterpret_cast( - this->msgBuffer + this->cameraMsg.field(fieldIndex++).offset()); + temporaryMsgBuffer + this->cameraMsg.field(fieldIndex++).offset()); // Y coordinate measuredPoint.Y() = *reinterpret_cast( - this->msgBuffer + this->cameraMsg.field(fieldIndex++).offset()); + temporaryMsgBuffer + this->cameraMsg.field(fieldIndex++).offset()); // Z coordinate measuredPoint.Z() = *reinterpret_cast( - this->msgBuffer + this->cameraMsg.field(fieldIndex).offset()); + temporaryMsgBuffer + this->cameraMsg.field(fieldIndex).offset()); // Check if point is inside the sensor bool pointInside = this->PointInsideSensor(measuredPoint); @@ -672,9 +592,6 @@ ignition::math::Vector3f OpticalTactilePluginPrivate::MapPointCloudData( measuredPoint.Z() = ignition::math::INF_F; } - // Restore msgBuffer to initial position - this->msgBuffer = initialMsgBuffer; - return measuredPoint; } @@ -682,21 +599,25 @@ ignition::math::Vector3f OpticalTactilePluginPrivate::MapPointCloudData( bool OpticalTactilePluginPrivate::PointInsideSensor( ignition::math::Vector3f _point) { - // We assume that the Depth Camera is only displaced in the -X direction - bool insideX = (_point.X() >= std::abs( - this->depthCameraOffset.X()) - this->extendedSensing) - && (_point.X() <= (std::abs(this->depthCameraOffset.X()) + - this->sensorSize.X() + this->extendedSensing)); - - bool insideY = (_point.Y() <= this->sensorSize.Y() / 2 + - this->extendedSensing) - && (_point.Y() >= - this->sensorSize.Y() / 2 - - this->extendedSensing); - - bool insideZ = (_point.Z() <= this->sensorSize.Z() / 2 + - this->extendedSensing) - && (_point.Z() >= - this->sensorSize.Z() / 2 - - this->extendedSensing); + // Nothing left to do if failed to initialize. + if (!this->initialized) + return false; + + // We assume that the depth camera is placed behind the contact surface, i.e. + // displaced in the -X direction with respect to the model's origin + bool insideX = + (_point.X() >= std::abs(this->depthCameraOffset.X()) - + this->extendedSensing) && + (_point.X() <= (std::abs(this->depthCameraOffset.X()) + + this->sensorSize.X() + this->extendedSensing)); + + bool insideY = + (_point.Y() <= this->sensorSize.Y() / 2 + this->extendedSensing) && + (_point.Y() >= - this->sensorSize.Y() / 2 - this->extendedSensing); + + bool insideZ = + (_point.Z() <= this->sensorSize.Z() / 2 + this->extendedSensing) && + (_point.Z() >= - this->sensorSize.Z() / 2 - this->extendedSensing); return (insideX && insideY && insideZ); } @@ -706,6 +627,10 @@ void OpticalTactilePluginPrivate::ComputeNormalForces( const ignition::msgs::PointCloudPacked &_msg, const bool _visualizeForces) { + // Nothing left to do if failed to initialize. + if (!this->initialized) + return; + // Get data from the message std::string rawMsgBuffer = _msg.data(); this->msgBuffer = rawMsgBuffer.data(); @@ -713,14 +638,17 @@ void OpticalTactilePluginPrivate::ComputeNormalForces( // Declare variables for storing the XYZ points ignition::math::Vector3f p1, p2, p3, p4, markerPosition; - // todo(anyone) Improve performance once the following issue is completed: - // https://github.com/ignitionrobotics/ign-math/issues/144 + // Marker messages representing the normal forces + ignition::msgs::Marker positionMarkerMsg; + ignition::msgs::Marker forceMarkerMsg; // We don't get the image's edges because there are no adjacent points to // compute the forces - for (uint64_t j = 1; j < (_msg.height() - 1); ++j) + for (uint64_t j = 1; j < (_msg.height() - 1); + j += this->visualizationResolution) { - for (uint64_t i = 1; i < (_msg.width() - 1); ++i) + for (uint64_t i = 1; i < (_msg.width() - 1); + i += this->visualizationResolution) { // Get points for computing normal forces p1 = this->MapPointCloudData(i + 1, j); @@ -734,18 +662,28 @@ void OpticalTactilePluginPrivate::ComputeNormalForces( ignition::math::Vector3f direction(-1, -dxdi, -dxdj); // todo(anyone) multiply vector by contact forces info + + // todo(anyone) Replace with MatrixX and use vector multiplication instead + // of for-loops once the following issue is completed: + // https://github.com/ignitionrobotics/ign-math/issues/144 ignition::math::Vector3f normalForce = direction.Normalized(); - // todo(mcres) Normal forces will be computed even if visualization + // todo(mcres) Normal forces are computed even if visualization // is turned off. These forces should be published in the future. if (!_visualizeForces) continue; markerPosition = this->MapPointCloudData(i, j); - this->visualizePtr->VisualizeNormalForce(i, j, markerPosition, - normalForce, this->sensorWorldPose); + this->visualizePtr->AddNormalForceToMarkerMsgs(positionMarkerMsg, + forceMarkerMsg, markerPosition, normalForce, this->sensorWorldPose); } } + + if (_visualizeForces) + { + this->visualizePtr->RequestNormalForcesMarkerMsgs(positionMarkerMsg, + forceMarkerMsg); + } } IGNITION_ADD_PLUGIN(OpticalTactilePlugin, diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh index 1793edcd7b..fbefd9e05a 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh @@ -46,27 +46,15 @@ namespace systems /// doesn't need to be enabled. This element is optional, and the /// default value is true. /// - /// Number of pixels to skip when visualizing - /// the forces. One vector representing a normal force is computed for each - /// of the camera pixels. This element must be positive and it is optional. - /// The default value is 30. - /// - /// Distance in mm to interpolate the contacts - /// returned by the contact sensor. This element must be positive and - /// it is optional. The default value is 1. + /// Number n of pixels to skip when visualizing + /// the forces. One vector representing a normal force is computed for + /// every nth pixel. This element must be positive and it is optional. + /// The default value is 30 /// /// Set this to true so the plugin visualizes the normal /// forces in the 3D world. This element is optional, and the /// default value is false. /// - /// Radius in meters of the contacts visualized if - /// is set to true. This parameter is optional, and the - /// default value is 0.003. - /// - /// Radius in meters of the forces visualized if - /// is set to true. This parameter is optional, and the - /// default value is 0.001. - /// /// Length in meters of the forces visualized if /// is set to true. This parameter is optional, and the /// default value is 0.01. diff --git a/src/systems/optical_tactile_plugin/Visualization.cc b/src/systems/optical_tactile_plugin/Visualization.cc index 53e4be53a8..ef59688788 100644 --- a/src/systems/optical_tactile_plugin/Visualization.cc +++ b/src/systems/optical_tactile_plugin/Visualization.cc @@ -33,205 +33,176 @@ namespace optical_tactile_sensor ////////////////////////////////////////////////// OpticalTactilePluginVisualization::OpticalTactilePluginVisualization( - double &_contactRadius, double &_forceRadius, double &_forceLength, - float &_cameraUpdateRate, ignition::math::Pose3f &_depthCameraOffset, + std::string &_modelName, + ignition::math::Vector3d &_sensorSize, + double &_forceLength, + float &_cameraUpdateRate, + ignition::math::Pose3f &_depthCameraOffset, int &_visualizationResolution) : - contactRadius(_contactRadius), forceRadius(_forceRadius), - forceLength(_forceLength), cameraUpdateRate(_cameraUpdateRate), + modelName(_modelName), + sensorSize(_sensorSize), + forceLength(_forceLength), + cameraUpdateRate(_cameraUpdateRate), depthCameraOffset(_depthCameraOffset), visualizationResolution(_visualizationResolution) { } ////////////////////////////////////////////////// -void OpticalTactilePluginVisualization::CreateMarkersMsgs( - std::string &_modelName, - ignition::math::Vector3d &_sensorSize) +void OpticalTactilePluginVisualization::InitializeSensorMarkerMsg( + ignition::msgs::Marker &_sensorMarkerMsg) { - // Configure marker messages for position and force of the contacts, as well - // as the marker for visualizing the sensor + // Initialize the marker for visualizing the sensor as a grey transparent box - // Blue spheres for positions - // Green cylinders for forces - // Grey transparent box for the sensor + _sensorMarkerMsg.set_ns("sensor_" + this->modelName); + _sensorMarkerMsg.set_id(1); + _sensorMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + _sensorMarkerMsg.set_type(ignition::msgs::Marker::BOX); + _sensorMarkerMsg.set_visibility(ignition::msgs::Marker::GUI); + ignition::msgs::Set(_sensorMarkerMsg.mutable_scale(), this->sensorSize); - this->positionMarkerMsg.set_ns("positions_" + _modelName); - this->positionMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); - this->positionMarkerMsg.set_type(ignition::msgs::Marker::SPHERE); - this->positionMarkerMsg.set_visibility(ignition::msgs::Marker::GUI); + // Set material properties + ignition::msgs::Set(_sensorMarkerMsg.mutable_material()-> + mutable_ambient(), math::Color(0.5, 0.5, 0.5, 0.75)); + ignition::msgs::Set(_sensorMarkerMsg.mutable_material()-> + mutable_diffuse(), math::Color(0.5, 0.5, 0.5, 0.75)); +} - this->forceMarkerMsg.set_ns("forces_" + _modelName); - this->forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); - this->forceMarkerMsg.set_type(ignition::msgs::Marker::CYLINDER); - this->forceMarkerMsg.set_visibility(ignition::msgs::Marker::GUI); +////////////////////////////////////////////////// +void OpticalTactilePluginVisualization::RequestSensorMarkerMsg( + ignition::math::Pose3f const &_sensorPose) +{ + ignition::msgs::Marker sensorMarkerMsg; - this->sensorMarkerMsg.set_ns("sensor_" + _modelName); - this->sensorMarkerMsg.set_id(1); - this->sensorMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); - this->sensorMarkerMsg.set_type(ignition::msgs::Marker::BOX); - this->sensorMarkerMsg.set_visibility(ignition::msgs::Marker::GUI); + this->InitializeSensorMarkerMsg(sensorMarkerMsg); - // Set material properties - this->positionMarkerMsg.mutable_material()->mutable_ambient()->set_r(0); - this->positionMarkerMsg.mutable_material()->mutable_ambient()->set_g(0); - this->positionMarkerMsg.mutable_material()->mutable_ambient()->set_b(1); - this->positionMarkerMsg.mutable_material()->mutable_ambient()->set_a(1); - this->positionMarkerMsg.mutable_material()->mutable_diffuse()->set_r(0); - this->positionMarkerMsg.mutable_material()->mutable_diffuse()->set_g(0); - this->positionMarkerMsg.mutable_material()->mutable_diffuse()->set_b(1); - this->positionMarkerMsg.mutable_material()->mutable_diffuse()->set_a(1); - this->positionMarkerMsg.mutable_lifetime()->set_sec(this->cameraUpdateRate); - - this->forceMarkerMsg.mutable_material()->mutable_ambient()->set_r(0); - this->forceMarkerMsg.mutable_material()->mutable_ambient()->set_g(1); - this->forceMarkerMsg.mutable_material()->mutable_ambient()->set_b(0); - this->forceMarkerMsg.mutable_material()->mutable_ambient()->set_a(1); - this->forceMarkerMsg.mutable_material()->mutable_diffuse()->set_r(0); - this->forceMarkerMsg.mutable_material()->mutable_diffuse()->set_g(1); - this->forceMarkerMsg.mutable_material()->mutable_diffuse()->set_b(0); - this->forceMarkerMsg.mutable_material()->mutable_diffuse()->set_a(1); - this->forceMarkerMsg.mutable_lifetime()->set_sec(this->cameraUpdateRate); - - this->sensorMarkerMsg.mutable_material()->mutable_ambient()->set_r(0.5); - this->sensorMarkerMsg.mutable_material()->mutable_ambient()->set_g(0.5); - this->sensorMarkerMsg.mutable_material()->mutable_ambient()->set_b(0.5); - this->sensorMarkerMsg.mutable_material()->mutable_ambient()->set_a(0.75); - this->sensorMarkerMsg.mutable_material()->mutable_diffuse()->set_r(0.5); - this->sensorMarkerMsg.mutable_material()->mutable_diffuse()->set_g(0.5); - this->sensorMarkerMsg.mutable_material()->mutable_diffuse()->set_b(0.5); - this->sensorMarkerMsg.mutable_material()->mutable_diffuse()->set_a(0.75); - this->sensorMarkerMsg.mutable_lifetime()->set_sec(0); - this->sensorMarkerMsg.mutable_lifetime()->set_nsec(0); - - // Set scales - ignition::msgs::Set(this->positionMarkerMsg.mutable_scale(), - ignition::math::Vector3d(this->contactRadius, this->contactRadius, - this->contactRadius)); - - ignition::msgs::Set(this->forceMarkerMsg.mutable_scale(), - ignition::math::Vector3d(this->forceRadius, this->forceRadius, - this->forceLength)); - - ignition::msgs::Set(this->sensorMarkerMsg.mutable_scale(), _sensorSize); + ignition::msgs::Set(sensorMarkerMsg.mutable_pose(), + ignition::math::Pose3d(_sensorPose.Pos().X(), + _sensorPose.Pos().Y(), _sensorPose.Pos().Z(), + _sensorPose.Rot().X(), _sensorPose.Rot().Y(), + _sensorPose.Rot().Z(), _sensorPose.Rot().W())); + + this->node.Request("/marker", sensorMarkerMsg); } ////////////////////////////////////////////////// -void OpticalTactilePluginVisualization::VisualizeSensor( - ignition::math::Pose3f &_sensorPose) +void OpticalTactilePluginVisualization::InitializeNormalForcesMarkerMsgs( + ignition::msgs::Marker &_positionMarkerMsg, + ignition::msgs::Marker &_forceMarkerMsg) { - this->sensorMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); - this->sensorMarkerMsg.set_id(1); - - this->sensorMarkerMsg.mutable_pose()->mutable_position()->set_x( - _sensorPose.Pos().X()); - this->sensorMarkerMsg.mutable_pose()->mutable_position()->set_y( - _sensorPose.Pos().Y()); - this->sensorMarkerMsg.mutable_pose()->mutable_position()->set_z( - _sensorPose.Pos().Z()); - this->sensorMarkerMsg.mutable_pose()->mutable_orientation()->set_x( - _sensorPose.Rot().X()); - this->sensorMarkerMsg.mutable_pose()->mutable_orientation()->set_y( - _sensorPose.Rot().Y()); - this->sensorMarkerMsg.mutable_pose()->mutable_orientation()->set_z( - _sensorPose.Rot().Z()); - this->sensorMarkerMsg.mutable_pose()->mutable_orientation()->set_w( - _sensorPose.Rot().W()); - - this->node.Request("/marker", this->sensorMarkerMsg); + // Initialize marker messages for position and force of the contacts + + // Blue points for positions + // Green lines for forces + + _positionMarkerMsg.set_ns("positions_" + this->modelName); + _positionMarkerMsg.set_id(1); + _positionMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + _positionMarkerMsg.set_type(ignition::msgs::Marker::POINTS); + _positionMarkerMsg.set_visibility(ignition::msgs::Marker::GUI); + ignition::msgs::Set(_positionMarkerMsg.mutable_scale(), + ignition::math::Vector3d(1, 1, 1)); + + _forceMarkerMsg.set_ns("forces_" + this->modelName); + _forceMarkerMsg.set_id(1); + _forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); + _forceMarkerMsg.set_type(ignition::msgs::Marker::LINE_LIST); + _forceMarkerMsg.set_visibility(ignition::msgs::Marker::GUI); + + // Set material properties and lifetime + ignition::msgs::Set(_positionMarkerMsg.mutable_material()-> + mutable_ambient(), math::Color(0, 0, 1, 1)); + ignition::msgs::Set(_positionMarkerMsg.mutable_material()-> + mutable_diffuse(), math::Color(0, 0, 1, 1)); + _positionMarkerMsg.mutable_lifetime()->set_sec(this->cameraUpdateRate); + + ignition::msgs::Set(_forceMarkerMsg.mutable_material()-> + mutable_ambient(), math::Color(0, 1, 0, 1)); + ignition::msgs::Set(_forceMarkerMsg.mutable_material()-> + mutable_diffuse(), math::Color(0, 1, 0, 1)); + _forceMarkerMsg.mutable_lifetime()->set_sec(this->cameraUpdateRate); } ////////////////////////////////////////////////// -void OpticalTactilePluginVisualization::VisualizeNormalForce( - uint64_t &_i, uint64_t &_j, +void OpticalTactilePluginVisualization::AddNormalForceToMarkerMsgs( + ignition::msgs::Marker &_positionMarkerMsg, + ignition::msgs::Marker &_forceMarkerMsg, ignition::math::Vector3f &_position, ignition::math::Vector3f &_normalForce, ignition::math::Pose3f &_sensorWorldPose) { - // Visualization is downsampled according to plugin parameter - // if is set to true + // Check if messages have been initialized + if (!this->normalForcesMsgsAreInitialized) + { + this->InitializeNormalForcesMarkerMsgs(_positionMarkerMsg, + _forceMarkerMsg); + this->normalForcesMsgsAreInitialized = true; + } + + // We need to compute the two points that form a normal force (start and end + // points) with reference to the simulation origin + ignition::math::Vector3f normalForcePositionFromSensor( + _position.X(), _position.Y(), _position.Z()); + + ignition::math::Quaternionf normalForceOrientationFromSensor; + normalForceOrientationFromSensor.From2Axes( + ignition::math::Vector3f(0, 0, 1), _normalForce); - // Check if _normalForce has to be visualized - bool visualizeForce = (_i % this->visualizationResolution == 0 && - _j % this->visualizationResolution == 0) || - (_i % this->visualizationResolution == 0 && _j == 1) || - (_i == 1 && _j % this->visualizationResolution == 0) || - (_i == 1 && _j == 1); + ignition::math::Pose3f normalForcePoseFromSensor( + normalForcePositionFromSensor, normalForceOrientationFromSensor); - if (!visualizeForce) + ignition::math::Pose3f normalForcePoseFromWorld = + (normalForcePoseFromSensor + this->depthCameraOffset) + _sensorWorldPose; + normalForcePoseFromWorld.Correct(); + + // Get the first point of the normal force + ignition::math::Vector3f firstPointFromWorld = + normalForcePoseFromWorld.Pos(); + + // Move the normal force pose a distance of forceLength along the direction + // of _normalForce and get the second point + normalForcePoseFromSensor.Set(normalForcePositionFromSensor + + _normalForce * this->forceLength, normalForceOrientationFromSensor); + + normalForcePoseFromWorld = + (normalForcePoseFromSensor + this->depthCameraOffset) + _sensorWorldPose; + normalForcePoseFromWorld.Correct(); + + ignition::math::Vector3f secondPointFromWorld = + normalForcePoseFromWorld.Pos(); + + // Check invalid points to avoid data transfer overhead + if (firstPointFromWorld == ignition::math::Vector3f(0.0, 0.0, 0.0) || + secondPointFromWorld == ignition::math::Vector3f(0.0, 0.0, 0.0)) return; - if (_i == 1 && _j == 1) - this->markerID = 1; + // Add points to the messages - // Add new markers with specific lifetime - this->positionMarkerMsg.set_id(this->markerID); - this->positionMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); - this->positionMarkerMsg.mutable_lifetime()->set_sec(this->cameraUpdateRate); - this->positionMarkerMsg.mutable_lifetime()->set_nsec(0); + ignition::msgs::Set(_positionMarkerMsg.add_point(), + ignition::math::Vector3d(firstPointFromWorld.X(), + firstPointFromWorld.Y(), firstPointFromWorld.Z())); - this->forceMarkerMsg.set_id(this->markerID++); - this->forceMarkerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); - this->forceMarkerMsg.mutable_lifetime()->set_sec(this->cameraUpdateRate); - this->forceMarkerMsg.mutable_lifetime()->set_nsec(0); + ignition::msgs::Set(_forceMarkerMsg.add_point(), + ignition::math::Vector3d(firstPointFromWorld.X(), + firstPointFromWorld.Y(), firstPointFromWorld.Z())); - // The pose of the markers must be published with reference - // to the simulation origin - ignition::math::Vector3f forceMarkerSensorPosition( - _position.X(), _position.Y(), _position.Z()); + ignition::msgs::Set(_forceMarkerMsg.add_point(), + ignition::math::Vector3d(secondPointFromWorld.X(), + secondPointFromWorld.Y(), secondPointFromWorld.Z())); +} - ignition::math::Quaternionf forceMarkerSensorQuaternion; - forceMarkerSensorQuaternion.From2Axes( - ignition::math::Vector3f(0, 0, 1), _normalForce); +////////////////////////////////////////////////// +void OpticalTactilePluginVisualization::RequestNormalForcesMarkerMsgs( + ignition::msgs::Marker &_positionMarkerMsg, + ignition::msgs::Marker &_forceMarkerMsg) +{ + this->node.Request("/marker", _forceMarkerMsg); + this->node.Request("/marker", _positionMarkerMsg); - // The position of the force marker is modified in order to place the - // end of the cylinder in the surface, not its middle point - ignition::math::Pose3f forceMarkerSensorPose(forceMarkerSensorPosition + - _normalForce * (this->forceLength/2), forceMarkerSensorQuaternion); - - ignition::math::Pose3f forceMarkerWorldPose = - (forceMarkerSensorPose + this->depthCameraOffset) + _sensorWorldPose; - forceMarkerWorldPose.Correct(); - - ignition::math::Pose3f positionMarkerSensorPose( - forceMarkerSensorPosition, forceMarkerSensorQuaternion); - ignition::math::Pose3f positionMarkerWorldPose = - (positionMarkerSensorPose + this->depthCameraOffset) + _sensorWorldPose; - positionMarkerWorldPose.Correct(); - - // Set markers pose messages from previously computed poses - this->forceMarkerMsg.mutable_pose()->mutable_position()->set_x( - forceMarkerWorldPose.Pos().X()); - this->forceMarkerMsg.mutable_pose()->mutable_position()->set_y( - forceMarkerWorldPose.Pos().Y()); - this->forceMarkerMsg.mutable_pose()->mutable_position()->set_z( - forceMarkerWorldPose.Pos().Z()); - this->forceMarkerMsg.mutable_pose()->mutable_orientation()->set_x( - forceMarkerWorldPose.Rot().X()); - this->forceMarkerMsg.mutable_pose()->mutable_orientation()->set_y( - forceMarkerWorldPose.Rot().Y()); - this->forceMarkerMsg.mutable_pose()->mutable_orientation()->set_z( - forceMarkerWorldPose.Rot().Z()); - this->forceMarkerMsg.mutable_pose()->mutable_orientation()->set_w( - forceMarkerWorldPose.Rot().W()); - - this->positionMarkerMsg.mutable_pose()->mutable_position()->set_x( - positionMarkerWorldPose.Pos().X()); - this->positionMarkerMsg.mutable_pose()->mutable_position()->set_y( - positionMarkerWorldPose.Pos().Y()); - this->positionMarkerMsg.mutable_pose()->mutable_position()->set_z( - positionMarkerWorldPose.Pos().Z()); - this->positionMarkerMsg.mutable_pose()->mutable_orientation()->set_x( - positionMarkerWorldPose.Rot().X()); - this->positionMarkerMsg.mutable_pose()->mutable_orientation()->set_y( - positionMarkerWorldPose.Rot().Y()); - this->positionMarkerMsg.mutable_pose()->mutable_orientation()->set_z( - positionMarkerWorldPose.Rot().Z()); - this->positionMarkerMsg.mutable_pose()->mutable_orientation()->set_w( - positionMarkerWorldPose.Rot().W()); - - this->node.Request("/marker", this->forceMarkerMsg); - this->node.Request("/marker", this->positionMarkerMsg); + // Let the messages be initialized again + this->normalForcesMsgsAreInitialized = false; } + } } } diff --git a/src/systems/optical_tactile_plugin/Visualization.hh b/src/systems/optical_tactile_plugin/Visualization.hh index fa61de08b5..8c6df3144e 100644 --- a/src/systems/optical_tactile_plugin/Visualization.hh +++ b/src/systems/optical_tactile_plugin/Visualization.hh @@ -41,65 +41,83 @@ namespace optical_tactile_sensor class OpticalTactilePluginVisualization { /// \brief Constructor - /// \param[in] _contactRadius Value of the contactRadius attribute - /// \param[in] _forceRadius Value of the forceRadius attribute + /// \param[in] _modelName Name of the model to which the sensor is attached + /// \param[in] _sensorSize Size of the contact sensor /// \param[in] _forceLength Value of the forceLength attribute /// \param[in] _cameraUpdateRate Value of the cameraUpdateRate attribute /// \param[in] _depthCameraOffset Value of the depthCameraOffset attribute /// \param[in] _visualizationResolution Value of the /// visualizationResolution attribute - public: OpticalTactilePluginVisualization(double &_contactRadius, - double &_forceRadius, double &_forceLength, float &_cameraUpdateRate, + public: OpticalTactilePluginVisualization( + std::string &_modelName, + ignition::math::Vector3d &_sensorSize, + double &_forceLength, + float &_cameraUpdateRate, ignition::math::Pose3f &_depthCameraOffset, int &_visualizationResolution); /// \brief Destructor public: ~OpticalTactilePluginVisualization(); - /// \brief Initialize the messages needed to request the /marker service - /// \param[in] _modelName Name of the model - /// \param[in] _sensorSize Size of the contact sensor - public: void CreateMarkersMsgs(std::string &_modelName, - ignition::math::Vector3d &_sensorSize); + /// \brief Initialize the marker message representing the optical tactile + /// sensor + /// \param[out] _sensorMarkerMsg Message for visualizing the sensor + private: void InitializeSensorMarkerMsg( + ignition::msgs::Marker &_sensorMarkerMsg); - /// \brief Visualize the collision geometry of the sensor. This can be - /// helpful when debbuging, given that there shouldn't be a visual tag - /// in the plugin's model + /// \brief Request the "/marker" service for the sensor marker. + /// This can be helpful when debbuging, given that there shouldn't be a + /// visual tag in the plugin's model /// \param[in] _sensorPose Pose of the optical tactile sensor - public: void VisualizeSensor(ignition::math::Pose3f &_sensorPose); - - /// \brief Visualize the normal forces computed for a (i,j) pixel of the - /// image returned by the depth camera - /// \param[in] _i First coordinate of the pixel - /// \param[in] _j Second coordinate of the pixel + public: void RequestSensorMarkerMsg( + ignition::math::Pose3f const &_sensorPose); + + /// \brief Initialize the marker messages representing the normal forces + /// \param[out] _positionMarkerMsg Message for visualizing the contact + /// positions + /// \param[out] _forceMarkerMsg Message for visualizing the contact + /// normal forces + private: void InitializeNormalForcesMarkerMsgs( + ignition::msgs::Marker &_positionMarkerMsg, + ignition::msgs::Marker &_forceMarkerMsg); + + /// \brief Add a normal force to the marker messages representing the + /// normal forces computed + /// \param[out] _positionMarkerMsg Message for visualizing the contact + /// positions + /// \param[out] _forceMarkerMsg Message for visualizing the contact + /// normal forces /// \param[in] _position Position of the normal force referenced to the /// depth camera's origin /// \param[in] _normalForce Value of the normal force referenced to /// the depth camera's origin /// \param[in] _sensorWorldPose Pose of the plugin's model referenced to /// the world's origin - public: void VisualizeNormalForce(uint64_t &_i, uint64_t &_j, + public: void AddNormalForceToMarkerMsgs( + ignition::msgs::Marker &_positionMarkerMsg, + ignition::msgs::Marker &_forceMarkerMsg, ignition::math::Vector3f &_position, ignition::math::Vector3f &_normalForce, ignition::math::Pose3f &_sensorWorldPose); - /// \brief Message for visualizing the sensor - private: ignition::msgs::Marker sensorMarkerMsg; - - /// \brief Message for visualizing contacts positions - private: ignition::msgs::Marker positionMarkerMsg; - - /// \brief Message for visualizing contacts forces - private: ignition::msgs::Marker forceMarkerMsg; + /// \brief Request the "/marker" service for the marker messages + /// representing the normal forces + /// \param[in] _positionMarkerMsg Message for visualizing the contact + /// positions + /// \param[in] _forceMarkerMsg Message for visualizing the contact + /// normal forces + public: void RequestNormalForcesMarkerMsgs( + ignition::msgs::Marker &_positionMarkerMsg, + ignition::msgs::Marker &_forceMarkerMsg); /// \brief Transport node to request the /marker service private: ignition::transport::Node node; - /// \brief Radius of the visualized contact sphere - private: double contactRadius; + /// \brief Name of the model to which the sensor is attached + private: std::string modelName; - /// \brief Radius of the visualized force cylinder - private: double forceRadius; + /// \brief Size of the contact sensor + private: ignition::math::Vector3d sensorSize; /// \brief Length of the visualized force cylinder private: double forceLength; @@ -113,8 +131,8 @@ namespace optical_tactile_sensor /// \brief Resolution of the sensor in pixels to skip. private: int visualizationResolution; - /// \brief Variable for setting the markers id - private: int markerID; + /// \brief Whether the normal forces messages are initialized or not + private: bool normalForcesMsgsAreInitialized{false}; }; } } From b321a0044e4feab3e6a1406139691581b90ad892 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Thu, 20 Aug 2020 13:44:02 +0200 Subject: [PATCH 169/202] Minor fixes for sdf, sensor marker and profiler MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../worlds/optical_tactile_sensor_plugin.sdf | 20 ++++++------------- .../OpticalTactilePlugin.cc | 10 ++++++++-- .../optical_tactile_plugin/Visualization.cc | 4 ++-- 3 files changed, 16 insertions(+), 18 deletions(-) diff --git a/examples/worlds/optical_tactile_sensor_plugin.sdf b/examples/worlds/optical_tactile_sensor_plugin.sdf index d3532c0e06..661a27b9b2 100644 --- a/examples/worlds/optical_tactile_sensor_plugin.sdf +++ b/examples/worlds/optical_tactile_sensor_plugin.sdf @@ -185,7 +185,7 @@ 0.030 - 0.065 + 10.0 @@ -211,30 +211,22 @@ 0 0 0 0 0 0 - - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/SurgicalTrolleyMed - + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/SurgicalTrolleyMed 0 0 0.7 0 0 0 - - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke - + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke 0 -0.7 0 0 0 3.14 - - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/OfficeChairBlue - + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/OfficeChairBlue - -1.5 0 0 0 0 1.57 - - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/VendingMachine - + -1.5 0 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/VendingMachine diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index 58ca03e3cb..74b728c95d 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -304,7 +304,7 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, void OpticalTactilePlugin::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) { - IGN_PROFILE("TouchPluginPrivate::PreUpdate"); + IGN_PROFILE("OpticalTactilePlugin::PreUpdate"); // Nothing left to do if paused if (_info.paused) @@ -350,7 +350,7 @@ void OpticalTactilePlugin::PostUpdate( const ignition::gazebo::UpdateInfo &_info, const ignition::gazebo::EntityComponentManager &/*_ecm*/) { - IGN_PROFILE("TouchPlugin::PostUpdate"); + IGN_PROFILE("OpticalTactilePlugin::PostUpdate"); // Nothing left to do if paused or failed to initialize. if (_info.paused || !this->dataPtr->initialized) @@ -555,6 +555,8 @@ void OpticalTactilePluginPrivate::DepthCameraCallback( ignition::math::Vector3f OpticalTactilePluginPrivate::MapPointCloudData( const uint64_t &_i, const uint64_t &_j) { + IGN_PROFILE("OpticalTactilePlugin::MapPointCloudData"); + // Initialize return variable ignition::math::Vector3f measuredPoint(0, 0, 0); @@ -599,6 +601,8 @@ ignition::math::Vector3f OpticalTactilePluginPrivate::MapPointCloudData( bool OpticalTactilePluginPrivate::PointInsideSensor( ignition::math::Vector3f _point) { + IGN_PROFILE("OpticalTactilePlugin::PointInsideSensor"); + // Nothing left to do if failed to initialize. if (!this->initialized) return false; @@ -627,6 +631,8 @@ void OpticalTactilePluginPrivate::ComputeNormalForces( const ignition::msgs::PointCloudPacked &_msg, const bool _visualizeForces) { + IGN_PROFILE("OpticalTactilePlugin::ComputeNormalForces"); + // Nothing left to do if failed to initialize. if (!this->initialized) return; diff --git a/src/systems/optical_tactile_plugin/Visualization.cc b/src/systems/optical_tactile_plugin/Visualization.cc index ef59688788..322599568d 100644 --- a/src/systems/optical_tactile_plugin/Visualization.cc +++ b/src/systems/optical_tactile_plugin/Visualization.cc @@ -79,8 +79,8 @@ void OpticalTactilePluginVisualization::RequestSensorMarkerMsg( ignition::msgs::Set(sensorMarkerMsg.mutable_pose(), ignition::math::Pose3d(_sensorPose.Pos().X(), _sensorPose.Pos().Y(), _sensorPose.Pos().Z(), - _sensorPose.Rot().X(), _sensorPose.Rot().Y(), - _sensorPose.Rot().Z(), _sensorPose.Rot().W())); + _sensorPose.Rot().W(), _sensorPose.Rot().X(), + _sensorPose.Rot().Y(), _sensorPose.Rot().Z())); this->node.Request("/marker", sensorMarkerMsg); } From 1bc1f2dbd3f2d25fdadb7120a7530b77fcf138ac Mon Sep 17 00:00:00 2001 From: Mabel Zhang Date: Thu, 20 Aug 2020 12:40:15 -0400 Subject: [PATCH 170/202] Qt auto scale factor for HiDPI displays (#291) Signed-off-by: Mabel Zhang --- src/gui/Gui.cc | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/gui/Gui.cc b/src/gui/Gui.cc index 3221086268..6ff47d93b1 100644 --- a/src/gui/Gui.cc +++ b/src/gui/Gui.cc @@ -53,6 +53,12 @@ std::unique_ptr createGui( ignmsg << "Ignition Gazebo GUI v" << IGNITION_GAZEBO_VERSION_FULL << std::endl; + // Set auto scaling factor for HiDPI displays + if (QString::fromLocal8Bit(qgetenv("QT_AUTO_SCREEN_SCALE_FACTOR")).isEmpty()) + { + qputenv("QT_AUTO_SCREEN_SCALE_FACTOR", "1"); + } + // Initialize Qt app auto app = std::make_unique(_argc, _argv); app->AddPluginPath(IGN_GAZEBO_GUI_PLUGIN_INSTALL_DIR); From 15c56c6e99e64b1a43ed9e79b30e6d2257e227b5 Mon Sep 17 00:00:00 2001 From: Marya Belanger Date: Fri, 21 Aug 2020 21:05:44 -0400 Subject: [PATCH 171/202] Update codeowners (#305) Signed-off-by: Louise Poubel --- .github/CODEOWNERS | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index f429163676..400878bf31 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -2,7 +2,6 @@ # https://help.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners * @chapulina -tutorials/* @maryaB-osr */rendering/* @iche033 src/systems/physics/* @azeey src/systems/sensors/* @iche033 From 886f9042fccfa235a15676c1706873f7a3fe7d6d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Tue, 25 Aug 2020 12:21:45 +0200 Subject: [PATCH 172/202] PR Feedback 4 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo --- .../worlds/optical_tactile_sensor_plugin.sdf | 2 +- .../OpticalTactilePlugin.cc | 207 +++++++++--------- .../optical_tactile_plugin/Visualization.cc | 6 +- .../optical_tactile_plugin/Visualization.hh | 3 - 4 files changed, 113 insertions(+), 105 deletions(-) diff --git a/examples/worlds/optical_tactile_sensor_plugin.sdf b/examples/worlds/optical_tactile_sensor_plugin.sdf index 661a27b9b2..bf3d6f86f7 100644 --- a/examples/worlds/optical_tactile_sensor_plugin.sdf +++ b/examples/worlds/optical_tactile_sensor_plugin.sdf @@ -1,6 +1,6 @@ - + dataPtr->model.Valid(_ecm)) { - ignerr << "Touch plugin should be attached to a model entity. " + ignerr << "Optical tactile plugin should be attached to a model entity. " << "Failed to initialize." << std::endl; return; } @@ -190,7 +190,7 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, if (!_sdf->HasElement("enabled")) { - ignlog << "Missing parameter , " + igndbg << "Missing parameter , " << "setting to " << this->dataPtr->enabled << std::endl; } else @@ -200,7 +200,7 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, if (!_sdf->HasElement("visualization_resolution")) { - ignlog << "Missing parameter , " + igndbg << "Missing parameter , " << "setting to " << this->dataPtr->visualizationResolution << std::endl; } else @@ -219,7 +219,7 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, if (!_sdf->HasElement("visualize_forces")) { - ignlog << "Missing parameter , " + igndbg << "Missing parameter , " << "setting to " << this->dataPtr->visualizeForces << std::endl; } else @@ -229,7 +229,7 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, if (!_sdf->HasElement("extended_sensing")) { - ignlog << "Missing parameter , " + igndbg << "Missing parameter , " << "setting to " << this->dataPtr->extendedSensing << std::endl; } else @@ -247,7 +247,7 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, if (!_sdf->HasElement("visualize_sensor")) { - ignlog << "Missing parameter , " + igndbg << "Missing parameter , " << "setting to " << this->dataPtr->visualizeSensor << std::endl; } else @@ -257,7 +257,7 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, if (!_sdf->HasElement("force_length")) { - ignlog << "Missing parameter , " + igndbg << "Missing parameter , " << "setting to " << this->dataPtr->forceLength << std::endl; } else @@ -272,32 +272,6 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, this->dataPtr->forceLength = _sdf->Get("force_length"); } } - - // Get the size of the sensor from the SDF - // If there's no specified inside , a default one - // is set - if (_sdf->GetParent() != nullptr) - { - if (_sdf->GetParent()->GetElement("link") != nullptr) - { - if (_sdf->GetParent()->GetElement("link")->GetElement("collision") - != nullptr) - { - if (_sdf->GetParent()->GetElement("link")->GetElement("collision")-> - GetElement("geometry") != nullptr) - { - if (_sdf->GetParent()->GetElement("link")->GetElement("collision")-> - GetElement("geometry")->GetElement("box") != nullptr) - { - this->dataPtr->sensorSize = - _sdf->GetParent()->GetElement("link")->GetElement("collision")-> - GetElement("geometry")->GetElement("box")-> - Get("size"); - } - } - } - } - } } ////////////////////////////////////////////////// @@ -332,16 +306,20 @@ void OpticalTactilePlugin::PreUpdate(const UpdateInfo &_info, break; } - // Get the model pose - ignition::math::Pose3d sensorPose = + // Get the tactile sensor pose, i.e. the model pose + ignition::math::Pose3d tactileSensorPose = _ecm.Component( this->dataPtr->model.Entity())->Data(); // Depth camera data is float, so convert Pose3d to Pose3f - this->dataPtr->sensorWorldPose = ignition::math::Pose3f( - sensorPose.Pos().X(), sensorPose.Pos().Y(), sensorPose.Pos().Z(), - sensorPose.Rot().W(), sensorPose.Rot().X(), sensorPose.Rot().Y(), - sensorPose.Rot().Z()); + this->dataPtr->tactileSensorWorldPose = ignition::math::Pose3f( + tactileSensorPose.Pos().X(), + tactileSensorPose.Pos().Y(), + tactileSensorPose.Pos().Z(), + tactileSensorPose.Rot().W(), + tactileSensorPose.Rot().X(), + tactileSensorPose.Rot().Y(), + tactileSensorPose.Rot().Z()); } } @@ -372,32 +350,35 @@ void OpticalTactilePlugin::PostUpdate( // Publish sensor marker if required and sensor pose has changed if (this->dataPtr->visualizeSensor && - (this->dataPtr->sensorWorldPose != this->dataPtr->prevSensorWorldPose)) + (this->dataPtr->tactileSensorWorldPose != + this->dataPtr->prevTactileSensorWorldPose)) { this->dataPtr->visualizePtr->RequestSensorMarkerMsg( - this->dataPtr->sensorWorldPose); + this->dataPtr->tactileSensorWorldPose); } // Store the pose of the sensor in the current iteration - this->dataPtr->prevSensorWorldPose = this->dataPtr->sensorWorldPose; + this->dataPtr->prevTactileSensorWorldPose = + this->dataPtr->tactileSensorWorldPose; } ////////////////////////////////////////////////// void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm) { - igndbg << "Loading plugin [OpticalTactilePlugin]" << std::endl; - // Check plugin structure auto allLinks = _ecm.ChildrenByComponents(this->model.Entity(), components::Link()); // Model should only have 1 link // todo(anyone) The plugin should be able to handle more than one link. In // that case, one of the links would be the actual tactile sensor. - if (allLinks.size() != 1 && !this->initErrorPrinted) + if (allLinks.size() != 1) { - ignerr << "Plugin must have exactly 1 link (only printed once)" - << std::endl; - this->initErrorPrinted = true; + if (!this->initErrorPrinted) + { + ignerr << "Plugin must have exactly 1 link (only printed once)" + << std::endl; + this->initErrorPrinted = true; + } return; } @@ -405,11 +386,14 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm) auto linkCollisions = _ecm.ChildrenByComponents(allLinks[0], components::Collision()); - if (linkCollisions.size() == 0 && !this->initErrorPrinted) + if (linkCollisions.size() == 0) { - ignerr << "Link must have at least 1 collision (only printed once)" - << std::endl; - this->initErrorPrinted = true; + if (!this->initErrorPrinted) + { + ignerr << "Link must have at least 1 collision (only printed once)" + << std::endl; + this->initErrorPrinted = true; + } return; } @@ -422,8 +406,21 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm) this->modelName = this->model.Name(_ecm); - igndbg << "Contact sensor detected within model " - << this->modelName << std::endl; + // Get the size of the collision element + const auto geometry = + _ecm.Component(colEntity)->Data(); + const auto *box = geometry.BoxShape(); + if (box == nullptr) + { + if (!this->initErrorPrinted) + { + ignerr << "Contact sensor geometry must be a box" + << " (only printed once)" << std::endl; + this->initErrorPrinted = true; + } + return; + } + this->sensorSize = geometry.BoxShape()->Size(); } } @@ -433,14 +430,16 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm) int depthCameraCounter = 0; int contactSensorCounter = 0; - sdf::ElementPtr depthCameraSdf = nullptr; + sdf::Sensor depthCameraSdf; + components::Pose depthCameraPose = components::Pose(); for (const Entity &sensor : sensorsInsideLink) { if (_ecm.EntityHasComponentType(sensor, components::DepthCamera::typeId)) { depthCameraCounter += 1; depthCameraSdf = - _ecm.Component(sensor)->Data().Element(); + _ecm.Component(sensor)->Data(); + depthCameraPose = *(_ecm.Component(sensor)); } if (_ecm.EntityHasComponentType(sensor, components::ContactSensor::typeId)) @@ -449,34 +448,42 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm) } } - if (((depthCameraCounter != 1) || (contactSensorCounter != 1)) - && !this->initErrorPrinted) + if (((depthCameraCounter != 1) || (contactSensorCounter != 1))) { - ignerr << "Link must have exactly 1 depth camera sensor and " - << "1 contact sensor (only printed once)" << std::endl; - this->initErrorPrinted = true; + if (!this->initErrorPrinted) + { + ignerr << "Link must have exactly 1 depth camera sensor and " + << "1 contact sensor (only printed once)" << std::endl; + this->initErrorPrinted = true; + } return; } - // Store depth camera update rate and offset from model - auto offset = depthCameraSdf->Get("pose"); - if (!depthCameraSdf->HasElement("update_rate") && !this->initErrorPrinted) + // Store depth camera update rate + if (!depthCameraSdf.Element()->HasElement("update_rate")) { - ignerr << "Depth camera should have an value " - << "(only printed once)" << std::endl; - this->initErrorPrinted = true; + if (!this->initErrorPrinted) + { + ignerr << "Depth camera should have an value " + << "(only printed once)" << std::endl; + this->initErrorPrinted = true; + } return; } - this->cameraUpdateRate = depthCameraSdf->Get("update_rate"); + this->cameraUpdateRate = depthCameraSdf.UpdateRate(); // Depth camera data is float, so convert Pose3d to Pose3f this->depthCameraOffset = ignition::math::Pose3f( - offset.Pos().X(), offset.Pos().Y(), offset.Pos().Z(), - offset.Rot().W(), offset.Rot().X(), offset.Rot().Y(), - offset.Rot().Z()); + depthCameraPose.Data().Pos().X(), + depthCameraPose.Data().Pos().Y(), + depthCameraPose.Data().Pos().Z(), + depthCameraPose.Data().Rot().W(), + depthCameraPose.Data().Rot().X(), + depthCameraPose.Data().Rot().Y(), + depthCameraPose.Data().Rot().Z()); // Configure subscriber for depth camera images - if (!depthCameraSdf->HasElement("topic")) + if (!depthCameraSdf.Element()->HasElement("topic")) { ignwarn << "Depth camera publishing to __default__ topic. " << "It's possible that two depth cameras are publishing into the same " @@ -484,19 +491,21 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm) } else { - ignlog << "Depth camera publishing to " - << depthCameraSdf->Get("topic") << " topic" << std::endl; + igndbg << "Depth camera publishing to " + << depthCameraSdf.Topic() << " topic" << std::endl; } std::string topic = - "/" + depthCameraSdf->Get("topic") + "/points"; + "/" + depthCameraSdf.Topic() + "/points"; if (!this->node.Subscribe(topic, - &OpticalTactilePluginPrivate::DepthCameraCallback, this) - && !this->initErrorPrinted) + &OpticalTactilePluginPrivate::DepthCameraCallback, this)) { - ignerr << "Error subscribing to topic " << "[" << topic << "]. " - << " must not contain '/' (only printing once)" << std::endl; - this->initErrorPrinted = true; + if (!this->initErrorPrinted) + { + ignerr << "Error subscribing to topic " << "[" << topic << "]. " + << " must not contain '/' (only printing once)" << std::endl; + this->initErrorPrinted = true; + } return; } @@ -553,7 +562,7 @@ void OpticalTactilePluginPrivate::DepthCameraCallback( ////////////////////////////////////////////////// ignition::math::Vector3f OpticalTactilePluginPrivate::MapPointCloudData( - const uint64_t &_i, const uint64_t &_j) + const uint64_t &_i, const uint64_t &_j, const char *_msgBuffer) { IGN_PROFILE("OpticalTactilePlugin::MapPointCloudData"); @@ -565,7 +574,7 @@ ignition::math::Vector3f OpticalTactilePluginPrivate::MapPointCloudData( return measuredPoint; // Save original position of the pointer - char *temporaryMsgBuffer = this->msgBuffer; + const char *temporaryMsgBuffer = _msgBuffer; // Number of bytes from the beginning of the pointer (image coordinates at // 0,0) to the desired (i,j) position @@ -576,13 +585,13 @@ ignition::math::Vector3f OpticalTactilePluginPrivate::MapPointCloudData( int fieldIndex = 0; // X coordinate - measuredPoint.X() = *reinterpret_cast( + measuredPoint.X() = *reinterpret_cast( temporaryMsgBuffer + this->cameraMsg.field(fieldIndex++).offset()); // Y coordinate - measuredPoint.Y() = *reinterpret_cast( + measuredPoint.Y() = *reinterpret_cast( temporaryMsgBuffer + this->cameraMsg.field(fieldIndex++).offset()); // Z coordinate - measuredPoint.Z() = *reinterpret_cast( + measuredPoint.Z() = *reinterpret_cast( temporaryMsgBuffer + this->cameraMsg.field(fieldIndex).offset()); // Check if point is inside the sensor @@ -638,8 +647,7 @@ void OpticalTactilePluginPrivate::ComputeNormalForces( return; // Get data from the message - std::string rawMsgBuffer = _msg.data(); - this->msgBuffer = rawMsgBuffer.data(); + const char *msgBuffer = _msg.data().data(); // Declare variables for storing the XYZ points ignition::math::Vector3f p1, p2, p3, p4, markerPosition; @@ -657,10 +665,10 @@ void OpticalTactilePluginPrivate::ComputeNormalForces( i += this->visualizationResolution) { // Get points for computing normal forces - p1 = this->MapPointCloudData(i + 1, j); - p2 = this->MapPointCloudData(i - 1, j); - p3 = this->MapPointCloudData(i, j + 1); - p4 = this->MapPointCloudData(i, j - 1); + p1 = this->MapPointCloudData(i + 1, j, msgBuffer); + p2 = this->MapPointCloudData(i - 1, j, msgBuffer); + p3 = this->MapPointCloudData(i, j + 1, msgBuffer); + p4 = this->MapPointCloudData(i, j - 1, msgBuffer); float dxdi = (p1.X() - p2.X()) / std::abs(p1.Y() - p2.Y()); float dxdj = (p3.X() - p4.X()) / std::abs(p3.Z() - p4.Z()); @@ -679,9 +687,10 @@ void OpticalTactilePluginPrivate::ComputeNormalForces( if (!_visualizeForces) continue; - markerPosition = this->MapPointCloudData(i, j); + markerPosition = this->MapPointCloudData(i, j, msgBuffer); this->visualizePtr->AddNormalForceToMarkerMsgs(positionMarkerMsg, - forceMarkerMsg, markerPosition, normalForce, this->sensorWorldPose); + forceMarkerMsg, markerPosition, normalForce, + this->tactileSensorWorldPose); } } diff --git a/src/systems/optical_tactile_plugin/Visualization.cc b/src/systems/optical_tactile_plugin/Visualization.cc index 322599568d..0610f97479 100644 --- a/src/systems/optical_tactile_plugin/Visualization.cc +++ b/src/systems/optical_tactile_plugin/Visualization.cc @@ -114,13 +114,15 @@ void OpticalTactilePluginVisualization::InitializeNormalForcesMarkerMsgs( mutable_ambient(), math::Color(0, 0, 1, 1)); ignition::msgs::Set(_positionMarkerMsg.mutable_material()-> mutable_diffuse(), math::Color(0, 0, 1, 1)); - _positionMarkerMsg.mutable_lifetime()->set_sec(this->cameraUpdateRate); + _positionMarkerMsg.mutable_lifetime()->set_nsec( + this->cameraUpdateRate * 1000000000); ignition::msgs::Set(_forceMarkerMsg.mutable_material()-> mutable_ambient(), math::Color(0, 1, 0, 1)); ignition::msgs::Set(_forceMarkerMsg.mutable_material()-> mutable_diffuse(), math::Color(0, 1, 0, 1)); - _forceMarkerMsg.mutable_lifetime()->set_sec(this->cameraUpdateRate); + _forceMarkerMsg.mutable_lifetime()->set_sec( + this->cameraUpdateRate * 1000000000); } ////////////////////////////////////////////////// diff --git a/src/systems/optical_tactile_plugin/Visualization.hh b/src/systems/optical_tactile_plugin/Visualization.hh index 8c6df3144e..c1dbfb0b13 100644 --- a/src/systems/optical_tactile_plugin/Visualization.hh +++ b/src/systems/optical_tactile_plugin/Visualization.hh @@ -56,9 +56,6 @@ namespace optical_tactile_sensor ignition::math::Pose3f &_depthCameraOffset, int &_visualizationResolution); - /// \brief Destructor - public: ~OpticalTactilePluginVisualization(); - /// \brief Initialize the marker message representing the optical tactile /// sensor /// \param[out] _sensorMarkerMsg Message for visualizing the sensor From 5b65ca67d10aa64f992fb98fd3c160999f1b75f8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marti=C3=B1o=20Crespo?= Date: Fri, 28 Aug 2020 04:58:12 +0200 Subject: [PATCH 173/202] Sync components removal (#272) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Martiño Crespo Co-authored-by: Addisu Z. Taddese Co-authored-by: Louise Poubel --- .../ignition/gazebo/EntityComponentManager.hh | 4 + src/EntityComponentManager.cc | 104 +++++++- src/EntityComponentManager_TEST.cc | 225 ++++++++++++++++++ src/SimulationRunner.cc | 3 + src/gui/GuiRunner.cc | 1 + 5 files changed, 332 insertions(+), 5 deletions(-) diff --git a/include/ignition/gazebo/EntityComponentManager.hh b/include/ignition/gazebo/EntityComponentManager.hh index da7a25bb4f..106f9ce536 100644 --- a/include/ignition/gazebo/EntityComponentManager.hh +++ b/include/ignition/gazebo/EntityComponentManager.hh @@ -534,6 +534,10 @@ namespace ignition /// is protected to facilitate testing. protected: void ClearNewlyCreatedEntities(); + /// \brief Clear the list of removed components so that a call to + /// RemoveComponent doesn't make the list grow indefinitely. + protected: void ClearRemovedComponents(); + /// \brief Process all entity remove requests. This will remove /// entities and their components. This function is protected to /// facilitate testing. diff --git a/src/EntityComponentManager.cc b/src/EntityComponentManager.cc index 67fd71b596..e84863900c 100644 --- a/src/EntityComponentManager.cc +++ b/src/EntityComponentManager.cc @@ -48,6 +48,18 @@ class ignition::gazebo::EntityComponentManagerPrivate /// \return True if created successfully. public: bool CreateComponentStorage(const ComponentTypeId _typeId); + /// \brief Create a message for the removed components + /// \param[in] _entity Entity with the removed components + /// \param[out] _msg Entity message + public: void SetRemovedComponentsMsgs(Entity &_entity, + msgs::SerializedEntity *_msg); + + /// \brief Create a message for the removed components + /// \param[in] _entity Entity with the removed components + /// \param[out] _msg State message + public: void SetRemovedComponentsMsgs(Entity &_entity, + msgs::SerializedStateMap &_msg); + /// \brief Map of component storage classes. The key is a component /// type id, and the value is a pointer to the component storage. public: std::map> entityComponents; - /// \brief A mutex to protect newly created entityes. + /// \brief A mutex to protect newly created entities. public: std::mutex entityCreatedMutex; /// \brief A mutex to protect entity remove. @@ -84,6 +96,9 @@ class ignition::gazebo::EntityComponentManagerPrivate /// \brief A mutex to protect from concurrent writes to views public: mutable std::mutex viewsMutex; + /// \brief A mutex to protect removed components + public: mutable std::mutex removedComponentsMutex; + /// \brief The set of all views. public: mutable std::map views; @@ -94,6 +109,11 @@ class ignition::gazebo::EntityComponentManagerPrivate /// \brief Keep track of entities already used to ensure uniqueness. public: uint64_t entityCount{0}; + + /// \brief Unordered multimap of removed components. The key is the entity to + /// which belongs the component, and the value is the component being + /// removed. + std::unordered_multimap removedComponents; }; ////////////////////////////////////////////////// @@ -156,6 +176,13 @@ void EntityComponentManager::ClearNewlyCreatedEntities() } } +///////////////////////////////////////////////// +void EntityComponentManager::ClearRemovedComponents() +{ + std::lock_guard lock(this->dataPtr->removedComponentsMutex); + this->dataPtr->removedComponents.clear(); +} + ///////////////////////////////////////////////// void EntityComponentManagerPrivate::InsertEntityRecursive(Entity _entity, std::set &_set) @@ -297,6 +324,13 @@ bool EntityComponentManager::RemoveComponent( this->dataPtr->periodicChangedComponents.erase(_key); this->UpdateViews(_entity); + + // Add component to map of removed components + { + std::lock_guard lock(this->dataPtr->removedComponentsMutex); + this->dataPtr->removedComponents.insert(std::make_pair(_entity, _key)); + } + return true; } @@ -733,6 +767,62 @@ void EntityComponentManager::RebuildViews() } } +////////////////////////////////////////////////// +void EntityComponentManagerPrivate::SetRemovedComponentsMsgs(Entity &_entity, + msgs::SerializedEntity *_entityMsg) +{ + std::lock_guard lock(this->removedComponentsMutex); + uint64_t nEntityKeys = this->removedComponents.count(_entity); + if (nEntityKeys == 0) + return; + + auto it = this->removedComponents.find(_entity); + for (uint64_t i = 0; i < nEntityKeys; ++i) + { + auto compMsg = _entityMsg->add_components(); + + auto removedComponent = it->second; + + // Empty data is needed for the component to be processed afterwards + compMsg->set_component(" "); + compMsg->set_type(removedComponent.first); + compMsg->set_remove(true); + + it++; + } +} + +////////////////////////////////////////////////// +void EntityComponentManagerPrivate::SetRemovedComponentsMsgs(Entity &_entity, + msgs::SerializedStateMap &_msg) +{ + std::lock_guard lock(this->removedComponentsMutex); + uint64_t nEntityKeys = this->removedComponents.count(_entity); + if (nEntityKeys == 0) + return; + + // Find the entity in the message + auto entIter = _msg.mutable_entities()->find(_entity); + + auto it = this->removedComponents.find(_entity); + for (uint64_t i = 0; i < nEntityKeys; ++i) + { + auto removedComponent = it->second; + + msgs::SerializedComponent compMsg; + + // Empty data is needed for the component to be processed afterwards + compMsg.set_component(" "); + compMsg.set_type(removedComponent.first); + compMsg.set_remove(true); + + (*(entIter->second.mutable_components()))[ + static_cast(removedComponent.first)] = compMsg; + + it++; + } +} + ////////////////////////////////////////////////// void EntityComponentManager::AddEntityToMessage(msgs::SerializedState &_msg, Entity _entity, const std::unordered_set &_types) const @@ -766,9 +856,11 @@ void EntityComponentManager::AddEntityToMessage(msgs::SerializedState &_msg, compBase->Serialize(ostr); compMsg->set_component(ostr.str()); - - // TODO(anyone) Set component being removed once we have a way to queue it } + + // Add a component to the message and set it to be removed if the component + // exists in the removedComponents map. + this->dataPtr->SetRemovedComponentsMsgs(_entity, entityMsg); } ////////////////////////////////////////////////// @@ -851,10 +943,12 @@ void EntityComponentManager::AddEntityToMessage(msgs::SerializedStateMap &_msg, std::ostringstream ostr; compBase->Serialize(ostr); compIter->second.set_component(ostr.str()); - - // TODO(anyone) Set component being removed once we have a way to queue it } + // Add a component to the message and set it to be removed if the component + // exists in the removedComponents map. + this->dataPtr->SetRemovedComponentsMsgs(_entity, _msg); + // Remove the entity from the message if a component for the entity was // not modified or added. This will allow the state message to shrink. if (entIter == _msg.mutable_entities()->end() && diff --git a/src/EntityComponentManager_TEST.cc b/src/EntityComponentManager_TEST.cc index f3932a07b0..efa9853dc5 100644 --- a/src/EntityComponentManager_TEST.cc +++ b/src/EntityComponentManager_TEST.cc @@ -82,6 +82,10 @@ class EntityCompMgrTest : public EntityComponentManager { this->SetAllComponentsUnchanged(); } + public: void RunClearRemovedComponents() + { + this->ClearRemovedComponents(); + } }; class EntityComponentManagerFixture : public ::testing::TestWithParam @@ -2009,6 +2013,227 @@ TEST_P(EntityComponentManagerFixture, SetChanged) manager.ComponentState(e2, c2.first)); } +////////////////////////////////////////////////// +TEST_P(EntityComponentManagerFixture, SerializedStateMapMsgAfterRemoveComponent) +{ + // Create entity + Entity e1 = manager.CreateEntity(); + auto e1c0 = + manager.CreateComponent(e1, IntComponent(123)); + auto e1c1 = + manager.CreateComponent(e1, DoubleComponent(0.0)); + auto e1c2 = + manager.CreateComponent(e1, StringComponent("int")); + + // We use this map because the order in which components are iterated + // through depends on the (undetermined) order of unordered multimaps + std::map expectations; + expectations.insert(std::make_pair(e1c0.first, false)); + expectations.insert(std::make_pair(e1c1.first, true)); + expectations.insert(std::make_pair(e1c2.first, true)); + + manager.RemoveComponent(e1, e1c1); + manager.RemoveComponent(e1, e1c2); + + // Serialize into a message + msgs::SerializedStateMap stateMsg; + manager.State(stateMsg); + + // Check message + { + auto iter = stateMsg.entities().find(e1); + const auto &e1Msg = iter->second; + auto compIter = e1Msg.components().begin(); + + // First component + const auto &c0 = compIter->second; + compIter++; + EXPECT_EQ(c0.remove(), expectations.find(c0.type())->second); + + // Second component + const auto &c1 = compIter->second; + compIter++; + EXPECT_EQ(c1.remove(), expectations.find(c1.type())->second); + + // Third component + const auto &c2 = compIter->second; + EXPECT_EQ(c2.remove(), expectations.find(c2.type())->second); + } + + // Check that removed components don't exist anymore after clearing them + manager.RunClearRemovedComponents(); + msgs::SerializedStateMap newStateMsg; + manager.State(newStateMsg); + + // Check message + { + auto iter = newStateMsg.entities().find(e1); + const auto &e1Msg = iter->second; + EXPECT_EQ(1, e1Msg.components_size()); + auto compIter = e1Msg.components().begin(); + + // First component + const auto &e1c0Msg = compIter->second; + EXPECT_FALSE(e1c0Msg.remove()); + } +} + +////////////////////////////////////////////////// +TEST_P(EntityComponentManagerFixture, SerializedStateMsgAfterRemoveComponent) +{ + // Create entity + Entity e1 = manager.CreateEntity(); + auto e1c0 = + manager.CreateComponent(e1, IntComponent(123)); + auto e1c1 = + manager.CreateComponent(e1, DoubleComponent(0.0)); + auto e1c2 = + manager.CreateComponent(e1, StringComponent("int")); + + // We use this map because the order in which components are iterated + // through depends on the (undetermined) order of unordered multimaps + std::map expectations; + expectations.insert(std::make_pair(e1c0.first, false)); + expectations.insert(std::make_pair(e1c1.first, true)); + expectations.insert(std::make_pair(e1c2.first, true)); + + manager.RemoveComponent(e1, e1c1); + manager.RemoveComponent(e1, e1c2); + + // Serialize into a message + msgs::SerializedState stateMsg; + stateMsg = manager.State(); + + // Check message + { + auto const &entityMsg = stateMsg.entities(0); + + // First component + const auto &c0 = entityMsg.components(0); + EXPECT_EQ(c0.remove(), expectations.find(c0.type())->second); + + // Second component + const auto &c1 = entityMsg.components(1); + EXPECT_EQ(c1.remove(), expectations.find(c1.type())->second); + + // Third component + const auto &c2 = entityMsg.components(2); + EXPECT_EQ(c2.remove(), expectations.find(c2.type())->second); + } + + // Check that removed components don't exist anymore after clearing them + manager.RunClearRemovedComponents(); + msgs::SerializedState newStateMsg; + newStateMsg = manager.State(); + + // Check message + { + auto const &entityMsg = newStateMsg.entities(0); + EXPECT_EQ(1, entityMsg.components_size()); + + // First component + const auto &e1c0Msg = entityMsg.components(0); + EXPECT_FALSE(e1c0Msg.remove()); + } +} + +////////////////////////////////////////////////// +TEST_P(EntityComponentManagerFixture, RemovedComponentsSyncBetweenServerAndGUI) +{ + // Simulate the GUI's ECM + EntityCompMgrTest guiManager; + + // Create entity + Entity e1 = manager.CreateEntity(); + auto e1c0 = + manager.CreateComponent(e1, IntComponent(123)); + auto e1c1 = + manager.CreateComponent(e1, DoubleComponent(0.0)); + auto e1c2 = + manager.CreateComponent(e1, StringComponent("int")); + + // We use this map because the order in which components are iterated + // through depends on the (undetermined) order of unordered multimaps + std::map expectationsBeforeRemoving; + expectationsBeforeRemoving.insert(std::make_pair(e1c0.first, false)); + expectationsBeforeRemoving.insert(std::make_pair(e1c1.first, false)); + expectationsBeforeRemoving.insert(std::make_pair(e1c2.first, false)); + + // Serialize server ECM into a message + msgs::SerializedStateMap stateMsg; + manager.State(stateMsg); + + // Set GUI's ECM and serialize into a message + guiManager.SetState(stateMsg); + msgs::SerializedStateMap guiStateMsg; + guiManager.State(guiStateMsg); + + // Check sync message + { + auto iter = guiStateMsg.entities().find(e1); + const auto &e1Msg = iter->second; + auto compIter = e1Msg.components().begin(); + + // First component + const auto &c0 = compIter->second; + compIter++; + EXPECT_EQ(c0.remove(), expectationsBeforeRemoving.find(c0.type())->second); + + // Second component + const auto &c1 = compIter->second; + compIter++; + EXPECT_EQ(c1.remove(), expectationsBeforeRemoving.find(c1.type())->second); + + // Third component + const auto &c2 = compIter->second; + EXPECT_EQ(c2.remove(), expectationsBeforeRemoving.find(c2.type())->second); + } + + std::map expectationsAfterRemoving; + expectationsAfterRemoving.insert(std::make_pair(e1c0.first, false)); + expectationsAfterRemoving.insert(std::make_pair(e1c1.first, true)); + expectationsAfterRemoving.insert(std::make_pair(e1c2.first, true)); + + // Remove components and synchronize again + manager.RemoveComponent(e1, e1c1); + manager.RemoveComponent(e1, e1c2); + + msgs::SerializedStateMap newStateMsg; + manager.State(newStateMsg); + + EXPECT_TRUE(nullptr != guiManager.Component(e1)); + EXPECT_TRUE(nullptr != guiManager.Component(e1)); + EXPECT_TRUE(nullptr != guiManager.Component(e1)); + guiManager.SetState(newStateMsg); + EXPECT_TRUE(nullptr != guiManager.Component(e1)); + EXPECT_TRUE(nullptr == guiManager.Component(e1)); + EXPECT_TRUE(nullptr == guiManager.Component(e1)); + + msgs::SerializedStateMap newGuiStateMsg; + guiManager.State(newGuiStateMsg); + + // Check message + { + auto iter = newGuiStateMsg.entities().find(e1); + const auto &e1Msg = iter->second; + auto compIter = e1Msg.components().begin(); + + // First component + const auto &c0 = compIter->second; + compIter++; + EXPECT_EQ(c0.remove(), expectationsAfterRemoving.find(c0.type())->second); + + // Second component + const auto &c1 = compIter->second; + compIter++; + EXPECT_EQ(c1.remove(), expectationsAfterRemoving.find(c1.type())->second); + + // Third component + const auto &c2 = compIter->second; + EXPECT_EQ(c2.remove(), expectationsAfterRemoving.find(c2.type())->second); + } +} + // Run multiple times. We want to make sure that static globals don't cause // problems. INSTANTIATE_TEST_CASE_P(EntityComponentManagerRepeat, diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index 3594e5c222..f2c91b390d 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -716,6 +716,9 @@ void SimulationRunner::Step(const UpdateInfo &_info) // Process entity removals. this->entityCompMgr.ProcessRemoveEntityRequests(); + // Process components removals + this->entityCompMgr.ClearRemovedComponents(); + // Each network manager takes care of marking its components as unchanged if (!this->networkMgr) this->entityCompMgr.SetAllComponentsUnchanged(); diff --git a/src/gui/GuiRunner.cc b/src/gui/GuiRunner.cc index 6d19354829..b0c95760ce 100644 --- a/src/gui/GuiRunner.cc +++ b/src/gui/GuiRunner.cc @@ -102,5 +102,6 @@ void GuiRunner::OnState(const msgs::SerializedStepMap &_msg) } this->ecm.ClearNewlyCreatedEntities(); this->ecm.ProcessRemoveEntityRequests(); + this->ecm.ClearRemovedComponents(); } From e06ad9efe1881544208ce74c9c502b30e8d520f7 Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Tue, 1 Sep 2020 21:47:19 -0400 Subject: [PATCH 174/202] Add error handling for JointAxis::SetXyz and remove use of use_parent_model_frame (#288) Signed-off-by: Addisu Z. Taddese Signed-off-by: Louise Poubel Co-authored-by: Steve Peters Co-authored-by: Louise Poubel --- .github/workflows/ci-bionic.yml | 2 +- src/Conversions.cc | 21 ++++----------------- src/Conversions_TEST.cc | 6 +++--- test/integration/components.cc | 4 ++-- 4 files changed, 10 insertions(+), 23 deletions(-) diff --git a/.github/workflows/ci-bionic.yml b/.github/workflows/ci-bionic.yml index c708c1325e..50b9c56611 100644 --- a/.github/workflows/ci-bionic.yml +++ b/.github/workflows/ci-bionic.yml @@ -1,6 +1,6 @@ name: Ubuntu CI -on: [push] +on: [push, pull_request] jobs: bionic-ci: diff --git a/src/Conversions.cc b/src/Conversions.cc index 778fd94d19..b5cc4b1ca5 100644 --- a/src/Conversions.cc +++ b/src/Conversions.cc @@ -570,14 +570,6 @@ msgs::Axis ignition::gazebo::convert(const sdf::JointAxis &_in) { msgs::Axis out; msgs::Set(out.mutable_xyz(), _in.Xyz()); -#ifndef _WIN32 -# pragma GCC diagnostic push -# pragma GCC diagnostic ignored "-Wdeprecated-declarations" -#endif - out.set_use_parent_model_frame(_in.UseParentModelFrame()); -#ifndef _WIN32 -# pragma GCC diagnostic pop -#endif out.set_xyz_expressed_in(_in.XyzExpressedIn()); out.set_damping(_in.Damping()); out.set_friction(_in.Friction()); @@ -606,15 +598,10 @@ template<> sdf::JointAxis ignition::gazebo::convert(const msgs::Axis &_in) { sdf::JointAxis out; - out.SetXyz(msgs::Convert(_in.xyz())); -#ifndef _WIN32 -# pragma GCC diagnostic push -# pragma GCC diagnostic ignored "-Wdeprecated-declarations" -#endif - out.SetUseParentModelFrame(_in.use_parent_model_frame()); -#ifndef _WIN32 -# pragma GCC diagnostic pop -#endif + sdf::Errors errors = out.SetXyz(msgs::Convert(_in.xyz())); + for (const auto &err : errors) { + ignerr << err.Message() << std::endl; + } out.SetXyzExpressedIn(_in.xyz_expressed_in()); out.SetDamping(_in.damping()); out.SetFriction(_in.friction()); diff --git a/src/Conversions_TEST.cc b/src/Conversions_TEST.cc index 2227692e6d..b25232fed2 100644 --- a/src/Conversions_TEST.cc +++ b/src/Conversions_TEST.cc @@ -434,7 +434,7 @@ TEST(Conversions, Inertial) TEST(Conversions, JointAxis) { sdf::JointAxis jointAxis; - jointAxis.SetXyz(math::Vector3d(1, 2, 3)); + EXPECT_TRUE(jointAxis.SetXyz(math::Vector3d(1, 2, 3)).empty()); jointAxis.SetXyzExpressedIn("__model__"); jointAxis.SetDamping(0.1); jointAxis.SetFriction(0.2); @@ -444,7 +444,7 @@ TEST(Conversions, JointAxis) jointAxis.SetMaxVelocity(0.6); auto axisMsg = convert(jointAxis); - EXPECT_EQ(math::Vector3d(1, 2, 3), msgs::Convert(axisMsg.xyz())); + EXPECT_EQ(math::Vector3d(1, 2, 3).Normalized(), msgs::Convert(axisMsg.xyz())); EXPECT_DOUBLE_EQ(0.1, axisMsg.damping()); EXPECT_DOUBLE_EQ(0.2, axisMsg.friction()); EXPECT_DOUBLE_EQ(0.3, axisMsg.limit_lower()); @@ -454,7 +454,7 @@ TEST(Conversions, JointAxis) EXPECT_EQ(axisMsg.xyz_expressed_in(), "__model__"); auto newJointAxis = convert(axisMsg); - EXPECT_EQ(math::Vector3d(1, 2, 3), newJointAxis.Xyz()); + EXPECT_EQ(math::Vector3d(1, 2, 3).Normalized(), newJointAxis.Xyz()); EXPECT_DOUBLE_EQ(0.1, newJointAxis.Damping()); EXPECT_DOUBLE_EQ(0.2, newJointAxis.Friction()); EXPECT_DOUBLE_EQ(0.3, newJointAxis.Lower()); diff --git a/test/integration/components.cc b/test/integration/components.cc index 2f99c6d4ef..2b593e7c54 100644 --- a/test/integration/components.cc +++ b/test/integration/components.cc @@ -525,7 +525,7 @@ TEST_F(ComponentsTest, Joint) TEST_F(ComponentsTest, JointAxis) { auto data1 = sdf::JointAxis(); - data1.SetXyz(math::Vector3d(1, 2, 3)); + EXPECT_TRUE(data1.SetXyz(math::Vector3d(1, 2, 3)).empty()); data1.SetXyzExpressedIn("__model__"); data1.SetDamping(0.1); data1.SetFriction(0.2); @@ -551,7 +551,7 @@ TEST_F(ComponentsTest, JointAxis) components::JointAxis comp3; comp3.Deserialize(istr); - EXPECT_EQ(math::Vector3d(1, 2, 3), comp3.Data().Xyz()); + EXPECT_EQ(math::Vector3d(1, 2, 3).Normalized(), comp3.Data().Xyz()); EXPECT_DOUBLE_EQ(0.1, comp3.Data().Damping()); EXPECT_DOUBLE_EQ(0.2, comp3.Data().Friction()); EXPECT_DOUBLE_EQ(0.3, comp3.Data().Lower()); From 375d626161ac4ca5b5ef0365f2f5357f498a924c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Sat, 5 Sep 2020 18:18:56 +0200 Subject: [PATCH 175/202] Make some tests more robust (#314) Signed-off-by: ahcorde --- src/EntityComponentManager.cc | 2 +- test/integration/diff_drive_system.cc | 6 +++--- test/integration/sensors_system.cc | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/EntityComponentManager.cc b/src/EntityComponentManager.cc index e84863900c..323777f8f4 100644 --- a/src/EntityComponentManager.cc +++ b/src/EntityComponentManager.cc @@ -136,7 +136,7 @@ Entity EntityComponentManager::CreateEntity() { Entity entity = ++this->dataPtr->entityCount; - if (entity == std::numeric_limits::max()) + if (entity == std::numeric_limits::max()) { ignwarn << "Reached maximum number of entities [" << entity << "]" << std::endl; diff --git a/test/integration/diff_drive_system.cc b/test/integration/diff_drive_system.cc index 1a1d2888ff..284e9356d1 100644 --- a/test/integration/diff_drive_system.cc +++ b/test/integration/diff_drive_system.cc @@ -280,8 +280,8 @@ TEST_P(DiffDriveTest, SkidPublishCmd) node.Subscribe("/model/vehicle/odometry", odomCb); msgs::Twist msg; - msgs::Set(msg.mutable_linear(), math::Vector3d(0.5, 0, 0)); - msgs::Set(msg.mutable_angular(), math::Vector3d(0.0, 0, 0.2)); + msgs::Set(msg.mutable_linear(), math::Vector3d(2.0, 0, 0)); + msgs::Set(msg.mutable_angular(), math::Vector3d(0.0, 0, 2.0)); pub.Publish(msg); @@ -294,7 +294,7 @@ TEST_P(DiffDriveTest, SkidPublishCmd) int maxSleep = 30; for (; odomPoses.size() < 3 && sleep < maxSleep; ++sleep) { - std::this_thread::sleep_for(std::chrono::milliseconds(100)); + std::this_thread::sleep_for(std::chrono::milliseconds(200)); } EXPECT_NE(maxSleep, sleep); diff --git a/test/integration/sensors_system.cc b/test/integration/sensors_system.cc index f0b952482d..41accfc49d 100644 --- a/test/integration/sensors_system.cc +++ b/test/integration/sensors_system.cc @@ -127,7 +127,7 @@ TEST_F(SensorsFixture, IGN_UTILS_TEST_DISABLED_ON_MAC(HandleRemovedEntities)) }; server.AddSystem(this->systemPtr); - server.Run(true, 10, false); + server.Run(true, 50, false); ASSERT_NE(nullptr, ecm); testDefaultTopics(); From 6d0d0b1aba73f57a068054f512c71d86d0061e20 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Thu, 17 Sep 2020 11:09:14 -0700 Subject: [PATCH 176/202] remove lib/.so Signed-off-by: Louise Poubel --- .../plugin/command_actor/command_actor.sdf | 6 +- examples/worlds/actor_crowd.sdf | 6 +- examples/worlds/actors_population.sdf | 206 +- examples/worlds/actors_population.sdf.erb | 6 +- examples/worlds/buoyancy.sdf | 18 +- .../camera_video_record_dbl_pendulum.sdf | 10 +- examples/worlds/follow_actor.sdf | 14 +- examples/worlds/shapes_population.sdf | 2008 ++++++++--------- examples/worlds/shapes_population.sdf.erb | 6 +- examples/worlds/visibility.sdf | 8 +- 10 files changed, 1144 insertions(+), 1144 deletions(-) diff --git a/examples/plugin/command_actor/command_actor.sdf b/examples/plugin/command_actor/command_actor.sdf index 7bdf9d6417..390a8e86a0 100644 --- a/examples/plugin/command_actor/command_actor.sdf +++ b/examples/plugin/command_actor/command_actor.sdf @@ -2,11 +2,11 @@ @@ -121,7 +121,7 @@ 1 1 0 0 0 0 https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - diff --git a/examples/worlds/actor_crowd.sdf b/examples/worlds/actor_crowd.sdf index 6c216497b6..545e475a1d 100644 --- a/examples/worlds/actor_crowd.sdf +++ b/examples/worlds/actor_crowd.sdf @@ -5,15 +5,15 @@ diff --git a/examples/worlds/actors_population.sdf b/examples/worlds/actors_population.sdf index a89325da0e..5759357bfc 100644 --- a/examples/worlds/actors_population.sdf +++ b/examples/worlds/actors_population.sdf @@ -5,15 +5,15 @@ @@ -137,7 +137,7 @@ https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor - + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae @@ -164,7 +164,7 @@ - + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae @@ -191,7 +191,7 @@ - + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae @@ -218,7 +218,7 @@ - + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae @@ -245,7 +245,7 @@ - + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae @@ -272,7 +272,7 @@ - + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae @@ -299,7 +299,7 @@ - + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae @@ -326,7 +326,7 @@ - + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae @@ -353,7 +353,7 @@ - + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae @@ -380,7 +380,7 @@ - + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae @@ -407,7 +407,7 @@ - + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae @@ -434,7 +434,7 @@ - + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae @@ -461,7 +461,7 @@ - + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae @@ -488,7 +488,7 @@ - + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae @@ -515,7 +515,7 @@ - + https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae @@ -542,7 +542,7 @@ - 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+ 748.5 0 0.5 0 0 0 @@ -113149,7 +113149,7 @@ - + 750.0 0 0.5 0 0 0 diff --git a/examples/worlds/shapes_population.sdf.erb b/examples/worlds/shapes_population.sdf.erb index 92122ffbbe..2f6bcba546 100644 --- a/examples/worlds/shapes_population.sdf.erb +++ b/examples/worlds/shapes_population.sdf.erb @@ -9,15 +9,15 @@ 1.0 diff --git a/examples/worlds/visibility.sdf b/examples/worlds/visibility.sdf index 7836d113a3..01b2ca0048 100644 --- a/examples/worlds/visibility.sdf +++ b/examples/worlds/visibility.sdf @@ -17,20 +17,20 @@ 1.0 ogre2 From d3643905b3b4a420853664bcebf3d653ffdd8ec4 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Wed, 23 Sep 2020 01:40:59 +0800 Subject: [PATCH 177/202] Fix Qt5 warnings for using anchors (#363) Signed-off-by: Luca Della Vedova --- src/gui/plugins/component_inspector/Pose3d.qml | 2 +- src/gui/plugins/component_inspector/Vector3d.qml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/gui/plugins/component_inspector/Pose3d.qml b/src/gui/plugins/component_inspector/Pose3d.qml index 0190a08c04..e57fba90e3 100644 --- a/src/gui/plugins/component_inspector/Pose3d.qml +++ b/src/gui/plugins/component_inspector/Pose3d.qml @@ -134,7 +134,7 @@ Rectangle { sourceSize.height: indentation sourceSize.width: indentation fillMode: Image.Pad - anchors.verticalCenter: parent.verticalCenter + Layout.alignment : Qt.AlignVCenter source: content.show ? "qrc:/Gazebo/images/minus.png" : "qrc:/Gazebo/images/plus.png" } diff --git a/src/gui/plugins/component_inspector/Vector3d.qml b/src/gui/plugins/component_inspector/Vector3d.qml index 669619aa0a..900543701c 100644 --- a/src/gui/plugins/component_inspector/Vector3d.qml +++ b/src/gui/plugins/component_inspector/Vector3d.qml @@ -95,7 +95,7 @@ Rectangle { sourceSize.height: indentation sourceSize.width: indentation fillMode: Image.Pad - anchors.verticalCenter: parent.verticalCenter + Layout.alignment : Qt.AlignVCenter source: content.show ? "qrc:/Gazebo/images/minus.png" : "qrc:/Gazebo/images/plus.png" } From 267690941d92bf9d04a72a9e91cacca5a1a2cd69 Mon Sep 17 00:00:00 2001 From: AmrElsersy <35613645+AmrElsersy@users.noreply.github.com> Date: Wed, 23 Sep 2020 03:09:07 +0200 Subject: [PATCH 178/202] Plotting Components Plugin (#270) Signed-off-by: AmrElsersy Signed-off-by: Louise Poubel Co-authored-by: Louise Poubel Co-authored-by: Claire Wang <22240514+claireyywang@users.noreply.github.com> --- src/gui/plugins/CMakeLists.txt | 1 + .../component_inspector/ComponentInspector.cc | 6 +- .../ComponentInspector.qrc | 1 + .../plugins/component_inspector/Pose3d.qml | 189 ++++++-- .../plugins/component_inspector/Vector3d.qml | 113 ++++- .../component_inspector/plottable_icon.svg | 76 ++++ src/gui/plugins/plotting/CMakeLists.txt | 4 + src/gui/plugins/plotting/Plotting.cc | 405 ++++++++++++++++++ src/gui/plugins/plotting/Plotting.hh | 163 +++++++ src/gui/plugins/plotting/Plotting.qml | 26 ++ src/gui/plugins/plotting/Plotting.qrc | 5 + 11 files changed, 939 insertions(+), 50 deletions(-) create mode 100644 src/gui/plugins/component_inspector/plottable_icon.svg create mode 100644 src/gui/plugins/plotting/CMakeLists.txt create mode 100644 src/gui/plugins/plotting/Plotting.cc create mode 100644 src/gui/plugins/plotting/Plotting.hh create mode 100644 src/gui/plugins/plotting/Plotting.qml create mode 100644 src/gui/plugins/plotting/Plotting.qrc diff --git a/src/gui/plugins/CMakeLists.txt b/src/gui/plugins/CMakeLists.txt index 3eed9fc486..0ab4babed3 100644 --- a/src/gui/plugins/CMakeLists.txt +++ b/src/gui/plugins/CMakeLists.txt @@ -85,6 +85,7 @@ add_subdirectory(align_tool) add_subdirectory(component_inspector) add_subdirectory(entity_tree) add_subdirectory(grid_config) +add_subdirectory(plotting) add_subdirectory(resource_spawner) add_subdirectory(scene3d) add_subdirectory(shapes) diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc index e452444718..5ef105ece8 100644 --- a/src/gui/plugins/component_inspector/ComponentInspector.cc +++ b/src/gui/plugins/component_inspector/ComponentInspector.cc @@ -256,7 +256,8 @@ QHash ComponentsModel::RoleNames() std::pair(102, "shortName"), std::pair(103, "dataType"), std::pair(104, "unit"), - std::pair(105, "data")}; + std::pair(105, "data"), + std::pair(106, "entity")}; } ///////////////////////////////////////////////// @@ -383,6 +384,9 @@ void ComponentInspector::Update(const UpdateInfo &, Q_ARG(ignition::gazebo::ComponentTypeId, typeId)); } + item->setData(QString::number(this->dataPtr->entity), + ComponentsModel::RoleNames().key("entity")); + if (nullptr == item) { ignerr << "Failed to get item for component type [" << typeId << "]" diff --git a/src/gui/plugins/component_inspector/ComponentInspector.qrc b/src/gui/plugins/component_inspector/ComponentInspector.qrc index 73b599baf0..43efec19d1 100644 --- a/src/gui/plugins/component_inspector/ComponentInspector.qrc +++ b/src/gui/plugins/component_inspector/ComponentInspector.qrc @@ -7,5 +7,6 @@ String.qml TypeHeader.qml Vector3d.qml + plottable_icon.svg diff --git a/src/gui/plugins/component_inspector/Pose3d.qml b/src/gui/plugins/component_inspector/Pose3d.qml index e57fba90e3..5e3a17b872 100644 --- a/src/gui/plugins/component_inspector/Pose3d.qml +++ b/src/gui/plugins/component_inspector/Pose3d.qml @@ -44,6 +44,9 @@ Rectangle { return !(isModel) } + property int iconWidth: 20 + property int iconHeight: 20 + // Loaded item for X property var xItem: {} @@ -177,6 +180,7 @@ Rectangle { } } + GridLayout { id: grid width: parent.width @@ -188,12 +192,58 @@ Rectangle { width: margin + indentation } - Text { - text: 'X (m)' - leftPadding: 5 - color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" - font.pointSize: 12 + + Component { + id: plotIcon + Image { + property string componentInfo: "" + source: "plottable_icon.svg" + anchors.top: parent.top + anchors.left: parent.left + + Drag.mimeData: { "text/plain" : (model === null) ? "" : + "Component," + model.entity + "," + model.typeId + "," + + model.dataType + "," + componentInfo + "," + model.shortName + } + Drag.dragType: Drag.Automatic + Drag.supportedActions : Qt.CopyAction + Drag.active: dragMouse.drag.active + // a point to drag from + Drag.hotSpot.x: 0 + Drag.hotSpot.y: y + MouseArea { + id: dragMouse + anchors.fill: parent + drag.target: (model === null) ? null : parent + onPressed: parent.grabToImage(function(result) {parent.Drag.imageSource = result.url }) + onReleased: parent.Drag.drop(); + cursorShape: Qt.DragCopyCursor + } } + } + + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: xText.width + indentation*3 + Loader { + id: loaderX + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderX.item.componentInfo = "x" + + Text { + id : xText + text: ' X (m)' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } Item { Layout.fillWidth: true @@ -209,11 +259,27 @@ Rectangle { } } - Text { - text: 'Roll (rad)' - leftPadding: 5 - color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" - font.pointSize: 12 + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: rollText.width + indentation*3 + Loader { + id: loaderRoll + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderRoll.item.componentInfo = "roll" + + Text { + id: rollText + text: ' Roll (rad)' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } } Item { @@ -233,14 +299,30 @@ Rectangle { // Right spacer Item { Layout.rowSpan: 3 - width: margin + width: margin + indentation } - Text { - text: 'Y (m)' - leftPadding: 5 - color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" - font.pointSize: 12 + + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: yText.width + indentation*3 + Loader { + id: loaderY + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderY.item.componentInfo = "y" + Text { + id: yText + text: ' Y (m)' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } } Item { @@ -257,11 +339,26 @@ Rectangle { } } - Text { - text: 'Pitch (rad)' - leftPadding: 5 - color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" - font.pointSize: 12 + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: pitchText.width + indentation*3 + Loader { + id: loaderPitch + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderPitch.item.componentInfo = "pitch"; + Text { + id: pitchText + text: ' Pitch (rad)' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } } Item { @@ -278,11 +375,26 @@ Rectangle { } } - Text { - text: 'Z (m)' - leftPadding: 5 - color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" - font.pointSize: 12 + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: zText.width + indentation*3 + Loader { + id: loaderZ + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderZ.item.componentInfo = "z"; + Text { + id: zText + text: ' Z (m)' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } } Item { @@ -299,11 +411,26 @@ Rectangle { } } - Text { - text: 'Yaw (rad)' - leftPadding: 5 - color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" - font.pointSize: 12 + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: yawText.width + indentation*3 + Loader { + id: loaderYaw + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderYaw.item.componentInfo = "yaw"; + Text { + id: yawText + text: ' Yaw (rad)' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } } Item { diff --git a/src/gui/plugins/component_inspector/Vector3d.qml b/src/gui/plugins/component_inspector/Vector3d.qml index 900543701c..40e8129d23 100644 --- a/src/gui/plugins/component_inspector/Vector3d.qml +++ b/src/gui/plugins/component_inspector/Vector3d.qml @@ -32,6 +32,10 @@ Rectangle { // Left indentation property int indentation: 10 + // icon size + property int iconWidth: 20 + property int iconHeight: 20 + // Horizontal margins property int margin: 5 @@ -74,6 +78,34 @@ Rectangle { } } } + Component { + id: plotIcon + Image { + property string componentInfo: "" + source: "plottable_icon.svg" + anchors.top: parent.top + anchors.left: parent.left + + Drag.mimeData: { "text/plain" : (model === null) ? "" : + "Component," + model.entity + "," + model.typeId + "," + + model.dataType + "," + componentInfo + "," + model.shortName + } + Drag.dragType: Drag.Automatic + Drag.supportedActions : Qt.CopyAction + Drag.active: dragMouse.drag.active + // a point to drag from + Drag.hotSpot.x: 0 + Drag.hotSpot.y: y + MouseArea { + id: dragMouse + anchors.fill: parent + drag.target: (model === null) ? null : parent + onPressed: parent.grabToImage(function(result) {parent.Drag.imageSource = result.url }) + onReleased: parent.Drag.drop(); + cursorShape: Qt.DragCopyCursor + } + } + } Column { anchors.fill: parent @@ -146,16 +178,31 @@ Rectangle { // Left spacer Item { Layout.rowSpan: 3 - width: indentation + margin + width: margin + indentation } - Text { - text: 'X (' + unit + ')' - leftPadding: 5 - color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" - font.pointSize: 12 - } + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: xText.width + indentation*3 + Loader { + id: loaderX + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderX.item.componentInfo = "x" + Text { + id: xText + text: ' X (' + unit + ')' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } Item { Layout.fillWidth: true height: 40 @@ -169,14 +216,29 @@ Rectangle { // Right spacer Item { Layout.rowSpan: 3 - width: margin + width: margin + indentation } - Text { - text: 'Y (' + unit + ')' - leftPadding: 5 - color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" - font.pointSize: 12 + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: xText.width + indentation*3 + Loader { + id: loaderY + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderY.item.componentInfo = "y" + + Text { + text: ' Y (' + unit + ')' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } } Item { @@ -189,11 +251,26 @@ Rectangle { } } - Text { - text: 'Z (' + unit + ')' - leftPadding: 5 - color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" - font.pointSize: 12 + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: xText.width + indentation*3 + Loader { + id: loaderZ + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderZ.item.componentInfo = "z" + + Text { + text: ' Z (' + unit + ')' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } } Item { diff --git a/src/gui/plugins/component_inspector/plottable_icon.svg b/src/gui/plugins/component_inspector/plottable_icon.svg new file mode 100644 index 0000000000..bcac9afc2e --- /dev/null +++ b/src/gui/plugins/component_inspector/plottable_icon.svg @@ -0,0 +1,76 @@ + + + + + + image/svg+xml + + + + + + + + + + + + + + diff --git a/src/gui/plugins/plotting/CMakeLists.txt b/src/gui/plugins/plotting/CMakeLists.txt new file mode 100644 index 0000000000..dc26ac4083 --- /dev/null +++ b/src/gui/plugins/plotting/CMakeLists.txt @@ -0,0 +1,4 @@ +gz_add_gui_plugin(Plotting + SOURCES Plotting.cc + QT_HEADERS Plotting.hh +) diff --git a/src/gui/plugins/plotting/Plotting.cc b/src/gui/plugins/plotting/Plotting.cc new file mode 100644 index 0000000000..d470f2e3d3 --- /dev/null +++ b/src/gui/plugins/plotting/Plotting.cc @@ -0,0 +1,405 @@ + /* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include "Plotting.hh" + +#include +#include "ignition/gazebo/components/AngularAcceleration.hh" +#include "ignition/gazebo/components/AngularVelocity.hh" +#include "ignition/gazebo/components/CastShadows.hh" +#include "ignition/gazebo/components/Factory.hh" +#include "ignition/gazebo/components/Gravity.hh" +#include "ignition/gazebo/components/LinearAcceleration.hh" +#include "ignition/gazebo/components/LinearVelocity.hh" +#include "ignition/gazebo/components/LinearVelocitySeed.hh" +#include "ignition/gazebo/components/MagneticField.hh" +#include "ignition/gazebo/components/ParentEntity.hh" +#include "ignition/gazebo/components/Pose.hh" +#include "ignition/gazebo/components/PoseCmd.hh" +#include "ignition/gazebo/components/Static.hh" +#include "ignition/gazebo/components/WindMode.hh" +#include "ignition/gazebo/components/World.hh" +#include "ignition/gazebo/EntityComponentManager.hh" + +namespace ignition::gazebo +{ + class PlottingPrivate + { + /// \brief Interface to communicate with Qml + public: std::unique_ptr plottingIface{nullptr}; + + /// \brief registered components for plotting + /// map key: string contains EntityID + "," + ComponentID + public: std::map> components; + }; + + class PlotComponentPrivate + { + /// \brief entity id in the simulation + public: Entity entity; + + /// \brief type identifier unique to each component type + public: ComponentTypeId typeId; + + /// \brief component data type (Pose3d, Vector3d, double) + public: std::string type; + + /// \brief attributes of the components, + /// ex: x,y,z attributes in Vector3d type component + public: std::map> data; + }; +} + +using namespace ignition::gazebo; +using namespace ignition::gui; + +////////////////////////////////////////////////// +PlotComponent::PlotComponent(const std::string &_type, + ignition::gazebo::Entity _entity, + ComponentTypeId _typeId) : + dataPtr(std::make_unique()) +{ + this->dataPtr->entity = _entity; + this->dataPtr->typeId = _typeId; + this->dataPtr->type = _type; + + if (_type == "Vector3d") + { + this->dataPtr->data["x"] = std::make_shared(); + this->dataPtr->data["y"] = std::make_shared(); + this->dataPtr->data["z"] = std::make_shared(); + } + else if (_type == "Pose3d") + { + this->dataPtr->data["x"] = std::make_shared(); + this->dataPtr->data["y"] = std::make_shared(); + this->dataPtr->data["z"] = std::make_shared(); + this->dataPtr->data["roll"] = std::make_shared(); + this->dataPtr->data["pitch"] = std::make_shared(); + this->dataPtr->data["yaw"] = std::make_shared(); + } + else if (_type == "double") + this->dataPtr->data["value"] = std::make_shared(); + else + ignwarn << "Invalid Plot Component Type:" << _type << std::endl; +} + +////////////////////////////////////////////////// +PlotComponent::~PlotComponent() +{ +} + +////////////////////////////////////////////////// +void PlotComponent::RegisterChart(std::string _attribute, int _chart) +{ + if (this->dataPtr->data.count(_attribute) == 0) + { + ignwarn << "Invalid Plot Component Attribute" << std::endl; + return; + } + this->dataPtr->data[_attribute]->AddChart(_chart); +} + +////////////////////////////////////////////////// +void PlotComponent::UnRegisterChart(std::string _attribute, int _chart) +{ + if (this->dataPtr->data.count(_attribute) == 0) + { + ignwarn << "Invalid Plot Component Attribute" << std::endl; + return; + } + this->dataPtr->data[_attribute]->RemoveChart(_chart); +} + +////////////////////////////////////////////////// +bool PlotComponent::HasCharts() +{ + for (auto field : this->dataPtr->data) + if (field.second->ChartCount() > 0) + return true; + return false; +} + +////////////////////////////////////////////////// +void PlotComponent::SetAttributeValue(std::string _attribute, + const double &_value) +{ + if (this->dataPtr->data.count(_attribute) > 0) + this->dataPtr->data[_attribute]->SetValue(_value); +} + +////////////////////////////////////////////////// +std::map> PlotComponent::Data() const +{ + return this->dataPtr->data; +} + +////////////////////////////////////////////////// +Entity PlotComponent::Entity() +{ + return this->dataPtr->entity; +} + +////////////////////////////////////////////////// +ComponentTypeId PlotComponent::TypeId() +{ + return this->dataPtr->typeId; +} + +////////////////////////////////////////////////// +Plotting ::Plotting() : GuiSystem(), + dataPtr(std::make_unique()) +{ + this->dataPtr->plottingIface = std::make_unique(); + + // PlottingInterface connecting + this->connect(this->dataPtr->plottingIface.get(), SIGNAL(ComponentSubscribe + (uint64_t, uint64_t, std::string, std::string, int)), + this, SLOT(RegisterChartToComponent + (uint64_t, uint64_t, std::string, std::string, int))); + + this->connect(this->dataPtr->plottingIface.get(), SIGNAL(ComponentUnSubscribe + (uint64_t, uint64_t, std::string, int)), + this, SLOT(UnRegisterChartToComponent + (uint64_t, uint64_t, std::string, int))); + + this->connect(this->dataPtr->plottingIface.get(), + SIGNAL(ComponentName(uint64_t)), this, SLOT(ComponentName(uint64_t))); +} + +////////////////////////////////////////////////// +Plotting ::~Plotting() +{ +} + +////////////////////////////////////////// +void Plotting::LoadConfig(const tinyxml2::XMLElement *) +{ + if (this->title.empty()) + this->title = "Plotting"; +} + +////////////////////////////////////////////////// +void Plotting::SetData(std::string _Id, const ignition::math::Vector3d &_vector) +{ + this->dataPtr->components[_Id]->SetAttributeValue("x", _vector.X()); + this->dataPtr->components[_Id]->SetAttributeValue("y", _vector.Y()); + this->dataPtr->components[_Id]->SetAttributeValue("z", _vector.Z()); +} + +////////////////////////////////////////////////// +void Plotting::SetData(std::string _Id, const ignition::math::Pose3d &_pose) +{ + this->dataPtr->components[_Id]->SetAttributeValue("x", _pose.Pos().X()); + this->dataPtr->components[_Id]->SetAttributeValue("y", _pose.Pos().Y()); + this->dataPtr->components[_Id]->SetAttributeValue("z", _pose.Pos().Z()); + this->dataPtr->components[_Id]->SetAttributeValue("roll", _pose.Rot().Roll()); + this->dataPtr->components[_Id]->SetAttributeValue("pitch", + _pose.Rot().Pitch()); + this->dataPtr->components[_Id]->SetAttributeValue("yaw", _pose.Rot().Yaw()); +} + +////////////////////////////////////////////////// +void Plotting::SetData(std::string _Id, const double &_value) +{ + this->dataPtr->components[_Id]->SetAttributeValue("value", _value); +} + + +////////////////////////////////////////////////// +void Plotting::RegisterChartToComponent(uint64_t _entity, uint64_t _typeId, + std::string _type, + std::string _attribute, + int _chart) +{ + std::string Id = std::to_string(_entity) + "," + std::to_string(_typeId); + + if (this->dataPtr->components.count(Id) == 0) + { + this->dataPtr->components[Id] = std::make_shared( + _type, _entity, _typeId); + } + + this->dataPtr->components[Id]->RegisterChart(_attribute, _chart); +} + +////////////////////////////////////////////////// +void Plotting::UnRegisterChartFromComponent(uint64_t _entity, uint64_t _typeId, + std::string _attribute, int _chart) +{ + std::string id = std::to_string(_entity) + "," + std::to_string(_typeId); + igndbg << "UnRegister [" << id << "]" << std::endl; + + if (this->dataPtr->components.count(id) == 0) + return; + + this->dataPtr->components[id]->UnRegisterChart(_attribute, _chart); + + if (!this->dataPtr->components[id]->HasCharts()) + this->dataPtr->components.erase(id); +} + +////////////////////////////////////////////////// +std::string Plotting::ComponentName(const uint64_t &_typeId) +{ + std::string name = components::Factory::Instance()->Name(_typeId); + + auto pos = name.find("ign.gazebo.components."); + + if (pos != std::string::npos) + name.erase(pos, 22); + + return name; +} + +////////////////////////////////////////////////// +void Plotting ::Update(const ignition::gazebo::UpdateInfo &_info, + ignition::gazebo::EntityComponentManager &_ecm) +{ + for (auto component : this->dataPtr->components) + { + auto entity = component.second->Entity(); + auto typeId = component.second->TypeId(); + + if (typeId == components::AngularAcceleration::typeId) + { + auto comp = _ecm.Component(entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + else if (typeId == components::AngularVelocity::typeId) + { + auto comp = _ecm.Component(entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + else if (typeId == components::CastShadows::typeId) + { + auto comp = _ecm.Component(entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + else if (typeId == components::Gravity::typeId) + { + auto comp = _ecm.Component(entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + else if (typeId == components::LinearAcceleration::typeId) + { + auto comp = _ecm.Component(entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + else if (typeId == components::LinearVelocity::typeId) + { + auto comp = _ecm.Component(entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + else if (typeId == components::MagneticField::typeId) + { + auto comp = _ecm.Component(entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + else if (typeId == components::ParentEntity::typeId) + { + auto comp = _ecm.Component(entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + else if (typeId == components::Pose::typeId) + { + auto comp = _ecm.Component(entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + else if (typeId == components::Static::typeId) + { + auto comp = _ecm.Component(entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + else if (typeId == components::TrajectoryPose::typeId) + { + auto comp = _ecm.Component(entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + else if (typeId == components::WindMode::typeId) + { + auto comp = _ecm.Component(entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + else if (typeId == components::WorldAngularAcceleration::typeId) + { + auto comp = _ecm.Component( + entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + else if (typeId == components::WorldLinearVelocity::typeId) + { + auto comp = _ecm.Component( + entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + else if (typeId == components::WorldLinearVelocitySeed::typeId) + { + auto comp = _ecm.Component( + entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + else if (typeId == components::WorldPose::typeId) + { + auto comp = _ecm.Component(entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + else if (typeId == components::WorldPoseCmd::typeId) + { + auto comp = _ecm.Component(entity); + if (comp) + this->SetData(component.first, comp->Data()); + } + + for (auto attribute : component.second->Data()) + { + for (auto chart : attribute.second->Charts()) + { + QString attributeName = QString::fromStdString( + component.first + "," + attribute.first); + double y = attribute.second->Value(); + + double x = _info.simTime.count() * std::pow(10, -9); + + emit this->dataPtr->plottingIface->plot(chart, attributeName, x, y); + } + } + } +} + +// Register this plugin +IGNITION_ADD_PLUGIN(ignition::gazebo::Plotting , + ignition::gazebo::GuiSystem, + ignition::gui::Plugin) diff --git a/src/gui/plugins/plotting/Plotting.hh b/src/gui/plugins/plotting/Plotting.hh new file mode 100644 index 0000000000..bf9c54c69b --- /dev/null +++ b/src/gui/plugins/plotting/Plotting.hh @@ -0,0 +1,163 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ +#ifndef IGNITION_GUI_PLUGINS_PLOTTING_HH_ +#define IGNITION_GUI_PLUGINS_PLOTTING_HH_ + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +namespace ignition { + +namespace gazebo { + +class PlotComponentPrivate; + +/// \brief A container of the component data that keeps track of the registered +/// attributes and update their values and their registered charts +class PlotComponent +{ + /// \brief Constructor + /// \param[in] _type component data type (Pose3d, Vector3d, double) + /// \param [in] _entity entity id of that component + /// \param [in] _typeId type identifier unique to each component type + public: PlotComponent(const std::string &_type, + ignition::gazebo::Entity _entity, + ComponentTypeId _typeId); + + /// \brief Destructor + public: ~PlotComponent(); + + /// \brief Add a registered chart to the attribute + /// \param[in] _attribute component attribute to add the chart to it + /// \param[in] _chart chart ID to be added to the attribute + public: void RegisterChart(std::string _attribute, int _chart); + + /// \brief Remove a registered chart from the attribute + /// \param[in] _attribute component attribute to remove the chart from it + /// \param[in] _chart chart ID to be removed from the attribute + public: void UnRegisterChart(std::string _attribute, int _chart); + + /// \brief Check if any of the component attributes has any chart + /// \return true if any attribute has a chart + /// false if all attributes are empty from the charts + public: bool HasCharts(); + + /// \brief Set a value of specefic component attribute + /// \param[in] _attribute component attribute to set its value + /// ex : yaw attribute in Pose3d type Component + /// \param[in] _value value to be set to the attribute + public: void SetAttributeValue(std::string _attribute, const double &_value); + + /// \brief Get all attributes of the component + /// \return component attributes + public: std::map> + Data() const; + + /// \brief Get the Component entity ID + /// \return Entity ID + public: ignition::gazebo::Entity Entity(); + + /// \brief Get the Component type ID + /// \return component type ID + public: ComponentTypeId TypeId(); + + /// \brief dataPtr holds Abstraction data of PlottingPrivate + private: std::unique_ptr dataPtr; +}; + +class PlottingPrivate; + +/// \brief Physics data plotting handler that keeps track of the +/// registered components, update them and update the plot +class Plotting : public ignition::gazebo::GuiSystem +{ + Q_OBJECT + /// \brief Constructor + public: Plotting(); + + /// \brief Destructor + public: ~Plotting(); + + // Documentation inherited + public: void LoadConfig(const tinyxml2::XMLElement *) override; + + // Documentation inherited + public: void Update(const ignition::gazebo::UpdateInfo &_info, + ignition::gazebo::EntityComponentManager &_ecm) override; + + /// \brief Set the Component data of giving id to the giving vector + /// \param [in] _Id Component Key of the components map + /// \param [in] _vector Vector Data to be set to the component + public: void SetData(std::string _Id, + const ignition::math::Vector3d &_vector); + + /// \brief Set the Component data of giving id to the giving pose + /// \param [in] _Id Component Key of the components map + /// \param [in] _pose Position Data to be set to the component + public: void SetData(std::string _Id, + const ignition::math::Pose3d &_pose); + + /// \brief Set the Component data of giving id to the giving number + /// \param [in] _Id Component Key of the components map + /// \param [in] _value double Data to be set to the component + /// valid for types (double, float, int, bool) + public: void SetData(std::string _Id, const double &_value); + + /// \brief Add a chart to a specefic component attribute + /// \param[in] _entity entity id in the simulation + /// \param[in] _typeId type identifier unique to each component type + /// \param[in] _type Component Datatype ("Pose3d","Vector3d","double") + /// \param[in] _attribute component attribute to add the chart to it + /// ex: x attribute in Pose3d Component will be "x" + /// \param [in] _chart chart ID to be registered + public slots: void RegisterChartToComponent(uint64_t _entity, + uint64_t _typeId, + std::string _type, + std::string _attribute, + int _chart); + + /// \brief Remove a chart from a specefic component attribute + /// \param[in] _entity entity id in the simulation + /// \param[in] _typeId type identifier unique to each component type + /// \param[in] _attribute component attribute to remove the chart from it + /// ex: x attribute in Pose3d Component will be "x" + /// \param[in] _chart chart ID to be unregistered + public slots: void UnRegisterChartFromComponent(uint64_t _entity, + uint64_t _typeId, + std::string _attribute, + int _chart); + + /// \brief Get Component Name based on its type Id + /// \param[in] _typeId type Id of the component + /// \return Component name + public slots: std::string ComponentName(const uint64_t &_typeId); + + /// \brief dataPtr holds Abstraction data of PlottingPrivate + private: std::unique_ptr dataPtr; +}; +} +} + +#endif diff --git a/src/gui/plugins/plotting/Plotting.qml b/src/gui/plugins/plotting/Plotting.qml new file mode 100644 index 0000000000..cfafbba101 --- /dev/null +++ b/src/gui/plugins/plotting/Plotting.qml @@ -0,0 +1,26 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ +import QtQuick 2.0 +import QtQuick.Controls 1.4 +import QtQuick.Layouts 1.3 + +import "qrc:/qml" + +PlottingInterface { + Layout.minimumWidth: 600 + Layout.minimumHeight: 600 +} diff --git a/src/gui/plugins/plotting/Plotting.qrc b/src/gui/plugins/plotting/Plotting.qrc new file mode 100644 index 0000000000..e520bf6c03 --- /dev/null +++ b/src/gui/plugins/plotting/Plotting.qrc @@ -0,0 +1,5 @@ + + + Plotting.qml + + From 7cac3e422fc21918959bc341c0b60e180dabeaeb Mon Sep 17 00:00:00 2001 From: Mihir Kulkarni Date: Wed, 23 Sep 2020 06:40:07 +0530 Subject: [PATCH 179/202] Visualize Lidar Plugin for ign-gazebo (#301) Signed-off-by: Mihir Kulkarni --- examples/worlds/visualize_lidar.sdf | 475 ++++++++++++++++ src/gui/plugins/CMakeLists.txt | 1 + .../plugins/visualize_lidar/CMakeLists.txt | 6 + .../plugins/visualize_lidar/VisualizeLidar.cc | 515 ++++++++++++++++++ .../plugins/visualize_lidar/VisualizeLidar.hh | 141 +++++ .../visualize_lidar/VisualizeLidar.qml | 134 +++++ .../visualize_lidar/VisualizeLidar.qrc | 5 + 7 files changed, 1277 insertions(+) create mode 100644 examples/worlds/visualize_lidar.sdf create mode 100644 src/gui/plugins/visualize_lidar/CMakeLists.txt create mode 100644 src/gui/plugins/visualize_lidar/VisualizeLidar.cc create mode 100644 src/gui/plugins/visualize_lidar/VisualizeLidar.hh create mode 100644 src/gui/plugins/visualize_lidar/VisualizeLidar.qml create mode 100644 src/gui/plugins/visualize_lidar/VisualizeLidar.qrc diff --git a/examples/worlds/visualize_lidar.sdf b/examples/worlds/visualize_lidar.sdf new file mode 100644 index 0000000000..311aa688c6 --- /dev/null +++ b/examples/worlds/visualize_lidar.sdf @@ -0,0 +1,475 @@ + + + + + + 0.001 + 1.0 + + + + + ogre2 + + + + + + + + + + 3D View + false + docked + + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + -6 0 6 0 0.5 0 + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + /world/visualize_lidar_world/control + /world/visualize_lidar_world/stats + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + /world/visualize_lidar_world/stats + + + + docked + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 20 20 0.1 + + + + + + + 20 20 0.1 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 0 -1 0.5 0 0 0 + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 1.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + + + 4 0 0.5 0 0.0 3.14 + + 0.05 0.05 0.05 0 0 0 + + 0.1 + + 0.000166667 + 0.000166667 + 0.000166667 + + + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + + lidar + 10 + + + + 640 + 1 + -1.396263 + 1.396263 + + + 16 + 1 + -0.261799 + 0.261799 + + + + 0.08 + 10.0 + 0.01 + + + 1 + true + + + true + + + + -4 0 0.325 0 0 0.0 + + -0.151427 -0 0.175 0 -0 0 + + 1.14395 + + 0.126164 + 0 + 0 + 0.416519 + 0 + 0.481014 + + + + + + 2.01142 1 0.568726 + + + + 0.5 0.5 1.0 1 + 0.5 0.5 1.0 1 + 0.0 0.0 1.0 1 + + + + + + 2.01142 1 0.568726 + + + + + + + 0 0 0.5 0 0 0 + + 0.1 + + 0.000166667 + 0.000166667 + 0.000166667 + + + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 0 0 0 0 0 0 + lidar2 + 10 + + + + 640 + 1 + -1.396263 + 1.396263 + + + 1 + 1 + 0.0 + 0.0 + + + + 0.08 + 10.0 + 0.01 + + + 1 + true + + + + + 0.554283 0.625029 -0.025 -1.5707 0 0 + + 2 + + 0.145833 + 0 + 0 + 0.145833 + 0 + 0.125 + + + + + + 0.3 + + + + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + + + + + + 0.3 + + + + + + + 0.554282 -0.625029 -0.025 -1.5707 0 0 + + 2 + + 0.145833 + 0 + 0 + 0.145833 + 0 + 0.125 + + + + + + 0.3 + + + + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + + + + + + 0.3 + + + + + + + -0.957138 -0 -0.125 0 -0 0 + + 1 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + + + 0.2 + + + + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + + + + + + 0.2 + + + + + + + chassis + lidar_link + + + + chassis + left_wheel + + 0 0 1 + + -1.79769e+308 + 1.79769e+308 + + + + + + chassis + right_wheel + + 0 0 1 + + -1.79769e+308 + 1.79769e+308 + + + + + + chassis + caster + + + + left_wheel_joint + right_wheel_joint + 1.25 + 0.3 + 1 + + + + + 0 0 0 0 0 1.57 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Playground + + + + diff --git a/src/gui/plugins/CMakeLists.txt b/src/gui/plugins/CMakeLists.txt index 0ab4babed3..dc89b104fe 100644 --- a/src/gui/plugins/CMakeLists.txt +++ b/src/gui/plugins/CMakeLists.txt @@ -92,3 +92,4 @@ add_subdirectory(shapes) add_subdirectory(transform_control) add_subdirectory(video_recorder) add_subdirectory(view_angle) +add_subdirectory(visualize_lidar) diff --git a/src/gui/plugins/visualize_lidar/CMakeLists.txt b/src/gui/plugins/visualize_lidar/CMakeLists.txt new file mode 100644 index 0000000000..3806d4ad62 --- /dev/null +++ b/src/gui/plugins/visualize_lidar/CMakeLists.txt @@ -0,0 +1,6 @@ +gz_add_gui_plugin(VisualizeLidar + SOURCES VisualizeLidar.cc + QT_HEADERS VisualizeLidar.hh + PRIVATE_LINK_LIBS + ${IGNITION-RENDERING_LIBRARIES} +) diff --git a/src/gui/plugins/visualize_lidar/VisualizeLidar.cc b/src/gui/plugins/visualize_lidar/VisualizeLidar.cc new file mode 100644 index 0000000000..f98952be38 --- /dev/null +++ b/src/gui/plugins/visualize_lidar/VisualizeLidar.cc @@ -0,0 +1,515 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include +#include + +#include +#include + +#include +#include + +#include + +#include +#include + +#include + +#include +#include +#include + +#include "ignition/gazebo/components/Name.hh" +#include "ignition/gazebo/components/World.hh" +#include "ignition/gazebo/EntityComponentManager.hh" +#include "ignition/gazebo/Entity.hh" +#include "ignition/gazebo/gui/GuiEvents.hh" +#include "ignition/gazebo/rendering/RenderUtil.hh" + +#include "ignition/rendering/RenderTypes.hh" +#include "ignition/rendering/RenderingIface.hh" +#include "ignition/rendering/RenderEngine.hh" +#include "ignition/rendering/Scene.hh" +#include "ignition/rendering/LidarVisual.hh" + +#include "ignition/gazebo/components/Link.hh" +#include "ignition/gazebo/components/Sensor.hh" +#include "ignition/gazebo/components/Model.hh" +#include "ignition/gazebo/components/ParentEntity.hh" +#include "ignition/gazebo/components/Pose.hh" +#include "ignition/gazebo/Util.hh" + +#include "ignition/msgs/laserscan.pb.h" +#include "VisualizeLidar.hh" + +namespace ignition +{ +namespace gazebo +{ +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE +{ + /// \brief Private data class for VisualizeLidar + class VisualizeLidarPrivate + { + /// \brief Transport node + public: transport::Node node; + + /// \brief Scene Pointer + public: rendering::ScenePtr scene; + + /// \brief Pointer to LidarVisual + public: rendering::LidarVisualPtr lidar; + + /// \brief Visual type for lidar visual + public: rendering::LidarVisualType visualType{ + rendering::LidarVisualType::LVT_TRIANGLE_STRIPS}; + + /// \brief URI sequence to the lidar link + public: std::string lidarString{""}; + + /// \brief LaserScan message from sensor + public: msgs::LaserScan msg; + + /// \brief Pose of the lidar visual + public: math::Pose3d lidarPose{math::Pose3d::Zero}; + + /// \brief Topic name to subscribe + public: std::string topicName{""}; + + /// \brief List of topics publishing LaserScan messages. + public: QStringList topicList; + + /// \brief Entity representing the sensor in the world + public: gazebo::Entity lidarEntity; + + /// \brief Minimum range for the visual + public: double minVisualRange{0.0}; + + /// \brief Maximum range for the visual + public: double maxVisualRange{0.0}; + + /// \brief Mutex for variable mutated by the checkbox and spinboxes + /// callbacks. + /// The variables are: msg, visualType, minVisualRange and + /// maxVisualRange + public: std::mutex serviceMutex; + + /// \brief Initialization flag + public: bool initialized{false}; + + /// \brief Reset visual flag + public: bool resetVisual{false}; + + /// \brief lidar visual display dirty flag + public: bool visualDirty{false}; + + /// \brief lidar sensor entity dirty flag + public: bool lidarEntityDirty{true}; + }; +} +} +} + +using namespace ignition; +using namespace gazebo; + +///////////////////////////////////////////////// +VisualizeLidar::VisualizeLidar() + : GuiSystem(), dataPtr(new VisualizeLidarPrivate) +{ + // no ops +} + +///////////////////////////////////////////////// +VisualizeLidar::~VisualizeLidar() +{ + std::lock_guard lock(this->dataPtr->serviceMutex); + this->dataPtr->scene->DestroyVisual(this->dataPtr->lidar); +} + +///////////////////////////////////////////////// +void VisualizeLidar::LoadLidar() +{ + auto loadedEngNames = rendering::loadedEngines(); + if (loadedEngNames.empty()) + return; + + // assume there is only one engine loaded + auto engineName = loadedEngNames[0]; + if (loadedEngNames.size() > 1) + { + igndbg << "More than one engine is available. " + << "VisualizeLidar plugin will use engine [" + << engineName << "]" << std::endl; + } + auto engine = rendering::engine(engineName); + if (!engine) + { + ignerr << "Internal error: failed to load engine [" << engineName + << "]. VisualizeLidar plugin won't work." << std::endl; + return; + } + + if (engine->SceneCount() == 0) + return; + + // assume there is only one scene + // load scene + auto scene = engine->SceneByIndex(0); + if (!scene) + { + ignerr << "Internal error: scene is null." << std::endl; + return; + } + + if (!scene->IsInitialized() || scene->VisualCount() == 0) + { + return; + } + + // Create lidar visual + igndbg << "Creating lidar visual" << std::endl; + + auto root = scene->RootVisual(); + this->dataPtr->lidar = scene->CreateLidarVisual(); + if (!this->dataPtr->lidar) + { + ignwarn << "Failed to create lidar, visualize lidar plugin won't work." + << std::endl; + + scene->DestroyVisual(this->dataPtr->lidar); + + ignition::gui::App()->findChild< + ignition::gui::MainWindow *>()->removeEventFilter(this); + } + else + { + this->dataPtr->scene = scene; + root->AddChild(this->dataPtr->lidar); + this->dataPtr->initialized = true; + } +} + +///////////////////////////////////////////////// +void VisualizeLidar::LoadConfig(const tinyxml2::XMLElement *) +{ + if (this->title.empty()) + this->title = "Visualize lidar"; + + ignition::gui::App()->findChild< + ignition::gui::MainWindow *>()->installEventFilter(this); +} + +///////////////////////////////////////////////// +bool VisualizeLidar::eventFilter(QObject *_obj, QEvent *_event) +{ + if (_event->type() == ignition::gazebo::gui::events::Render::kType) + { + // This event is called in Scene3d's RenderThread, so it's safe to make + // rendering calls here + + std::lock_guard lock(this->dataPtr->serviceMutex); + if (!this->dataPtr->initialized) + { + this->LoadLidar(); + } + + if (this->dataPtr->lidar) + { + if (this->dataPtr->resetVisual) + { + this->dataPtr->lidar->ClearPoints(); + this->dataPtr->resetVisual = false; + } + if (this->dataPtr->visualDirty) + { + this->dataPtr->lidar->SetWorldPose(this->dataPtr->lidarPose); + this->dataPtr->lidar->Update(); + this->dataPtr->visualDirty = false; + } + } + else + { + ignerr << "Lidar pointer is not set" << std::endl; + } + } + + // Standard event processing + return QObject::eventFilter(_obj, _event); +} + +////////////////////////////////////////////////// +void VisualizeLidar::Update(const UpdateInfo &, + EntityComponentManager &_ecm) +{ + IGN_PROFILE("VisualizeLidar::Update"); + + std::lock_guard lock(this->dataPtr->serviceMutex); + + if (this->dataPtr->lidarEntityDirty) + { + auto lidarURIVec = common::split(common::trimmed( + this->dataPtr->lidarString), "::"); + if (lidarURIVec.size() > 0) + { + auto baseEntity = _ecm.EntityByComponents( + components::Name(lidarURIVec[0])); + if (!baseEntity) + { + ignerr << "Error entity " << lidarURIVec[0] + << " doesn't exist and cannot be used to set lidar visual pose" + << std::endl; + return; + } + else + { + auto parent = baseEntity; + bool success = false; + for (size_t i = 0u; i < lidarURIVec.size()-1; i++) + { + auto children = _ecm.EntitiesByComponents( + components::ParentEntity(parent)); + bool foundChild = false; + for (auto child : children) + { + std::string nextstring = lidarURIVec[i+1]; + std::string childname = std::string( + _ecm.Component(child)->Data()); + if (nextstring.compare(childname) == 0) + { + parent = child; + foundChild = true; + if (i+1 == lidarURIVec.size()-1) + { + success = true; + } + break; + } + } + if (!foundChild) + { + ignerr << "The entity could not be found." + << "Error displaying lidar visual" <dataPtr->lidarEntity = parent; + this->dataPtr->lidarEntityDirty = false; + } + } + } + } + + // Only update lidarPose if the lidarEntity exists and the lidar is + // initialized and the sensor message is yet to arrive. + // + // If we update the worldpose on the physics thread **after** the sensor + // data arrives, the visual is offset from the obstacle if the sensor is + // moving fast. + if (!this->dataPtr->lidarEntityDirty && this->dataPtr->initialized && + !this->dataPtr->visualDirty) + { + this->dataPtr->lidarPose = worldPose(this->dataPtr->lidarEntity, _ecm); + } +} + +////////////////////////////////////////////////// +void VisualizeLidar::UpdateType(int _type) +{ + std::lock_guard lock(this->dataPtr->serviceMutex); + switch (_type) + { + case 0: + this->dataPtr->visualType = rendering::LidarVisualType::LVT_NONE; + break; + + case 1: + this->dataPtr->visualType = rendering::LidarVisualType::LVT_RAY_LINES; + break; + + case 2: + this->dataPtr->visualType = rendering::LidarVisualType::LVT_POINTS; + break; + + case 3: + this->dataPtr->visualType = + rendering::LidarVisualType::LVT_TRIANGLE_STRIPS; + break; + + default: + this->dataPtr->visualType = + rendering::LidarVisualType::LVT_TRIANGLE_STRIPS; + break; + } + this->dataPtr->lidar->SetType(this->dataPtr->visualType); +} + +////////////////////////////////////////////////// +void VisualizeLidar::OnTopic(const QString &_topicName) +{ + std::lock_guard(this->dataPtr->serviceMutex); + if (!this->dataPtr->node.Unsubscribe(this->dataPtr->topicName)) + { + ignerr << "Unable to unsubscribe from topic [" + << this->dataPtr->topicName <<"]" <dataPtr->topicName = _topicName.toStdString(); + + // Reset visualization + this->dataPtr->resetVisual = true; + + // Create new subscription + if (!this->dataPtr->node.Subscribe(this->dataPtr->topicName, + &VisualizeLidar::OnScan, this)) + { + ignerr << "Unable to subscribe to topic [" + << this->dataPtr->topicName << "]\n"; + return; + } + this->dataPtr->visualDirty = false; + ignmsg << "Subscribed to " << this->dataPtr->topicName << std::endl; +} + +////////////////////////////////////////////////// +void VisualizeLidar::UpdateNonHitting(bool _value) +{ + std::lock_guard(this->dataPtr->serviceMutex); + this->dataPtr->lidar->SetDisplayNonHitting(_value); +} + +////////////////////////////////////////////////// +void VisualizeLidar::DisplayVisual(bool _value) +{ + std::lock_guard(this->dataPtr->serviceMutex); + this->dataPtr->lidar->SetVisible(_value); + ignmsg << "Lidar Visual Display " << ((_value) ? "ON." : "OFF.") + << std::endl; +} + +///////////////////////////////////////////////// +void VisualizeLidar::OnRefresh() +{ + std::lock_guard(this->dataPtr->serviceMutex); + ignmsg << "Refreshing topic list for LaserScan messages." << std::endl; + + // Clear + this->dataPtr->topicList.clear(); + + // Get updated list + std::vector allTopics; + this->dataPtr->node.TopicList(allTopics); + for (auto topic : allTopics) + { + std::vector publishers; + this->dataPtr->node.TopicInfo(topic, publishers); + for (auto pub : publishers) + { + if (pub.MsgTypeName() == "ignition.msgs.LaserScan") + { + this->dataPtr->topicList.push_back(QString::fromStdString(topic)); + break; + } + } + } + if (this->dataPtr->topicList.size() > 0) + { + this->OnTopic(this->dataPtr->topicList.at(0)); + } + + this->TopicListChanged(); +} + +///////////////////////////////////////////////// +QStringList VisualizeLidar::TopicList() const +{ + return this->dataPtr->topicList; +} + +///////////////////////////////////////////////// +void VisualizeLidar::SetTopicList(const QStringList &_topicList) +{ + this->dataPtr->topicList = _topicList; + this->TopicListChanged(); +} + +////////////////////////////////////////////////// +void VisualizeLidar::OnScan(const msgs::LaserScan &_msg) +{ + std::lock_guard(this->dataPtr->serviceMutex); + if (this->dataPtr->initialized) + { + this->dataPtr->msg = std::move(_msg); + this->dataPtr->lidar->SetVerticalRayCount( + this->dataPtr->msg.vertical_count()); + this->dataPtr->lidar->SetHorizontalRayCount( + this->dataPtr->msg.count()); + this->dataPtr->lidar->SetMinHorizontalAngle( + this->dataPtr->msg.angle_min()); + this->dataPtr->lidar->SetMaxHorizontalAngle( + this->dataPtr->msg.angle_max()); + this->dataPtr->lidar->SetMinVerticalAngle( + this->dataPtr->msg.vertical_angle_min()); + this->dataPtr->lidar->SetMaxVerticalAngle( + this->dataPtr->msg.vertical_angle_max()); + + this->dataPtr->lidar->SetPoints(std::vector( + this->dataPtr->msg.ranges().begin(), + this->dataPtr->msg.ranges().end())); + + this->dataPtr->visualDirty = true; + + for (auto data_values : this->dataPtr->msg.header().data()) + { + if (data_values.key() == "frame_id") + { + if (this->dataPtr->lidarString.compare( + common::trimmed(data_values.value(0))) != 0) + { + this->dataPtr->lidarString = common::trimmed(data_values.value(0)); + this->dataPtr->lidarEntityDirty = true; + this->dataPtr->maxVisualRange = this->dataPtr->msg.range_max(); + this->dataPtr->minVisualRange = this->dataPtr->msg.range_min(); + this->dataPtr->lidar->SetMaxRange(this->dataPtr->maxVisualRange); + this->dataPtr->lidar->SetMinRange(this->dataPtr->minVisualRange); + this->MinRangeChanged(); + this->MaxRangeChanged(); + break; + } + } + } + } +} + +////////////////////////////////////////////////// +QString VisualizeLidar::MaxRange() const +{ + return QString::fromStdString(std::to_string(this->dataPtr->maxVisualRange)); +} + +////////////////////////////////////////////////// +QString VisualizeLidar::MinRange() const +{ + return QString::fromStdString(std::to_string(this->dataPtr->minVisualRange)); +} + +// Register this plugin +IGNITION_ADD_PLUGIN(ignition::gazebo::VisualizeLidar, + ignition::gui::Plugin) diff --git a/src/gui/plugins/visualize_lidar/VisualizeLidar.hh b/src/gui/plugins/visualize_lidar/VisualizeLidar.hh new file mode 100644 index 0000000000..e06dee0bd2 --- /dev/null +++ b/src/gui/plugins/visualize_lidar/VisualizeLidar.hh @@ -0,0 +1,141 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#ifndef IGNITION_GAZEBO_GUI_VISUALIZELIDAR_HH_ +#define IGNITION_GAZEBO_GUI_VISUALIZELIDAR_HH_ + +#include + +#include "ignition/msgs/laserscan.pb.h" +#include "ignition/gazebo/gui/GuiSystem.hh" +#include "ignition/gui/qt.h" + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE +{ + class VisualizeLidarPrivate; + + /// \brief Visualize the LaserScan message returned by the sensors. Use the + /// checkbox to turn visualization of non-hitting rays on or off and + /// the textfield to select the message to be visualised. The combobox is + /// used to select the type of visual for the sensor data. + class VisualizeLidar : public ignition::gazebo::GuiSystem + { + Q_OBJECT + + /// \brief Topic list + Q_PROPERTY( + QStringList topicList + READ TopicList + WRITE SetTopicList + NOTIFY TopicListChanged + ) + + /// \brief Min Range + Q_PROPERTY( + QString minRange + READ MinRange + NOTIFY MinRangeChanged + ) + + /// \brief Max Range + Q_PROPERTY( + QString maxRange + READ MaxRange + NOTIFY MaxRangeChanged + ) + + /// \brief Constructor + public: VisualizeLidar(); + + /// \brief Destructor + public: ~VisualizeLidar() override; + + // Documentation inherited + public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override; + + // Documentation Inherited + public: bool eventFilter(QObject *_obj, QEvent *_event) override; + + // Documentation inherited + public: void Update(const UpdateInfo &, + EntityComponentManager &_ecm) override; + + /// \brief Callback function to get data from the message + /// \param[in]_msg LidarSensor message + public: void OnScan(const msgs::LaserScan &_msg); + + /// \brief Load the scene and attach LidarVisual to the scene + public: void LoadLidar(); + + /// \brief Set visual type of LidarVisual + /// \param[in] _type Index of selected visual type + public: Q_INVOKABLE void UpdateType(int _type); + + /// \brief Get the topic list as a string + /// \return Message type + public: Q_INVOKABLE QStringList TopicList() const; + + /// \brief Set the topic list from a string, for example + /// 'ignition.msgs.StringMsg' + /// \param[in] _topicList Message type + public: Q_INVOKABLE void SetTopicList(const QStringList &_topicList); + + /// \brief Notify that topic list has changed + signals: void TopicListChanged(); + + /// \brief Set topic to subscribe for LidarSensor data + /// \param[in] _topicName Name of selected topic + public: Q_INVOKABLE void OnTopic(const QString &_topicName); + + /// \brief Set whether to display non-hitting rays + /// \param[in] _value Boolean value for displaying non hitting rays + public: Q_INVOKABLE void UpdateNonHitting(bool _value); + + /// \brief Set whether to display the lidar visual + /// \param[in] _value Boolean value for displaying the visual + public: Q_INVOKABLE void DisplayVisual(bool _value); + + /// \brief Callback when refresh button is pressed. + public: Q_INVOKABLE void OnRefresh(); + + /// \brief Notify that minimum range has changed + signals: void MinRangeChanged(); + + /// \brief Notify that maximum range has changed + signals: void MaxRangeChanged(); + + /// \brief Get the maximum range of the lidar sensor (in metres). + /// \return Range, the maximum distance sensed by the sensor. + public: Q_INVOKABLE QString MaxRange() const; + + /// \brief Get the minimum range of the lidar sensor (in metres). + /// \return Range, the minimum distance sensed by the sensor. + public: Q_INVOKABLE QString MinRange() const; + + /// \internal + /// \brief Pointer to private data + private: std::unique_ptr dataPtr; + }; +} +} +} +#endif diff --git a/src/gui/plugins/visualize_lidar/VisualizeLidar.qml b/src/gui/plugins/visualize_lidar/VisualizeLidar.qml new file mode 100644 index 0000000000..dbe9d680ee --- /dev/null +++ b/src/gui/plugins/visualize_lidar/VisualizeLidar.qml @@ -0,0 +1,134 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ +import QtQuick 2.9 +import QtQuick.Controls 2.1 +import QtQuick.Dialogs 1.0 +import QtQuick.Controls.Material 2.1 +import QtQuick.Layouts 1.3 +import "qrc:/qml" + +GridLayout { + columns: 6 + columnSpacing: 10 + Layout.minimumWidth: 350 + Layout.minimumHeight: 300 + anchors.fill: parent + anchors.leftMargin: 10 + anchors.rightMargin: 10 + + CheckBox { + Layout.alignment: Qt.AlignHCenter + id: displayVisual + Layout.columnSpan: 6 + Layout.fillWidth: true + text: qsTr("Display Lidar Visual") + checked: true + onClicked: { + VisualizeLidar.DisplayVisual(checked) + } + } + + CheckBox { + Layout.alignment: Qt.AlignHCenter + id: displayNonHitting + Layout.columnSpan: 6 + Layout.fillWidth: true + text: qsTr("Show Non Hitting Rays") + checked: true + onClicked: { + VisualizeLidar.UpdateNonHitting(checked) + } + } + + RoundButton { + Layout.columnSpan: 1 + text: "\u21bb" + Material.background: Material.primary + onClicked: { + combo.currentIndex = 0 + VisualizeLidar.OnRefresh(); + } + ToolTip.visible: hovered + ToolTip.delay: tooltipDelay + ToolTip.timeout: tooltipTimeout + ToolTip.text: qsTr("Refresh list of topics publishing laser scans") + } + + ComboBox { + Layout.columnSpan: 5 + id: combo + Layout.fillWidth: true + model: VisualizeLidar.topicList + currentIndex: 0 + onCurrentIndexChanged: { + if (currentIndex < 0) + return; + VisualizeLidar.OnTopic(textAt(currentIndex)); + } + ToolTip.visible: hovered + ToolTip.delay: tooltipDelay + ToolTip.timeout: tooltipTimeout + ToolTip.text: qsTr("Ignition transport topics publishing LaserScan messages") + } + + Text { + Layout.columnSpan: 2 + id: minRangeText + color: "dimgrey" + text: "Min. Range (m)" + } + + Text{ + Layout.columnSpan: 4 + id: minRangeField + text: VisualizeLidar.minRange + } + + Text { + Layout.columnSpan: 2 + id: maxRangeText + color: "dimgrey" + text: "Max. Range (m)" + } + + Text{ + Layout.columnSpan: 4 + id: maxRangeField + text: VisualizeLidar.maxRange + } + + Text { + Layout.columnSpan: 2 + id: updatePeriodText + color: "dimgrey" + text: "Visual Type" + } + + ComboBox { + Layout.columnSpan: 4 + id: typeCombo + Layout.fillWidth: true + currentIndex: 3 + model: ["None", "Rays", "Points", "Triangle Strips" ] + onCurrentIndexChanged: { + if (currentIndex < 0) { + return; + } + VisualizeLidar.UpdateType(typeCombo.currentIndex); + } + } +} diff --git a/src/gui/plugins/visualize_lidar/VisualizeLidar.qrc b/src/gui/plugins/visualize_lidar/VisualizeLidar.qrc new file mode 100644 index 0000000000..a351b7c712 --- /dev/null +++ b/src/gui/plugins/visualize_lidar/VisualizeLidar.qrc @@ -0,0 +1,5 @@ + + + VisualizeLidar.qml + + \ No newline at end of file From 1117e5da9b71e6e2f05d7ceef47a6815c91cbec4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Wed, 23 Sep 2020 18:15:14 +0200 Subject: [PATCH 180/202] Replaced common::Time for std::chrono (#309) Signed-off-by: ahcorde Signed-off-by: Louise Poubel Co-authored-by: Louise Poubel --- CMakeLists.txt | 2 +- examples/standalone/keyboard/keyboard.cc | 1 - examples/standalone/marker/marker.cc | 33 +++++++++-------- include/ignition/gazebo/Types.hh | 1 - src/systems/air_pressure/AirPressure.cc | 2 +- src/systems/altimeter/Altimeter.cc | 2 +- src/systems/imu/Imu.cc | 2 +- src/systems/log/LogPlayback.cc | 1 - src/systems/logical_camera/LogicalCamera.cc | 2 +- src/systems/magnetometer/Magnetometer.cc | 2 +- src/systems/pose_publisher/PosePublisher.cc | 1 - src/systems/sensors/Sensors.cc | 13 +++---- test/integration/depth_camera.cc | 5 +-- test/integration/pose_publisher_system.cc | 39 ++++++++++++++------- test/integration/rgbd_camera.cc | 5 +-- 15 files changed, 62 insertions(+), 49 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index c755a72eac..3fbe041595 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -119,7 +119,7 @@ set(IGN_RENDERING_VER ${ignition-rendering4_VERSION_MAJOR}) #-------------------------------------- # Find ignition-math -ign_find_package(ignition-math6 REQUIRED COMPONENTS eigen3 VERSION 6.2) +ign_find_package(ignition-math6 REQUIRED COMPONENTS eigen3 VERSION 6.6) set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR}) #-------------------------------------- diff --git a/examples/standalone/keyboard/keyboard.cc b/examples/standalone/keyboard/keyboard.cc index 625341fe7b..33a0c637f2 100644 --- a/examples/standalone/keyboard/keyboard.cc +++ b/examples/standalone/keyboard/keyboard.cc @@ -27,7 +27,6 @@ #include #include #include -#include #include #include #include diff --git a/examples/standalone/marker/marker.cc b/examples/standalone/marker/marker.cc index bc5f46953c..866047b57d 100644 --- a/examples/standalone/marker/marker.cc +++ b/examples/standalone/marker/marker.cc @@ -18,7 +18,6 @@ #include #include #include -#include #include @@ -54,15 +53,15 @@ int main(int _argc, char **_argv) // Read the terminal statements to figure out what each node.Request // call accomplishes. std::cout << "Spawning a blue sphere with lifetime 2s\n"; - ignition::common::Time::Sleep(ignition::common::Time(4)); + std::this_thread::sleep_for(std::chrono::seconds(4)); ignition::msgs::Set(markerMsg.mutable_pose(), ignition::math::Pose3d(2, 2, 0, 0, 0, 0)); node.Request("/marker", markerMsg); std::cout << "Sleeping for 2 seconds\n"; - ignition::common::Time::Sleep(ignition::common::Time(2)); + std::this_thread::sleep_for(std::chrono::seconds(2)); std::cout << "Spawning a black sphere at the origin with no lifetime\n"; - ignition::common::Time::Sleep(ignition::common::Time(4)); + std::this_thread::sleep_for(std::chrono::seconds(4)); markerMsg.set_id(1); ignition::msgs::Set(markerMsg.mutable_pose(), ignition::math::Pose3d::Zero); @@ -72,13 +71,13 @@ int main(int _argc, char **_argv) node.Request("/marker", markerMsg); std::cout << "Moving the sphere to x=0, y=1, z=1\n"; - ignition::common::Time::Sleep(ignition::common::Time(4)); + std::this_thread::sleep_for(std::chrono::seconds(4)); ignition::msgs::Set(markerMsg.mutable_pose(), ignition::math::Pose3d(0, 1, 1, 0, 0, 0)); node.Request("/marker", markerMsg); std::cout << "Shrinking the sphere\n"; - ignition::common::Time::Sleep(ignition::common::Time(4)); + std::this_thread::sleep_for(std::chrono::seconds(4)); ignition::msgs::Set(markerMsg.mutable_scale(), ignition::math::Vector3d(0.2, 0.2, 0.2)); node.Request("/marker", markerMsg); @@ -90,7 +89,7 @@ int main(int _argc, char **_argv) markerMsg.mutable_material()->mutable_diffuse()->set_r(1); markerMsg.mutable_material()->mutable_diffuse()->set_g(0); markerMsg.mutable_material()->mutable_diffuse()->set_b(0); - ignition::common::Time::Sleep(ignition::common::Time(4)); + std::this_thread::sleep_for(std::chrono::seconds(4)); node.Request("/marker", markerMsg); std::cout << "Adding a green box\n"; @@ -100,7 +99,7 @@ int main(int _argc, char **_argv) markerMsg.mutable_material()->mutable_diffuse()->set_r(0); markerMsg.mutable_material()->mutable_diffuse()->set_g(1); markerMsg.mutable_material()->mutable_diffuse()->set_b(0); - ignition::common::Time::Sleep(ignition::common::Time(4)); + std::this_thread::sleep_for(std::chrono::seconds(4)); markerMsg.set_id(2); markerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); markerMsg.set_type(ignition::msgs::Marker::BOX); @@ -111,12 +110,12 @@ int main(int _argc, char **_argv) node.Request("/marker", markerMsg); std::cout << "Changing the green box to a cylinder\n"; - ignition::common::Time::Sleep(ignition::common::Time(4)); + std::this_thread::sleep_for(std::chrono::seconds(4)); markerMsg.set_type(ignition::msgs::Marker::CYLINDER); node.Request("/marker", markerMsg); std::cout << "Connecting the sphere and cylinder with a line\n"; - ignition::common::Time::Sleep(ignition::common::Time(4)); + std::this_thread::sleep_for(std::chrono::seconds(4)); markerMsg.set_id(3); ignition::msgs::Set(markerMsg.mutable_pose(), ignition::math::Pose3d(0, 0, 0, 0, 0, 0)); @@ -129,7 +128,7 @@ int main(int _argc, char **_argv) node.Request("/marker", markerMsg); std::cout << "Adding a square around the origin\n"; - ignition::common::Time::Sleep(ignition::common::Time(4)); + std::this_thread::sleep_for(std::chrono::seconds(4)); markerMsg.set_id(4); markerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); markerMsg.set_type(ignition::msgs::Marker::LINE_STRIP); @@ -146,7 +145,7 @@ int main(int _argc, char **_argv) node.Request("/marker", markerMsg); std::cout << "Adding 100 points inside the square\n"; - ignition::common::Time::Sleep(ignition::common::Time(4)); + std::this_thread::sleep_for(std::chrono::seconds(4)); markerMsg.set_id(5); markerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); markerMsg.set_type(ignition::msgs::Marker::POINTS); @@ -162,7 +161,7 @@ int main(int _argc, char **_argv) node.Request("/marker", markerMsg); std::cout << "Adding a semi-circular triangle fan\n"; - ignition::common::Time::Sleep(ignition::common::Time(4)); + std::this_thread::sleep_for(std::chrono::seconds(4)); markerMsg.set_id(6); markerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); markerMsg.set_type(ignition::msgs::Marker::TRIANGLE_FAN); @@ -180,7 +179,7 @@ int main(int _argc, char **_argv) node.Request("/marker", markerMsg); std::cout << "Adding two triangles using a triangle list\n"; - ignition::common::Time::Sleep(ignition::common::Time(4)); + std::this_thread::sleep_for(std::chrono::seconds(4)); markerMsg.set_id(7); markerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); markerMsg.set_type(ignition::msgs::Marker::TRIANGLE_LIST); @@ -204,7 +203,7 @@ int main(int _argc, char **_argv) node.Request("/marker", markerMsg); std::cout << "Adding a rectangular triangle strip\n"; - ignition::common::Time::Sleep(ignition::common::Time(4)); + std::this_thread::sleep_for(std::chrono::seconds(4)); markerMsg.set_id(8); markerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY); markerMsg.set_type(ignition::msgs::Marker::TRIANGLE_STRIP); @@ -227,7 +226,7 @@ int main(int _argc, char **_argv) node.Request("/marker", markerMsg); std::cout << "Adding multiple markers via /marker_array\n"; - ignition::common::Time::Sleep(ignition::common::Time(4)); + std::this_thread::sleep_for(std::chrono::seconds(4)); ignition::msgs::Marker_V markerMsgs; ignition::msgs::Boolean res; @@ -308,7 +307,7 @@ int main(int _argc, char **_argv) node.Request("/marker_array", markerMsgs, timeout, res, result); std::cout << "Deleting all the markers\n"; - ignition::common::Time::Sleep(ignition::common::Time(4)); + std::this_thread::sleep_for(std::chrono::seconds(4)); markerMsg.set_action(ignition::msgs::Marker::DELETE_ALL); node.Request("/marker", markerMsg); } diff --git a/include/ignition/gazebo/Types.hh b/include/ignition/gazebo/Types.hh index 8cc847809c..2280cdb751 100644 --- a/include/ignition/gazebo/Types.hh +++ b/include/ignition/gazebo/Types.hh @@ -21,7 +21,6 @@ #include #include #include -#include namespace ignition { diff --git a/src/systems/air_pressure/AirPressure.cc b/src/systems/air_pressure/AirPressure.cc index 49c2467aeb..9ff85853c2 100644 --- a/src/systems/air_pressure/AirPressure.cc +++ b/src/systems/air_pressure/AirPressure.cc @@ -106,7 +106,7 @@ void AirPressure::PostUpdate(const UpdateInfo &_info, // Update measurement time auto time = math::durationToSecNsec(_info.simTime); dynamic_cast(it.second.get())->Update( - common::Time(time.first, time.second), false); + math::secNsecToDuration(time.first, time.second), false); } } diff --git a/src/systems/altimeter/Altimeter.cc b/src/systems/altimeter/Altimeter.cc index a4aee29a25..24de5797fa 100644 --- a/src/systems/altimeter/Altimeter.cc +++ b/src/systems/altimeter/Altimeter.cc @@ -108,7 +108,7 @@ void Altimeter::PostUpdate(const UpdateInfo &_info, // Update measurement time auto time = math::durationToSecNsec(_info.simTime); dynamic_cast(it.second.get())->Update( - common::Time(time.first, time.second), false); + math::secNsecToDuration(time.first, time.second), false); } } diff --git a/src/systems/imu/Imu.cc b/src/systems/imu/Imu.cc index f2116d17f4..2681ebb924 100644 --- a/src/systems/imu/Imu.cc +++ b/src/systems/imu/Imu.cc @@ -110,7 +110,7 @@ void Imu::PostUpdate(const UpdateInfo &_info, // Update measurement time auto time = math::durationToSecNsec(_info.simTime); dynamic_cast(it.second.get())->Update( - common::Time(time.first, time.second), false); + math::secNsecToDuration(time.first, time.second), false); } } diff --git a/src/systems/log/LogPlayback.cc b/src/systems/log/LogPlayback.cc index f9d62da1f4..71e078ba92 100644 --- a/src/systems/log/LogPlayback.cc +++ b/src/systems/log/LogPlayback.cc @@ -23,7 +23,6 @@ #include #include -#include #include #include #include diff --git a/src/systems/logical_camera/LogicalCamera.cc b/src/systems/logical_camera/LogicalCamera.cc index ac8305943c..bc8ea23d7e 100644 --- a/src/systems/logical_camera/LogicalCamera.cc +++ b/src/systems/logical_camera/LogicalCamera.cc @@ -109,7 +109,7 @@ void LogicalCamera::PostUpdate(const UpdateInfo &_info, // Update sensor auto time = math::durationToSecNsec(_info.simTime); dynamic_cast(it.second.get())->Update( - common::Time(time.first, time.second), false); + math::secNsecToDuration(time.first, time.second), false); } } diff --git a/src/systems/magnetometer/Magnetometer.cc b/src/systems/magnetometer/Magnetometer.cc index 9b2c9b8565..8a2a6a34a8 100644 --- a/src/systems/magnetometer/Magnetometer.cc +++ b/src/systems/magnetometer/Magnetometer.cc @@ -107,7 +107,7 @@ void Magnetometer::PostUpdate(const UpdateInfo &_info, // Update measurement time auto time = math::durationToSecNsec(_info.simTime); dynamic_cast(it.second.get())->Update( - common::Time(time.first, time.second), false); + math::secNsecToDuration(time.first, time.second), false); } } diff --git a/src/systems/pose_publisher/PosePublisher.cc b/src/systems/pose_publisher/PosePublisher.cc index 8f3112e38b..6315657070 100644 --- a/src/systems/pose_publisher/PosePublisher.cc +++ b/src/systems/pose_publisher/PosePublisher.cc @@ -23,7 +23,6 @@ #include #include -#include #include #include #include diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc index 4df90b235c..6c95dc0275 100644 --- a/src/systems/sensors/Sensors.cc +++ b/src/systems/sensors/Sensors.cc @@ -22,7 +22,6 @@ #include -#include #include #include @@ -112,7 +111,7 @@ class ignition::gazebo::systems::SensorsPrivate public: ignition::common::ConnectionPtr stopConn; /// \brief Update time for the next rendering iteration - public: ignition::common::Time updateTime; + public: std::chrono::steady_clock::duration updateTime; /// \brief Sensors to include in the next rendering iteration public: std::vector activeSensors; @@ -121,7 +120,8 @@ class ignition::gazebo::systems::SensorsPrivate public: std::mutex sensorMaskMutex; /// \brief Mask sensor updates for sensors currently being rendered - public: std::map sensorMask; + public: std::map sensorMask; /// \brief Pointer to the event manager public: EventManager *eventManager{nullptr}; @@ -230,7 +230,8 @@ void SensorsPrivate::RunOnce() for (const auto & sensor : this->activeSensors) { // 90% of update delta (1/UpdateRate()); - ignition::common::Time delta(0.9 / sensor->UpdateRate()); + auto delta = std::chrono::duration_cast< std::chrono::milliseconds>( + std::chrono::duration< double >(0.9 / sensor->UpdateRate())); this->sensorMask[sensor->Id()] = this->updateTime + delta; } this->sensorMaskMutex.unlock(); @@ -421,7 +422,7 @@ void Sensors::PostUpdate(const UpdateInfo &_info, this->dataPtr->renderUtil.UpdateFromECM(_info, _ecm); auto time = math::durationToSecNsec(_info.simTime); - auto t = common::Time(time.first, time.second); + auto t = math::secNsecToDuration(time.first, time.second); std::vector activeSensors; @@ -444,7 +445,7 @@ void Sensors::PostUpdate(const UpdateInfo &_info, } } - if (rs && rs->NextUpdateTime() <= t) + if (rs && rs->NextDataUpdateTime() <= t) { activeSensors.push_back(rs); } diff --git a/test/integration/depth_camera.cc b/test/integration/depth_camera.cc index 0691155d97..54bfee788b 100644 --- a/test/integration/depth_camera.cc +++ b/test/integration/depth_camera.cc @@ -86,11 +86,12 @@ TEST_F(DepthCameraTest, IGN_UTILS_TEST_DISABLED_ON_MAC(DepthCameraBox)) size_t iters100 = 100u; server.Run(true, iters100, false); - ignition::common::Time waitTime = ignition::common::Time(0.001); + auto waitTime = std::chrono::duration_cast< std::chrono::milliseconds>( + std::chrono::duration(0.001)); int i = 0; while (i < 300) { - ignition::common::Time::Sleep(waitTime); + std::this_thread::sleep_for(waitTime); i++; } EXPECT_NE(depthBuffer, nullptr); diff --git a/test/integration/pose_publisher_system.cc b/test/integration/pose_publisher_system.cc index 4ff55fc376..3a0eb31d8f 100644 --- a/test/integration/pose_publisher_system.cc +++ b/test/integration/pose_publisher_system.cc @@ -141,7 +141,7 @@ TEST_F(PosePublisherTest, PublishCmd) std::list lowerLinkPoses; std::list upperLinkPoses; std::list sensorPoses; - std::list timestamps; + std::list timestamps; testSystem.OnPostUpdate( [&modelName, &baseName, &lowerLinkName, &upperLinkName, &sensorName, &poses, &basePoses, &lowerLinkPoses, &upperLinkPoses, &sensorPoses, @@ -196,7 +196,9 @@ TEST_F(PosePublisherTest, PublishCmd) auto simTimeSecNsec = ignition::math::durationToSecNsec(_info.simTime); timestamps.push_back( - common::Time(simTimeSecNsec.first, simTimeSecNsec.second)); + math::secNsecToTimePoint( + simTimeSecNsec.first, + simTimeSecNsec.second)); }); server.AddSystem(testSystem.systemPtr); @@ -243,8 +245,14 @@ TEST_F(PosePublisherTest, PublishCmd) std::sort(poseMsgs.begin(), poseMsgs.end(), []( const ignition::msgs::Pose &_l, const ignition::msgs::Pose &_r) { - common::Time lt(_l.header().stamp().sec(), _l.header().stamp().nsec()); - common::Time rt(_r.header().stamp().sec(), _r.header().stamp().nsec()); + std::chrono::steady_clock::time_point lt = + math::secNsecToTimePoint( + _l.header().stamp().sec(), + _l.header().stamp().nsec()); + std::chrono::steady_clock::time_point rt = + math::secNsecToTimePoint( + _r.header().stamp().sec(), + _r.header().stamp().nsec()); return lt < rt; }); @@ -273,7 +281,10 @@ TEST_F(PosePublisherTest, PublishCmd) EXPECT_EQ(childFrame, msg.name()); // verify timestamp - common::Time time(msg.header().stamp().sec(), msg.header().stamp().nsec()); + std::chrono::steady_clock::time_point time = + math::secNsecToTimePoint( + msg.header().stamp().sec(), + msg.header().stamp().nsec()); EXPECT_EQ(timestamps.front(), time); // assume msgs arrive in order and there is a pose msg for every link // so we only remove a timestamp from list after checking against all links @@ -423,8 +434,8 @@ TEST_F(PosePublisherTest, StaticPosePublisher) std::list lowerLinkPoses; std::list upperLinkPoses; std::list sensorPoses; - std::list timestamps; - std::list staticPoseTimestamps; + std::list timestamps; + std::list staticPoseTimestamps; testSystem.OnPostUpdate( [&modelName, &baseName, &lowerLinkName, &upperLinkName, &sensorName, @@ -480,9 +491,11 @@ TEST_F(PosePublisherTest, StaticPosePublisher) auto simTimeSecNsec = ignition::math::durationToSecNsec(_info.simTime); timestamps.push_back( - common::Time(simTimeSecNsec.first, simTimeSecNsec.second)); + math::secNsecToTimePoint( + simTimeSecNsec.first, simTimeSecNsec.second)); staticPoseTimestamps.push_back( - common::Time(simTimeSecNsec.first, simTimeSecNsec.second)); + math::secNsecToTimePoint( + simTimeSecNsec.first, simTimeSecNsec.second)); }); server.AddSystem(testSystem.systemPtr); @@ -548,8 +561,9 @@ TEST_F(PosePublisherTest, StaticPosePublisher) EXPECT_EQ(childFrame, msg.name()); // verify timestamp - common::Time time(msg.header().stamp().sec(), - msg.header().stamp().nsec()); + std::chrono::steady_clock::time_point time = + math::secNsecToTimePoint(msg.header().stamp().sec(), + msg.header().stamp().nsec()); EXPECT_EQ(timestamps.front(), time); // verify pose @@ -602,7 +616,8 @@ TEST_F(PosePublisherTest, StaticPosePublisher) EXPECT_EQ(childFrame, msg.name()); // verify timestamp - common::Time time(msg.header().stamp().sec(), + std::chrono::steady_clock::time_point time = + math::secNsecToTimePoint(msg.header().stamp().sec(), msg.header().stamp().nsec()); EXPECT_EQ(staticPoseTimestamps.front(), time); diff --git a/test/integration/rgbd_camera.cc b/test/integration/rgbd_camera.cc index e7b3bbc5ad..68b6173128 100644 --- a/test/integration/rgbd_camera.cc +++ b/test/integration/rgbd_camera.cc @@ -86,11 +86,12 @@ TEST_F(RgbdCameraTest, IGN_UTILS_TEST_DISABLED_ON_MAC(RgbdCameraBox)) size_t iters100 = 100u; server.Run(true, iters100, false); - ignition::common::Time waitTime = ignition::common::Time(0.001); + auto waitTime = std::chrono::duration_cast< std::chrono::milliseconds>( + std::chrono::duration(0.001)); int i = 0; while (nullptr == depthBuffer && i < 500) { - ignition::common::Time::Sleep(waitTime); + std::this_thread::sleep_for(waitTime); i++; } ASSERT_NE(depthBuffer, nullptr); From ab0042edbb8190513c706bee294bfcac6dab1ae2 Mon Sep 17 00:00:00 2001 From: John Shepherd Date: Fri, 25 Sep 2020 18:19:51 -0700 Subject: [PATCH 181/202] Add tutorial tweaks (#380) Signed-off-by: John Shepherd --- README.md | 4 +-- tutorials/battery.md | 36 ++++++++++++++++--------- tutorials/detachable_joints.md | 8 +++--- tutorials/distributed_simulation.md | 27 +++---------------- tutorials/erb_template.md | 18 ++++++------- tutorials/levels.md | 9 +++---- tutorials/log.md | 15 ----------- tutorials/migrating_ardupilot_plugin.md | 2 +- tutorials/migration_plugins.md | 14 +++++----- tutorials/point_cloud_to_mesh.md | 2 +- tutorials/resources.md | 8 +++--- tutorials/terminology.md | 8 +++--- tutorials/triggered_publisher.md | 1 + 13 files changed, 64 insertions(+), 88 deletions(-) diff --git a/README.md b/README.md index d7508cfbf8..d5644062bc 100644 --- a/README.md +++ b/README.md @@ -14,7 +14,7 @@ Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/ico Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-master-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-master-homebrew-amd64) Windows | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-master-windows7-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-master-windows7-amd64) -Ignition Gazebo is an open source robotics simulator. Through Ignition Gazebo users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services. +Ignition Gazebo is an open source robotics simulator. Through Ignition Gazebo, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services. Ignition Gazebo is derived from [Gazebo](http://gazebosim.org) and represents over 16 years of development and experience in robotics and simulation. This library is part of the [Ignition Robotics](https://ignitionrobotics.org) project. @@ -61,7 +61,7 @@ of environments with high-quality lighting, shadows, and textures. * **Sensors and noise models**: Generate sensor data, optionally with noise, from laser range finders, 2D/3D cameras, Kinect style sensors, contact sensors, -force-torque, IMU, GPS, and more, powered by +force-torque, IMU, GPS, and more, all powered by [Ignition Sensors](https://github.com/ignitionrobotics/ign-sensors) * **Plugins**: Develop custom plugins for robot, sensor, and diff --git a/tutorials/battery.md b/tutorials/battery.md index f8e3399f6b..4b235125c3 100644 --- a/tutorials/battery.md +++ b/tutorials/battery.md @@ -43,12 +43,17 @@ model: Next, you can find a description of the SDF parameters used: -``: The name of the battery. -``: Initial voltage of the battery (V). -``: Voltage at full charge (V). -``: Total charge that the battery can hold (Ah). -``: Power load on battery (W). -``: As reported [here](https://github.com/ignitionrobotics/ign-gazebo/issues/225), +* ``: The name of the battery. + +* ``: Initial voltage of the battery (V). + +* ``: Voltage at full charge (V). + +* ``: Total charge that the battery can hold (Ah). + +* ``: Power load on battery (W). + +* ``: As reported [here](https://github.com/ignitionrobotics/ign-gazebo/issues/225), there are some issues affecting batteries in Ignition Blueprint and Citadel. This parameter fixes the issues. Feel free to omit the parameter if you have legacy code and want to preserve the old behavior. @@ -71,10 +76,13 @@ In this case, the battery runtime should be calculated as follows: If you need to model a more realistic battery, you can use the following advanced SDF parameters: -``: Amount of voltage decrease when no charge (V). -``: Initial charge of the battery (Ah). -``: Internal resistance (Ohm) -``: Coefficient for smoothing current. +* ``: Amount of voltage decrease when no charge (V). + +* ``: Initial charge of the battery (Ah). + +* ``: Internal resistance (Ohm) + +* ``: Coefficient for smoothing current. Please, refer to the battery specification to set the advanced values. @@ -84,11 +92,13 @@ Please, refer to the battery specification to set the advanced values. A battery can be charged if the SDF parameter `` is set to true. Here are the relevant SDF parameters related with charging: -``: As mentioned, it should be `true` to enable recharging. -``: Hours taken to fully charge the battery. Keep in mind that +* ``: As mentioned, it should be `true` to enable recharging. + +* ``: Hours taken to fully charge the battery. Keep in mind that this value assumes no battery load while charging. If the battery is under load, it will take a longer time to recharge. -``: If true, the start/stop signals for recharging the + +* ``: If true, the start/stop signals for recharging the battery will also be available via topics. The regular Ignition services will still be available. diff --git a/tutorials/detachable_joints.md b/tutorials/detachable_joints.md index eb9e74c72c..70a2456b8d 100644 --- a/tutorials/detachable_joints.md +++ b/tutorials/detachable_joints.md @@ -1,7 +1,7 @@ \page detachablejoints Detachable Joints The `DetachableJoint` system allows two models to start off rigidly attached -and then get detached during simulation by publishing to a topic. The system +and then detach during simulation by publishing to a topic. The system internally uses a fixed joint between two links, each belonging to two separate models. Because the system uses joints to connect models, the resulting kinematic topology has to be a tree, i.e., kinematic loops are not currently @@ -39,13 +39,13 @@ or child models be in collision in their initial (attached) state. The system has the following parameters: -* parent_link: Name of the link in the model containing this system that will be +* ``: Name of the link in the model containing this system that will be used as the parent link in the detachable joint. -* child_model: The name of the model containing the child link in the detachable +* ``: The name of the model containing the child link in the detachable joint. -* child_model_link: Name of the link in the child_model that will be used +* ``: Name of the link in the `` that will be used as the child link in the detachable joint. * topic (optional): Topic name to be used for detaching connections. If empty, diff --git a/tutorials/distributed_simulation.md b/tutorials/distributed_simulation.md index 620d9d5e07..6e01d91a08 100644 --- a/tutorials/distributed_simulation.md +++ b/tutorials/distributed_simulation.md @@ -68,25 +68,6 @@ The secondary instances will only read the role command line option * **--network-role=secondary** - Dictates that the role of this participant is a Secondary. Capitalization of "secondary" is not important. -#### Environment variables - -**WARNING:** Environment variables for distributed simulation configuration -is deprecated in version 2.x.x of Ignition Gazebo. Please use the -command-line options instead. - -The primary instance will read several environment variables to dictate its behavior. - -* **IGN_GAZEBO_NETWORK_ROLE=PRIMARY** - Dictates that the role of this - participant is a Primary. Capitalization of "primary" is not important. -* **IGN_GAZEBO_NETWORK_SECONDARIES=** - The number of secondaries expected - to join. Simulation will not begin until **N** secondaries have been - discovered. - -The secondary instances will only read the role environment variable - -* **IGN_GAZEBO_NETWORK_ROLE=SECONDARY** - Dictates that the role of this - participant is a Secondary. Capitalization of "secondary" is not important. - ### Discovery Once the `ign gazebo` instance is started, it will begin a process of @@ -134,22 +115,22 @@ containing: * The latest secondary-to-performer affinity changes. * **Upcoming**: The updated state of all performers which are changing secondaries. -1. Each secondary receives the step message, and: +2. Each secondary receives the step message, and: * Loads / unloads performers according to the received affinities * Runs one simulation update iteration * Then publishes its updated performer states on the `/step_ack` topic. -1. The primary waits until it gets step acks from all secondaries. +3. The primary waits until it gets step acks from all secondaries. -1. The primary runs a step update: +4. The primary runs a step update: * Update its state with the states received from secondaries. * The `LevelManager` checks for level changes according to these new states * The `SceneBroadcaster` plugin publishes an updated scene to the GUI for any level changes. -1. The primary initiates a new iteration. +5. The primary initiates a new iteration. ### Interaction diff --git a/tutorials/erb_template.md b/tutorials/erb_template.md index f3acef3dfb..b5cf20a1b0 100644 --- a/tutorials/erb_template.md +++ b/tutorials/erb_template.md @@ -36,22 +36,22 @@ Below is a step-by-step tutorial to generate 1000 box shapes in a simulation wor You can copy-and-paste the code block into an editor to try it out. First is to create a world using SDFormat syntax. -You need to specify both the ``xml`` and ``sdf`` versions you are using. +You need to specify both the `xml` and `sdf` versions you are using. And don't forget to give your simulation world a name. ``` - + ``` -To create 1000 instances of simple box shapes, you can use a ``for`` loop in Ruby syntax in the ERB template. -This code block can be inserted in between the "```` ... ````" tags. -Note that the ```` tags are wrapped in between the ERB template. -``<% end %>`` is to mark the end of loops or ``if`` statements. +To create 1000 instances of simple box shapes, you can use a `for` loop in Ruby syntax in the ERB template. +This code block can be inserted in between the `` tags. +Note that the `` tags are wrapped in between the ERB template. +`<% end %>` is to mark the end of loops or `if` statements. Each box model also has a different name and pose to ensure they show up as individuals in simulation. ``` @@ -148,7 +148,7 @@ Instead of simple shapes, you can also use a nested loop to generate 100 actors ## Generate SDF from ERB template -Now that an ERB template file is ready and saved as ``my_first_erb.erb``, you can run the following terminal command to generate SDF file. +Now that an ERB template file is ready and saved as `my_first_erb.erb`, you can run the following terminal command to generate the corresponding SDF file. ```{.sh} # generate SDF with the ERB template @@ -157,11 +157,11 @@ erb my_first_erb.erb > my_first_erb.sdf ## Run simulation world -To test if the ERB template works, run the SDF file with igniton command +To test if the ERB template works, run the SDF file with the `ign gazebo` command ```{.sh} # run with Ignition Gazebo ign gazebo my_first_erb.sdf ``` -If there is any error or warning from running the SDF file, you would need to go back to the ERB file and see if any coding mistakes are made. +If there are any errors or warnings from running the SDF file, you would need to go back to the ERB file and see if any coding mistakes were made. diff --git a/tutorials/levels.md b/tutorials/levels.md index ed78bfae97..9e5d464314 100644 --- a/tutorials/levels.md +++ b/tutorials/levels.md @@ -24,8 +24,7 @@ as described below, and to launch Gazebo with the `--levels` flag. All the situations described here refer to simulation running in a single server. -> Take a look at the [terminology](terminology.html) tutorial to get familiar with -> concepts used in this tutorial. +\note Take a look at the [terminology](terminology.html) tutorial to get familiar with concepts used in this tutorial. ## Try it out @@ -87,7 +86,7 @@ but the same logic can be extended to multiple performers. levels (`L1`~`L3`). * The **light blue area** represents the buffer zone for level `L1`. Zones - for `L2` and `L3` have been ommitted. + for `L2` and `L3` have been omitted. * Each **orange shape** represents a static model in the world (`M1`~`M6`) @@ -198,7 +197,7 @@ In addition, the `` tag contains information about the volume occupied by the performer. This volume is specified by the `` tag. Only the `` tag is currently supported. -\note The volume for a performer maybe automatically generated in future +\note The volume for a performer may be automatically generated in future versions of Gazebo. Example snippet: @@ -216,7 +215,7 @@ Example snippet: ### Runtime performers -Performers can be specified at runtime using an Igntion Transport service. +Performers can be specified at runtime using an Ignition Transport service. This functionality can be used when a performer is not known at load time. For example, you may need to start simulation with an empty world and spawn models (performers) into simulation at a later time. diff --git a/tutorials/log.md b/tutorials/log.md index 6846d1cdf4..c3e27964e6 100644 --- a/tutorials/log.md +++ b/tutorials/log.md @@ -64,20 +64,11 @@ Recording can be specified in the SDF, under `` tag: - - ... ``` -Use of `` results in the console log and state recording being written -to different locations. Existing paths are overwritten by default. See below. - Currently, it is enforced that only one recording instance is allowed to start during a Gazebo run. @@ -95,12 +86,6 @@ The final record path will depend on a few options: * If no `--log-overwrite`, logs are recorded to a new path with a number appended, i.e. `/tmp/log(1)`, `/tmp/log(2)`... * If `--log-overwrite`, the directory is cleared and logs recorded to it. -* If `` in SDF (deprecated, not recommended): - * It will be used unless the path is specified through the command line or API. - * The SDF doesn't affect the console log, so that file will still go to the - timestamped directory. - * If the path exists, it will always be overwritten and there's no way to - disable this behaviour. ## Playback diff --git a/tutorials/migrating_ardupilot_plugin.md b/tutorials/migrating_ardupilot_plugin.md index 76d5acb5fc..6b16566c9b 100644 --- a/tutorials/migrating_ardupilot_plugin.md +++ b/tutorials/migrating_ardupilot_plugin.md @@ -24,7 +24,7 @@ documentation](https://ardupilot.org/dev/docs/using-gazebo-simulator-with-sitl.h As context to understand what we're migrating, here's a system diagram for how the ArduPilot Gazebo plugin works is used: - + *UAV icon credit: By Julian Herzog, CC BY 4.0, https://commons.wikimedia.org/w/index.php?curid=60965475* diff --git a/tutorials/migration_plugins.md b/tutorials/migration_plugins.md index c9825bbac2..25a87cfb60 100644 --- a/tutorials/migration_plugins.md +++ b/tutorials/migration_plugins.md @@ -1,8 +1,8 @@ \page migrationplugins -# Migration from Gazebo-classic: Plugins +# Migration from Gazebo Classic: Plugins -Classic Gazebo supports +Gazebo Classic supports [6 different C++ plugin types](http://gazebosim.org/tutorials?tut=plugins_hello_world&cat=write_plugin), each providing access to different parts of the API, like physics, rendering, sensors, GUI, etc. Due to Ignition Gazebo's architecture based on an @@ -15,7 +15,7 @@ while others are specific plugin types from other Ignition libraries. For example, plugins which get and set properties of simulation entities would be Ignition Gazebo systems. On the other hand, there are now plugin interfaces which didn't -exist in Gazebo, such as integrating a new physics or rendering engine, and these can +exist in Gazebo Classic, such as integrating a new physics or rendering engine, and these can be also used in projects outside of Ignition Gazebo. Take a look at the comparison below: @@ -39,14 +39,14 @@ System | Access command line arguments | TBD | - --- Another key difference is that systems will be able to access all entity -properties at once, despite the entity type. So while in Gazebo you may +properties at once, despite the entity type. So while in Gazebo Classic you may need 3 different plugins to interact with physics, rendering and sensors, on Ignition you could, for example, set a camera's visual color, its velocity and frame rate, all from a single plugin. ## Plugin interfaces -Let's take a look at a typical Gazebo plugin which accesses a property from an +Let's take a look at a typical Gazebo Classic plugin which accesses a property from an entity and does something with it. In this case, it will print the current pose of a link. @@ -223,7 +223,7 @@ IGNITION_ADD_PLUGIN(MyPlugin, IGNITION_ADD_PLUGIN_ALIAS(MyPlugin,"ignition::gazebo::systems::MyPlugin") ``` -In summary, the key differences between classic and Igntion Gazebo are: +In summary, the key differences between Gazebo Classic and Ignition Gazebo are: * Plugins must inherit from the `ISystemConfigure` class to be able to override the `Configure` callback that gives access to many things, such as the SDF @@ -234,7 +234,7 @@ In summary, the key differences between classic and Igntion Gazebo are: * Plugins don't have direct access to physics objects such as `physics::Model`. Instead, they can either deal directly with entities and their components by - calling functions in the ECM, or use convenient objects such as + calling functions in the ECM, or using convenient objects such as `ignition::gazebo::Model` which wrap the ECM interface. All these changes are meant to give plugin developers more flexibility to diff --git a/tutorials/point_cloud_to_mesh.md b/tutorials/point_cloud_to_mesh.md index bb2c5b6d6a..00a652087c 100644 --- a/tutorials/point_cloud_to_mesh.md +++ b/tutorials/point_cloud_to_mesh.md @@ -93,7 +93,7 @@ Our tunnel has turned into a blob shape. This is because the mesh that CloudCompare creates will always be water tight even if it has to add polygons where there are no points. We just want our tunnels, though, so we need to remove those unnecessary polygons. -![The "blob shape"](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/point_cloud_to_mesh/blob2.png) +![The blob shape](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/point_cloud_to_mesh/blob2.png) This is where our scalar field comes in. In the mesh's `Properties` window go to `SF display params` and take the left handle in the graph and drag it to the right until it hits the area where the bulk of the scalar field starts. diff --git a/tutorials/resources.md b/tutorials/resources.md index 5de32c97a9..28a3c89e9f 100644 --- a/tutorials/resources.md +++ b/tutorials/resources.md @@ -123,8 +123,8 @@ Ignition will look for URIs (path / URL) in the following, in order: 1. Cache (i.e. `$HOME/.ignition/fuel`) 2. Web server -> \* The `SDF_PATH` environment variable also works in some scenarios, but - it's not recommended when using Ignition Gazebo. +\* The `SDF_PATH` environment variable also works in some scenarios, but + it's not recommended when using Ignition Gazebo. ## Meshes @@ -141,8 +141,8 @@ Ignition will look for URIs (path / URL) in the following, in order: 2. All paths on the `IGN_GAZEBO_RESOURCE_PATH`\* environment variable (if path is URI, scheme is stripped) -> \* The `IGN_FILE_PATH` environment variable also works in some scenarios, but - it's not recommended when using Ignition Gazebo. +\* The `IGN_FILE_PATH` environment variable also works in some scenarios, but + it's not recommended when using Ignition Gazebo. ### GUI configuration diff --git a/tutorials/terminology.md b/tutorials/terminology.md index aab5a545bb..3742a569fe 100644 --- a/tutorials/terminology.md +++ b/tutorials/terminology.md @@ -5,7 +5,7 @@ are important for downstream users, while some of them are only interesting to developers touching the source code. * **World**: The complete description of a simulation, including all robots, - movable and static objects, plugins, scene and GUIs. It corresponds to + movable and static objects, plugins, scenes and GUIs. It corresponds to an SDF `` tag. * **Entity**: Every "object" in the world, such as models, links, @@ -14,8 +14,8 @@ to developers touching the source code. and may have several components attached to it. Entity IDs are assigned at runtime. -* **Component**: Adds a certain functionality or characteristic to an entity. - For example, pose, name, material, etc. +* **Component**: Adds a certain functionality or characteristic (e.g., pose, + name, material, etc.) to an entity. Ignition Gazebo comes with various [components](namespaceignition_1_1gazebo_1_1components.html) ready to be used, such as `Pose` and `Inertial`, and downstream developers @@ -29,7 +29,7 @@ to developers touching the source code. Ignition Gazebo ships with various systems, and downstream develpers can [create their own systems](createsystemplugins.html). -* **Entity-component manager**: **ECM** for short. Provides functions for +* **Entity-component manager** (**ECM**): Provides functions for querying, creating, removing and updating entities and components. See the whole API [here](classignition_1_1gazebo_1_1EntityComponentManager.html). diff --git a/tutorials/triggered_publisher.md b/tutorials/triggered_publisher.md index 1dbcb0d0d8..d07c74c318 100644 --- a/tutorials/triggered_publisher.md +++ b/tutorials/triggered_publisher.md @@ -136,6 +136,7 @@ indicating where the sensor is on the ground. ``` \note The contact sensor needs the `Contact` system under `` + ```xml ... From c45ab0634b9e4b8fbd1bc88ff13f21f554e94955 Mon Sep 17 00:00:00 2001 From: John Shepherd Date: Mon, 28 Sep 2020 10:46:41 -0700 Subject: [PATCH 182/202] Update log tutorials (#386) Signed-off-by: John Shepherd --- examples/worlds/log_playback.sdf | 22 --------------------- examples/worlds/log_record_dbl_pendulum.sdf | 7 ++++--- examples/worlds/log_record_keyboard.sdf | 4 ++++ examples/worlds/log_record_resources.sdf | 15 ++++++++------ examples/worlds/log_record_shapes.sdf | 5 +++++ 5 files changed, 22 insertions(+), 31 deletions(-) delete mode 100644 examples/worlds/log_playback.sdf diff --git a/examples/worlds/log_playback.sdf b/examples/worlds/log_playback.sdf deleted file mode 100644 index f924f1208e..0000000000 --- a/examples/worlds/log_playback.sdf +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - /tmp/log - - - - diff --git a/examples/worlds/log_record_dbl_pendulum.sdf b/examples/worlds/log_record_dbl_pendulum.sdf index 0a964ee416..fdb457d22c 100644 --- a/examples/worlds/log_record_dbl_pendulum.sdf +++ b/examples/worlds/log_record_dbl_pendulum.sdf @@ -5,6 +5,10 @@ Running this world will record log files to ~/.ignition/gazebo/log/ by default. + Running `ign gazebo` with `-v 3` or `-v 4` will output a message indicating where + your logfile is being stored to (e.g., [Msg] Recording to log file + [/home/username/.ignition/gazebo/log//state.tlog]). + You can playback the logs with: ign gazebo --playback ~/.ignition/gazebo/log/ @@ -31,9 +35,6 @@ - - diff --git a/examples/worlds/log_record_keyboard.sdf b/examples/worlds/log_record_keyboard.sdf index f8d55000cd..ba534c82fd 100644 --- a/examples/worlds/log_record_keyboard.sdf +++ b/examples/worlds/log_record_keyboard.sdf @@ -5,6 +5,10 @@ Running this world will record log files to ~/.ignition/gazebo/log/ by default. + Running `ign gazebo` with `-v 3` or `-v 4` will output a message indicating where + your logfile is being stored to (e.g., [Msg] Recording to log file + [/home/username/.ignition/gazebo/log//state.tlog]). + Use the example program on examples/standalone/keyboard to control the vehicles. You can playback the logs with: diff --git a/examples/worlds/log_record_resources.sdf b/examples/worlds/log_record_resources.sdf index 254c1e4f09..d8ada02852 100644 --- a/examples/worlds/log_record_resources.sdf +++ b/examples/worlds/log_record_resources.sdf @@ -2,10 +2,16 @@ @@ -20,9 +26,6 @@ - - 1 0 diff --git a/examples/worlds/log_record_shapes.sdf b/examples/worlds/log_record_shapes.sdf index 60f9254254..5142d1ddeb 100644 --- a/examples/worlds/log_record_shapes.sdf +++ b/examples/worlds/log_record_shapes.sdf @@ -5,6 +5,11 @@ Running this world will record log files to ~/.ignition/gazebo/log/ by default. + Running `ign gazebo` with `-v 3` or `-v 4` will output a message indicating where + your logfile is being stored to (e.g., [Msg] Recording to log file + [/home/username/.ignition/gazebo/log//state.tlog]). + + You can playback the logs with: ign gazebo --playback ~/.ignition/gazebo/log/ From e179981622bbef1f2b0da25673514f12139004c2 Mon Sep 17 00:00:00 2001 From: John Shepherd Date: Mon, 28 Sep 2020 10:47:44 -0700 Subject: [PATCH 183/202] Update window placement (#387) Signed-off-by: John Shepherd --- examples/worlds/sensors_demo.sdf | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/examples/worlds/sensors_demo.sdf b/examples/worlds/sensors_demo.sdf index f691272834..8a9b0b2f7a 100644 --- a/examples/worlds/sensors_demo.sdf +++ b/examples/worlds/sensors_demo.sdf @@ -108,7 +108,7 @@ floating 350 315 - 650 + 500 depth_camera false @@ -119,7 +119,7 @@ floating 350 315 - 400 + 320 rgbd_camera/image false @@ -130,8 +130,8 @@ floating 350 315 - 650 - 400 + 500 + 320 rgbd_camera/depth_image false @@ -142,7 +142,8 @@ floating 350 315 - 800 + 500 + 640 thermal_camera false From 584199eea9dcaa15e4d533b33b156e7bc794fbc3 Mon Sep 17 00:00:00 2001 From: Jenn Date: Tue, 29 Sep 2020 14:20:11 -0700 Subject: [PATCH 184/202] clarified performer example (#390) Signed-off-by: osrf --- tutorials/levels.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/tutorials/levels.md b/tutorials/levels.md index 9e5d464314..c2f62b8667 100644 --- a/tutorials/levels.md +++ b/tutorials/levels.md @@ -235,7 +235,9 @@ successfuly added. ign gazebo levels_no_performers.sdf -v 4 --levels ``` -2. In another terminal call the add performer service. +Here you will see the two vehicles, which are regular models that do not trigger level loading. They are not performers until you call the service. + +2. In another terminal call the add performer service for the blue vehicle. ``` ign service -s /world/levels/level/set_performer --reqtype ignition.msgs.StringMsg --reptype ignition.msgs.Boolean --timeout 2000 --req 'data: "vehicle_blue"' From fac36a4b06c3ba45b14c72163f9b390721edbda6 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Tue, 29 Sep 2020 15:58:54 -0700 Subject: [PATCH 185/202] Fix error message on Visualize Lidar plugin (#391) Signed-off-by: Louise Poubel --- src/gui/plugins/visualize_lidar/VisualizeLidar.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/gui/plugins/visualize_lidar/VisualizeLidar.cc b/src/gui/plugins/visualize_lidar/VisualizeLidar.cc index f98952be38..52668dc0f0 100644 --- a/src/gui/plugins/visualize_lidar/VisualizeLidar.cc +++ b/src/gui/plugins/visualize_lidar/VisualizeLidar.cc @@ -366,7 +366,8 @@ void VisualizeLidar::UpdateType(int _type) void VisualizeLidar::OnTopic(const QString &_topicName) { std::lock_guard(this->dataPtr->serviceMutex); - if (!this->dataPtr->node.Unsubscribe(this->dataPtr->topicName)) + if (!this->dataPtr->topicName.empty() && + !this->dataPtr->node.Unsubscribe(this->dataPtr->topicName)) { ignerr << "Unable to unsubscribe from topic [" << this->dataPtr->topicName <<"]" < Date: Wed, 30 Sep 2020 20:17:46 -0700 Subject: [PATCH 186/202] =?UTF-8?q?=E2=AC=86=EF=B8=8F=20=204.0.0=20(#393)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Louise Poubel --- CMakeLists.txt | 2 +- Changelog.md | 65 ++++++++++++++++++++++++++++++++++++++++++++++++-- 2 files changed, 64 insertions(+), 3 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 3fbe041595..41e3da5dd4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -14,7 +14,7 @@ find_package(ignition-cmake2 2.3 REQUIRED) #============================================================================ # Configure the project #============================================================================ -ign_configure_project(VERSION_SUFFIX pre1) +ign_configure_project(VERSION_SUFFIX) #============================================================================ # Set project-specific options diff --git a/Changelog.md b/Changelog.md index afe6dbb4d1..6c8ba1f7e9 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,8 +1,8 @@ ## Ignition Gazebo 4.x -### Ignition Gazebo 4.X.X +### Ignition Gazebo 4.X.X (20XX-XX-XX) -### Ignition Gazebo 4.0.0 (20XX-XX-XX) +### Ignition Gazebo 4.0.0 (2020-09-30) 1. Names with spaces: add string serializer * [pull request 244](https://github.com/ignitionrobotics/ign-gazebo/pull/244) @@ -10,6 +10,67 @@ 1. Filter mesh collision based on `collide_bitmask` property * [pull request 160](https://github.com/ignitionrobotics/ign-gazebo/pull/160) +1. Add force focus when mouse enters render window + * [pull request 97](https://github.com/ignitionrobotics/ign-gazebo/pull/97) + +1. Fixed docblock showGrid + * [pull request 152](https://github.com/ignitionrobotics/ign-gazebo/pull/152) + +1. More actor components and follow plugin + * [pull request 157](https://github.com/ignitionrobotics/ign-gazebo/pull/157) + +1. Filter the record menu and write the format to the file according to which button the user pushed (mp4 or ogv) + * [pull request 153](https://github.com/ignitionrobotics/ign-gazebo/pull/153) + +1. Fix scene manager losing header file + * [pull request 211](https://github.com/ignitionrobotics/ign-gazebo/pull/211) + +1. Fixed left menu events + * [pull request 218](https://github.com/ignitionrobotics/ign-gazebo/pull/218) + +1. Fix yaw units typo in Component Inspector plugin + * [pull request 238](https://github.com/ignitionrobotics/ign-gazebo/pull/238) + +1. Enable alpha based transparency on PBR materials by default + * [pull request 249](https://github.com/ignitionrobotics/ign-gazebo/pull/249) + +1. Qt auto scale factor for HiDPI displays + * [pull request 291](https://github.com/ignitionrobotics/ign-gazebo/pull/291) + +1. Sync components removal + * [pull request 272](https://github.com/ignitionrobotics/ign-gazebo/pull/272) + +1. Add error handling for JointAxis::SetXyz and remove use of use_parent_model_frame + * [pull request 288](https://github.com/ignitionrobotics/ign-gazebo/pull/288) + +1. Make some tests more robust + * [pull request 314](https://github.com/ignitionrobotics/ign-gazebo/pull/314) + +1. Fix Qt5 warnings for using anchors + * [pull request 363](https://github.com/ignitionrobotics/ign-gazebo/pull/363) + +1. Plotting Components Plugin + * [pull request 270](https://github.com/ignitionrobotics/ign-gazebo/pull/270) + +1. Visualize Lidar Plugin + * [pull request 301](https://github.com/ignitionrobotics/ign-gazebo/pull/301) + * [pull request 391](https://github.com/ignitionrobotics/ign-gazebo/pull/391) + +1. Replaced common::Time for std::chrono + * [pull request 309](https://github.com/ignitionrobotics/ign-gazebo/pull/309) + +1. Tutorial, examples and documentation updates + * [pull request 380](https://github.com/ignitionrobotics/ign-gazebo/pull/380) + * [pull request 386](https://github.com/ignitionrobotics/ign-gazebo/pull/386) + * [pull request 387](https://github.com/ignitionrobotics/ign-gazebo/pull/387) + * [pull request 390](https://github.com/ignitionrobotics/ign-gazebo/pull/390) + +1. Migration from BitBucket to GitHub + * [pull request 73](https://github.com/ignitionrobotics/ign-gazebo/pull/73) + * [pull request 68](https://github.com/ignitionrobotics/ign-gazebo/pull/68) + * [pull request 67](https://github.com/ignitionrobotics/ign-gazebo/pull/67) + * [pull request 130](https://github.com/ignitionrobotics/ign-gazebo/pull/130) + 1. Use interpolate\_x sdf parameter for actor animations * [BitBucket pull request 536](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/536) From 94560a21ea15408f8a72f3dce75f95858c65debf Mon Sep 17 00:00:00 2001 From: Russ Date: Wed, 7 Oct 2020 09:24:00 +1100 Subject: [PATCH 187/202] docker: update Dockerfiles to use focal images (#388) * Update Dockerfiles to use Ubuntu Focal * runtime=nvidia is deprecated, gpus=all has replaced it in newer versions of docker Signed-off-by: Russ Webber --- docker/Dockerfile.base | 2 +- docker/Dockerfile.ignition | 4 ++-- docker/README.md | 2 +- docker/run.bash | 2 +- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base index e67af81012..e84976b01d 100644 --- a/docker/Dockerfile.base +++ b/docker/Dockerfile.base @@ -1,4 +1,4 @@ -FROM ubuntu:bionic +FROM ubuntu:focal RUN apt-get update \ && apt-get install -y \ diff --git a/docker/Dockerfile.ignition b/docker/Dockerfile.ignition index 9c5fed4afe..0e8fabb37d 100644 --- a/docker/Dockerfile.ignition +++ b/docker/Dockerfile.ignition @@ -3,8 +3,8 @@ # This docker file is used by build.bash and run.bash to build and run # an Ignition distribution based on binaries. See the README.md file. -# Ubuntu 18.04 with nvidia-docker2 beta opengl support -FROM nvidia/opengl:1.0-glvnd-devel-ubuntu18.04 +# Ubuntu 20.04 with nvidia opengl support +FROM nvidia/opengl:1.2-glvnd-devel-ubuntu20.04 # Name of the Ignition distribution ARG ign_distribution diff --git a/docker/README.md b/docker/README.md index f70c5b33b6..7f91e6e88b 100644 --- a/docker/README.md +++ b/docker/README.md @@ -154,7 +154,7 @@ Docker has two available versions: Community Edition (CE) and Enterprise Edition 1. Verify the installation: - docker run --runtime=nvidia --rm nvidia/cuda nvidia-smi + docker run --gpus all --rm nvidia/cuda nvidia-smi This command should print your GPU information, for example: diff --git a/docker/run.bash b/docker/run.bash index ce6e3af838..73741084dd 100755 --- a/docker/run.bash +++ b/docker/run.bash @@ -40,7 +40,7 @@ docker run -it \ -v "/etc/localtime:/etc/localtime:ro" \ -v "/dev/input:/dev/input" \ --rm \ - --runtime=nvidia \ + --gpus all \ --security-opt seccomp=unconfined \ $IMG \ ${@:2} From 53f7bdb98b9654d02662df1d7606103a6366f507 Mon Sep 17 00:00:00 2001 From: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> Date: Mon, 12 Oct 2020 16:54:52 -0400 Subject: [PATCH 188/202] Updated source build instructions for ign-gazebo4 (#404) Signed-off-by: Ashton Larkin --- README.md | 34 ++++++++++++++++++++++------------ 1 file changed, 22 insertions(+), 12 deletions(-) diff --git a/README.md b/README.md index d5644062bc..412c1e9e59 100644 --- a/README.md +++ b/README.md @@ -137,13 +137,7 @@ for dependency installation instructions for each supported operating system. **[Ubuntu Bionic](http://releases.ubuntu.com/18.04/)** -1. Install third-party libraries: - - ``` - sudo apt-get -y install cmake build-essential curl cppcheck g++-8 libbenchmark-dev libgflags-dev doxygen ruby-ronn libtinyxml2-dev libtinyxml-dev software-properties-common libeigen3-dev qtdeclarative5-models-plugin - ``` - -2. Install required Ignition libraries: +1. Enable the Ignition software repositories: ``` sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' @@ -161,8 +155,16 @@ for dependency installation instructions for each supported operating system. sudo apt-get update ``` +2. Install package dependencies: + + ``` + git clone https://github.com/ignitionrobotics/ign-gazebo -b ign-gazebo4 + ``` + ``` - sudo apt-get -y install libignition-cmake2-dev libignition-common3-dev libignition-math6-eigen3-dev libignition-plugin-dev libignition-physics3-dev libignition-rendering3-dev libignition-tools-dev libignition-transport9-dev libignition-gui4-dev libignition-msgs6-dev libsdformat10-dev + export SYSTEM_VERSION=bionic + sudo apt -y install \ + $(sort -u $(find . -iname 'packages-'$SYSTEM_VERSION'.apt' -o -iname 'packages.apt') | tr '\n' ' ') ``` ### Building from source @@ -173,17 +175,21 @@ for dependency installation instructions for each supported operating system. * Ubuntu + ``` + sudo apt-get install g++-8 + ``` + ``` sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 800 --slave /usr/bin/g++ g++ /usr/bin/g++-8 --slave /usr/bin/gcov gcov /usr/bin/gcov-8 ``` -1. Clone the repository. +3. Clone the repository if you haven't already. ``` - git clone https://github.com/ignitionrobotics/ign-gazebo -b master + git clone https://github.com/ignitionrobotics/ign-gazebo -b ign-gazebo4 ``` -2. Configure and build. +4. Configure and build. ``` cd ign-gazebo @@ -274,7 +280,7 @@ You can also generate the documentation from a clone of this repository by follo Follow these steps to run tests and static code analysis in your clone of this repository. -1. Follow the [source install instruction](#source-install). +1. Follow the [source install instructions](#source-install). 2. Run tests. @@ -284,6 +290,10 @@ Follow these steps to run tests and static code analysis in your clone of this r 3. Static code checker. + ``` + sudo apt-get update && sudo apt-get -y install cppcheck + ``` + ``` make codecheck ``` From 0ab6d355dad65eee214d7eb74f396dd41702b073 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Wed, 21 Oct 2020 09:35:45 -0700 Subject: [PATCH 189/202] Revert diff_drive test changes from #314 (#410) Signed-off-by: Louise Poubel --- Changelog.md | 4 ---- test/integration/diff_drive_system.cc | 6 +++--- 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/Changelog.md b/Changelog.md index 42943a9913..fb6e6c1037 100644 --- a/Changelog.md +++ b/Changelog.md @@ -192,10 +192,6 @@ 1. Support spawning during log playback. * [Pull Request 346](https://github.com/ignitionrobotics/ign-gazebo/pull/346) -1. Added wheel slip system plugin. - * [Pull Request 134](https://github.com/ignitionrobotics/ign-gazebo/pull/134) - * [Pull Request 357](https://github.com/ignitionrobotics/ign-gazebo/pull/357) - 1. Add Render Engine Cmd Line option * [Pull Request 331](https://github.com/ignitionrobotics/ign-gazebo/pull/331) diff --git a/test/integration/diff_drive_system.cc b/test/integration/diff_drive_system.cc index 284e9356d1..1a1d2888ff 100644 --- a/test/integration/diff_drive_system.cc +++ b/test/integration/diff_drive_system.cc @@ -280,8 +280,8 @@ TEST_P(DiffDriveTest, SkidPublishCmd) node.Subscribe("/model/vehicle/odometry", odomCb); msgs::Twist msg; - msgs::Set(msg.mutable_linear(), math::Vector3d(2.0, 0, 0)); - msgs::Set(msg.mutable_angular(), math::Vector3d(0.0, 0, 2.0)); + msgs::Set(msg.mutable_linear(), math::Vector3d(0.5, 0, 0)); + msgs::Set(msg.mutable_angular(), math::Vector3d(0.0, 0, 0.2)); pub.Publish(msg); @@ -294,7 +294,7 @@ TEST_P(DiffDriveTest, SkidPublishCmd) int maxSleep = 30; for (; odomPoses.size() < 3 && sleep < maxSleep; ++sleep) { - std::this_thread::sleep_for(std::chrono::milliseconds(200)); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); } EXPECT_NE(maxSleep, sleep); From 020a0172308eb5b64e4699b5afb25bb1105800ba Mon Sep 17 00:00:00 2001 From: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> Date: Mon, 2 Nov 2020 18:48:18 -0500 Subject: [PATCH 190/202] Added tests for the AnimationTime component (#433) Also using nanoseconds for serialization instead of milliseconds Signed-off-by: Ashton Larkin --- include/ignition/gazebo/components/Actor.hh | 5 ++-- test/integration/components.cc | 27 +++++++++++++++++++++ 2 files changed, 30 insertions(+), 2 deletions(-) diff --git a/include/ignition/gazebo/components/Actor.hh b/include/ignition/gazebo/components/Actor.hh index 44d8bbc19c..024aa64c42 100644 --- a/include/ignition/gazebo/components/Actor.hh +++ b/include/ignition/gazebo/components/Actor.hh @@ -20,6 +20,7 @@ #include #include +#include #include #include @@ -50,7 +51,7 @@ namespace serializers public: static std::ostream &Serialize(std::ostream &_out, const std::chrono::steady_clock::duration &_time) { - _out << std::chrono::duration_cast( + _out << std::chrono::duration_cast( _time).count(); return _out; } @@ -64,7 +65,7 @@ namespace serializers { int64_t time; _in >> time; - _time = std::chrono::duration(time); + _time = std::chrono::duration(time); return _in; } }; diff --git a/test/integration/components.cc b/test/integration/components.cc index 2b593e7c54..00649aa031 100644 --- a/test/integration/components.cc +++ b/test/integration/components.cc @@ -140,6 +140,33 @@ TEST_F(ComponentsTest, AnimationName) EXPECT_EQ("comp3", comp3.Data()); } +///////////////////////////////////////////////// +TEST_F(ComponentsTest, AnimationTime) +{ + auto start = std::chrono::steady_clock::now(); + auto end1 = start + std::chrono::seconds(5); + auto end2 = start + std::chrono::seconds(10); + + // Create components + auto comp1 = components::AnimationTime(end1 - start); + auto comp2 = components::AnimationTime(end2 - start); + + // Equality operators + EXPECT_NE(comp1, comp2); + EXPECT_FALSE(comp1 == comp2); + EXPECT_TRUE(comp1 != comp2); + + // Stream operators + std::ostringstream ostr; + comp1.Serialize(ostr); + EXPECT_EQ("5000000000", ostr.str()); + + std::istringstream istr(ostr.str()); + components::AnimationTime comp3; + comp3.Deserialize(istr); + EXPECT_EQ(comp1, comp3); +} + ///////////////////////////////////////////////// TEST_F(ComponentsTest, AirPressureSensor) { From 16807b60c77246072b6fcfb0e9878b82db534ff3 Mon Sep 17 00:00:00 2001 From: Mabel Zhang Date: Thu, 5 Nov 2020 13:54:10 -0500 Subject: [PATCH 191/202] fix mac warning Signed-off-by: Mabel Zhang --- src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index 0add2a98dd..1e0749772c 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -523,10 +523,9 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm) } ////////////////////////////////////////////////// -void OpticalTactilePluginPrivate::Enable(const bool _value) +void OpticalTactilePluginPrivate::Enable(const bool /*_value*/) { - // todo(mcres) Implement method - _value; + // todo(mcres) Implement method } ////////////////////////////////////////////////// From 4e5f1d581c4d437da14fb138f99defff073a9503 Mon Sep 17 00:00:00 2001 From: Ashton Larkin Date: Fri, 13 Nov 2020 14:34:51 -0500 Subject: [PATCH 192/202] depending on ign-rendering 4.1.0 Signed-off-by: Ashton Larkin --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 96235b3e49..71860c9abe 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -114,7 +114,7 @@ set(IGN_SENSORS_VER ${ignition-sensors4_VERSION_MAJOR}) #-------------------------------------- # Find ignition-rendering -ign_find_package(ignition-rendering4 REQUIRED) +ign_find_package(ignition-rendering4 REQUIRED VERSION 4.1.0) set(IGN_RENDERING_VER ${ignition-rendering4_VERSION_MAJOR}) #-------------------------------------- From 08f1a0f646b8b492a3a5bc1cc67136fea0b3b75f Mon Sep 17 00:00:00 2001 From: Ashton Larkin Date: Fri, 13 Nov 2020 16:40:40 -0500 Subject: [PATCH 193/202] removed SDF playback from logging tutorial Signed-off-by: Ashton Larkin --- tutorials/log.md | 29 ----------------------------- 1 file changed, 29 deletions(-) diff --git a/tutorials/log.md b/tutorials/log.md index 9d9a8642e7..4a69e41eef 100644 --- a/tutorials/log.md +++ b/tutorials/log.md @@ -96,35 +96,6 @@ directory specified to record: `ign gazebo -r -v 4 --playback ` - -### From plugin in SDF - -This feature is deprecated and will be removed in Ignition Dome. -Use the command line argument instead. - -Alternatively, playback can be specified in an SDF file. See example file -`examples/worlds/log_playback.sdf`: - -```{.xml} - - ... - - /tmp/log - - ... - -``` - -\note The physics plugin should not be specified in the SDF. If specified, -it will be automatically removed so that physics does not clash with the -recorded poses. - -\note If both a world file `` and `--playback ` are -specified, an error is printed. This is not allowed, because the world file -may be a very different world from the one that was recorded. - ## Known issues * When using command-line playback there is currently a small caveat. From 2a25fc741eeb64b039871cc63fb56a1898398279 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Wed, 2 Dec 2020 10:17:55 -0800 Subject: [PATCH 194/202] =?UTF-8?q?3=20=E2=9E=A1=EF=B8=8F=20=204:=20fixes?= =?UTF-8?q?=20for=20#463=20(#469)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Louise Poubel --- test/integration/log_system.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/integration/log_system.cc b/test/integration/log_system.cc index b52b66c820..7ebc78cabd 100644 --- a/test/integration/log_system.cc +++ b/test/integration/log_system.cc @@ -733,9 +733,9 @@ TEST_F(LogSystemTest, RecordAndPlayback) ++expectedPoseCount; } }); - recordServer.AddSystem(recordedPoseCounter.systemPtr); // Run for a few seconds to record different poses Server recordServer(recordServerConfig); + recordServer.AddSystem(recordedPoseCounter.systemPtr); recordServer.Run(true, 1000, false); } From b81fc3465d1b63ef130b675e48e957c5f2a7f133 Mon Sep 17 00:00:00 2001 From: Ivan Santiago Paunovic Date: Thu, 10 Dec 2020 17:23:57 -0300 Subject: [PATCH 195/202] Use a std::promise/std::future to avoid busy waiting the step ack messages in NetworkManagerPrimary (#470) Signed-off-by: Ivan Santiago Paunovic Signed-off-by: Louise Poubel Co-authored-by: Louise Poubel --- src/network/NetworkManagerPrimary.cc | 19 ++++++++++--------- src/network/NetworkManagerPrimary.hh | 4 ++++ 2 files changed, 14 insertions(+), 9 deletions(-) diff --git a/src/network/NetworkManagerPrimary.cc b/src/network/NetworkManagerPrimary.cc index 0586c8b462..84542b711c 100644 --- a/src/network/NetworkManagerPrimary.cc +++ b/src/network/NetworkManagerPrimary.cc @@ -18,6 +18,7 @@ #include "NetworkManagerPrimary.hh" #include +#include #include #include #include @@ -41,6 +42,7 @@ using namespace ignition; using namespace gazebo; +using namespace std::chrono_literals; ////////////////////////////////////////////////// NetworkManagerPrimary::NetworkManagerPrimary( @@ -142,21 +144,17 @@ bool NetworkManagerPrimary::Step(const UpdateInfo &_info) // Send step to all secondaries this->secondaryStates.clear(); + this->secondaryStatesPromise = std::promise{}; + auto future = this->secondaryStatesPromise.get_future(); this->simStepPub.Publish(step); // Block until all secondaries are done { IGN_PROFILE("Waiting for secondaries"); - int sleep = 0; - int maxSleep = 10 * 1000 * 1000; - for (; sleep < maxSleep && - (this->secondaryStates.size() < this->secondaries.size()); ++sleep) - { - std::this_thread::sleep_for(std::chrono::nanoseconds(1)); - } + auto result = future.wait_for(10s); - if (sleep == maxSleep) + if (std::future_status::ready != result) { ignerr << "Waited 10 s and got only [" << this->secondaryStates.size() << " / " << this->secondaries.size() @@ -202,6 +200,10 @@ std::map void NetworkManagerPrimary::OnStepAck(const msgs::SerializedStateMap &_msg) { this->secondaryStates.push_back(_msg); + if (this->secondaryStates.size() == this->secondaries.size()) + { + this->secondaryStatesPromise.set_value(); + } } ////////////////////////////////////////////////// @@ -316,4 +318,3 @@ void NetworkManagerPrimary::SetAffinity(Entity _performer, auto newAffinity = components::PerformerAffinity(_secondary); this->dataPtr->ecm->CreateComponent(_performer, newAffinity); } - diff --git a/src/network/NetworkManagerPrimary.hh b/src/network/NetworkManagerPrimary.hh index 5bd11e5731..c95fe25e48 100644 --- a/src/network/NetworkManagerPrimary.hh +++ b/src/network/NetworkManagerPrimary.hh @@ -18,6 +18,7 @@ #define IGNITION_GAZEBO_NETWORK_NETWORKMANAGERPRIMARY_HH_ #include +#include #include #include #include @@ -117,6 +118,9 @@ namespace ignition /// \brief Keep track of states received from secondaries. private: std::vector secondaryStates; + + /// \brief Promise used to notify when all secondaryStates where received. + private: std::promise secondaryStatesPromise; }; } } // namespace gazebo From 65b4b786f75e4517e38c7ccd55238c1e0173406d Mon Sep 17 00:00:00 2001 From: Ashton Larkin Date: Fri, 11 Dec 2020 19:56:29 -0500 Subject: [PATCH 196/202] 4.1.0 (#485) Signed-off-by: Ashton Larkin --- CMakeLists.txt | 2 +- Changelog.md | 58 ++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 59 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 71860c9abe..3caa9b7dcc 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(ignition-gazebo4 VERSION 4.0.0) +project(ignition-gazebo4 VERSION 4.1.0) #============================================================================ # Find ignition-cmake diff --git a/Changelog.md b/Changelog.md index d6b45eb373..5b67d1e746 100644 --- a/Changelog.md +++ b/Changelog.md @@ -2,6 +2,64 @@ ### Ignition Gazebo 4.X.X (20XX-XX-XX) +### Ignition Gazebo 4.1.0 (2020-12-11) + +1. Update Dockerfiles to use focal images + * [pull request 388](https://github.com/ignitionrobotics/ign-gazebo/pull/388) + +1. Updated source build instructions for ign-gazebo4 + * [pull request 404](https://github.com/ignitionrobotics/ign-gazebo/pull/404) + +1. Add tests for the AnimationTime component + * [pull request 433](https://github.com/ignitionrobotics/ign-gazebo/pull/433) + +1. Fix pose msg conversion when msg is missing orientation + * [pull request 450](https://github.com/ignitionrobotics/ign-gazebo/pull/450) + * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459) + +1. Resolved updated codecheck issues + * [pull request 443](https://github.com/ignitionrobotics/ign-gazebo/pull/443) + * [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457) + * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459) + +1. Use new backpack version in tests + * [pull request 455](https://github.com/ignitionrobotics/ign-gazebo/pull/455) + * [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457) + * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459) + +1. Fix segfault in the Breadcrumb system when associated model is unloaded + * [pull request 454](https://github.com/ignitionrobotics/ign-gazebo/pull/454) + * [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457) + * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459) + +1. Added user commands to example thermal camera world + * [pull request 442](https://github.com/ignitionrobotics/ign-gazebo/pull/442) + * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459) + +1. Helper function to set component data + * [pull request 436](https://github.com/ignitionrobotics/ign-gazebo/pull/436) + * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469) + +1. Remove unneeded if statement + * [pull request 432](https://github.com/ignitionrobotics/ign-gazebo/pull/432) + * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469) + +1. Fix flaky RecordAndPlayback test in INTEGRATION_log_system + * [pull request 463](https://github.com/ignitionrobotics/ign-gazebo/pull/463) + * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469) + +1. Make PeerTracker test more robust + * [pull request 452](https://github.com/ignitionrobotics/ign-gazebo/pull/452) + * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469) + +1. Use a [std::promise](https://en.cppreference.com/w/cpp/thread/promise)/[std::future](https://en.cppreference.com/w/cpp/thread/future) mechanism to avoid waiting in a looop until all `stepAck` messages are received + * [pull request 470](https://github.com/ignitionrobotics/ign-gazebo/pull/470) + +1. Optical Tactile Sensor Plugin + * [pull request 229](https://github.com/ignitionrobotics/ign-gazebo/pull/229) + +1. All changes up to and including those in version 3.5.0 and version 2.25.0 + ### Ignition Gazebo 4.0.0 (2020-09-30) 1. Names with spaces: add string serializer From 2f7f33d4fa34657badec81558d5953fe7643769f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Wed, 16 Dec 2020 00:14:36 +0100 Subject: [PATCH 197/202] Fix slot in Plotting plugin (#490) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández --- src/gui/plugins/plotting/Plotting.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/gui/plugins/plotting/Plotting.cc b/src/gui/plugins/plotting/Plotting.cc index d470f2e3d3..ef20533382 100644 --- a/src/gui/plugins/plotting/Plotting.cc +++ b/src/gui/plugins/plotting/Plotting.cc @@ -176,7 +176,7 @@ Plotting ::Plotting() : GuiSystem(), this->connect(this->dataPtr->plottingIface.get(), SIGNAL(ComponentUnSubscribe (uint64_t, uint64_t, std::string, int)), - this, SLOT(UnRegisterChartToComponent + this, SLOT(UnRegisterChartFromComponent (uint64_t, uint64_t, std::string, int))); this->connect(this->dataPtr->plottingIface.get(), From 096c5e84b3aad977d21504e5aba52afb56c70e52 Mon Sep 17 00:00:00 2001 From: Ashton Larkin Date: Fri, 18 Dec 2020 16:16:20 -0500 Subject: [PATCH 198/202] 3 to 4: fix codecheck for ign-gazebo4 Signed-off-by: Ashton Larkin --- src/gui/plugins/visualize_lidar/VisualizeLidar.cc | 4 +++- src/systems/diff_drive/DiffDrive.cc | 1 + src/systems/follow_actor/FollowActor.cc | 2 ++ src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc | 1 + src/systems/sensors/Sensors.cc | 1 + 5 files changed, 8 insertions(+), 1 deletion(-) diff --git a/src/gui/plugins/visualize_lidar/VisualizeLidar.cc b/src/gui/plugins/visualize_lidar/VisualizeLidar.cc index 52668dc0f0..51cf04e10b 100644 --- a/src/gui/plugins/visualize_lidar/VisualizeLidar.cc +++ b/src/gui/plugins/visualize_lidar/VisualizeLidar.cc @@ -15,7 +15,10 @@ * */ +#include "VisualizeLidar.hh" + #include +#include #include #include @@ -56,7 +59,6 @@ #include "ignition/gazebo/Util.hh" #include "ignition/msgs/laserscan.pb.h" -#include "VisualizeLidar.hh" namespace ignition { diff --git a/src/systems/diff_drive/DiffDrive.cc b/src/systems/diff_drive/DiffDrive.cc index c8101552f2..dfd78b7769 100644 --- a/src/systems/diff_drive/DiffDrive.cc +++ b/src/systems/diff_drive/DiffDrive.cc @@ -21,6 +21,7 @@ #include #include +#include #include #include diff --git a/src/systems/follow_actor/FollowActor.cc b/src/systems/follow_actor/FollowActor.cc index 32d51ef60a..f55c65c8ce 100644 --- a/src/systems/follow_actor/FollowActor.cc +++ b/src/systems/follow_actor/FollowActor.cc @@ -15,6 +15,8 @@ * */ +#include + #include #include diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index 1e0749772c..8885973829 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -17,6 +17,7 @@ #include #include +#include #include #include diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc index 74b5b36bd1..d973d94a60 100644 --- a/src/systems/sensors/Sensors.cc +++ b/src/systems/sensors/Sensors.cc @@ -19,6 +19,7 @@ #include #include +#include #include #include From d963ec14473c0cdc035f634e1e38c12120cedaf7 Mon Sep 17 00:00:00 2001 From: Ashton Larkin Date: Fri, 18 Dec 2020 18:06:24 -0500 Subject: [PATCH 199/202] 3 to 4: resolve codecheck warnings Signed-off-by: Ashton Larkin --- src/SimulationRunner.hh | 6 +++--- test/integration/physics_system.cc | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/SimulationRunner.hh b/src/SimulationRunner.hh index e7f4c0b15f..775487f4fa 100644 --- a/src/SimulationRunner.hh +++ b/src/SimulationRunner.hh @@ -70,16 +70,16 @@ namespace ignition struct WorldControl { /// \brief True to pause simulation. - /// cppcheck-suppress unusedStructMember + // cppcheck-suppress unusedStructMember bool pause{false}; // NOLINT /// \biref Run a given number of simulation iterations. - /// cppcheck-suppress unusedStructMember + // cppcheck-suppress unusedStructMember uint64_t multiStep{0u}; // NOLINT /// \brief Reset simulation back to time zero. Rewinding resets sim time, /// real time and iterations. - /// cppcheck-suppress unusedStructMember + // cppcheck-suppress unusedStructMember bool rewind{false}; // NOLINT /// \brief Sim time to jump to. A negative value means don't seek. diff --git a/test/integration/physics_system.cc b/test/integration/physics_system.cc index f8b3598c60..171cf8c8c1 100644 --- a/test/integration/physics_system.cc +++ b/test/integration/physics_system.cc @@ -640,7 +640,7 @@ TEST_F(PhysicsSystemFixture, ResetPositionComponent) double pos0 = 0.42; - /// cppcheck-suppress variableScope + // cppcheck-suppress variableScope bool firstRun = true; testSystem.OnPreUpdate( @@ -739,7 +739,7 @@ TEST_F(PhysicsSystemFixture, ResetVelocityComponent) double vel0 = 3.0; - /// cppcheck-suppress variableScope + // cppcheck-suppress variableScope bool firstRun = true; testSystem.OnPreUpdate( From 71990fbeeaae7be51eb7a081d327aa61d306b043 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Mon, 21 Dec 2020 09:00:04 -0800 Subject: [PATCH 200/202] Require ign-gui 4.1.0 (#505) Signed-off-by: Louise Poubel --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 3caa9b7dcc..ce24763e77 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -75,7 +75,7 @@ set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools5_VERSION_MAJOR}) #-------------------------------------- # Find ignition-gui -ign_find_package(ignition-gui4 REQUIRED) +ign_find_package(ignition-gui4 REQUIRED VERSION 4.1) set(IGN_GUI_VER ${ignition-gui4_VERSION_MAJOR}) ign_find_package (Qt5 COMPONENTS From efe8ea15e304748c195b46f8697033682cc05d45 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Mon, 21 Dec 2020 13:02:28 -0800 Subject: [PATCH 201/202] Fix shadow artifacts by disabling double sided rendering (#446) * read double sided sdf param Signed-off-by: Ian Chen * update migration Signed-off-by: Ian Chen * Make the tunnels example world more interesting (#462) Signed-off-by: Louise Poubel * add double sided msg to sdf conversion Signed-off-by: Ian Chen Co-authored-by: Louise Poubel --- Migration.md | 7 + examples/worlds/tunnel.sdf | 767 +++++++++++++++++++++++++++++++++- src/Conversions.cc | 14 + src/Conversions_TEST.cc | 9 + src/rendering/SceneManager.cc | 2 +- 5 files changed, 784 insertions(+), 15 deletions(-) diff --git a/Migration.md b/Migration.md index 701ae444c4..ab87e91c01 100644 --- a/Migration.md +++ b/Migration.md @@ -5,6 +5,13 @@ Deprecated code produces compile-time warnings. These warning serve as notification to users that their code should be upgraded. The next major release will remove the deprecated code. +## Ignition Gazebo 4.0.0 to 4.X.X + +* Ignition Gazebo 4.0.0 enabled double sided material by default but this +caused shadow artifacts to appear on some meshes. Double sided material is +now disabled and made an opt-in feature. Users can configure this property +in SDF by setting the `` SDF element. + ## Ignition Gazebo 3.x to 4.x * The `RenderUtil::SetEnabledSensors` callback in gazebo rendering has a new diff --git a/examples/worlds/tunnel.sdf b/examples/worlds/tunnel.sdf index 484c80ea67..796d77fd7b 100644 --- a/examples/worlds/tunnel.sdf +++ b/examples/worlds/tunnel.sdf @@ -1,6 +1,11 @@ @@ -16,10 +21,149 @@ false + + + + + + 3D View + false + docked + + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + -6 0 6 0 0.5 0 + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + Vehicle camera + docked + + camera + false + + + + + + Transform control + + + + + false + 230 + 50 + floating + false + #666666 + + + + + + + + + + + false + 200 + 50 + floating + false + #666666 + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + ogre2 + @@ -29,21 +173,39 @@ name="ignition::gazebo::systems::SceneBroadcaster"> - true - BaseStation - 0 0 0 0 0 0 + staging_area + 0 0 -0.005 0 0 0 https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/subt_tunnel_staging_area - - artifact_origin - 2 4 0.5 0 0 0 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fiducial + 9.23 2.18 0 0 0 -1.226 + + https://fuel.ignitionrobotics.org/1.0/chapulina/models/Extinguisher PBR + + + 0 0 5 0 0 0 + + 6 + 0.2 + 0.1 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 1 + 1.1 + 1 + + 0 0 -1 + 1 + + tile_0 @@ -896,16 +1058,593 @@ https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 280.000000 -240.000000 -10.000000 0 0 3.141593 - - - x1 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/X1 UGV - 0 0 .2 0 0 0 - + + + + 0.002225 0.033355 0.022792 0 -0 0 + 111.0015 + + 4.49753 + 0.00199937 + -0.00152659 + 2.46329 + -0.424901 + 5.57714 + + + + 0.25 0 0.0480 0 0 0 + + + 0.6 0.55 0.428 + + + + + 0.38 0 0.4 0 0 0 + + + 0.28 0.28 0.4 + + + + + 0 0 0 0 1.5707 0 + + + 0.5 + 0.05 + + + + + 0.180 0 .24 0 0 -1.5707963267948966 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/meshes/r2.dae + + BodyFront +

      true
      + + + + + 1.0 1.0 1.0 + 1.0 1.0 1.0 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Albedo.png + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Metalness.png + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Roughness.png + + + + + + 0.49 0 0.45 1.5707963267948966 1.5707963267948966 -1.5707963267948966 + + 50 + 0 + 0.1 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 1 + 1.1 + 1 + + 0 -1 0 + 1 + + + 0.55 0 0.33 0 0 0 + + 1.047 + + 320 + 240 + + + 0.1 + 100 + + + 1 + 30 + true + camera + + + + -0.047625 0 -0.0254 1.5707963267948966 0 0 + + -0.191018 -0.006403 -0 0 -0 0 + 42.8393 + + 0.848992 + 0.00301842 + 5.21788e-06 + 1.03049 + 1.2171e-07 + 0.43679 + + + + -0.2 0.072 0 0 0 0 + + + 0.42 0.43 0.56 + + + + + -0.70 0.2855 0 -0.005 0 0 + + + 0.17 0.01 0.5 + + + + + -0.35 0.2855 -0.005 -0.005 0 0 + + + 0.678 0.01 0.69 + + + + + -0.428 0.068 0 -1.5707963267948966 -1.5707963267948966 0 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/meshes/r2.dae + + BodyRear +
      true
      +
      +
      +
      + + 1.0 1.0 1.0 + 1.0 1.0 1.0 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Albedo.png + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Metalness.png + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Roughness.png + + + +
      + + + Rear_Rocker_Link + base_link + + -1 0 0 + + -0.5236 + 0.5236 + + + 10 + 0.1 + 0.1 + 100 + + 0 + + + + 0.33421 0.363 -0.091538 -0.013747 -0 -1.5707963267948966 + + 0.007124 -1.6e-05 4e-06 0 -0 0 + 11.5398 + + 0.127932 + 6.41777e-06 + 2.40271e-06 + 0.0695645 + 1.35439e-09 + 0.0695643 + + + + 0 0 0 3.1415926535897931 1.5707963267948966 3.1415926535897931 + + + 0.1125 + 0.31 + + + + + + 0.5 + 1 + 0 0 1 + 0.0000235 + 0 + 10 + 0.1 + + + + + 1e+07 + 0.0001 + + + + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/meshes/r2.dae + + WheelFL +
      true
      +
      +
      +
      + + 1.0 1.0 1.0 + 1.0 1.0 1.0 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Albedo.png + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Metalness.png + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Roughness.png + + + +
      + + + left_front_wheel_link + base_link + + -1 0 0 + + -1e+16 + 1e+16 + + + 10 + 0.1 + 0 + 0 + + 0 + + + + -0.334625 0.363 -0.083399 -0.014389 0.000148 -1.5707963267948966 + + 0.007124 -1.6e-05 4e-06 0 -0 0 + 11.5398 + + 0.127932 + 6.41777e-06 + 2.40271e-06 + 0.0695645 + 1.35439e-09 + 0.0695643 + + + + 0 0 0 3.1415926535897931 1.5707963267948966 3.1415926535897931 + + + 0.1125 + 0.31 + + + + + + 0.5 + 1 + 0 0 1 + 0.0000235 + 0 + 10 + 0.1 + + + + + 1e+07 + 0.0001 + + + + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/meshes/r2.dae + + WheelBL +
      true
      +
      +
      +
      + + 1.0 1.0 1.0 + 1.0 1.0 1.0 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Albedo.png + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Metalness.png + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Roughness.png + + + +
      + + + left_rear_wheel_link + Rear_Rocker_Link + + -1 0 0 + + -1e+16 + 1e+16 + + + 10 + 0.1 + 0 + 0 + + 0 + + + + 0.33421 -0.363 -0.091538 -0.013747 -0 1.5707963267948966 + + 0.007124 -1.6e-05 4e-06 0 -0 0 + 11.5398 + + 0.127932 + 6.41777e-06 + 2.40271e-06 + 0.0695645 + 1.35439e-09 + 0.0695643 + + + + 0 0 0 3.1415926535897931 1.5707963267948966 3.1415926535897931 + + + 0.1125 + 0.31 + + + + + + 0.5 + 1 + 0 0 1 + 0.0000235 + 0 + 10 + 0.1 + + + + + 1e+07 + 0.0001 + + + + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/meshes/r2.dae + + WheelFR +
      true
      +
      +
      +
      + + 1.0 1.0 1.0 + 1.0 1.0 1.0 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Albedo.png + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Metalness.png + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Roughness.png + + + +
      + + + right_front_wheel_link + base_link + + 1 0 0 + + -1e+16 + 1e+16 + + + 10 + 0.1 + 0 + 0 + + 0 + + + + -0.334625 -0.363 -0.083401 -0.014389 -0.000148 1.5707963267948966 + + 0.007124 -1.6e-05 4e-06 0 -0 0 + 11.5398 + + 0.127932 + 6.41777e-06 + 2.40271e-06 + 0.0695645 + 1.35439e-09 + 0.0695643 + + + + 0 0 0 3.1415926535897931 1.5707963267948966 3.1415926535897931 + + + 0.1125 + 0.31 + + + + + + 0.5 + 1 + 0 0 1 + 0.0000235 + 0 + 10 + 0.1 + + + + + 1e+07 + 0.0001 + + + + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/meshes/r2.dae + + WheelBR +
      true
      +
      +
      +
      + + 1.0 1.0 1.0 + 1.0 1.0 1.0 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Albedo.png + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Metalness.png + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2/3/files/materials/textures/R2_Roughness.png + + + +
      + + + right_rear_wheel_link + Rear_Rocker_Link + + 1 0 0 + + -1e+16 + 1e+16 + + + 10 + 0.1 + 0 + 0 + + 0 + + + + 0 0 0.38 0 0 0.0 + + + left_rear_wheel + left_front_wheel + right_rear_wheel + right_front_wheel + 1.25 + 0.3 + 1 + cmd_vel + + + + + + 87 + + + linear: {x: 2.0}, angular: {z: 0.0} + + + + + + + 88 + + + linear: {x: -2.0}, angular: {z: 0.0} + + + + + + + 68 + + + linear: {x: 0.0}, angular: {z: -0.5} + + + + + + + 65 + + + linear: {x: 0.0}, angular: {z: 0.5} + + + + + + + 83 + + + linear: {x: 0.0}, angular: {z: 0.0} + + + + - x1 + vehicle 2 2 2 diff --git a/src/Conversions.cc b/src/Conversions.cc index cc2d685861..edbc024d77 100644 --- a/src/Conversions.cc +++ b/src/Conversions.cc @@ -264,6 +264,12 @@ msgs::Material ignition::gazebo::convert(const sdf::Material &_in) msgs::Set(out.mutable_emissive(), _in.Emissive()); out.set_lighting(_in.Lighting()); + // todo(anyone) add double_sided field to msgs::Material + auto data = out.mutable_header()->add_data(); + data->set_key("double_sided"); + std::string *value = data->add_value(); + *value = std::to_string(_in.DoubleSided()); + sdf::Pbr *pbr = _in.PbrMaterial(); if (pbr) { @@ -317,6 +323,14 @@ sdf::Material ignition::gazebo::convert(const msgs::Material &_in) out.SetEmissive(msgs::Convert(_in.emissive())); out.SetLighting(_in.lighting()); + // todo(anyone) add double_sided field to msgs::Material + for (int i = 0; i < _in.header().data_size(); ++i) + { + const auto &data = _in.header().data(i); + if (data.key() == "double_sided" && data.value_size() > 0) + out.SetDoubleSided(math::parseInt(data.value(0))); + } + if (_in.has_pbr()) { const auto &pbrMsg = _in.pbr(); diff --git a/src/Conversions_TEST.cc b/src/Conversions_TEST.cc index 8ce78db565..fe155e00a5 100644 --- a/src/Conversions_TEST.cc +++ b/src/Conversions_TEST.cc @@ -206,6 +206,9 @@ TEST(Conversions, Material) material.SetEmissive(ignition::math::Color(1.3f, 1.4f, 1.5f, 1.6f)); material.SetLighting(true); + // todo(anyone) add double_sided field to msgs::Material + material.SetDoubleSided(true); + sdf::Pbr pbr; sdf::PbrWorkflow workflow; workflow.SetType(sdf::PbrWorkflowType::METAL); @@ -235,6 +238,11 @@ TEST(Conversions, Material) msgs::Convert(materialMsg.emissive())); EXPECT_TRUE(materialMsg.lighting()); + // todo(anyone) double_sided is temporarily stored in header + // Need to add double_sided field to msgs::Material + bool doubleSided = math::parseInt(materialMsg.header().data(0).value(0)); + EXPECT_TRUE(doubleSided); + EXPECT_TRUE(materialMsg.has_pbr()); const auto &pbrMsg = materialMsg.pbr(); EXPECT_EQ(msgs::Material_PBR_WorkflowType_METAL, pbrMsg.type()); @@ -257,6 +265,7 @@ TEST(Conversions, Material) EXPECT_EQ(math::Color(0.9f, 1.0f, 1.1f, 1.2f), newMaterial.Ambient()); EXPECT_EQ(math::Color(1.3f, 1.4f, 1.5f, 1.6f), newMaterial.Emissive()); EXPECT_TRUE(newMaterial.Lighting()); + EXPECT_TRUE(newMaterial.DoubleSided()); sdf::Pbr *newPbrMaterial = newMaterial.PbrMaterial(); ASSERT_NE(nullptr, newPbrMaterial); diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 6bfa86f924..54fb330aa9 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -492,7 +492,7 @@ rendering::MaterialPtr SceneManager::LoadMaterial( { material->SetTexture(fullPath); // Use alpha channel for transparency - material->SetAlphaFromTexture(true); + material->SetAlphaFromTexture(true, 0.5, _material.DoubleSided()); } else ignerr << "Unable to find file [" << albedoMap << "]\n"; From a830b443989877b1e83170390f483b6c02952b25 Mon Sep 17 00:00:00 2001 From: Gonzo <42421541+gonzodepedro@users.noreply.github.com> Date: Mon, 28 Dec 2020 16:49:52 -0300 Subject: [PATCH 202/202] Kinetic energy monitor plugin (#492) Signed-off-by: Gonzalo de Pedro Signed-off-by: Nate Koenig Co-authored-by: Nate Koenig Co-authored-by: Louise Poubel --- examples/worlds/kinetic_energy_monitor.sdf | 116 ++++++++++ src/systems/CMakeLists.txt | 1 + .../kinetic_energy_monitor/CMakeLists.txt | 6 + .../KineticEnergyMonitor.cc | 200 ++++++++++++++++++ .../KineticEnergyMonitor.hh | 128 +++++++++++ test/integration/CMakeLists.txt | 1 + .../kinetic_energy_monitor_system.cc | 100 +++++++++ test/worlds/altimeter.sdf | 7 + 8 files changed, 559 insertions(+) create mode 100644 examples/worlds/kinetic_energy_monitor.sdf create mode 100644 src/systems/kinetic_energy_monitor/CMakeLists.txt create mode 100644 src/systems/kinetic_energy_monitor/KineticEnergyMonitor.cc create mode 100644 src/systems/kinetic_energy_monitor/KineticEnergyMonitor.hh create mode 100644 test/integration/kinetic_energy_monitor_system.cc diff --git a/examples/worlds/kinetic_energy_monitor.sdf b/examples/worlds/kinetic_energy_monitor.sdf new file mode 100644 index 0000000000..30de44ede4 --- /dev/null +++ b/examples/worlds/kinetic_energy_monitor.sdf @@ -0,0 +1,116 @@ + + + + + + + 0.001 + 1.0 + + + + + + + + + + true + 0 0 10 0 0 0 + 1 1 1 1 + 0.5 0.5 0.5 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 0 0 5 0 0 0 + + + + 3 + 0 + 0 + 3 + 0 + 3 + + 3.0 + + + + + 0.5 + + + + + + + + 0.5 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + + + + + + sphere_link + 100 + + + + + + + diff --git a/src/systems/CMakeLists.txt b/src/systems/CMakeLists.txt index cf899f8476..c5eeabe6e7 100644 --- a/src/systems/CMakeLists.txt +++ b/src/systems/CMakeLists.txt @@ -85,6 +85,7 @@ add_subdirectory(imu) add_subdirectory(joint_controller) add_subdirectory(joint_position_controller) add_subdirectory(joint_state_publisher) +add_subdirectory(kinetic_energy_monitor) add_subdirectory(lift_drag) add_subdirectory(log) add_subdirectory(log_video_recorder) diff --git a/src/systems/kinetic_energy_monitor/CMakeLists.txt b/src/systems/kinetic_energy_monitor/CMakeLists.txt new file mode 100644 index 0000000000..aa8ff86d29 --- /dev/null +++ b/src/systems/kinetic_energy_monitor/CMakeLists.txt @@ -0,0 +1,6 @@ +gz_add_system(kinetic-energy-monitor + SOURCES + KineticEnergyMonitor.cc + PUBLIC_LINK_LIBS + ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER} +) diff --git a/src/systems/kinetic_energy_monitor/KineticEnergyMonitor.cc b/src/systems/kinetic_energy_monitor/KineticEnergyMonitor.cc new file mode 100644 index 0000000000..60b1ab327e --- /dev/null +++ b/src/systems/kinetic_energy_monitor/KineticEnergyMonitor.cc @@ -0,0 +1,200 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include "KineticEnergyMonitor.hh" + +using namespace ignition; +using namespace gazebo; +using namespace systems; + +/// \brief Private data class +class ignition::gazebo::systems::KineticEnergyMonitorPrivate +{ + /// \brief Link of the model. + public: Entity linkEntity; + + /// \brief Name of the model this plugin is attached to. + public: std::string modelName; + + /// \brief Kinetic energy during the previous step. + public: double prevKineticEnergy {0.0}; + + /// \brief Kinetic energy threshold. + public: double keThreshold {7.0}; + + /// \brief Ignition communication publisher. + public: transport::Node::Publisher pub; + + /// \brief The model this plugin is attached to. + public: Model model; +}; + +////////////////////////////////////////////////// +KineticEnergyMonitor::KineticEnergyMonitor() : System(), + dataPtr(std::make_unique()) +{ +} + +////////////////////////////////////////////////// +KineticEnergyMonitor::~KineticEnergyMonitor() = default; + +////////////////////////////////////////////////// +void KineticEnergyMonitor::Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &/*_eventMgr*/) +{ + this->dataPtr->model = Model(_entity); + + if (!this->dataPtr->model.Valid(_ecm)) + { + ignerr << "KineticEnergyMonitor should be attached to a model " + << "entity. Failed to initialize." << std::endl; + return; + } + + this->dataPtr->modelName = this->dataPtr->model.Name(_ecm); + + auto sdfClone = _sdf->Clone(); + std::string linkName; + if (sdfClone->HasElement("link_name")) + { + linkName = sdfClone->Get("link_name"); + } + + if (linkName.empty()) + { + ignerr << "found an empty parameter. Failed to initialize." + << std::endl; + return; + } + + // Get the link entity + this->dataPtr->linkEntity = this->dataPtr->model.LinkByName(_ecm, linkName); + + if (this->dataPtr->linkEntity == kNullEntity) + { + ignerr << "Link " << linkName + << " could not be found. Failed to initialize.\n"; + return; + } + + this->dataPtr->keThreshold = sdfClone->Get( + "kinetic_energy_threshold", 7.0).first; + + std::string defaultTopic{"/model/" + this->dataPtr->modelName + + "/kinetic_energy"}; + std::string topic = sdfClone->Get("topic", defaultTopic).first; + + ignmsg << "KineticEnergyMonitor publishing messages on " + << "[" << topic << "]" << std::endl; + + transport::Node node; + this->dataPtr->pub = node.Advertise(topic); + + if (!_ecm.Component(this->dataPtr->linkEntity)) + { + _ecm.CreateComponent(this->dataPtr->linkEntity, + components::WorldPose()); + } + + if (!_ecm.Component(this->dataPtr->linkEntity)) + { + _ecm.CreateComponent(this->dataPtr->linkEntity, components::Inertial()); + } + + // Create a world linear velocity component if one is not present. + if (!_ecm.Component( + this->dataPtr->linkEntity)) + { + _ecm.CreateComponent(this->dataPtr->linkEntity, + components::WorldLinearVelocity()); + } + + // Create an angular velocity component if one is not present. + if (!_ecm.Component( + this->dataPtr->linkEntity)) + { + _ecm.CreateComponent(this->dataPtr->linkEntity, + components::AngularVelocity()); + } + + // Create an angular velocity component if one is not present. + if (!_ecm.Component( + this->dataPtr->linkEntity)) + { + _ecm.CreateComponent(this->dataPtr->linkEntity, + components::WorldAngularVelocity()); + } +} + +////////////////////////////////////////////////// +void KineticEnergyMonitor::PostUpdate(const UpdateInfo &/*_info*/, + const EntityComponentManager &_ecm) +{ + if (this->dataPtr->linkEntity != kNullEntity) + { + Link link(this->dataPtr->linkEntity); + if (std::nullopt != link.WorldKineticEnergy(_ecm)) + { + double currKineticEnergy = *link.WorldKineticEnergy(_ecm); + + // We only care about positive values of this (the links looses energy) + double deltaKE = this->dataPtr->prevKineticEnergy - currKineticEnergy; + this->dataPtr->prevKineticEnergy = currKineticEnergy; + + if (deltaKE > this->dataPtr->keThreshold) + { + ignmsg << this->dataPtr->modelName + << " Change in kinetic energy above threshold - deltaKE: " + << deltaKE << std::endl; + msgs::Double msg; + msg.set_data(deltaKE); + this->dataPtr->pub.Publish(msg); + } + } + } +} + +IGNITION_ADD_PLUGIN(KineticEnergyMonitor, System, + KineticEnergyMonitor::ISystemConfigure, + KineticEnergyMonitor::ISystemPostUpdate +) + +IGNITION_ADD_PLUGIN_ALIAS(KineticEnergyMonitor, + "ignition::gazebo::systems::KineticEnergyMonitor") diff --git a/src/systems/kinetic_energy_monitor/KineticEnergyMonitor.hh b/src/systems/kinetic_energy_monitor/KineticEnergyMonitor.hh new file mode 100644 index 0000000000..de037608bd --- /dev/null +++ b/src/systems/kinetic_energy_monitor/KineticEnergyMonitor.hh @@ -0,0 +1,128 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#ifndef IGNITION_GAZEBO_SYSTEMS_KINETIC_ENERGY_MONITOR_HH_ +#define IGNITION_GAZEBO_SYSTEMS_KINETIC_ENERGY_MONITOR_HH_ + +#include +#include +#include +#include + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { +namespace systems +{ + // Forward declarations. + class KineticEnergyMonitorPrivate; + + /// \brief A system that monitors the kinetic energy of a link in a model + /// and publishes when there is a lost of kinetic energy during a timestep + /// that surpasses a specific threshold. + /// This system can be used to detect when a model could be damaged. + /// + /// # System Parameters + /// + /// ``: Name of the link to monitor. This name must match + /// a name of link within the model. + /// + /// ``: Threshold, in Joule (J), after which + /// a message is generated on `` with the kinetic energy value that + /// surpassed the threshold. + /// + /// ``: Custom topic that this system will publish to when kinetic + /// energy surpasses the threshold. This element if optional, and the + /// default value is `/model/{name_of_model}/kinetic_energy`. + /// + /// # Example Usage + /// + /** \verbatim + + 0 0 5 0 0 0 + + + + 3 + 0 + 0 + 3 + 0 + 3 + + 3.0 + + + + + 0.5 + + + + + + + 0.5 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + + + + + sphere_link + 100 + + + \endverbatim */ + class IGNITION_GAZEBO_VISIBLE KineticEnergyMonitor: + public System, + public ISystemConfigure, + public ISystemPostUpdate + { + /// \brief Constructor + public: KineticEnergyMonitor(); + + /// \brief Destructor + public: ~KineticEnergyMonitor() final; + + // Documentation inherited + public: void Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &_eventMgr) final; + + // Documentation inherited + public: void PostUpdate(const UpdateInfo &_info, + const EntityComponentManager &_ecm) final; + + /// \brief Private data pointer. + private: std::unique_ptr dataPtr; + }; +} +} +} +} +#endif diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index bcb305e1b6..b3c33508fc 100644 --- a/test/integration/CMakeLists.txt +++ b/test/integration/CMakeLists.txt @@ -20,6 +20,7 @@ set(tests joint_controller_system.cc joint_position_controller_system.cc joint_state_publisher_system.cc + kinetic_energy_monitor_system.cc lift_drag_system.cc level_manager.cc level_manager_runtime_performers.cc diff --git a/test/integration/kinetic_energy_monitor_system.cc b/test/integration/kinetic_energy_monitor_system.cc new file mode 100644 index 0000000000..bd5b1853ec --- /dev/null +++ b/test/integration/kinetic_energy_monitor_system.cc @@ -0,0 +1,100 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#include + +#include +#include + +#include +#include +#include + +#include "ignition/gazebo/Server.hh" +#include "ignition/gazebo/SystemLoader.hh" +#include "ignition/gazebo/test_config.hh" + +using namespace ignition; +using namespace gazebo; + +/// \brief Test Kinetic Energy Monitor system +class KineticEnergyMonitorTest : public ::testing::Test +{ + // Documentation inherited + protected: void SetUp() override + { + ignition::common::Console::SetVerbosity(4); + setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", + (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1); + } +}; + +std::mutex mutex; +std::vector dblMsgs; + +///////////////////////////////////////////////// +void cb(const msgs::Double &_msg) +{ + mutex.lock(); + dblMsgs.push_back(_msg); + mutex.unlock(); +} + +///////////////////////////////////////////////// +// The test checks the world pose and sensor readings of a falling altimeter +TEST_F(KineticEnergyMonitorTest, ModelFalling) +{ + // Start server + ServerConfig serverConfig; + const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + + "/test/worlds/altimeter.sdf"; + serverConfig.SetSdfFile(sdfFile); + + Server server(serverConfig); + EXPECT_FALSE(server.Running()); + EXPECT_FALSE(*server.Running(0)); + + const std::string sensorName = "altimeter_sensor"; + + // subscribe to kinetic energy topic + std::string topic = "/model/altimeter_model/kinetic_energy"; + transport::Node node; + node.Subscribe(topic, &cb); + + // Run server + size_t iters = 1000u; + server.Run(true, iters, false); + + // Wait for messages to be received + for (int sleep = 0; sleep < 30; ++sleep) + { + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + + mutex.lock(); + bool received = dblMsgs.size() > 0; + mutex.unlock(); + + if (received) + break; + } + + mutex.lock(); + EXPECT_EQ(1u, dblMsgs.size()); + auto firstMsg = dblMsgs.front(); + mutex.unlock(); + EXPECT_GT(firstMsg.data(), 2); +} diff --git a/test/worlds/altimeter.sdf b/test/worlds/altimeter.sdf index 4aaa125fc4..fa0a098272 100644 --- a/test/worlds/altimeter.sdf +++ b/test/worlds/altimeter.sdf @@ -72,6 +72,13 @@ true + + + link + 2 +

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zI84$}Uj`U#zRG-Scag5<;I5V}d8IohxD?uwe7!HM|Cg!0QlkU)qOHz9yroW1yig_NG72P=$&KCj{7Oi(IhUJOK~On#=*#=}iQ$YsKZ(5uD$ `Open`. +Depending on the number of points in your point cloud, this could take several minutes. + + + +Many 3D scans will be composed of millions, sometimes hundreds of millions of points. +Converting our scan to a 3D model with that many points will be very difficult due to the number of polygons that would be created and the long processing time necessary to compute the normals. + +To solve this, we need to reduce the number of points to something that will be easier for the software to convert and give us a 3D model with a polygon count that will be able to be loaded into other software. + +### Reduce Points + +To reduce the number of points in your cloud go to `Edit` > `Subsample` + +The number you will need to enter in the `min. space between points` field will vary depending on your point cloud. +A value of .01 was sufficient to bring our point cloud to a more reasonable 12 million points. +How many points you reduce down to will largely depend on how long you are willing to wait for the point cloud to be converted into a mesh. +The more points you start with, the longer it will take to compute the normals and create the mesh. + +![Min. space between points](files/point_cloud_to_mesh/minspace.png) + +After the operation is complete you’ll have two clouds in your scene: the original point cloud and your subsampled point cloud. +Most operations in CloudCompare will create new point clouds and keep the original, so make sure that you have the new point cloud selected before running an operation. + +![Selecting the new point cloud](files/point_cloud_to_mesh/newcloud.png) + +### Create a Polygonal Mesh + +Now we have a point cloud with 12 million points instead of 94 million points. +However, right now our point cloud is just a bunch of points in space. +In order to create a polygonal mesh from this point cloud we will need to compute the normals. +A normal is essentially the direction a polygon is facing. +To do this, go to `Normals` > `Compute`. +You'll see this dialog box: + +![Choose Triangulation surface model](files/point_cloud_to_mesh/triangulation.png) + +You’ll see various options in the dialog box that appears. +The main thing you’ll want to consider is what `Local surface model` to use. +`Plane` is good with noise but not very good with sharp edges. +`Triangulation` is the opposite: it is good with sharp edges but not noise. +`Quadric` is good for smooth, curvy surfaces. +In our case, we want to keep some of the jaggedness of the rocky surfaces in our tunnel so we’re going to go with the `Triangulation` surface model. + +Now we get to actually convert our point cloud to a mesh. +To do this go to `Plugins` > `PoissonRecon`. +You'll see this dialog box: + +![Octree depth and output density selection](files/point_cloud_to_mesh/outputdensity.png) + +The value you enter in the `Octree depth` field will determine the polygon count of the created model. +You may have to run the surface reconstruction a couple times with varying values before you land on a polygon count that is suitable for your needs. +The “right” polygon count will be determined by how the object will be used in a scene. +Environments will likely be over a million polygons while individual objects should be a few thousand. + +We’ll also want to make sure we check the box for `output density as SF`. +This will create a scalar field for us which will be useful in the next step. + +### Trim Excess Polygons + +Our mesh has now been created. +A value of 11 has given us 1.7 million faces. +We have a problem however. +Our tunnels have turned into a blob shape. +This is because the mesh that CloudCompare creates will always be water tight even if it has to add polygons where there are no points. +We just want our tunnels, though, so we need to remove those unnecessary polygons. + +![The "blob shape"](files/point_cloud_to_mesh/blobshape.png) + +This is where our scalar field comes in. +In the lower left go to `SF display params` and take the left handle in the graph and drag it to the right until it hits the area where the bulk of the scalar field starts. + +![Adjusting scalar filed params](files/point_cloud_to_mesh/scalarfield.png) + + + +This will display only the polygons that were created from the point cloud and hide the polygons used to make the model watertight. +The polygons are only hidden however. +We still need to actually remove them. + +![Display original polygons](files/point_cloud_to_mesh/polygons.png) + +To remove the hidden polygons go to `Edit` > `Scalar field` > `Filter By Value`. + +A dialog box will appear with the `Range` values automatically entered based on what we entered in our `SF display params`. +Hitting `Split` will create two meshes. +One with the polygons inside our specified range and one containing polygons outside that range. +Hitting export will simply export the mesh within that range. + +![Splitting the mesh](files/point_cloud_to_mesh/splitmesh.png) + +### The Completed Model + +By hitting `Split` we can view the model before exporting by simply going to `File` > `Save`. +Remember to have the correct mesh selected since choosing `Split` will give you two new meshes, plus you will still have your original, complete mesh. +Your file format will depend on the software you want to use but `.obj` is a widely supported format that should work in most 3D applications. + +![The completed mesh](files/point_cloud_to_mesh/completemesh.png) + +You can find more information on CloudCompare and a more in depth look at the tools we used in this tutorial on [the CloudCompare website](https://www.cloudcompare.org/) and the [CloudCompare wiki](https://www.cloudcompare.org/doc/wiki/index.php?title=Main_Page). + + From de4273d78b0c6757ee818b0c8fb13354050d86ef Mon Sep 17 00:00:00 2001 From: jshep1 Date: Wed, 18 Mar 2020 14:51:08 -0700 Subject: [PATCH 033/202] Add version reqs for build --- CMakeLists.txt | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 380843e84b..0be0a44f4a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -59,12 +59,18 @@ set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR}) #-------------------------------------- # Find ignition-common # Always use the profiler component to get the headers, regardless of status. -ign_find_package(ignition-common3 REQUIRED COMPONENTS profiler events av) +ign_find_package(ignition-common3 VERSION 3.4 + COMPONENTS + profiler + events + av + REQUIRED +) set(IGN_COMMON_VER ${ignition-common3_VERSION_MAJOR}) #-------------------------------------- # Find ignition-fuel_tools -ign_find_package(ignition-fuel_tools4 REQUIRED) +ign_find_package(ignition-fuel_tools4 REQUIRED VERSION 4.1) set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools4_VERSION_MAJOR}) #-------------------------------------- From dca6d7d6a1441c7bbf3c011c79d06fce89f1d150 Mon Sep 17 00:00:00 2001 From: jshep1 Date: Wed, 18 Mar 2020 15:21:31 -0700 Subject: [PATCH 034/202] Add entityfromnodeback --- .../ignition/gazebo/rendering/SceneManager.hh | 7 ++++ src/rendering/SceneManager.cc | 39 +++++++++++++++++++ 2 files changed, 46 insertions(+) diff --git a/include/ignition/gazebo/rendering/SceneManager.hh b/include/ignition/gazebo/rendering/SceneManager.hh index 8770a3f24c..57e71306f9 100644 --- a/include/ignition/gazebo/rendering/SceneManager.hh +++ b/include/ignition/gazebo/rendering/SceneManager.hh @@ -144,6 +144,13 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \param[in] _id Entity's unique id public: void RemoveEntity(Entity _id); + /// \brief Get the entity for a given node. + /// \param[in] _node Node to get the entity for. + /// \return The entity for that node, or `kNullEntity` for no entity. + /// \todo(anyone) Deprecate in favour of + /// `ignition::rendering::Node::UserData` once that's available. + public: Entity IGN_DEPRECATED(4) EntityFromNode(const rendering::NodePtr &_node) const; + /// \brief Load a geometry /// \param[in] _geom Geometry sdf dom /// \param[out] _scale Geometry scale that will be set based on sdf diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index a964f96aa9..4862a3ceb9 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -1038,3 +1038,42 @@ rendering::NodePtr SceneManager::TopLevelNode( return node; } + +///////////////////////////////////////////////// +Entity SceneManager::EntityFromNode(const rendering::NodePtr &_node) const +{ + // TODO(anyone) On Dome, set entity ID into node with SetUserData + auto visual = std::dynamic_pointer_cast(_node); + if (visual) + { + auto found = std::find_if(std::begin(this->dataPtr->visuals), + std::end(this->dataPtr->visuals), + [&](const std::pair &_item) + { + return _item.second == visual; + }); + + if (found != this->dataPtr->visuals.end()) + { + return found->first; + } + } + + auto light = std::dynamic_pointer_cast(_node); + if (light) + { + auto found = std::find_if(std::begin(this->dataPtr->lights), + std::end(this->dataPtr->lights), + [&](const std::pair &_item) + { + return _item.second == light; + }); + + if (found != this->dataPtr->lights.end()) + { + return found->first; + } + } + + return kNullEntity; +} From b18ae09ed22914d56027d4d898e6d3091e81a7f8 Mon Sep 17 00:00:00 2001 From: jshep1 Date: Thu, 19 Mar 2020 16:02:12 -0700 Subject: [PATCH 035/202] Add aabb to render util --- src/rendering/RenderUtil.cc | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 9fe2d3bdbd..1df43e784c 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -1143,7 +1143,14 @@ void RenderUtil::SetSelectedEntity(const rendering::NodePtr &_node) return; this->dataPtr->selectedEntities.push_back(entityId); - this->dataPtr->HighlightNode(_node); + //vis->SetHighlighted(true); + + ignition::rendering::WireBoxPtr wireBox = this->dataPtr->scene->CreateWireBox(); + ignition::math::AxisAlignedBox aabb = vis->BoundingBox(); + ignwarn << "aabb is " << aabb << "\n"; + wireBox->SetBox(aabb); + vis->AddGeometry(wireBox); + //this->dataPtr->HighlightNode(_node); } ///////////////////////////////////////////////// @@ -1152,7 +1159,9 @@ void RenderUtil::DeselectAllEntities() for (const auto &entity : this->dataPtr->selectedEntities) { auto node = this->dataPtr->sceneManager.NodeById(entity); - this->dataPtr->LowlightNode(node); + auto vis = std::dynamic_pointer_cast(node); + //vis->SetHighlighted(false); + //this->dataPtr->LowlightNode(node); } this->dataPtr->selectedEntities.clear(); this->dataPtr->originalEmissive.clear(); From 4a504e6b99b3819badb34f5bb8f49fced9b4ee0f Mon Sep 17 00:00:00 2001 From: John Shepherd Date: Thu, 19 Mar 2020 23:42:12 +0000 Subject: [PATCH 036/202] Close branch LogRecord_3_to_4 From 967dc6460240dc05d456fb7983e32435528b0c5c Mon Sep 17 00:00:00 2001 From: Mabel Zhang Date: Thu, 19 Mar 2020 20:14:37 -0400 Subject: [PATCH 037/202] correct comment --- test/integration/log_system.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/test/integration/log_system.cc b/test/integration/log_system.cc index f305c3c0d3..92fa32d1aa 100644 --- a/test/integration/log_system.cc +++ b/test/integration/log_system.cc @@ -384,7 +384,7 @@ TEST_F(LogSystemTest, LogPaths) "log_record_dbl_pendulum.sdf"); // Test case 1: - // A path is specified in SDF - a feature deprecated in Ignition Dome. + // A path is specified in SDF - a feature removed in Ignition Dome. // No path specified in C++ API. // Should ignore SDF path. No default logging directory is initialized for // state and console logs because ign.cc is not triggered. @@ -435,7 +435,7 @@ TEST_F(LogSystemTest, LogPaths) #endif // Test case 2: - // A path is specified in SDF - a feature deprecated in Ignition Dome. + // A path is specified in SDF - a feature removed in Ignition Dome. // SDF path should be ignored. // State log and console log should be stored to default timestamp path // ignLogDirectory because ign.cc is triggered by command line. @@ -495,7 +495,7 @@ TEST_F(LogSystemTest, LogPaths) this->CreateLogsDir(); // Test case 3: - // A path is specified in SDF - a feature deprecated in Ignition Dome. + // A path is specified in SDF - a feature removed in Ignition Dome. // Empty path is specified via C++ API. // Should ignore SDF path. No default logging directory is initialized for // state and console logs because ign.cc is not triggered. From 9af8a97b3d803aa3ffee77347f9787c80b0ca876 Mon Sep 17 00:00:00 2001 From: jshep1 Date: Thu, 19 Mar 2020 17:14:57 -0700 Subject: [PATCH 038/202] Enable deselection of bounding boxes --- src/rendering/RenderUtil.cc | 44 ++++++++++++++++++++++++++++++++----- 1 file changed, 38 insertions(+), 6 deletions(-) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 1df43e784c..e44426cade 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -165,6 +165,9 @@ class ignition::gazebo::RenderUtilPrivate /// \brief A map of entity ids and temperature public: std::map entityTemp; + /// \brief A map of entity ids and wire boxes + public: std::map wireBoxes; + /// \brief Mutex to protect updates public: std::mutex updateMutex; @@ -1144,12 +1147,32 @@ void RenderUtil::SetSelectedEntity(const rendering::NodePtr &_node) this->dataPtr->selectedEntities.push_back(entityId); //vis->SetHighlighted(true); - - ignition::rendering::WireBoxPtr wireBox = this->dataPtr->scene->CreateWireBox(); - ignition::math::AxisAlignedBox aabb = vis->BoundingBox(); - ignwarn << "aabb is " << aabb << "\n"; - wireBox->SetBox(aabb); - vis->AddGeometry(wireBox); + if (this->dataPtr->wireBoxes.find(entityId) == this->dataPtr->wireBoxes.end()) + { + rendering::MaterialPtr gray = this->dataPtr->scene->CreateMaterial(); + gray->SetAmbient(0.7, 0.7, 0.7); + gray->SetDiffuse(0.7, 0.7, 0.7); + gray->SetSpecular(0.7, 0.7, 0.7); + + ignition::rendering::WireBoxPtr wireBox = this->dataPtr->scene->CreateWireBox(); + ignition::math::AxisAlignedBox aabb = vis->BoundingBox(); + ignwarn << "aabb is " << aabb << "\n"; + wireBox->SetBox(aabb); + ignition::rendering::VisualPtr wireBoxVis = this->dataPtr->scene->CreateVisual(); + wireBoxVis->AddGeometry(wireBox); + wireBoxVis->SetMaterial(gray); + vis->AddChild(wireBoxVis); + this->dataPtr->wireBoxes.insert(std::pair(entityId, wireBox)); + } + else + { + ignition::rendering::WireBoxPtr wireBox = this->dataPtr->wireBoxes[entityId]; + auto visParent = wireBox->Parent(); + if (visParent) + { + visParent->SetVisible(true); + } + } //this->dataPtr->HighlightNode(_node); } @@ -1162,6 +1185,15 @@ void RenderUtil::DeselectAllEntities() auto vis = std::dynamic_pointer_cast(node); //vis->SetHighlighted(false); //this->dataPtr->LowlightNode(node); + if (this->dataPtr->wireBoxes.find(entity) != this->dataPtr->wireBoxes.end()) + { + ignition::rendering::WireBoxPtr wireBox = this->dataPtr->wireBoxes[entity]; + auto visParent = wireBox->Parent(); + if (visParent) + { + visParent->SetVisible(false); + } + } } this->dataPtr->selectedEntities.clear(); this->dataPtr->originalEmissive.clear(); From 0d2d3b31333765cc1942100b7b3bfcbd3a473790 Mon Sep 17 00:00:00 2001 From: jshep1 Date: Thu, 19 Mar 2020 18:40:45 -0700 Subject: [PATCH 039/202] remove print stment --- src/rendering/RenderUtil.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index e44426cade..eaed7a649d 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -1156,7 +1156,6 @@ void RenderUtil::SetSelectedEntity(const rendering::NodePtr &_node) ignition::rendering::WireBoxPtr wireBox = this->dataPtr->scene->CreateWireBox(); ignition::math::AxisAlignedBox aabb = vis->BoundingBox(); - ignwarn << "aabb is " << aabb << "\n"; wireBox->SetBox(aabb); ignition::rendering::VisualPtr wireBoxVis = this->dataPtr->scene->CreateVisual(); wireBoxVis->AddGeometry(wireBox); From 391fc8ec9e9f69ad60f5d6998b811142fbae6eae Mon Sep 17 00:00:00 2001 From: jshep1 Date: Thu, 19 Mar 2020 19:28:54 -0700 Subject: [PATCH 040/202] Fix line too long --- include/ignition/gazebo/rendering/SceneManager.hh | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/include/ignition/gazebo/rendering/SceneManager.hh b/include/ignition/gazebo/rendering/SceneManager.hh index 57e71306f9..a01eb4504b 100644 --- a/include/ignition/gazebo/rendering/SceneManager.hh +++ b/include/ignition/gazebo/rendering/SceneManager.hh @@ -149,7 +149,8 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \return The entity for that node, or `kNullEntity` for no entity. /// \todo(anyone) Deprecate in favour of /// `ignition::rendering::Node::UserData` once that's available. - public: Entity IGN_DEPRECATED(4) EntityFromNode(const rendering::NodePtr &_node) const; + public: Entity IGN_DEPRECATED(4) + EntityFromNode(const rendering::NodePtr &_node) const; /// \brief Load a geometry /// \param[in] _geom Geometry sdf dom From cebf302187d18b874b54789383b4b6613ab9ab8f Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Fri, 20 Mar 2020 14:14:56 +0800 Subject: [PATCH 041/202] Migration node for CreateSensor breaking change --- Migration.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/Migration.md b/Migration.md index 46593144a2..ef62482449 100644 --- a/Migration.md +++ b/Migration.md @@ -5,6 +5,10 @@ Deprecated code produces compile-time warnings. These warning serve as notification to users that their code should be upgraded. The next major release will remove the deprecated code. +## Ignition Gazebo 3.x to 4.x + +* The CreateSensor function in the Sensors system, as well as the callbacks in gazebo rendering, have a new required function argument for the Entity of the sensor. + ## Ignition Gazebo 2.x to 3.x * Use ign-rendering3, ign-sensors3 and ign-gui3. From 903f7e3274c1938b4739aa7514973d3a6cea6f62 Mon Sep 17 00:00:00 2001 From: jshep1 Date: Fri, 20 Mar 2020 12:16:20 -0700 Subject: [PATCH 042/202] Clean up --- src/rendering/RenderUtil.cc | 30 ++++++++++++++++-------------- 1 file changed, 16 insertions(+), 14 deletions(-) diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index eaed7a649d..9eb9f16d8c 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -1146,33 +1146,38 @@ void RenderUtil::SetSelectedEntity(const rendering::NodePtr &_node) return; this->dataPtr->selectedEntities.push_back(entityId); - //vis->SetHighlighted(true); + + // If the entity is not found in the existing map, create a wire box if (this->dataPtr->wireBoxes.find(entityId) == this->dataPtr->wireBoxes.end()) { rendering::MaterialPtr gray = this->dataPtr->scene->CreateMaterial(); gray->SetAmbient(0.7, 0.7, 0.7); gray->SetDiffuse(0.7, 0.7, 0.7); gray->SetSpecular(0.7, 0.7, 0.7); - - ignition::rendering::WireBoxPtr wireBox = this->dataPtr->scene->CreateWireBox(); + + ignition::rendering::WireBoxPtr wireBox = + this->dataPtr->scene->CreateWireBox(); ignition::math::AxisAlignedBox aabb = vis->BoundingBox(); wireBox->SetBox(aabb); - ignition::rendering::VisualPtr wireBoxVis = this->dataPtr->scene->CreateVisual(); + + // Create visual and add wire box + ignition::rendering::VisualPtr wireBoxVis = + this->dataPtr->scene->CreateVisual(); wireBoxVis->AddGeometry(wireBox); wireBoxVis->SetMaterial(gray); vis->AddChild(wireBoxVis); - this->dataPtr->wireBoxes.insert(std::pair(entityId, wireBox)); + + this->dataPtr->wireBoxes.insert( + std::pair(entityId, wireBox)); } else { - ignition::rendering::WireBoxPtr wireBox = this->dataPtr->wireBoxes[entityId]; + ignition::rendering::WireBoxPtr wireBox = + this->dataPtr->wireBoxes[entityId]; auto visParent = wireBox->Parent(); if (visParent) - { visParent->SetVisible(true); - } } - //this->dataPtr->HighlightNode(_node); } ///////////////////////////////////////////////// @@ -1182,16 +1187,13 @@ void RenderUtil::DeselectAllEntities() { auto node = this->dataPtr->sceneManager.NodeById(entity); auto vis = std::dynamic_pointer_cast(node); - //vis->SetHighlighted(false); - //this->dataPtr->LowlightNode(node); if (this->dataPtr->wireBoxes.find(entity) != this->dataPtr->wireBoxes.end()) { - ignition::rendering::WireBoxPtr wireBox = this->dataPtr->wireBoxes[entity]; + ignition::rendering::WireBoxPtr wireBox = + this->dataPtr->wireBoxes[entity]; auto visParent = wireBox->Parent(); if (visParent) - { visParent->SetVisible(false); - } } } this->dataPtr->selectedEntities.clear(); From 9beeb11b8e019f70997faad74e1567248ff0d663 Mon Sep 17 00:00:00 2001 From: maryaB Date: Fri, 20 Mar 2020 14:30:49 -0700 Subject: [PATCH 043/202] redo tutorial w/ smaller sample --- tutorials/files/point_cloud_to_mesh/blob.png | Bin 0 -> 380954 bytes .../files/point_cloud_to_mesh/blobshape.png | Bin 301279 -> 0 bytes .../point_cloud_to_mesh/cloudcompare.png | Bin 0 -> 473633 bytes 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