3 ➡️ 4

CMakeLists.txt

@@ -38,7 +38,7 @@ endif()
 # Search for project-specific dependencies
 #============================================================================
 
-ign_find_package(sdformat10 REQUIRED VERSION 10.3)
+ign_find_package(sdformat10 REQUIRED VERSION 10.5)
 set(SDF_VER ${sdformat10_VERSION_MAJOR})
 
 #--------------------------------------
@@ -75,7 +75,7 @@ set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools5_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-gui
-ign_find_package(ignition-gui4 REQUIRED VERSION 4.1.1)
+ign_find_package(ignition-gui4 REQUIRED VERSION 4.4)
 set(IGN_GUI_VER ${ignition-gui4_VERSION_MAJOR})
 ign_find_package (Qt5
   COMPONENTS
@@ -114,12 +114,12 @@ set(IGN_SENSORS_VER ${ignition-sensors4_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-rendering
-ign_find_package(ignition-rendering4 REQUIRED VERSION 4.7.0)
+ign_find_package(ignition-rendering4 REQUIRED VERSION 4.8)
 set(IGN_RENDERING_VER ${ignition-rendering4_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-math
-ign_find_package(ignition-math6 REQUIRED COMPONENTS eigen3 VERSION 6.6)
+ign_find_package(ignition-math6 REQUIRED COMPONENTS eigen3 VERSION 6.8)
 set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
 
 #--------------------------------------

examples/standalone/external_ecm/CMakeLists.txt

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+
+find_package(ignition-gazebo4 REQUIRED)
+
+add_executable(external_ecm external_ecm.cc)
+target_link_libraries(external_ecm
+  ignition-gazebo4::core)
+

examples/standalone/external_ecm/README.md

@@ -0,0 +1,93 @@
+# External ECM
+
+Example showing how to get a snapshot of all entities and components in a
+running simulation from an external program using the state message.
+
+## Build
+
+From the root of the `ign-gazebo` repository, do the following to build the example:
+
+~~~
+cd ign-gazebo/examples/standalone/external_ecm
+mkdir build
+cd build
+cmake ..
+make
+~~~
+
+This will generate the `external_ecm` executable under `build`.
+
+## Run
+
+Start a simulation, for example:
+
+    ign gazebo shapes.sdf
+
+On another terminal, run the `external_ecm` executable, passing the name of the
+running world you want to inspect:
+
+  cd ign-gazebo/examples/standalone/external_ecm
+  ./external_ecm shapes
+
+You should see something like this:
+
+```
+$ ./external_ecm shapes
+
+Requesting state for world [shapes] on service [/world/shapes/state]...
+
+Entity [1]
+  - Name: shapes
+  - Parent:
+Entity [4]
+  - Name: ground_plane
+  - Parent: shapes [1]
+Entity [5]
+  - Name: link
+  - Parent: ground_plane [4]
+Entity [6]
+  - Name: visual
+  - Parent: link [5]
+Entity [7]
+  - Name: collision
+  - Parent: link [5]
+Entity [8]
+  - Name: box
+  - Parent: shapes [1]
+Entity [9]
+  - Name: box_link
+  - Parent: box [8]
+Entity [10]
+  - Name: box_visual
+  - Parent: box_link [9]
+Entity [11]
+  - Name: box_collision
+  - Parent: box_link [9]
+Entity [12]
+  - Name: cylinder
+  - Parent: shapes [1]
+Entity [13]
+  - Name: cylinder_link
+  - Parent: cylinder [12]
+Entity [14]
+  - Name: cylinder_visual
+  - Parent: cylinder_link [13]
+Entity [15]
+  - Name: cylinder_collision
+  - Parent: cylinder_link [13]
+Entity [16]
+  - Name: sphere
+  - Parent: shapes [1]
+Entity [17]
+  - Name: sphere_link
+  - Parent: sphere [16]
+Entity [18]
+  - Name: sphere_visual
+  - Parent: sphere_link [17]
+Entity [19]
+  - Name: sphere_collision
+  - Parent: sphere_link [17]
+Entity [20]
+  - Name: sun
+  - Parent: shapes [1]
+```

examples/standalone/external_ecm/external_ecm.cc

@@ -0,0 +1,98 @@
+/*
+ * Copyright (C) 2021 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 <iostream>
+#include <ignition/gazebo/EntityComponentManager.hh>
+#include <ignition/gazebo/components/Name.hh>
+#include <ignition/gazebo/components/ParentEntity.hh>
+#include <ignition/msgs/serialized.pb.h>
+#include <ignition/transport/Node.hh>
+
+//////////////////////////////////////////////////
+int main(int argc, char **argv)
+{
+  if (argc < 2)
+  {
+    std::cout << "Usage: `./external_ecm <world name>`" << std::endl;
+    return -1;
+  }
+
+  // Get arguments
+  std::string world = argv[1];
+
+  // Create a transport node.
+  ignition::transport::Node node;
+
+  bool executed{false};
+  bool result{false};
+  unsigned int timeout{5000};
+  std::string service{"/world/" + world + "/state"};
+
+  std::cout << std::endl << "Requesting state for world [" << world
+            << "] on service [" << service << "]..." << std::endl << std::endl;
+
+  // Request and block
+  ignition::msgs::SerializedStepMap res;
+  executed = node.Request(service, timeout, res, result);
+
+  if (!executed)
+  {
+    std::cerr << std::endl << "Service call to [" << service << "] timed out"
+              << std::endl;
+    return -1;
+  }
+
+  if (!result)
+  {
+    std::cerr << std::endl << "Service call to [" << service << "] failed"
+              << std::endl;
+    return -1;
+  }
+
+  // Instantiate an ECM and populate with data from message
+  ignition::gazebo::EntityComponentManager ecm;
+  ecm.SetState(res.state());
+
+  // Print some information
+  ecm.Each<ignition::gazebo::components::Name>(
+      [&](const ignition::gazebo::Entity &_entity,
+          const ignition::gazebo::components::Name *_name) -> bool
+  {
+    auto parentComp =
+        ecm.Component<ignition::gazebo::components::ParentEntity>(_entity);
+
+    std::string parentInfo;
+    if (parentComp)
+    {
+      auto parentNameComp =
+          ecm.Component<ignition::gazebo::components::Name>(
+          parentComp->Data());
+
+      if (parentNameComp)
+      {
+        parentInfo += parentNameComp->Data() + " ";
+      }
+      parentInfo += "[" + std::to_string(parentComp->Data()) + "]";
+    }
+
+    std::cout << "Entity [" << _entity << "]" << std::endl
+              << "  - Name: " << _name->Data() << std::endl
+              << "  - Parent: " << parentInfo << std::endl;
+
+    return true;
+  });
+}

src/gui/gui.config

@@ -21,6 +21,7 @@
     <drawer default="false">
     </drawer>
   </menus>
+  <dialog_on_exit>true</dialog_on_exit>
 </window>
 
 <!-- GUI plugins -->

src/gui/plugins/align_tool/AlignTool.cc

@@ -24,24 +24,27 @@
 #include <queue>
 #include <string>
 #include <vector>
+
+#include <ignition/common/Console.hh>
 #include <ignition/gui/Application.hh>
 #include <ignition/gui/MainWindow.hh>
-#include <ignition/common/Console.hh>
 #include <ignition/plugin/Register.hh>
-#include <ignition/transport/Node.hh>
-#include <ignition/rendering/Visual.hh>
 #include <ignition/rendering/Geometry.hh>
 #include <ignition/rendering/Material.hh>
+#include <ignition/rendering/RenderEngine.hh>
 #include <ignition/rendering/RenderTypes.hh>
 #include <ignition/rendering/RenderingIface.hh>
-#include <ignition/rendering/RenderEngine.hh>
 #include <ignition/rendering/Scene.hh>
+#include <ignition/rendering/Visual.hh>
 #include <ignition/rendering/WireBox.hh>
-#include "ignition/gazebo/components/World.hh"
-#include "ignition/gazebo/components/Name.hh"
+#include <ignition/transport/Node.hh>
 
 #include "ignition/gazebo/EntityComponentManager.hh"
+#include "ignition/gazebo/components/Name.hh"
+#include "ignition/gazebo/components/World.hh"
 #include "ignition/gazebo/gui/GuiEvents.hh"
+#include "ignition/gazebo/rendering/RenderUtil.hh"
+
 #include "AlignTool.hh"
 
 namespace ignition::gazebo
@@ -87,6 +90,9 @@ namespace ignition::gazebo
 
     /// \brief The map of the original transparency values for the nodes.
     public: std::map<std::string, double> originalTransparency;
+
+    /// \brief Pointer to the scene.
+    public: rendering::ScenePtr scene{nullptr};
   };
 }
 
@@ -340,70 +346,28 @@ 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;
-  }
+  if (!this->dataPtr->scene)
+    this->dataPtr->scene = rendering::sceneFromFirstRenderEngine();
 
   // Get current list of selected entities
   std::vector<ignition::rendering::VisualPtr> selectedList;
   ignition::rendering::VisualPtr relativeVisual;
 
   for (const auto &entityId : this->dataPtr->selectedEntities)
   {
-    for (auto i = 0u; i < scene->VisualCount(); ++i)
+    for (auto i = 0u; i < this->dataPtr->scene->VisualCount(); ++i)
     {
-      ignition::rendering::VisualPtr vis = scene->VisualByIndex(i);
+      ignition::rendering::VisualPtr vis =
+        this->dataPtr->scene->VisualByIndex(i);
       if (!vis)
         continue;
 
       if (std::get<int>(vis->UserData("gazebo-entity")) ==
           static_cast<int>(entityId))
       {
         // Check here to see if visual is top level or not, continue if not
-        rendering::VisualPtr topLevelVis = this->TopLevelVisual(scene, vis);
+        auto topLevelVis = this->TopLevelVisual(this->dataPtr->scene, vis);
         if (topLevelVis != vis)
           continue;
 
@@ -457,7 +421,8 @@ void AlignTool::Align()
     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);
+    rendering::VisualPtr topLevelVis = this->TopLevelVisual(
+        this->dataPtr->scene, vis);
     if (topLevelVis != vis)
       continue;
 

src/gui/plugins/align_tool/AlignTool.hh

@@ -20,8 +20,8 @@
 
 #include <memory>
 
-#include <ignition/gui/Plugin.hh>
 #include <ignition/gazebo/gui/GuiSystem.hh>
+#include <ignition/gui/Plugin.hh>
 #include <ignition/rendering/Node.hh>
 
 namespace ignition