Portuguese Ledge world

README.md

@@ -511,24 +511,6 @@ And with levels:
 
 ![portuguese_ledge_no_levels](https://user-images.githubusercontent.com/5751272/159813230-809d1cad-b3f5-457a-af19-3752bec0710f.gif)
 
-#### Generating Portuguese Ledge world
-
-The generated file is committed to the repository. Whenever it is changed, a
-manual step is needed to regenerate it.
-
-Pre-requisites:
-
-```
-sudo apt install python3-empy
-```
-
-Generate:
-
-```
-cd lrauv_ignition_plugins/worlds
-python3 portuguese_ledge.py
-```
-
 ### Troubleshoot
 
 After issuing control commands, for example, rudder and thrust, if you then

docker/debug_integration/Dockerfile

@@ -38,6 +38,7 @@ RUN apt-get update \
         lsb-release \
         tzdata \
         wget \
+        python3-empy \
         python3-numpy
 
 # Add Ignition's latest packages, which may be more up-to-date than the ones from the MBARI image
@@ -47,7 +48,7 @@ RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable
 
 # Install the latest Ignition binaries
 RUN apt-get -qq update && apt-get -q -y install \
-  ignition-garden python3-numpy
+  ignition-garden
 
 # Install PCL
 RUN apt-get update \

docker/empty_world/Dockerfile

@@ -48,7 +48,6 @@ RUN apt-get update \
         software-properties-common \
         sudo \
         vim \
-        python3-numpy \
  && apt-get clean
 
 # setup timezone

docker/tests/Dockerfile

@@ -38,6 +38,7 @@ RUN apt-get update \
         lsb-release \
         tzdata \
         wget \
+        python3-empy \
         python3-numpy
 
 # Add Ignition's latest packages, which may be more up-to-date than the ones from the MBARI image

lrauv_ignition_plugins/CMakeLists.txt

@@ -236,6 +236,20 @@ configure_file(
   "${CMAKE_CURRENT_BINARY_DIR}/hooks/hook.dsv" @ONLY
 )
 
+#============================================================================
+# World generation
+set(WORLD_NAME "portuguese_ledge")
+add_custom_command(
+  OUTPUT world_gen_cmd
+  COMMAND python3 ${CMAKE_CURRENT_SOURCE_DIR}/worlds/empy_expander.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/worlds/${WORLD_NAME}.sdf.em
+  ${CMAKE_CURRENT_BINARY_DIR}/worlds/${WORLD_NAME}.sdf
+)
+
+add_custom_target(world_gen_target ALL
+  DEPENDS world_gen_cmd
+)
+
 #============================================================================
 # Tests
 if(BUILD_TESTING)

lrauv_ignition_plugins/worlds/empy_expander.py

@@ -0,0 +1,21 @@
+# Takes in a template and generates an SDF file.
+
+import em
+import os
+import sys
+
+def main(in_file, out_file):
+    with open(in_file) as infile:
+        template = infile.read()
+    result = em.expand(template, {})
+    os.makedirs(os.path.dirname(out_file), exist_ok=True)
+    with open(out_file, 'w') as outfile:
+        outfile.write(result)
+
+if __name__ == '__main__':
+    if len(sys.argv) != 3:
+        print("Usage:")
+        print("empy_expander.py <infile> <outfile>")
+        exit(-100)
+
+    sys.exit(main(sys.argv[1], sys.argv[2]))

lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em

@@ -382,7 +382,7 @@ for tile in tiles:
       <direction>-0.5 0.1 -0.9</direction>
     </light>
 
-@[for tile in tiles[:18]]@
+@[for tile in tiles]@
     <model name="portuguese_ledge_tile_@(tile.index)">
       <static>true</static>
       <link name="link">