Update gazebo scene viewer tutorial

examples/gazebo_scene_viewer/CameraWindow.cc

@@ -34,7 +34,6 @@
 #include <ignition/rendering/Camera.hh>
 #include <ignition/rendering/Image.hh>
 #include <ignition/rendering/Scene.hh>
-#include <ignition/rendering.hh>
 
 #include "SceneManager.hh"
 

examples/gazebo_scene_viewer/GazeboDemo.cc

@@ -18,7 +18,11 @@
 #include <gazebo/common/Console.hh>
 #include <gazebo/transport/TransportIface.hh>
 
-#include <ignition/rendering.hh>
+#include <ignition/rendering/Camera.hh>
+#include <ignition/rendering/RenderingIface.hh>
+#include <ignition/rendering/RenderEngine.hh>
+#include <ignition/rendering/Scene.hh>
+#include <ignition/rendering/Visual.hh>
 
 #include "CameraWindow.hh"
 #include "SceneManager.hh"

examples/gazebo_scene_viewer/GazeboWorldDemo.cc

@@ -18,7 +18,11 @@
 #include <ignition/common/Console.hh>
 #include <gazebo/transport/TransportIface.hh>
 
-#include <ignition/rendering.hh>
+#include <ignition/rendering/Camera.hh>
+#include <ignition/rendering/RenderingIface.hh>
+#include <ignition/rendering/RenderEngine.hh>
+#include <ignition/rendering/Scene.hh>
+#include <ignition/rendering/Visual.hh>
 
 #include "CameraWindow.hh"
 #include "SceneManager.hh"

examples/gazebo_scene_viewer/SceneManager.cc

@@ -20,7 +20,10 @@
 #include <ignition/common/MeshManager.hh>
 #include <ignition/common/Console.hh>
 #include <ignition/math/Helpers.hh>
-#include <ignition/rendering.hh>
+
+#include <ignition/rendering/Camera.hh>
+#include <ignition/rendering/Scene.hh>
+#include <ignition/rendering/Visual.hh>
 
 #include "SceneManager.hh"
 #include "SceneManagerPrivate.hh"
@@ -1812,8 +1815,8 @@ CurrentSceneManager::~CurrentSceneManager()
 void CurrentSceneManager::OnPoseUpdate(::ConstPosesStampedPtr &_posesMsg)
 {
   // record pose timestamp
-  this->timePosesReceived = math::secNsecToDuration(
-      _posesMsg->time().sec(),  _posesMsg->time().nsec());
+  this->timePosesReceived = std::chrono::seconds(_posesMsg->time().sec()) +
+      std::chrono::nanoseconds(_posesMsg->time().nsec());
 
   // process each pose in message
   for (int i = 0; i < _posesMsg->pose_size(); ++i)
@@ -2051,8 +2054,8 @@ void NewSceneManager::ProcessPoses()
 void NewSceneManager::ProcessPoses(const gazebo::msgs::PosesStamped &_posesMsg)
 {
   // record pose timestamp
-  this->timePosesReceived = math::secNsecToDuration(
-    _posesMsg.time().sec(), _posesMsg.time().nsec());
+  this->timePosesReceived = std::chrono::seconds(_posesMsg.time().sec()) +
+      std::chrono::nanoseconds(_posesMsg.time().nsec());
 
   // process each pose in list
   for (int i = 0; i < _posesMsg.pose_size(); ++i)

tutorials/11_gazebo_scene_viewer_tutorial.md

@@ -1,26 +1,6 @@
 \page gazebo_scene_viewer Gazebo scene viewer
 
-The Gazebo scene viewer examples allow us to visualize Gazebo using the Ignition Rendering library.
-
-## Code
-
-The `SceneManager` class defined in `SceneManager.hh`, `SceneManagerPrivate.hh` and `SceneManager.cc` manages a collection of scenes.
-The class provides a single interface for modifications, allowing multiple scenes to stay synchronized.
-It will allow us to receive data from Gazebo and update the render window each time that the examples receive a new scene. **This class currently consumes Gazebo-specific protobuf messages**.
-
-The following list will describe some methods:
-
- - **void SceneManagerPrivate::Init()**: It initializes the communication with Gazebo. It will create some subscribers to receive data about poses, light, models, joints, visual or sensors.
-
-\snippet examples/gazebo_scene_viewer/SceneManager.cc init scene manager
-
- - **void SubSceneManager::ProcessMessages()**: This method will process the messages received from Gazebo. Calling the right primitive to render lights, models, joints, visuals, sensors or poses of the different object received.
-\snippet examples/gazebo_scene_viewer/SceneManager.cc process message
- For example, if the Gazebo scene contains a cylinder the following method will be called:
-\snippet examples/gazebo_scene_viewer/SceneManager.cc process cylinder
-
- - **void CurrentSceneManager::OnPoseUpdate(::ConstPosesStampedPtr &_posesMsg)**: This method is called when the subscriber receives a new pose message.
-\snippet examples/gazebo_scene_viewer/SceneManager.cc on update pose
+The Gazebo scene viewer examples allow us to visualize Gazebo simulation using the Ignition Rendering library.
 
 ## Compile and run the example
 
@@ -70,3 +50,23 @@ Launch the example to visualize the objects:
 You can use the `Tab` button to change the rendering engine.
 
 ![](img/gazebo_scene_viewer2_demo.gif)
+
+## Code
+
+The `SceneManager` class defined in `SceneManager.hh`, `SceneManagerPrivate.hh` and `SceneManager.cc` manages a collection of scenes.
+The class provides a single interface for modifications, allowing multiple scenes to stay synchronized.
+It will allow us to receive data from Gazebo and update the render window each time that the examples receive a new scene. **This class currently consumes Gazebo-specific protobuf messages**.
+
+The following list will describe some methods:
+
+ - **void SceneManagerPrivate::Init()**: It initializes the communication with Gazebo. It will create some subscribers to receive data about poses, light, models, joints, visual or sensors.
+
+\snippet examples/gazebo_scene_viewer/SceneManager.cc init scene manager
+
+ - **void SubSceneManager::ProcessMessages()**: This method will process the messages received from Gazebo. Calling the right primitive to render lights, models, joints, visuals, sensors or poses of the different object received.
+\snippet examples/gazebo_scene_viewer/SceneManager.cc process message
+ For example, if the Gazebo scene contains a cylinder the following method will be called:
+\snippet examples/gazebo_scene_viewer/SceneManager.cc process cylinder
+
+ - **void CurrentSceneManager::OnPoseUpdate(::ConstPosesStampedPtr &_posesMsg)**: This method is called when the subscriber receives a new pose message.
+\snippet examples/gazebo_scene_viewer/SceneManager.cc on update pose