Merged in skel_animation (pull request #579)

Actor skeleton animation (auto update mode)

Approved-by: Louise Poubel <[email protected]>

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. Added support for removing sensors at runtime
     * [Pull Request 558](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/558)
 

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<ignition::math::Pose3d>("pose");
     auto time = originElem->Get<int>("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<ignition::math::Pose3d>("pose");
+    auto time = trajPoseElem->Get<int>("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<std::chrono::seconds>(
       _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<ignition::gazebo::components::Pose>(
         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<ignition::gazebo::components::TrajectoryPose>(
+        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;
+  }
 }

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<int, ignition::math::Pose3d> origins;
 
+    /// \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<int, ignition::math::Pose3d> 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};
   };
 }
 

examples/plugin/command_actor/command_actor.sdf

@@ -129,6 +129,15 @@
           <time>5</time>
           <pose>10 10 0 0 0 0</pose>
         </origin>
+
+        <!--
+           At 10 seconds sim time, fix the trajectory pose to a given value.
+           This disables the waypoints from SDF.
+        -->
+        <trajectory_pose>
+          <time>10</time>
+          <pose>-5 -5 1 0 0 0</pose>
+        </trajectory_pose>
       </plugin>
     </include>
   </world>

examples/worlds/actor.sdf

@@ -11,7 +11,7 @@
     <plugin
       filename="libignition-gazebo-sensors-system.so"
       name="ignition::gazebo::systems::Sensors">
-      <render_engine>ogre</render_engine>
+      <render_engine>ogre2</render_engine>
     </plugin>
     <plugin
       filename="libignition-gazebo-user-commands-system.so"
@@ -31,7 +31,7 @@
           <property type="string" key="state">docked</property>
         </ignition-gui>
 
-        <engine>ogre</engine>
+        <engine>ogre2</engine>
         <scene>scene</scene>
         <ambient_light>0.4 0.4 0.4</ambient_light>
         <background_color>0.8 0.8 0.8</background_color>