2 ➡️ 3 (plus fixes) (#296)

Signed-off-by: Louise Poubel <[email protected]>

.github/ci-bionic/after_make.sh

@@ -0,0 +1,6 @@
+#!/bin/sh -l
+
+set -x
+
+# Install
+make install

Changelog.md

@@ -84,6 +84,19 @@
 
 ## Ignition Gazebo 2.x
 
+### Ignition Gazebo 2.23.0 (2020-07-28)
+
+1. Deactivate PerformerDetector if its parent model gets removed.
+    * [Pull Request 260](https://github.com/ignitionrobotics/ign-gazebo/pull/260)
+
+1. Backport support for <uri>s from Fuel #255
+    * [Pull Request 255](https://github.com/ignitionrobotics/ign-gazebo/pull/255)
+
+### Ignition Gazebo 2.22.0 (2020-07-22)
+
+1. Allow zero or more key/value pairs to be added to detection header information.
+    * [Pull Request 257](https://github.com/ignitionrobotics/ign-gazebo/pull/257)
+
 ### Ignition Gazebo 2.21.0 (2020-07-16)
 
 1. Added support for controlling which joints are published by the

include/ignition/gazebo/Server.hh

@@ -82,6 +82,12 @@ namespace ignition
     ///   1. /world/<world_name>/scene/info(none) : ignition::msgs::Scene
     ///     + Returns the current scene information.
     ///
+    ///   2. /gazebo/resource_paths/get : ignition::msgs::StringMsg_V
+    ///     + Get list of resource paths.
+    ///
+    ///   3. /gazebo/resource_paths/add : ignition::msgs::Empty
+    ///     + Add new resource paths.
+    ///
     /// ## Topics
     ///
     /// The following are topics provided by the Server.
@@ -95,6 +101,9 @@ namespace ignition
     /// 2. /world/<world_name>/stats : ignition::msgs::WorldStatistics
     ///   + This topic is throttled to 5Hz.
     ///
+    /// 3. /gazebo/resource_paths : ignition::msgs::StringMsg_V
+    ///   + Updated list of resource paths.
+    ///
     class IGNITION_GAZEBO_VISIBLE Server
     {
       /// \brief Construct the server using the parameters specified in a

include/ignition/gazebo/Util.hh

@@ -18,6 +18,7 @@
 #define IGNITION_GAZEBO_UTIL_HH_
 
 #include <string>
+#include <vector>
 
 #include <ignition/math/Pose3.hh>
 #include "ignition/gazebo/config.hh"
@@ -66,8 +67,26 @@ namespace ignition
     /// paths.
     /// \param[in] _filePath The path to a file in disk.
     /// \return The full path URI.
-    std::string asFullPath(const std::string &_uri,
+    std::string IGNITION_GAZEBO_VISIBLE asFullPath(const std::string &_uri,
         const std::string &_filePath);
+
+    /// \brief Get resource paths based on latest environment variables.
+    /// \return All paths in the IGN_GAZEBO_RESOURCE_PATH variable.
+    std::vector<std::string> IGNITION_GAZEBO_VISIBLE resourcePaths();
+
+    /// \brief Add resource paths based on latest environment variables.
+    /// This will update the SDF and Ignition environment variables, and
+    /// optionally add more paths to the list.
+    /// \param[in] _paths Optional paths to add.
+    void IGNITION_GAZEBO_VISIBLE addResourcePaths(
+        const std::vector<std::string> &_paths = {});
+
+    /// \brief Environment variable holding resource paths.
+    const std::string kResourcePathEnv{"IGN_GAZEBO_RESOURCE_PATH"};
+
+    /// \brief Environment variable used by SDFormat to find URIs inside
+    /// `<include>`
+    const std::string kSdfPathEnv{"SDF_PATH"};
     }
   }
 }

src/SdfGenerator.cc

@@ -200,9 +200,11 @@ namespace sdf_generator
   /// \brief Recursively go through the child elements of the input element and
   /// update all relative URIs to absolute.
   ///
-  /// The resulting URI will have a "file://" scheme regardless of whether the
-  /// original URI had the scheme. i.e, absolute URIs without the "file://"
-  /// scheme will also be updated by this function.
+  /// URIs with http / https scheme won't be modified.
+  ///
+  /// For all other URIs, the resulting URI will have a "file://" scheme
+  /// regardless of whether the original URI had the scheme. i.e, absolute URIs
+  /// without the "file://" scheme will also be updated by this function.
   /// \param[in] _elem Input element to update
   /// \param[in] _prefixPath Path to be prepended to relative URIs.
   static void relativeToAbsoluteUri(const sdf::ElementPtr &_elem,
@@ -214,7 +216,9 @@ namespace sdf_generator
       auto uriStr = uriElem->Get<std::string>();
       // If the URI starts with "file://", it is assumed to be an
       // absolute path, so there is no need to update it.
-      if (uriStr.find("file://") == std::string::npos)
+      if (uriStr.find("file://") == std::string::npos &&
+          uriStr.find("http://") == std::string::npos &&
+          uriStr.find("https://") == std::string::npos)
       {
         if (uriStr[0] != '/')
         {

src/SdfGenerator_TEST.cc

@@ -52,19 +52,28 @@ static bool isSubset(const sdf::ElementPtr &_elemA,
                      const sdf::ElementPtr &_elemB)
 {
   if (_elemA->GetName() != _elemB->GetName())
+  {
     return false;
+  }
+
   if (_elemA->GetAttributeCount() != _elemB->GetAttributeCount())
+  {
     return false;
+  }
 
   // Compare attributes
   for (std::size_t i = 0; i < _elemA->GetAttributeCount(); ++i)
   {
     sdf::ParamPtr attrA = _elemA->GetAttribute(i);
     sdf::ParamPtr attrB = _elemB->GetAttribute(attrA->GetKey());
     if (attrA->GetTypeName() != attrB->GetTypeName())
+    {
       return false;
+    }
     if (attrA->GetAsString() != attrB->GetAsString())
+    {
       return false;
+    }
   }
   // Compare values
   {
@@ -844,8 +853,6 @@ TEST_F(GenerateWorldFixture, ModelsInline)
     const std::optional<std::string> worldStr = sdf_generator::generateWorld(
         this->ecm, worldEntity, this->includeUriMap, this->sdfGenConfig);
     ASSERT_TRUE(worldStr.has_value());
-    // std::cout << "Generated world:" << std::endl;
-    // std::cout << worldStr << std::endl;
     sdf::Root newRoot;
     newRoot.LoadSdfString(*worldStr);
     EXPECT_TRUE(isSubset(newRoot.Element(), this->root.Element()));

src/Server.cc

@@ -14,7 +14,6 @@
  * limitations under the License.
  *
 */
-#include "ignition/gazebo/Server.hh"
 
 #include <ignition/common/SystemPaths.hh>
 #include <ignition/fuel_tools/Interface.hh>
@@ -23,6 +22,9 @@
 #include <sdf/Error.hh>
 
 #include "ignition/gazebo/config.hh"
+#include "ignition/gazebo/Server.hh"
+#include "ignition/gazebo/Util.hh"
+
 #include "ServerPrivate.hh"
 #include "SimulationRunner.hh"
 
@@ -100,6 +102,8 @@ Server::Server(const ServerConfig &_config)
   common::addFindFileURICallback(std::bind(&ServerPrivate::FetchResourceUri,
       this->dataPtr.get(), std::placeholders::_1));
 
+  addResourcePaths();
+
   sdf::Errors errors;
 
   // Load a world if specified. Check SDF string first, then SDF file
@@ -120,7 +124,7 @@ Server::Server(const ServerConfig &_config)
   else if (!_config.SdfFile().empty())
   {
     common::SystemPaths systemPaths;
-    systemPaths.SetFilePathEnv("IGN_GAZEBO_RESOURCE_PATH");
+    systemPaths.SetFilePathEnv(kResourcePathEnv);
     systemPaths.AddFilePaths(IGN_GAZEBO_WORLD_INSTALL_DIR);
     std::string filePath = systemPaths.FindFile(_config.SdfFile());
     ignmsg << "Loading SDF world file[" << filePath << "].\n";

src/ServerPrivate.cc

@@ -22,11 +22,13 @@
 #include <sdf/World.hh>
 
 #include <ignition/common/Console.hh>
+#include <ignition/common/Util.hh>
 
 #include <ignition/fuel_tools/Interface.hh>
 
 #include <ignition/gui/Application.hh>
 
+#include "ignition/gazebo/Util.hh"
 #include "SimulationRunner.hh"
 
 using namespace ignition;
@@ -384,7 +386,26 @@ void ServerPrivate::CreateEntities()
 void ServerPrivate::SetupTransport()
 {
   // Advertise available worlds.
-  this->node.Advertise("/gazebo/worlds", &ServerPrivate::WorldsService, this);
+  std::string worldsService{"/gazebo/worlds"};
+  this->node.Advertise(worldsService, &ServerPrivate::WorldsService, this);
+
+  ignmsg << "Serving world names on [" << worldsService << "]" << std::endl;
+
+  // Resource path management
+  std::string addPathService{"/gazebo/resource_paths/add"};
+  this->node.Advertise(addPathService,
+      &ServerPrivate::AddResourcePathsService, this);
+
+  std::string getPathService{"/gazebo/resource_paths/get"};
+  this->node.Advertise(getPathService,
+      &ServerPrivate::ResourcePathsService, this);
+
+  std::string pathTopic{"/gazebo/resource_paths"};
+  this->pathPub = this->node.Advertise<msgs::StringMsg_V>(pathTopic);
+
+  ignmsg << "Resource path interfaces on [" << addPathService
+         << "], [" << getPathService << "], and [" << pathTopic << "]."
+         << std::endl;
 }
 
 //////////////////////////////////////////////////
@@ -402,6 +423,49 @@ bool ServerPrivate::WorldsService(ignition::msgs::StringMsg_V &_res)
   return true;
 }
 
+//////////////////////////////////////////////////
+void ServerPrivate::AddResourcePathsService(
+    const ignition::msgs::StringMsg_V &_req)
+{
+  std::vector<std::string> paths;
+  for (int i = 0; i < _req.data_size(); ++i)
+  {
+    paths.push_back(_req.data(i));
+  }
+  addResourcePaths(paths);
+
+  // Notify new paths
+  msgs::StringMsg_V msg;
+  auto gzPaths = resourcePaths();
+  for (const auto &path : gzPaths)
+  {
+    if (!path.empty())
+      msg.add_data(path);
+  }
+
+  this->pathPub.Publish(msg);
+}
+
+//////////////////////////////////////////////////
+bool ServerPrivate::ResourcePathsService(
+    ignition::msgs::StringMsg_V &_res)
+{
+  _res.Clear();
+
+  // Update paths
+  addResourcePaths();
+
+  // Get paths
+  auto gzPaths = resourcePaths();
+  for (const auto &path : gzPaths)
+  {
+    if (!path.empty())
+      _res.add_data(path);
+  }
+
+  return true;
+}
+
 //////////////////////////////////////////////////
 std::string ServerPrivate::FetchResource(const std::string &_uri)
 {

src/ServerPrivate.hh

@@ -104,6 +104,16 @@ namespace ignition
       /// \return True if successful.
       private: bool WorldsService(ignition::msgs::StringMsg_V &_res);
 
+      /// \brief Callback for add resource paths service.
+      /// \param[out] _req Request containing the paths to be added.
+      private: void AddResourcePathsService(
+          const ignition::msgs::StringMsg_V &_req);
+
+      /// \brief Callback for get resource paths service.
+      /// \param[out] _res Response filled with all current paths.
+      /// \return True if successful.
+      private: bool ResourcePathsService(ignition::msgs::StringMsg_V &_res);
+
       /// \brief A pool of worker threads.
       public: common::WorkerPool workerPool{2};
 
@@ -149,6 +159,9 @@ namespace ignition
 
       /// \brief Node for transport.
       private: transport::Node node;
+
+      /// \brief Publisher of resrouce paths.
+      private: transport::Node::Publisher pathPub;
     };
     }
   }