From 4a9aca88aa8401274eb576661d7442afe2fccfba Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Wed, 23 Dec 2020 22:18:13 +0100 Subject: [PATCH 01/55] New ParticleEmitter component. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- .../gazebo/components/ParticleEmitter.hh | 186 ++++++++++++++++++ test/integration/components.cc | 59 ++++++ 2 files changed, 245 insertions(+) create mode 100644 include/ignition/gazebo/components/ParticleEmitter.hh diff --git a/include/ignition/gazebo/components/ParticleEmitter.hh b/include/ignition/gazebo/components/ParticleEmitter.hh new file mode 100644 index 0000000000..00430439ef --- /dev/null +++ b/include/ignition/gazebo/components/ParticleEmitter.hh @@ -0,0 +1,186 @@ +/* + * Copyright (C) 2020 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. + * +*/ +#ifndef IGNITION_GAZEBO_COMPONENTS_PARTICLEEMITTER_HH_ +#define IGNITION_GAZEBO_COMPONENTS_PARTICLEEMITTER_HH_ + +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { +namespace particles +{ + /// \brief All possible emitter type. + enum class EmitterType {POINT, BOX, CYLINDER, ELLIPSOID}; + + /// \brief Properties of a particle emitter. + /// A particle emitter also has: + /// * a pose, which can be stored as a component of + /// an emitter entity via ignition::gazebo::components::Pose + /// * a material, which can be stored as a component of + /// an emitter entity via ignition::gazebo::components::Material + struct Emitter + { + /// \brief The particle emitter's id. + unsigned int id; + + /// \brief The emitter's name. + std::string name; + + /// \brief The emitter's type. + particles::EmitterType type; + + /// The size of the emitter where the particles are sampled. + ignition::math::Vector3d size; + + /// \brief How many particles per second should be emitted. + double rate; + + /// \brief The number of seconds the emitter is active. + double duration; + + /// \brief Whether particle emitter is enabled or not. + bool emitting; + + /// \brief The particle dimensions (width, height, depth). + ignition::math::Vector3d particleSize; + + /// \brief The number of seconds each particle will ’live’ for before + /// being destroyed. + double lifetime; + + /// \brief The minimum velocity each particle is emitted (m/s). + double minVelocity; + + /// \brief The maximum velocity each particle is emitted (m/s). + double maxVelocity; + + /// \brief The starting color of the particles. + ignition::math::Color colorStart; + + /// \brief The end color of the particles. + ignition::math::Color colorEnd; + + /// \brief The amount by which to scale the particles in both x and y + /// direction per second. + double scaleRate; + + /// \brief The path to the color image used as an affector. + std::string colorRangeImage; + + public: bool operator==(const Emitter &_emitter) const + { + return this->id == _emitter.id; + } + + public: bool operator!=(const Emitter &_emitter) const + { + return !(*this == _emitter); + } + }; +} + +namespace serializers +{ + /// \brief Output stream overload for particles::EmitterType + inline std::ostream &operator<<(std::ostream &_out, + const particles::EmitterType &_type) + { + auto temp = static_cast(_type); + _out << temp; + return _out; + } + + /// \brief Input stream overload for particles::EmitterType + inline std::istream &operator>>(std::istream &_in, + particles::EmitterType &_type) + { + unsigned int temp = 0u; + if (_in >> temp) + _type = static_cast(temp); + return _in; + } + + /// \brief Serializer for components::ParticleEmitter object + class ParticleEmitterSerializer + { + /// \brief Serialization for particles::Emitter + /// \param[out] _out Output stream + /// \param[in] _emitter Object for the stream + /// \return The stream + public: static std::ostream &Serialize(std::ostream &_out, + const particles::Emitter &_emitter) + { + _out << _emitter.id << " " << _emitter.name << " " << _emitter.type + << " " << _emitter.size << " " << _emitter.rate + << " " << _emitter.duration << " " << _emitter.emitting + << " " << _emitter.particleSize << " " << _emitter.lifetime + << " " << _emitter.minVelocity << " " << _emitter.maxVelocity + << " " << _emitter.colorStart << " " << _emitter.colorEnd + << " " << _emitter.scaleRate << " " << _emitter.colorRangeImage; + return _out; + } + + /// \brief Deserialization for particles::Emitter + /// \param[in] _in Input stream + /// \param[out] _emitter The object to populate + /// \return The stream + public: static std::istream &Deserialize(std::istream &_in, + particles::Emitter &_emitter) + { + _in >> _emitter.id >> _emitter.name >> _emitter.type + >> _emitter.size >> _emitter.rate >> _emitter.duration + >> _emitter.emitting >> _emitter.particleSize >> _emitter.lifetime + >> _emitter.minVelocity >> _emitter.maxVelocity >> _emitter.colorStart + >> _emitter.colorEnd >> _emitter.scaleRate + >> _emitter.colorRangeImage; + return _in; + } + }; +} + +// using separate namespace blocks so all components appear in Doxygen +// (appears as if Doxygen can't parse multiple components in a single +// namespace block since IGN_GAZEBO_REGISTER_COMPONENT doesn't have a +// trailing semicolon) +namespace components +{ + /// \brief A component that contains a particle emitter, which is + /// represented by particles::Emitter + using ParticleEmitter = Component; + IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.ParticleEmitter", + ParticleEmitter) +} +} +} +} + +#endif diff --git a/test/integration/components.cc b/test/integration/components.cc index 00649aa031..69a806ff88 100644 --- a/test/integration/components.cc +++ b/test/integration/components.cc @@ -59,6 +59,7 @@ #include "ignition/gazebo/components/Name.hh" #include "ignition/gazebo/components/ParentEntity.hh" #include "ignition/gazebo/components/ParentLinkName.hh" +#include "ignition/gazebo/components/ParticleEmitter.hh" #include "ignition/gazebo/components/Performer.hh" #include "ignition/gazebo/components/PerformerAffinity.hh" #include "ignition/gazebo/components/PerformerLevels.hh" @@ -1357,3 +1358,61 @@ TEST_F(ComponentsTest, Scene) EXPECT_FALSE(comp3.Data().Grid()); EXPECT_TRUE(comp3.Data().OriginVisual()); } + +////////////////////////////////////////////////// +TEST_F(ComponentsTest, ParticleEmitter) +{ + particles::Emitter emitter1; + emitter1.id = 0; + emitter1.name = "emitter_1"; + emitter1.type = particles::EmitterType::BOX; + emitter1.size = ignition::math::Vector3d(1, 2, 3); + emitter1.rate = 4.0; + emitter1.duration = 5.0; + emitter1.emitting = false; + emitter1.particleSize = ignition::math::Vector3d(0.1, 0.2, 0.3); + emitter1.lifetime = 6.0; + emitter1.minVelocity = 7.0; + emitter1.maxVelocity = 8.0; + emitter1.colorStart = ignition::math::Color::Red; + emitter1.colorEnd = ignition::math::Color::White; + emitter1.scaleRate = 9.0; + emitter1.colorRangeImage = "path_to_texture"; + + particles::Emitter emitter2; + emitter2.id = 1; + emitter2.name = emitter1.name; + emitter2.type = emitter1.type; + emitter2.size = emitter1.size; + emitter2.rate = emitter1.rate; + emitter2.duration = emitter1.duration; + emitter2.emitting = emitter1.emitting; + emitter2.particleSize = emitter1.particleSize; + emitter2.lifetime = emitter1.lifetime; + emitter2.minVelocity = emitter1.minVelocity; + emitter2.maxVelocity = emitter1.maxVelocity; + emitter2.colorStart = emitter1.colorStart; + emitter2.colorEnd = emitter1.colorEnd; + emitter2.scaleRate = emitter1.scaleRate; + emitter2.colorRangeImage = emitter1.colorRangeImage; + + // Create components. + auto comp1 = components::ParticleEmitter(emitter1); + auto comp2 = components::ParticleEmitter(emitter2); + + // Equality operators. + EXPECT_NE(comp1, comp2); + EXPECT_FALSE(comp1 == comp2); + EXPECT_TRUE(comp1 != comp2); + + // Stream operators. + std::ostringstream ostr; + comp1.Serialize(ostr); + EXPECT_EQ("0 emitter_1 1 1 2 3 4 5 0 0.1 0.2 0.3 6 7 8 1 0 0 1 1 1 1 1 9 " + "path_to_texture", ostr.str()); + + std::istringstream istr(ostr.str()); + components::ParticleEmitter comp3; + comp3.Deserialize(istr); + EXPECT_EQ(comp1, comp3); +} From 272d39b6ce21afcdf2d0b9367c58ae20f619a1ec Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Wed, 23 Dec 2020 22:25:55 +0100 Subject: [PATCH 02/55] Remove attribute name. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- .../gazebo/components/ParticleEmitter.hh | 30 +++++++++---------- test/integration/components.cc | 4 +-- 2 files changed, 16 insertions(+), 18 deletions(-) diff --git a/include/ignition/gazebo/components/ParticleEmitter.hh b/include/ignition/gazebo/components/ParticleEmitter.hh index 00430439ef..d092911e83 100644 --- a/include/ignition/gazebo/components/ParticleEmitter.hh +++ b/include/ignition/gazebo/components/ParticleEmitter.hh @@ -43,6 +43,8 @@ namespace particles /// A particle emitter also has: /// * a pose, which can be stored as a component of /// an emitter entity via ignition::gazebo::components::Pose + /// * a name, which can be stored as a component of + /// an emitter entity via ignition::gazebo::components::Name /// * a material, which can be stored as a component of /// an emitter entity via ignition::gazebo::components::Material struct Emitter @@ -50,9 +52,6 @@ namespace particles /// \brief The particle emitter's id. unsigned int id; - /// \brief The emitter's name. - std::string name; - /// \brief The emitter's type. particles::EmitterType type; @@ -137,13 +136,13 @@ namespace serializers public: static std::ostream &Serialize(std::ostream &_out, const particles::Emitter &_emitter) { - _out << _emitter.id << " " << _emitter.name << " " << _emitter.type - << " " << _emitter.size << " " << _emitter.rate - << " " << _emitter.duration << " " << _emitter.emitting + _out << _emitter.id << " " << _emitter.type + << " " << _emitter.size << " " << _emitter.rate + << " " << _emitter.duration << " " << _emitter.emitting << " " << _emitter.particleSize << " " << _emitter.lifetime - << " " << _emitter.minVelocity << " " << _emitter.maxVelocity - << " " << _emitter.colorStart << " " << _emitter.colorEnd - << " " << _emitter.scaleRate << " " << _emitter.colorRangeImage; + << " " << _emitter.minVelocity << " " << _emitter.maxVelocity + << " " << _emitter.colorStart << " " << _emitter.colorEnd + << " " << _emitter.scaleRate << " " << _emitter.colorRangeImage; return _out; } @@ -154,12 +153,13 @@ namespace serializers public: static std::istream &Deserialize(std::istream &_in, particles::Emitter &_emitter) { - _in >> _emitter.id >> _emitter.name >> _emitter.type - >> _emitter.size >> _emitter.rate >> _emitter.duration - >> _emitter.emitting >> _emitter.particleSize >> _emitter.lifetime - >> _emitter.minVelocity >> _emitter.maxVelocity >> _emitter.colorStart - >> _emitter.colorEnd >> _emitter.scaleRate - >> _emitter.colorRangeImage; + _in >> _emitter.id >> _emitter.type + >> _emitter.size >> _emitter.rate + >> _emitter.duration >> _emitter.emitting + >> _emitter.particleSize >> _emitter.lifetime + >> _emitter.minVelocity >> _emitter.maxVelocity + >> _emitter.colorStart >> _emitter.colorEnd + >> _emitter.scaleRate >> _emitter.colorRangeImage; return _in; } }; diff --git a/test/integration/components.cc b/test/integration/components.cc index 69a806ff88..d27200c558 100644 --- a/test/integration/components.cc +++ b/test/integration/components.cc @@ -1364,7 +1364,6 @@ TEST_F(ComponentsTest, ParticleEmitter) { particles::Emitter emitter1; emitter1.id = 0; - emitter1.name = "emitter_1"; emitter1.type = particles::EmitterType::BOX; emitter1.size = ignition::math::Vector3d(1, 2, 3); emitter1.rate = 4.0; @@ -1381,7 +1380,6 @@ TEST_F(ComponentsTest, ParticleEmitter) particles::Emitter emitter2; emitter2.id = 1; - emitter2.name = emitter1.name; emitter2.type = emitter1.type; emitter2.size = emitter1.size; emitter2.rate = emitter1.rate; @@ -1408,7 +1406,7 @@ TEST_F(ComponentsTest, ParticleEmitter) // Stream operators. std::ostringstream ostr; comp1.Serialize(ostr); - EXPECT_EQ("0 emitter_1 1 1 2 3 4 5 0 0.1 0.2 0.3 6 7 8 1 0 0 1 1 1 1 1 9 " + EXPECT_EQ("0 1 1 2 3 4 5 0 0.1 0.2 0.3 6 7 8 1 0 0 1 1 1 1 1 9 " "path_to_texture", ostr.str()); std::istringstream istr(ostr.str()); From 698bb1eb05276075fd0ed36bf0af68b4cfda1f7c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Thu, 7 Jan 2021 17:37:55 +0100 Subject: [PATCH 03/55] Update particle emitter component to use ignition::msgs::ParticleEmitter. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- .../gazebo/components/ParticleEmitter.hh | 122 ++++-------------- test/integration/components.cc | 82 +++++++----- 2 files changed, 80 insertions(+), 124 deletions(-) diff --git a/include/ignition/gazebo/components/ParticleEmitter.hh b/include/ignition/gazebo/components/ParticleEmitter.hh index d092911e83..6385171838 100644 --- a/include/ignition/gazebo/components/ParticleEmitter.hh +++ b/include/ignition/gazebo/components/ParticleEmitter.hh @@ -1,5 +1,5 @@ /* - * Copyright (C) 2020 Open Source Robotics Foundation + * 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. @@ -17,13 +17,11 @@ #ifndef IGNITION_GAZEBO_COMPONENTS_PARTICLEEMITTER_HH_ #define IGNITION_GAZEBO_COMPONENTS_PARTICLEEMITTER_HH_ -#include +#include + #include #include -#include -#include -#include #include #include #include @@ -36,96 +34,34 @@ namespace gazebo inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { namespace particles { - /// \brief All possible emitter type. - enum class EmitterType {POINT, BOX, CYLINDER, ELLIPSOID}; - /// \brief Properties of a particle emitter. - /// A particle emitter also has: - /// * a pose, which can be stored as a component of - /// an emitter entity via ignition::gazebo::components::Pose - /// * a name, which can be stored as a component of - /// an emitter entity via ignition::gazebo::components::Name - /// * a material, which can be stored as a component of - /// an emitter entity via ignition::gazebo::components::Material - struct Emitter + class Emitter { - /// \brief The particle emitter's id. - unsigned int id; - - /// \brief The emitter's type. - particles::EmitterType type; - - /// The size of the emitter where the particles are sampled. - ignition::math::Vector3d size; - - /// \brief How many particles per second should be emitted. - double rate; - - /// \brief The number of seconds the emitter is active. - double duration; - - /// \brief Whether particle emitter is enabled or not. - bool emitting; - - /// \brief The particle dimensions (width, height, depth). - ignition::math::Vector3d particleSize; - - /// \brief The number of seconds each particle will ’live’ for before - /// being destroyed. - double lifetime; - - /// \brief The minimum velocity each particle is emitted (m/s). - double minVelocity; - - /// \brief The maximum velocity each particle is emitted (m/s). - double maxVelocity; - - /// \brief The starting color of the particles. - ignition::math::Color colorStart; - - /// \brief The end color of the particles. - ignition::math::Color colorEnd; - - /// \brief The amount by which to scale the particles in both x and y - /// direction per second. - double scaleRate; - - /// \brief The path to the color image used as an affector. - std::string colorRangeImage; - + /// \brief Equality operator. This function checks if the given + /// emitter has identical id than this object. + /// \param[in] _emitter The emitter to compare against. + /// \return True if this object matches the provided object. public: bool operator==(const Emitter &_emitter) const { - return this->id == _emitter.id; + return this->data.id() == _emitter.data.id(); } + /// \brief Inequality operator. This function checks if the given + /// emitter has identical id than this object. + /// \param[in] _emitter The emitter to compare against. + /// \return True if this object doesn't match the provided object. public: bool operator!=(const Emitter &_emitter) const { return !(*this == _emitter); } + + /// \brief The particle emitter internal data. + public: ignition::msgs::ParticleEmitter data; }; } namespace serializers { - /// \brief Output stream overload for particles::EmitterType - inline std::ostream &operator<<(std::ostream &_out, - const particles::EmitterType &_type) - { - auto temp = static_cast(_type); - _out << temp; - return _out; - } - - /// \brief Input stream overload for particles::EmitterType - inline std::istream &operator>>(std::istream &_in, - particles::EmitterType &_type) - { - unsigned int temp = 0u; - if (_in >> temp) - _type = static_cast(temp); - return _in; - } - /// \brief Serializer for components::ParticleEmitter object class ParticleEmitterSerializer { @@ -136,13 +72,12 @@ namespace serializers public: static std::ostream &Serialize(std::ostream &_out, const particles::Emitter &_emitter) { - _out << _emitter.id << " " << _emitter.type - << " " << _emitter.size << " " << _emitter.rate - << " " << _emitter.duration << " " << _emitter.emitting - << " " << _emitter.particleSize << " " << _emitter.lifetime - << " " << _emitter.minVelocity << " " << _emitter.maxVelocity - << " " << _emitter.colorStart << " " << _emitter.colorEnd - << " " << _emitter.scaleRate << " " << _emitter.colorRangeImage; + if (!_emitter.data.SerializeToOstream(&_out)) + { + ignerr << "Error serializing particle emitter: " << std::endl; + ignerr << _emitter.data.DebugString() << std::endl; + } + return _out; } @@ -153,13 +88,12 @@ namespace serializers public: static std::istream &Deserialize(std::istream &_in, particles::Emitter &_emitter) { - _in >> _emitter.id >> _emitter.type - >> _emitter.size >> _emitter.rate - >> _emitter.duration >> _emitter.emitting - >> _emitter.particleSize >> _emitter.lifetime - >> _emitter.minVelocity >> _emitter.maxVelocity - >> _emitter.colorStart >> _emitter.colorEnd - >> _emitter.scaleRate >> _emitter.colorRangeImage; + if (!_emitter.data.ParseFromIstream(&_in)) + { + ignerr << "Error deserializing particle emitter: " << std::endl; + ignerr << _emitter.data.DebugString() << std::endl; + } + return _in; } }; diff --git a/test/integration/components.cc b/test/integration/components.cc index d27200c558..45d662128d 100644 --- a/test/integration/components.cc +++ b/test/integration/components.cc @@ -17,6 +17,8 @@ #include +#include + #include #include #include @@ -1363,36 +1365,58 @@ TEST_F(ComponentsTest, Scene) TEST_F(ComponentsTest, ParticleEmitter) { particles::Emitter emitter1; - emitter1.id = 0; - emitter1.type = particles::EmitterType::BOX; - emitter1.size = ignition::math::Vector3d(1, 2, 3); - emitter1.rate = 4.0; - emitter1.duration = 5.0; - emitter1.emitting = false; - emitter1.particleSize = ignition::math::Vector3d(0.1, 0.2, 0.3); - emitter1.lifetime = 6.0; - emitter1.minVelocity = 7.0; - emitter1.maxVelocity = 8.0; - emitter1.colorStart = ignition::math::Color::Red; - emitter1.colorEnd = ignition::math::Color::White; - emitter1.scaleRate = 9.0; - emitter1.colorRangeImage = "path_to_texture"; + emitter1.data.set_name("emitter1"); + emitter1.data.set_id(0); + emitter1.data.set_type(ignition::msgs::ParticleEmitter_EmitterType_BOX); + emitter1.data.mutable_size()->set_x(1); + emitter1.data.mutable_size()->set_y(2); + emitter1.data.mutable_size()->set_z(3); + emitter1.data.set_rate(4.0); + emitter1.data.set_duration(5.0); + emitter1.data.set_emitting(false); + emitter1.data.mutable_particle_size()->set_x(0.1); + emitter1.data.mutable_particle_size()->set_y(0.2); + emitter1.data.mutable_particle_size()->set_z(0.3); + emitter1.data.set_lifetime(6.0); + emitter1.data.set_min_velocity(7.0); + emitter1.data.set_max_velocity(8.0); + emitter1.data.mutable_color_start()->set_r(1.0); + emitter1.data.mutable_color_start()->set_g(0); + emitter1.data.mutable_color_start()->set_b(0); + emitter1.data.mutable_color_start()->set_a(0); + emitter1.data.mutable_color_end()->set_r(1.0); + emitter1.data.mutable_color_end()->set_g(1.0); + emitter1.data.mutable_color_end()->set_b(1.0); + emitter1.data.mutable_color_end()->set_a(0); + emitter1.data.set_scale_rate(9.0); + emitter1.data.set_color_range_image("path_to_texture"); particles::Emitter emitter2; - emitter2.id = 1; - emitter2.type = emitter1.type; - emitter2.size = emitter1.size; - emitter2.rate = emitter1.rate; - emitter2.duration = emitter1.duration; - emitter2.emitting = emitter1.emitting; - emitter2.particleSize = emitter1.particleSize; - emitter2.lifetime = emitter1.lifetime; - emitter2.minVelocity = emitter1.minVelocity; - emitter2.maxVelocity = emitter1.maxVelocity; - emitter2.colorStart = emitter1.colorStart; - emitter2.colorEnd = emitter1.colorEnd; - emitter2.scaleRate = emitter1.scaleRate; - emitter2.colorRangeImage = emitter1.colorRangeImage; + emitter2.data.set_name("emitter2"); + emitter2.data.set_id(1); + emitter2.data.set_type(ignition::msgs::ParticleEmitter_EmitterType_BOX); + emitter2.data.mutable_size()->set_x(1); + emitter2.data.mutable_size()->set_y(2); + emitter2.data.mutable_size()->set_z(3); + emitter2.data.set_rate(4.0); + emitter2.data.set_duration(5.0); + emitter2.data.set_emitting(false); + emitter2.data.mutable_particle_size()->set_x(0.1); + emitter2.data.mutable_particle_size()->set_y(0.2); + emitter2.data.mutable_particle_size()->set_z(0.3); + emitter2.data.set_lifetime(6.0); + emitter2.data.set_min_velocity(7.0); + emitter2.data.set_max_velocity(8.0); + emitter2.data.mutable_color_start()->set_r(1.0); + emitter2.data.mutable_color_start()->set_g(0); + emitter2.data.mutable_color_start()->set_b(0); + emitter2.data.mutable_color_start()->set_a(0); + emitter2.data.mutable_color_end()->set_r(1.0); + emitter2.data.mutable_color_end()->set_g(1.0); + emitter2.data.mutable_color_end()->set_b(1.0); + emitter2.data.mutable_color_end()->set_a(0); + emitter2.data.set_scale_rate(9.0); + emitter2.data.set_color_range_image("path_to_texture"); // Create components. auto comp1 = components::ParticleEmitter(emitter1); @@ -1406,8 +1430,6 @@ TEST_F(ComponentsTest, ParticleEmitter) // Stream operators. std::ostringstream ostr; comp1.Serialize(ostr); - EXPECT_EQ("0 1 1 2 3 4 5 0 0.1 0.2 0.3 6 7 8 1 0 0 1 1 1 1 1 9 " - "path_to_texture", ostr.str()); std::istringstream istr(ostr.str()); components::ParticleEmitter comp3; From 6b6f76f52a2cdc1b6cc50b037e40c8a15a84404e Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Fri, 8 Jan 2021 08:28:23 -0600 Subject: [PATCH 04/55] Automatically load a subset of world plugins (#281) Feature to allow loading of a default set of system plugins from a file. This behavior will trigger when a world sdf file is loaded with no plugins defined. In this case, the simulator will load the plugins from a series of locations including environment variable, the users home folder, and finally in the installation directory. This should allow users to not have to specify the same set of plugins in every world sdf file. Signed-off-by: Michael Carroll Co-authored-by: Louise Poubel --- examples/worlds/default.sdf | 12 - examples/worlds/shapes.sdf | 17 - include/ignition/gazebo/CMakeLists.txt | 2 + include/ignition/gazebo/ServerConfig.hh | 57 +++ include/ignition/gazebo/Util.hh | 3 + include/ignition/gazebo/config.hh.in | 1 + .../ignition/gazebo/playback_server.config | 14 + include/ignition/gazebo/server.config | 19 + src/CMakeLists.txt | 1 + src/Server.cc | 45 +-- src/ServerConfig.cc | 335 +++++++++++++++++- src/ServerConfig_TEST.cc | 230 ++++++++++++ src/ServerPrivate.cc | 310 +++++++--------- src/Server_TEST.cc | 10 +- src/SimulationRunner.cc | 153 +++++--- src/SimulationRunner.hh | 20 ++ src/SimulationRunner_TEST.cc | 187 ++++++++-- src/cmd/cmdgazebo.rb.in | 1 + src/systems/log/LogRecord.cc | 39 +- test/worlds/plugins_empty.sdf | 13 + test/worlds/server_invalid.config | 13 + test/worlds/server_valid.config | 28 ++ test/worlds/server_valid2.config | 21 ++ test/worlds/shapes.sdf | 12 - tutorials.md.in | 1 + tutorials/files/server_config/camera_env.gif | Bin 0 -> 267416 bytes .../files/server_config/camera_no_env.gif | Bin 0 -> 214013 bytes .../files/server_config/default_server.gif | Bin 0 -> 134365 bytes tutorials/files/server_config/from_sdf.png | Bin 0 -> 50007 bytes .../server_config/from_sdf_no_plugins.gif | Bin 0 -> 78768 bytes .../server_config/modified_default_config.gif | Bin 0 -> 145290 bytes tutorials/server_config.md | 265 ++++++++++++++ 32 files changed, 1462 insertions(+), 347 deletions(-) create mode 100644 include/ignition/gazebo/playback_server.config create mode 100644 include/ignition/gazebo/server.config create mode 100644 src/ServerConfig_TEST.cc create mode 100644 test/worlds/plugins_empty.sdf create mode 100644 test/worlds/server_invalid.config create mode 100644 test/worlds/server_valid.config create mode 100644 test/worlds/server_valid2.config create mode 100644 tutorials/files/server_config/camera_env.gif create mode 100644 tutorials/files/server_config/camera_no_env.gif create mode 100644 tutorials/files/server_config/default_server.gif create mode 100644 tutorials/files/server_config/from_sdf.png create mode 100644 tutorials/files/server_config/from_sdf_no_plugins.gif create mode 100644 tutorials/files/server_config/modified_default_config.gif create mode 100644 tutorials/server_config.md diff --git a/examples/worlds/default.sdf b/examples/worlds/default.sdf index 934f985c81..f359666e1f 100644 --- a/examples/worlds/default.sdf +++ b/examples/worlds/default.sdf @@ -17,18 +17,6 @@ 0.001 1.0 - - - - - - true diff --git a/examples/worlds/shapes.sdf b/examples/worlds/shapes.sdf index 4715d18c7d..5dec565b81 100644 --- a/examples/worlds/shapes.sdf +++ b/examples/worlds/shapes.sdf @@ -8,23 +8,6 @@ Try moving a model: --> - - 0.001 - 1.0 - - - - - - - - 1.0 1.0 1.0 0.8 0.8 0.8 diff --git a/include/ignition/gazebo/CMakeLists.txt b/include/ignition/gazebo/CMakeLists.txt index f6a29455ec..65544b91eb 100644 --- a/include/ignition/gazebo/CMakeLists.txt +++ b/include/ignition/gazebo/CMakeLists.txt @@ -1,3 +1,5 @@ ign_install_all_headers() add_subdirectory(components) + +install (FILES server.config playback_server.config DESTINATION ${IGN_DATA_INSTALL_DIR}) diff --git a/include/ignition/gazebo/ServerConfig.hh b/include/ignition/gazebo/ServerConfig.hh index 6a1de2c4dd..abb0283cde 100644 --- a/include/ignition/gazebo/ServerConfig.hh +++ b/include/ignition/gazebo/ServerConfig.hh @@ -351,6 +351,24 @@ namespace ignition /// \param[in] _info Information about the plugin to load. public: void AddPlugin(const PluginInfo &_info); + /// \brief Add multiple plugins to the simulation + /// \param[in] _info List of Information about the plugin to load. + public: void AddPlugins(const std::list &_plugins); + + /// \brief Generate PluginInfo for Log recording based on the + /// internal state of this ServerConfig object: + /// \sa UseLogRecord + /// \sa LogRecordPath + /// \sa LogRecordResources + /// \sa LogRecordCompressPath + /// \sa LogRecordTopics + public: PluginInfo LogRecordPlugin() const; + + /// \brief Generate PluginInfo for Log playback based on the + /// internal state of this ServerConfig object: + /// \sa LogPlaybackPath + public: PluginInfo LogPlaybackPlugin() const; + /// \brief Get all the plugins that should be loaded. /// \return A list of all the plugins specified via /// AddPlugin(const PluginInfo &). @@ -372,6 +390,45 @@ namespace ignition /// \brief Private data pointer private: std::unique_ptr dataPtr; }; + + /// \brief Parse plugins from XML configuration file. + /// \param[in] _fname Absolute path to the configuration file to parse. + /// \return A list of all of the plugins found in the configuration file + std::list + IGNITION_GAZEBO_VISIBLE + parsePluginsFromFile(const std::string &_fname); + + /// \brief Parse plugins from XML configuration string. + /// \param[in] _str XML configuration content to parse + /// \return A list of all of the plugins found in the configuration string. + std::list + IGNITION_GAZEBO_VISIBLE + parsePluginsFromString(const std::string &_str); + + /// \brief Load plugin information, following ordering. + /// + /// This method is used when no plugins are found in an SDF + /// file to load either a default or custom set of plugins. + /// + /// The following order is used to resolve: + /// 1. Config file located at IGN_GAZEBO_SERVER_CONFIG_PATH environment + /// variable. + /// * If IGN_GAZEBO_SERVER_CONFIG_PATH is set but empty, no plugins + /// are loaded. + /// 2. File at ${IGN_HOMEDIR}/.ignition/gazebo/server.config + /// 3. File at ${IGN_DATA_INSTALL_DIR}/server.config + /// + /// If any of the above files exist but are empty, resolution + /// stops and the plugin list will be empty. + /// + // + /// \param[in] _isPlayback Is the server in playback mode. If so, fallback + /// to playback_server.config. + // + /// \return A list of plugins to load, based on above ordering + std::list + IGNITION_GAZEBO_VISIBLE + loadPluginInfo(bool _isPlayback = false); } } } diff --git a/include/ignition/gazebo/Util.hh b/include/ignition/gazebo/Util.hh index 39d790f7f9..ca058f3a08 100644 --- a/include/ignition/gazebo/Util.hh +++ b/include/ignition/gazebo/Util.hh @@ -146,6 +146,9 @@ namespace ignition /// `` const std::string kSdfPathEnv{"SDF_PATH"}; + /// \breif Environment variable holding server config paths. + const std::string kServerConfigPathEnv{"IGN_GAZEBO_SERVER_CONFIG_PATH"}; + /// \brief Environment variable holding paths to custom rendering engine /// plugins. const std::string kRenderPluginPathEnv{"IGN_GAZEBO_RENDER_ENGINE_PATH"}; diff --git a/include/ignition/gazebo/config.hh.in b/include/ignition/gazebo/config.hh.in index fb16fddef7..050a0304a4 100644 --- a/include/ignition/gazebo/config.hh.in +++ b/include/ignition/gazebo/config.hh.in @@ -15,6 +15,7 @@ #define IGNITION_GAZEBO_GUI_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/gui" #define IGNITION_GAZEBO_SYSTEM_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/systems" +#define IGNITION_GAZEBO_SERVER_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}" #define IGN_GAZEBO_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins" #define IGN_GAZEBO_GUI_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui" #define IGN_GAZEBO_WORLD_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/worlds" diff --git a/include/ignition/gazebo/playback_server.config b/include/ignition/gazebo/playback_server.config new file mode 100644 index 0000000000..2551fda3ea --- /dev/null +++ b/include/ignition/gazebo/playback_server.config @@ -0,0 +1,14 @@ + + + + + + + + diff --git a/include/ignition/gazebo/server.config b/include/ignition/gazebo/server.config new file mode 100644 index 0000000000..5de18a66fc --- /dev/null +++ b/include/ignition/gazebo/server.config @@ -0,0 +1,19 @@ + + + + + + + + + + diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 1c029e2900..078c1b4bcf 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -75,6 +75,7 @@ set (gtest_sources SdfEntityCreator_TEST.cc SdfGenerator_TEST.cc Server_TEST.cc + ServerConfig_TEST.cc SimulationRunner_TEST.cc System_TEST.cc SystemLoader_TEST.cc diff --git a/src/Server.cc b/src/Server.cc index 9fb9492de8..bb188ef993 100644 --- a/src/Server.cc +++ b/src/Server.cc @@ -59,53 +59,14 @@ std::string findFuelResourceSdf(const std::string &_path) /// \brief This struct provides access to the default world. struct DefaultWorld { - /// \brief Get the default plugins as a string. - /// \return An SDF string that contains the default plugins. - public: static std::string &DefaultPlugins(const ServerConfig &_config) - { - std::vector pluginsV = { - { - std::string("" - }, - { - std::string("" - } - }; - - // The set of default gazebo plugins. - if (_config.LogPlaybackPath().empty()) - { - pluginsV.push_back(std::string(""); - } - - // Playback plugin - else - { - pluginsV.push_back(std::string("" + - _config.LogPlaybackPath() + ""); - } - - static std::string plugins = std::accumulate(pluginsV.begin(), - pluginsV.end(), std::string("")); - return plugins; - } - /// \brief Get the default world as a string. + /// Plugins will be loaded from the server.config file. /// \return An SDF string that contains the default world. - public: static std::string &World(const ServerConfig &_config) + public: static std::string &World() { static std::string world = std::string("" "" "") + - DefaultPlugins(_config) + "" ""; @@ -211,7 +172,7 @@ Server::Server(const ServerConfig &_config) ignmsg << "Loading default world.\n"; // Load an empty world. /// \todo(nkoenig) Add a "AddWorld" function to sdf::Root. - errors = this->dataPtr->sdfRoot.LoadSdfString(DefaultWorld::World(_config)); + errors = this->dataPtr->sdfRoot.LoadSdfString(DefaultWorld::World()); } if (!errors.empty()) diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index fbb61135ca..97b738c4ea 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -14,13 +14,18 @@ * limitations under the License. * */ +#include "ignition/gazebo/ServerConfig.hh" + +#include + #include #include #include #include #include #include -#include "ignition/gazebo/ServerConfig.hh" + +#include "ignition/gazebo/Util.hh" using namespace ignition; using namespace gazebo; @@ -230,7 +235,8 @@ class ignition::gazebo::ServerConfigPrivate plugins(_cfg->plugins), networkRole(_cfg->networkRole), networkSecondaries(_cfg->networkSecondaries), - seed(_cfg->seed) { } + seed(_cfg->seed), + logRecordTopics(_cfg->logRecordTopics) { } // \brief The SDF file that the server should load public: std::string sdfFile = ""; @@ -550,6 +556,104 @@ void ServerConfig::AddPlugin(const ServerConfig::PluginInfo &_info) this->dataPtr->plugins.push_back(_info); } +///////////////////////////////////////////////// +ServerConfig::PluginInfo +ServerConfig::LogPlaybackPlugin() const +{ + auto entityName = "*"; + auto entityType = "world"; + auto pluginName = "ignition::gazebo::systems::LogPlayback"; + auto pluginFilename = "ignition-gazebo-log-system"; + + sdf::ElementPtr playbackElem; + playbackElem = std::make_shared(); + playbackElem->SetName("plugin"); + + if (!this->LogPlaybackPath().empty()) + { + sdf::ElementPtr pathElem = std::make_shared(); + pathElem->SetName("path"); + playbackElem->AddElementDescription(pathElem); + pathElem = playbackElem->GetElement("path"); + pathElem->AddValue("string", "", false, ""); + pathElem->Set(this->LogPlaybackPath()); + } + + return ServerConfig::PluginInfo(entityName, + entityType, + pluginFilename, + pluginName, + playbackElem); +} + +///////////////////////////////////////////////// +ServerConfig::PluginInfo +ServerConfig::LogRecordPlugin() const +{ + auto entityName = "*"; + auto entityType = "world"; + auto pluginName = "ignition::gazebo::systems::LogRecord"; + auto pluginFilename = std::string("ignition-gazebo") + + IGNITION_GAZEBO_MAJOR_VERSION_STR + "-log-system"; + + sdf::ElementPtr recordElem; + + recordElem = std::make_shared(); + recordElem->SetName("plugin"); + + if (!this->LogRecordPath().empty()) + { + sdf::ElementPtr pathElem = std::make_shared(); + pathElem->SetName("path"); + recordElem->AddElementDescription(pathElem); + pathElem = recordElem->GetElement("path"); + pathElem->AddValue("string", "", false, ""); + pathElem->Set(this->LogRecordPath()); + } + + // Set whether to record resources + sdf::ElementPtr resourceElem = std::make_shared(); + resourceElem->SetName("record_resources"); + recordElem->AddElementDescription(resourceElem); + resourceElem = recordElem->GetElement("record_resources"); + resourceElem->AddValue("bool", "false", false, ""); + resourceElem->Set(this->LogRecordResources() ? true : false); + + // Set whether to compress + sdf::ElementPtr compressElem = std::make_shared(); + compressElem->SetName("compress"); + recordElem->AddElementDescription(compressElem); + compressElem = recordElem->GetElement("compress"); + compressElem->AddValue("bool", "false", false, ""); + compressElem->Set(this->LogRecordCompressPath().empty() ? false : + true); + + // Set compress path + sdf::ElementPtr cPathElem = std::make_shared(); + cPathElem->SetName("compress_path"); + recordElem->AddElementDescription(cPathElem); + cPathElem = recordElem->GetElement("compress_path"); + cPathElem->AddValue("string", "", false, ""); + cPathElem->Set(this->LogRecordCompressPath()); + + // If record topics specified, add in SDF + for (const std::string &topic : this->LogRecordTopics()) + { + sdf::ElementPtr topicElem = std::make_shared(); + topicElem->SetName("record_topic"); + recordElem->AddElementDescription(topicElem); + topicElem = recordElem->AddElement("record_topic"); + topicElem->AddValue("string", "false", false, ""); + topicElem->Set(topic); + } + + return ServerConfig::PluginInfo(entityName, + entityType, + pluginFilename, + pluginName, + recordElem); +} + ///////////////////////////////////////////////// const std::list &ServerConfig::Plugins() const { @@ -587,3 +691,230 @@ const std::vector &ServerConfig::LogRecordTopics() const { return this->dataPtr->logRecordTopics; } + +///////////////////////////////////////////////// +void copyElement(sdf::ElementPtr _sdf, const tinyxml2::XMLElement *_xml) +{ + _sdf->SetName(_xml->Value()); + if (_xml->GetText() != nullptr) + _sdf->AddValue("string", _xml->GetText(), "1"); + + for (const tinyxml2::XMLAttribute *attribute = _xml->FirstAttribute(); + attribute; attribute = attribute->Next()) + { + _sdf->AddAttribute(attribute->Name(), "string", "", 1, ""); + _sdf->GetAttribute(attribute->Name())->SetFromString( + attribute->Value()); + } + + // Iterate over all the child elements + const tinyxml2::XMLElement *elemXml = nullptr; + for (elemXml = _xml->FirstChildElement(); elemXml; + elemXml = elemXml->NextSiblingElement()) + { + sdf::ElementPtr element(new sdf::Element); + element->SetParent(_sdf); + + copyElement(element, elemXml); + _sdf->InsertElement(element); + } +} + +///////////////////////////////////////////////// +std::list +parsePluginsFromDoc(const tinyxml2::XMLDocument &_doc) +{ + auto ret = std::list(); + auto root = _doc.RootElement(); + if (root == nullptr) + { + ignerr << "No element found when parsing plugins\n"; + return ret; + } + + auto plugins = root->FirstChildElement("plugins"); + if (plugins == nullptr) + { + ignerr << "No element found when parsing plugins\n"; + return ret; + } + + const tinyxml2::XMLElement *elem{nullptr}; + + // Note, this was taken from ign-launch, where this type of parsing happens. + // Process all the plugins. + for (elem = plugins->FirstChildElement("plugin"); elem; + elem = elem->NextSiblingElement("plugin")) + { + // Get the plugin's name + const char *nameStr = elem->Attribute("name"); + std::string name = nameStr == nullptr ? "" : nameStr; + if (name.empty()) + { + ignerr << "Plugin is missing the name attribute. " + << "Skipping this plugin.\n"; + continue; + } + + // Get the plugin's filename + const char *fileStr = elem->Attribute("filename"); + std::string file = fileStr == nullptr ? "" : fileStr; + if (file.empty()) + { + ignerr << "A Plugin with name[" << name << "] is " + << "missing the filename attribute. Skipping this plugin.\n"; + continue; + } + + // Get the plugin's entity name attachment information. + const char *entityNameStr = elem->Attribute("entity_name"); + std::string entityName = entityNameStr == nullptr ? "" : entityNameStr; + if (entityName.empty()) + { + ignerr << "A Plugin with name[" << name << "] and " + << "filename[" << file << "] is missing the entity_name attribute. " + << "Skipping this plugin.\n"; + continue; + } + + // Get the plugin's entity type attachment information. + const char *entityTypeStr = elem->Attribute("entity_type"); + std::string entityType = entityTypeStr == nullptr ? "" : entityTypeStr; + if (entityType.empty()) + { + ignerr << "A Plugin with name[" << name << "] and " + << "filename[" << file << "] is missing the entity_type attribute. " + << "Skipping this plugin.\n"; + continue; + } + + // Create an SDF element of the plugin + sdf::ElementPtr sdf(new sdf::Element); + copyElement(sdf, elem); + + // Add the plugin to the server config + ret.push_back({entityName, entityType, file, name, sdf}); + } + return ret; +} + +///////////////////////////////////////////////// +std::list +ignition::gazebo::parsePluginsFromFile(const std::string &_fname) +{ + tinyxml2::XMLDocument doc; + doc.LoadFile(_fname.c_str()); + return parsePluginsFromDoc(doc); +} + +///////////////////////////////////////////////// +std::list +ignition::gazebo::parsePluginsFromString(const std::string &_str) +{ + tinyxml2::XMLDocument doc; + doc.Parse(_str.c_str()); + return parsePluginsFromDoc(doc); +} + + +///////////////////////////////////////////////// +std::list +ignition::gazebo::loadPluginInfo(bool _isPlayback) +{ + std::list ret; + + // 1. Check contents of environment variable + std::string envConfig; + bool configSet = ignition::common::env(gazebo::kServerConfigPathEnv, + envConfig); + + if (configSet) + { + if (ignition::common::exists(envConfig)) + { + // Parse configuration stored in environment variable + ret = ignition::gazebo::parsePluginsFromFile(envConfig); + if (ret.empty()) + { + // This may be desired behavior, but warn just in case. + // Some users may want to defer all loading until later + // during runtime. + ignwarn << gazebo::kServerConfigPathEnv + << " set but no plugins found\n"; + } + igndbg << "Loaded (" << ret.size() << ") plugins from file " << + "[" << envConfig << "]\n"; + + return ret; + } + else + { + // This may be desired behavior, but warn just in case. + // Some users may want to defer all loading until late + // during runtime. + ignwarn << gazebo::kServerConfigPathEnv + << " set but no file found," + << " no plugins loaded\n"; + return ret; + } + } + + std::string configFilename; + if (_isPlayback) + { + configFilename = "playback_server.config"; + } + else + { + configFilename = "server.config"; + } + + std::string defaultConfig; + ignition::common::env(IGN_HOMEDIR, defaultConfig); + defaultConfig = ignition::common::joinPaths(defaultConfig, ".ignition", + "gazebo", configFilename); + + if (!ignition::common::exists(defaultConfig)) + { + auto installedConfig = ignition::common::joinPaths( + IGNITION_GAZEBO_SERVER_CONFIG_PATH, + configFilename); + + if (!ignition::common::exists(installedConfig)) + { + ignerr << "Failed to copy installed config [" << installedConfig + << "] to default config [" << defaultConfig << "]." + << "(file " << installedConfig << " doesn't exist)" + << std::endl; + return ret; + } + else if (!ignition::common::copyFile(installedConfig, defaultConfig)) + { + ignerr << "Failed to copy installed config [" << installedConfig + << "] to default config [" << defaultConfig << "]." + << std::endl; + return ret; + } + else + { + ignmsg << "Copied installed config [" << installedConfig + << "] to default config [" << defaultConfig << "]." + << std::endl; + } + } + + ret = ignition::gazebo::parsePluginsFromFile(defaultConfig); + + if (ret.empty()) + { + // This may be desired behavior, but warn just in case. + ignwarn << "Loaded config: [" << defaultConfig + << "], but no plugins found\n"; + } + + igndbg << "Loaded (" << ret.size() << ") plugins from file " << + "[" << defaultConfig << "]\n"; + + return ret; +} + diff --git a/src/ServerConfig_TEST.cc b/src/ServerConfig_TEST.cc new file mode 100644 index 0000000000..733a55ef37 --- /dev/null +++ b/src/ServerConfig_TEST.cc @@ -0,0 +1,230 @@ +/* + * Copyright (C) 2020 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 + +#include +#include +#include +#include + +using namespace ignition; +using namespace gazebo; + +////////////////////////////////////////////////// +TEST(ParsePluginsFromString, Valid) +{ + std::string config = R"( + + + + 0.123 + + + 987 + + + 456 + + + )"; + + auto plugins = parsePluginsFromString(config); + ASSERT_EQ(3u, plugins.size()); + + auto plugin = plugins.begin(); + + EXPECT_EQ("default", plugin->EntityName()); + EXPECT_EQ("world", plugin->EntityType()); + EXPECT_EQ("TestWorldSystem", plugin->Filename()); + EXPECT_EQ("ignition::gazebo::TestWorldSystem", plugin->Name()); + + plugin = std::next(plugin, 1); + + EXPECT_EQ("box", plugin->EntityName()); + EXPECT_EQ("model", plugin->EntityType()); + EXPECT_EQ("TestModelSystem", plugin->Filename()); + EXPECT_EQ("ignition::gazebo::TestModelSystem", plugin->Name()); + + plugin = std::next(plugin, 1); + + EXPECT_EQ("default::box::link_1::camera", plugin->EntityName()); + EXPECT_EQ("sensor", plugin->EntityType()); + EXPECT_EQ("TestSensorSystem", plugin->Filename()); + EXPECT_EQ("ignition::gazebo::TestSensorSystem", plugin->Name()); +} + +////////////////////////////////////////////////// +TEST(ParsePluginsFromString, Invalid) +{ + std::string config = R"( + + + 0.123 + + )"; + + auto plugins = parsePluginsFromString(config); + ASSERT_EQ(0u, plugins.size()); + + auto plugins2 = parsePluginsFromString(""); + ASSERT_EQ(0u, plugins2.size()); +} + +////////////////////////////////////////////////// +TEST(ParsePluginsFromFile, Valid) +{ + auto config = common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "server_valid.config"); + + auto plugins = parsePluginsFromFile(config); + ASSERT_EQ(3u, plugins.size()); + + auto plugin = plugins.begin(); + + EXPECT_EQ("default", plugin->EntityName()); + EXPECT_EQ("world", plugin->EntityType()); + EXPECT_EQ("TestWorldSystem", plugin->Filename()); + EXPECT_EQ("ignition::gazebo::TestWorldSystem", plugin->Name()); + + plugin = std::next(plugin, 1); + + EXPECT_EQ("box", plugin->EntityName()); + EXPECT_EQ("model", plugin->EntityType()); + EXPECT_EQ("TestModelSystem", plugin->Filename()); + EXPECT_EQ("ignition::gazebo::TestModelSystem", plugin->Name()); + + plugin = std::next(plugin, 1); + + EXPECT_EQ("default::box::link_1::camera", plugin->EntityName()); + EXPECT_EQ("sensor", plugin->EntityType()); + EXPECT_EQ("TestSensorSystem", plugin->Filename()); + EXPECT_EQ("ignition::gazebo::TestSensorSystem", plugin->Name()); +} + +////////////////////////////////////////////////// +TEST(ParsePluginsFromFile, Invalid) +{ + auto config = common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "server_invalid.config"); + + // Valid file without valid content + auto plugins = parsePluginsFromFile(config); + ASSERT_EQ(0u, plugins.size()); + + // Invalid file + auto plugins2 = parsePluginsFromFile("/foo/bar/baz"); + ASSERT_EQ(0u, plugins2.size()); +} + +////////////////////////////////////////////////// +TEST(ParsePluginsFromFile, DefaultConfig) +{ + // Note: This test validates that that the default + // configuration always parses. + // If more systems are added, then the number needs + // to be adjusted below. + auto config = common::joinPaths(PROJECT_SOURCE_PATH, + "include", "ignition", "gazebo", "server.config"); + + auto plugins = parsePluginsFromFile(config); + ASSERT_EQ(3u, plugins.size()); +} + +////////////////////////////////////////////////// +TEST(ParsePluginsFromFile, PlaybackConfig) +{ + // Note: This test validates that that the default + // configuration always parses. + // If more systems are added, then the number needs + // to be adjusted below. + auto config = common::joinPaths(PROJECT_SOURCE_PATH, + "include", "ignition", "gazebo", "playback_server.config"); + + auto plugins = parsePluginsFromFile(config); + ASSERT_EQ(2u, plugins.size()); +} + +////////////////////////////////////////////////// +TEST(LoadPluginInfo, FromEmptyEnv) +{ + // Set environment to something that doesn't exist + ASSERT_TRUE(common::setenv(gazebo::kServerConfigPathEnv, "foo")); + auto plugins = loadPluginInfo(); + + EXPECT_EQ(0u, plugins.size()); + EXPECT_TRUE(common::unsetenv(gazebo::kServerConfigPathEnv)); +} + +////////////////////////////////////////////////// +TEST(LoadPluginInfo, FromValidEnv) +{ + auto validPath = common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "server_valid2.config"); + + ASSERT_TRUE(common::setenv(gazebo::kServerConfigPathEnv, validPath)); + + auto plugins = loadPluginInfo(); + ASSERT_EQ(2u, plugins.size()); + + auto plugin = plugins.begin(); + + EXPECT_EQ("*", plugin->EntityName()); + EXPECT_EQ("world", plugin->EntityType()); + EXPECT_EQ("TestWorldSystem", plugin->Filename()); + EXPECT_EQ("ignition::gazebo::TestWorldSystem", plugin->Name()); + + plugin = std::next(plugin, 1); + + EXPECT_EQ("box", plugin->EntityName()); + EXPECT_EQ("model", plugin->EntityType()); + EXPECT_EQ("TestModelSystem", plugin->Filename()); + EXPECT_EQ("ignition::gazebo::TestModelSystem", plugin->Name()); + + EXPECT_TRUE(common::unsetenv(gazebo::kServerConfigPathEnv)); +} + +////////////////////////////////////////////////// +TEST(ServerConfig, GenerateRecordPlugin) +{ + ServerConfig config; + config.SetUseLogRecord(true); + config.SetLogRecordPath("foo/bar"); + config.SetLogRecordResources(true); + + auto plugin = config.LogRecordPlugin(); + EXPECT_EQ(plugin.EntityName(), "*"); + EXPECT_EQ(plugin.EntityType(), "world"); + EXPECT_EQ(plugin.Name(), "ignition::gazebo::systems::LogRecord"); +} + diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc index 4b15c260fa..7792222754 100644 --- a/src/ServerPrivate.cc +++ b/src/ServerPrivate.cc @@ -183,204 +183,168 @@ bool ServerPrivate::Run(const uint64_t _iterations, } ////////////////////////////////////////////////// -void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) +sdf::ElementPtr GetRecordPluginElem(sdf::Root &_sdfRoot) { - const sdf::World *sdfWorld = this->sdfRoot.WorldByIndex(0); - sdf::ElementPtr worldElem = sdfWorld->Element(); + sdf::ElementPtr rootElem = _sdfRoot.Element(); - // Check if there is already a record plugin specified - if (worldElem->HasElement("plugin")) + if (rootElem->HasElement("world")) { - sdf::ElementPtr pluginElem = worldElem->GetElement("plugin"); - while (pluginElem != nullptr) + sdf::ElementPtr worldElem = rootElem->GetElement("world"); + + if (worldElem->HasElement("plugin")) { - sdf::ParamPtr pluginName = pluginElem->GetAttribute("name"); - sdf::ParamPtr pluginFileName = pluginElem->GetAttribute("filename"); + sdf::ElementPtr pluginElem = worldElem->GetElement("plugin"); - if (pluginName != nullptr && pluginFileName != nullptr) + while (pluginElem != nullptr) { - // Found a logging plugin - if (pluginFileName->GetAsString().find( - LoggingPlugin::LoggingPluginSuffix()) != std::string::npos) + sdf::ParamPtr pluginName = pluginElem->GetAttribute("name"); + sdf::ParamPtr pluginFileName = pluginElem->GetAttribute("filename"); + + if (pluginName != nullptr && pluginFileName != nullptr) { - // If record plugin already specified in SDF, and record flags are - // specified on command line, replace SDF parameters with those on - // command line. (If none specified on command line, use those in - // SDF.) - if (pluginName->GetAsString() == LoggingPlugin::RecordPluginName()) + // Found a logging plugin + if (pluginFileName->GetAsString().find( + LoggingPlugin::LoggingPluginSuffix()) != std::string::npos) { - std::string recordPath = _config.LogRecordPath(); - std::string cmpPath = _config.LogRecordCompressPath(); - - // Set record path - if (!_config.LogRecordPath().empty()) + if (pluginName->GetAsString() == LoggingPlugin::RecordPluginName()) { - bool overwriteSdf = false; - // If is specified in SDF, check whether to replace it - if (pluginElem->HasElement("path") && - !pluginElem->Get("path").empty()) - { - // If record path came from command line, overwrite SDF - if (_config.LogIgnoreSdfPath()) - { - overwriteSdf = true; - } - // TODO(anyone) In Ignition-D, remove this. will be - // permanently ignored in favor of common::ignLogDirectory(). - // Always overwrite SDF. - // Otherwise, record path is same as the default timestamp log - // path. Take the path in SDF . - // Deprecated. - else - { - ignwarn << "--record-path is not specified on command line. " - << " is specified in SDF. Will record to . " - << "Console will be logged to [" << ignLogDirectory() - << "]. Note: In Ignition-D, will be ignored, and " - << "all recordings will be written to default console log " - << "path if no path is specified on command line.\n"; - overwriteSdf = false; - - // Take in SDF - recordPath = pluginElem->Get("path"); - - // Update path for compressed file to match record path - cmpPath = std::string(recordPath); - if (!std::string(1, cmpPath.back()).compare( - ignition::common::separator(""))) - { - // Remove the separator at end of path - cmpPath = cmpPath.substr(0, cmpPath.length() - 1); - } - cmpPath += ".zip"; - } - } - else - { - overwriteSdf = true; - } - - if (overwriteSdf) - { - sdf::ElementPtr pathElem = std::make_shared(); - pathElem->SetName("path"); - pluginElem->AddElementDescription(pathElem); - pathElem = pluginElem->GetElement("path"); - pathElem->AddValue("string", "", false, ""); - pathElem->Set(recordPath); - } + return pluginElem; } + } + } - // If resource flag specified on command line, replace in SDF - if (_config.LogRecordResources()) - { - sdf::ElementPtr resourceElem = std::make_shared(); - resourceElem->SetName("record_resources"); - pluginElem->AddElementDescription(resourceElem); - resourceElem = pluginElem->GetElement("record_resources"); - resourceElem->AddValue("bool", "false", false, ""); - resourceElem->Set(_config.LogRecordResources() - ? true : false); - } + pluginElem = pluginElem->GetNextElement(); + } + } + } + return nullptr; +} - // If compress flag specified on command line, replace in SDF - if (!_config.LogRecordCompressPath().empty()) - { - sdf::ElementPtr compressElem = std::make_shared(); - compressElem->SetName("compress"); - pluginElem->AddElementDescription(compressElem); - compressElem = pluginElem->GetElement("compress"); - compressElem->AddValue("bool", "false", false, ""); - compressElem->Set(true); - - sdf::ElementPtr cPathElem = std::make_shared(); - cPathElem->SetName("compress_path"); - pluginElem->AddElementDescription(cPathElem); - cPathElem = pluginElem->GetElement("compress_path"); - cPathElem->AddValue("string", "", false, ""); - cPathElem->Set(cmpPath); - } +////////////////////////////////////////////////// +void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) +{ + auto recordPluginElem = GetRecordPluginElem(this->sdfRoot); + bool sdfUseLogRecord = (recordPluginElem != nullptr); + + bool hasRecordPath {false}; + bool hasCompressPath {false}; + bool hasRecordResources {false}; + bool hasCompress {false}; + bool hasRecordTopics {false}; + + std::string sdfRecordPath; + std::string sdfCompressPath; + bool sdfRecordResources; + bool sdfCompress; + std::vector sdfRecordTopics; + + if (sdfUseLogRecord) + { + std::tie(sdfRecordPath, hasRecordPath) = + recordPluginElem->Get("path", ""); + std::tie(sdfCompressPath, hasCompressPath) = + recordPluginElem->Get("compress_path", ""); + std::tie(sdfRecordResources, hasRecordResources) = + recordPluginElem->Get("record_resources", false); + std::tie(sdfCompress, hasCompress) = + recordPluginElem->Get("compress", false); + + hasRecordTopics = recordPluginElem->HasElement("record_topic"); + if (hasRecordTopics) + { + sdf::ElementPtr recordTopicElem = + recordPluginElem->GetElement("record_topic"); + while (recordTopicElem) + { + auto topic = recordTopicElem->Get(); + sdfRecordTopics.push_back(topic); + } - // If record topics specified, add in SDF - for (const std::string &topic : _config.LogRecordTopics()) - { - sdf::ElementPtr topicElem = std::make_shared(); - topicElem->SetName("record_topic"); - pluginElem->AddElementDescription(topicElem); - topicElem = pluginElem->AddElement("record_topic"); - topicElem->AddValue("string", "false", false, ""); - topicElem->Set(topic); - } + recordTopicElem = recordTopicElem->GetNextElement(); + } - return; - } + // Remove from SDF + recordPluginElem->RemoveFromParent(); + recordPluginElem->Reset(); + } - // If playback plugin also specified, do not add a record plugin - if (pluginName->GetAsString() == LoggingPlugin::PlaybackPluginName()) + // Set the config based on what is in the SDF: + if (hasRecordPath) + this->config.SetLogRecordPath(sdfRecordPath); + if (hasCompressPath) + this->config.SetLogRecordCompressPath(sdfCompressPath); + if (hasRecordResources) + this->config.SetLogRecordResources(sdfRecordResources); + + if (hasRecordTopics) + { + this->config.ClearLogRecordTopics(); + for (auto topic : sdfRecordTopics) + { + this->config.AddLogRecordTopic(topic); + } + } + + if (!_config.LogRecordPath().empty() && hasRecordPath) + { + if (hasRecordPath) + { + // If record path came from command line, overwrite SDF + if (_config.LogIgnoreSdfPath()) + { + this->config.SetLogRecordPath(_config.LogRecordPath()); + } + // TODO(anyone) In Ignition-D, remove this. will be + // permanently ignored in favor of common::ignLogDirectory(). + // Always overwrite SDF. + // Otherwise, record path is same as the default timestamp log + // path. Take the path in SDF . + // Deprecated. + else + { + ignwarn << "--record-path is not specified on command line. " + << " is specified in SDF. Will record to . " + << "Console will be logged to [" << ignLogDirectory() + << "]. Note: In Ignition-D, will be ignored, and " + << "all recordings will be written to default console log " + << "path if no path is specified on command line.\n"; + + // In the case that the --compress flag is set, then + // this field will be populated with just the file extension + if(_config.LogRecordCompressPath() == ".zip") + { + sdfCompressPath = std::string(sdfRecordPath); + if (!std::string(1, sdfCompressPath.back()).compare( + ignition::common::separator(""))) { - ignwarn << "Both record and playback are specified. " - << "Ignoring record.\n"; - return; + // Remove the separator at end of path + sdfCompressPath = sdfCompressPath.substr(0, + sdfCompressPath.length() - 1); } + sdfCompressPath += ".zip"; + this->config.SetLogRecordCompressPath(sdfCompressPath); } } - - pluginElem = pluginElem->GetNextElement(); + } + else + { + this->config.SetLogRecordPath(_config.LogRecordPath()); } } - // A record plugin is not already specified in SDF. Add one. - sdf::ElementPtr recordElem = worldElem->AddElement("plugin"); - sdf::ParamPtr recordName = recordElem->GetAttribute("name"); - recordName->SetFromString(LoggingPlugin::RecordPluginName()); - sdf::ParamPtr recordFileName = recordElem->GetAttribute("filename"); - recordFileName->SetFromString(LoggingPlugin::LoggingPluginFileName()); + if (_config.LogRecordResources()) + this->config.SetLogRecordResources(true); - // Add custom record path - if (!_config.LogRecordPath().empty()) - { - sdf::ElementPtr pathElem = std::make_shared(); - pathElem->SetName("path"); - recordElem->AddElementDescription(pathElem); - pathElem = recordElem->GetElement("path"); - pathElem->AddValue("string", "", false, ""); - pathElem->Set(_config.LogRecordPath()); - } + if (_config.LogRecordCompressPath() != ".zip") + this->config.SetLogRecordCompressPath(_config.LogRecordCompressPath()); - // Set whether to record resources - sdf::ElementPtr resourceElem = std::make_shared(); - resourceElem->SetName("record_resources"); - recordElem->AddElementDescription(resourceElem); - resourceElem = recordElem->GetElement("record_resources"); - resourceElem->AddValue("bool", "false", false, ""); - resourceElem->Set(_config.LogRecordResources() ? true : false); - - // Set whether to compress - sdf::ElementPtr compressElem = std::make_shared(); - compressElem->SetName("compress"); - recordElem->AddElementDescription(compressElem); - compressElem = recordElem->GetElement("compress"); - compressElem->AddValue("bool", "false", false, ""); - compressElem->Set(_config.LogRecordCompressPath().empty() ? false : - true); - - // Set compress path - sdf::ElementPtr cPathElem = std::make_shared(); - cPathElem->SetName("compress_path"); - recordElem->AddElementDescription(cPathElem); - cPathElem = recordElem->GetElement("compress_path"); - cPathElem->AddValue("string", "", false, ""); - cPathElem->Set(_config.LogRecordCompressPath()); - - // If record topics specified, add in SDF - for (const std::string &topic : _config.LogRecordTopics()) + if (_config.LogRecordTopics().size()) { - sdf::ElementPtr topicElem = std::make_shared(); - topicElem->SetName("record_topic"); - recordElem->AddElementDescription(topicElem); - topicElem = recordElem->AddElement("record_topic"); - topicElem->AddValue("string", "false", false, ""); - topicElem->Set(topic); + this->config.ClearLogRecordTopics(); + for (auto topic : _config.LogRecordTopics()) + { + this->config.AddLogRecordTopic(topic); + } } } diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc index b057678e28..d5d9c37f45 100644 --- a/src/Server_TEST.cc +++ b/src/Server_TEST.cc @@ -34,6 +34,7 @@ #include "ignition/gazebo/SystemLoader.hh" #include "ignition/gazebo/Server.hh" #include "ignition/gazebo/Types.hh" +#include "ignition/gazebo/Util.hh" #include "ignition/gazebo/test_config.hh" #include "plugins/MockSystem.hh" @@ -220,8 +221,8 @@ TEST_P(ServerFixture, ServerConfigSensorPlugin) { // Start server ServerConfig serverConfig; - serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/air_pressure.sdf"); + serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "air_pressure.sdf")); sdf::ElementPtr sdf(new sdf::Element); sdf->SetName("plugin"); @@ -229,7 +230,8 @@ TEST_P(ServerFixture, ServerConfigSensorPlugin) "ignition::gazebo::TestSensorSystem", true); sdf->AddAttribute("filename", "string", "libTestSensorSystem.so", true); - serverConfig.AddPlugin({"air_pressure_model::link::air_pressure_sensor", + serverConfig.AddPlugin({ + "air_pressure_sensor::air_pressure_model::link::air_pressure_sensor", "sensor", "libTestSensorSystem.so", "ignition::gazebo::TestSensorSystem", sdf}); @@ -238,6 +240,7 @@ TEST_P(ServerFixture, ServerConfigSensorPlugin) // The simulation runner should not be running. EXPECT_FALSE(*server.Running(0)); + EXPECT_EQ(2u, *server.SystemCount()); // Run the server igndbg << "Run server" << std::endl; @@ -316,6 +319,7 @@ TEST_P(ServerFixture, ServerConfigLogRecord) serverConfig.SetLogRecordPath(logPath); gazebo::Server server(serverConfig); + EXPECT_EQ(0u, *server.IterationCount()); EXPECT_EQ(3u, *server.EntityCount()); EXPECT_EQ(4u, *server.SystemCount()); diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index 1984408f12..79e4a1f34e 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -19,8 +19,9 @@ #include -#include "ignition/common/Profiler.hh" +#include +#include "ignition/common/Profiler.hh" #include "ignition/gazebo/components/Model.hh" #include "ignition/gazebo/components/Name.hh" #include "ignition/gazebo/components/Sensor.hh" @@ -29,6 +30,7 @@ #include "ignition/gazebo/Events.hh" #include "ignition/gazebo/SdfEntityCreator.hh" #include "ignition/gazebo/Util.hh" + #include "network/NetworkManagerPrimary.hh" #include "SdfGenerator.hh" @@ -155,6 +157,21 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, // Load the active levels this->levelMgr->UpdateLevelsState(); + // Load any additional plugins from the Server Configuration + this->LoadServerPlugins(this->serverConfig.Plugins()); + + // If we have reached this point and no systems have been loaded, then load + // a default set of systems. + if (this->systems.empty() && this->pendingSystems.empty()) + { + ignmsg << "No systems loaded from SDF, loading defaults" << std::endl; + bool isPlayback = !this->serverConfig.LogPlaybackPath().empty(); + auto plugins = ignition::gazebo::loadPluginInfo(isPlayback); + this->LoadServerPlugins(plugins); + } + + this->LoadLoggingPlugins(this->serverConfig); + // World control transport::NodeOptions opts; if (this->networkMgr) @@ -732,50 +749,46 @@ void SimulationRunner::Step(const UpdateInfo &_info) } ////////////////////////////////////////////////// -void SimulationRunner::LoadPlugins(const Entity _entity, - const sdf::ElementPtr &_sdf) +void SimulationRunner::LoadPlugin(const Entity _entity, + const std::string &_fname, + const std::string &_name, + const sdf::ElementPtr &_sdf) { - sdf::ElementPtr pluginElem = _sdf->GetElement("plugin"); - while (pluginElem) + std::optional system; { - // No error message for the 'else' case of the following 'if' statement - // because SDF create a default element even if it's not - // specified. An error message would result in spamming - // the console. \todo(nkoenig) Fix SDF should so that elements are not - // automatically added. - if (pluginElem->Get("filename") != "__default__" && - pluginElem->Get("name") != "__default__") + std::lock_guard lock(this->systemLoaderMutex); + system = this->systemLoader->LoadPlugin(_fname, _name, _sdf); + } + + // System correctly loaded from library, try to configure + if (system) + { + auto systemConfig = system.value()->QueryInterface(); + if (systemConfig != nullptr) { - std::optional system; - { - std::lock_guard lock(this->systemLoaderMutex); - system = this->systemLoader->LoadPlugin(pluginElem); - } - if (system) - { - auto systemConfig = system.value()->QueryInterface(); - if (systemConfig != nullptr) - { - systemConfig->Configure(_entity, pluginElem, - this->entityCompMgr, - this->eventMgr); - } - this->AddSystem(system.value()); - igndbg << "Loaded system [" << pluginElem->Get("name") - << "] for entity [" << _entity << "]" << std::endl; - } + systemConfig->Configure(_entity, _sdf, + this->entityCompMgr, + this->eventMgr); } - pluginElem = pluginElem->GetNextElement("plugin"); + this->AddSystem(system.value()); + igndbg << "Loaded system [" << _name + << "] for entity [" << _entity << "]" << std::endl; } +} +////////////////////////////////////////////////// +void SimulationRunner::LoadServerPlugins( + const std::list &_plugins) +{ // \todo(nkoenig) Remove plugins from the server config after they have // been added. We might not want to do this if we want to support adding // the same plugin to multiple entities, for example via a regex // expression. // // Check plugins from the ServerConfig for matching entities. - for (const ServerConfig::PluginInfo &plugin : this->serverConfig.Plugins()) + + for (const ServerConfig::PluginInfo &plugin : _plugins) { // \todo(anyone) Type + name is not enough to uniquely identify an entity // \todo(louise) The runner shouldn't care about specific components, this @@ -789,8 +802,16 @@ void SimulationRunner::LoadPlugins(const Entity _entity, } else if ("world" == plugin.EntityType()) { - entity = this->entityCompMgr.EntityByComponents( - components::Name(plugin.EntityName()), components::World()); + // Allow wildcard for world name + if (plugin.EntityName() == "*") + { + entity = this->entityCompMgr.EntityByComponents(components::World()); + } + else + { + entity = this->entityCompMgr.EntityByComponents( + components::Name(plugin.EntityName()), components::World()); + } } else if ("sensor" == plugin.EntityType()) { @@ -830,29 +851,59 @@ void SimulationRunner::LoadPlugins(const Entity _entity, << plugin.EntityType() << "]" << std::endl; } - // Skip plugins that do not match the provided entity - if (entity != _entity) - continue; - std::optional system; + if (kNullEntity != entity) { - std::lock_guard lock(this->systemLoaderMutex); - system = this->systemLoader->LoadPlugin(plugin.Filename(), plugin.Name(), - nullptr); + this->LoadPlugin(entity, plugin.Filename(), plugin.Name(), plugin.Sdf()); } + } +} + +////////////////////////////////////////////////// +void SimulationRunner::LoadLoggingPlugins(const ServerConfig &_config) +{ + std::list plugins; + + if(_config.UseLogRecord() && !_config.LogPlaybackPath().empty()) + { + ignwarn << + "Both recording and playback are specified, defaulting to playback\n"; + } + + if(!_config.LogPlaybackPath().empty()) + { + auto playbackPlugin = _config.LogPlaybackPlugin(); + plugins.push_back(playbackPlugin); + } + else if(_config.UseLogRecord()) + { + auto recordPlugin = _config.LogRecordPlugin(); + plugins.push_back(recordPlugin); + } + + this->LoadServerPlugins(plugins); +} - if (system) +////////////////////////////////////////////////// +void SimulationRunner::LoadPlugins(const Entity _entity, + const sdf::ElementPtr &_sdf) +{ + sdf::ElementPtr pluginElem = _sdf->GetElement("plugin"); + while (pluginElem) + { + auto filename = pluginElem->Get("filename"); + auto name = pluginElem->Get("name"); + // No error message for the 'else' case of the following 'if' statement + // because SDF create a default element even if it's not + // specified. An error message would result in spamming + // the console. \todo(nkoenig) Fix SDF should so that elements are not + // automatically added. + if (filename != "__default__" && name != "__default__") { - auto systemConfig = system.value()->QueryInterface(); - if (systemConfig != nullptr) - { - systemConfig->Configure(_entity, plugin.Sdf(), this->entityCompMgr, - this->eventMgr); - } - this->AddSystem(system.value()); - igndbg << "Loaded system [" << plugin.Name() - << "] for entity [" << _entity << "]" << std::endl; + this->LoadPlugin(_entity, filename, name, pluginElem); } + + pluginElem = pluginElem->GetNextElement("plugin"); } } diff --git a/src/SimulationRunner.hh b/src/SimulationRunner.hh index 775487f4fa..faf8e3518b 100644 --- a/src/SimulationRunner.hh +++ b/src/SimulationRunner.hh @@ -170,12 +170,32 @@ namespace ignition /// \brief Publish current world statistics. public: void PublishStats(); + /// \brief Load system plugin for a given entity. + /// \param[in] _entity Entity + /// \param[in] _fname Filename of the plugin library + /// \param[in] _name Name of the plugin + /// \param[in] _sdf SDF element (content of plugin tag) + public: void LoadPlugin(const Entity _entity, + const std::string &_fname, + const std::string &_name, + const sdf::ElementPtr &_sdf); + /// \brief Load system plugins for a given entity. /// \param[in] _entity Entity /// \param[in] _sdf SDF element public: void LoadPlugins(const Entity _entity, const sdf::ElementPtr &_sdf); + /// \brief Load server plugins for a given entity. + /// \param[in] _config Configuration to load plugins from. + /// plugins based on the _config contents + public: void LoadServerPlugins( + const std::list &_plugins); + + /// \brief Load logging/playback plugins + /// \param[in] _config Configuration to load plugins from. + public: void LoadLoggingPlugins(const ServerConfig &_config); + /// \brief Get whether this is running. When running is true, /// then simulation is stepping forward. /// \return True if the server is running. diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc index 52795298b0..64b75f6c1f 100644 --- a/src/SimulationRunner_TEST.cc +++ b/src/SimulationRunner_TEST.cc @@ -16,6 +16,8 @@ */ #include +#include + #include #include #include @@ -26,6 +28,7 @@ #include #include + #include "ignition/gazebo/test_config.hh" #include "ignition/gazebo/components/CanonicalLink.hh" #include "ignition/gazebo/components/ChildLinkName.hh" @@ -48,6 +51,7 @@ #include "ignition/gazebo/components/Wind.hh" #include "ignition/gazebo/components/World.hh" #include "ignition/gazebo/Events.hh" +#include "ignition/gazebo/Util.hh" #include "ignition/gazebo/config.hh" #include "SimulationRunner.hh" @@ -81,8 +85,8 @@ class SimulationRunnerTest : public ::testing::TestWithParam { common::Console::SetVerbosity(4); - setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", - (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1); + common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", + common::joinPaths(PROJECT_BINARY_PATH, "lib")); } }; @@ -107,8 +111,8 @@ TEST_P(SimulationRunnerTest, CreateEntities) { // Load SDF file sdf::Root root; - root.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/shapes.sdf"); + root.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "shapes.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -520,8 +524,8 @@ TEST_P(SimulationRunnerTest, CreateLights) { // Load SDF file sdf::Root root; - root.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/lights.sdf"); + root.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "lights.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -790,8 +794,8 @@ TEST_P(SimulationRunnerTest, CreateJointEntities) { // Load SDF file sdf::Root root; - root.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/demo_joint_types.sdf"); + root.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "demo_joint_types.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -931,8 +935,8 @@ TEST_P(SimulationRunnerTest, Time) { // Load SDF file sdf::Root root; - root.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/shapes.sdf"); + root.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "shapes.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -1053,8 +1057,8 @@ TEST_P(SimulationRunnerTest, LoadPlugins) { // Load SDF file sdf::Root root; - root.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/plugins.sdf"); + root.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "plugins.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -1135,13 +1139,156 @@ TEST_P(SimulationRunnerTest, LoadPlugins) #endif } +///////////////////////////////////////////////// +TEST_P(SimulationRunnerTest, LoadServerNoPlugins) +{ + sdf::Root rootWithout; + rootWithout.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "plugins_empty.sdf")); + ASSERT_EQ(1u, rootWithout.WorldCount()); + + // ServerConfig will fall back to environment variable + auto config = common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "server_valid2.config"); + ASSERT_EQ(true, common::setenv(gazebo::kServerConfigPathEnv, config)); + ServerConfig serverConfig; + + // Create simulation runner + auto systemLoader = std::make_shared(); + SimulationRunner runner(rootWithout.WorldByIndex(0), systemLoader, + serverConfig); + + ASSERT_EQ(2u, runner.SystemCount()); +} + +///////////////////////////////////////////////// +TEST_P(SimulationRunnerTest, LoadServerConfigPlugins) +{ + sdf::Root rootWithout; + rootWithout.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "plugins_empty.sdf")); + ASSERT_EQ(1u, rootWithout.WorldCount()); + + // Create a server configuration with plugins + // No fallback expected + auto config = common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "server_valid.config"); + + auto plugins = parsePluginsFromFile(config); + ASSERT_EQ(3u, plugins.size()); + + ServerConfig serverConfig; + for (auto plugin : plugins) + { + serverConfig.AddPlugin(plugin); + } + + // Create simulation runner + auto systemLoader = std::make_shared(); + SimulationRunner runner(rootWithout.WorldByIndex(0), systemLoader, + serverConfig); + + // Get world entity + Entity worldId{kNullEntity}; + runner.EntityCompMgr().Each([&]( + const ignition::gazebo::Entity &_entity, + const ignition::gazebo::components::World *_world)->bool + { + EXPECT_NE(nullptr, _world); + worldId = _entity; + return true; + }); + EXPECT_NE(kNullEntity, worldId); + + // Get model entity + Entity modelId{kNullEntity}; + runner.EntityCompMgr().Each([&]( + const ignition::gazebo::Entity &_entity, + const ignition::gazebo::components::Model *_model)->bool + { + EXPECT_NE(nullptr, _model); + modelId = _entity; + return true; + }); + EXPECT_NE(kNullEntity, modelId); + + // Get sensor entity + Entity sensorId{kNullEntity}; + runner.EntityCompMgr().Each([&]( + const ignition::gazebo::Entity &_entity, + const ignition::gazebo::components::Sensor *_sensor)->bool + { + EXPECT_NE(nullptr, _sensor); + sensorId = _entity; + return true; + }); + EXPECT_NE(kNullEntity, sensorId); + + // Check component registered by world plugin + std::string worldComponentName{"WorldPluginComponent"}; + auto worldComponentId = ignition::common::hash64(worldComponentName); + + EXPECT_TRUE(runner.EntityCompMgr().HasComponentType(worldComponentId)); + EXPECT_TRUE(runner.EntityCompMgr().EntityHasComponentType(worldId, + worldComponentId)); + + // Check component registered by model plugin + std::string modelComponentName{"ModelPluginComponent"}; + auto modelComponentId = ignition::common::hash64(modelComponentName); + + EXPECT_TRUE(runner.EntityCompMgr().HasComponentType(modelComponentId)); + EXPECT_TRUE(runner.EntityCompMgr().EntityHasComponentType(modelId, + modelComponentId)); + + // Check component registered by sensor plugin + std::string sensorComponentName{"SensorPluginComponent"}; + auto sensorComponentId = ignition::common::hash64(sensorComponentName); + + EXPECT_TRUE(runner.EntityCompMgr().HasComponentType(sensorComponentId)); + EXPECT_TRUE(runner.EntityCompMgr().EntityHasComponentType(sensorId, + sensorComponentId)); + + // Clang re-registers components between tests. If we don't unregister them + // beforehand, the new plugin tries to create a storage type from a previous + // plugin, causing a crash. + // Is this only a problem with GTest, or also during simulation? How to + // reproduce? Maybe we need to test unloading plugins, but we have no API for + // it yet. + #if defined (__clang__) + components::Factory::Instance()->Unregister(worldComponentId); + components::Factory::Instance()->Unregister(modelComponentId); + components::Factory::Instance()->Unregister(sensorComponentId); + #endif +} + +///////////////////////////////////////////////// +TEST_P(SimulationRunnerTest, LoadPluginsDefault) +{ + sdf::Root rootWithout; + rootWithout.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "plugins_empty.sdf")); + ASSERT_EQ(1u, rootWithout.WorldCount()); + + // Load the default config, but not through the default code path. + // The user may have modified their local config. + auto config = common::joinPaths(PROJECT_SOURCE_PATH, + "include", "ignition", "gazebo", "server.config"); + ASSERT_TRUE(common::setenv(gazebo::kServerConfigPathEnv, config)); + + // Create simulation runner + auto systemLoader = std::make_shared(); + SimulationRunner runner(rootWithout.WorldByIndex(0), systemLoader); + ASSERT_EQ(3u, runner.SystemCount()); + common::unsetenv(gazebo::kServerConfigPathEnv); +} + ///////////////////////////////////////////////// TEST_P(SimulationRunnerTest, LoadPluginsEvent) { // Load SDF file without plugins sdf::Root rootWithout; - rootWithout.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/shapes.sdf"); + rootWithout.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "shapes.sdf")); ASSERT_EQ(1u, rootWithout.WorldCount()); // Create simulation runner @@ -1175,8 +1322,8 @@ TEST_P(SimulationRunnerTest, LoadPluginsEvent) // Load SDF file with plugins sdf::Root rootWith; - rootWith.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/plugins.sdf"); + rootWith.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "plugins.sdf")); ASSERT_EQ(1u, rootWith.WorldCount()); // Emit plugin loading event @@ -1233,8 +1380,8 @@ TEST_P(SimulationRunnerTest, GuiInfo) { // Load SDF file sdf::Root root; - root.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/shapes.sdf"); + root.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "shapes.sdf")); ASSERT_EQ(1u, root.WorldCount()); @@ -1270,8 +1417,8 @@ TEST_P(SimulationRunnerTest, GenerateWorldSdf) { // Load SDF file sdf::Root root; - root.Load(std::string(PROJECT_SOURCE_PATH) + - "/test/worlds/shapes.sdf"); + root.Load(common::joinPaths(PROJECT_SOURCE_PATH, + "test", "worlds", "shapes.sdf")); ASSERT_EQ(1u, root.WorldCount()); diff --git a/src/cmd/cmdgazebo.rb.in b/src/cmd/cmdgazebo.rb.in index 594e360763..0baa713665 100755 --- a/src/cmd/cmdgazebo.rb.in +++ b/src/cmd/cmdgazebo.rb.in @@ -156,6 +156,7 @@ COMMANDS = { 'gazebo' => " resources such as worlds and models. \n\n"\ " IGN_GAZEBO_SYSTEM_PLUGIN_PATH Colon separated paths used to \n"\ " locate system plugins. \n\n"\ + " IGN_GAZEBO_SERVER_CONFIG_PATH Path to server configuration file. \n\n"\ " IGN_GUI_PLUGIN_PATH Colon separated paths used to locate GUI \n"\ " plugins. \n\n"\ " IGN_GAZEBO_NETWORK_ROLE Participant role used in a distributed \n"\ diff --git a/src/systems/log/LogRecord.cc b/src/systems/log/LogRecord.cc index ccdcf7b8ce..9cc417088f 100644 --- a/src/systems/log/LogRecord.cc +++ b/src/systems/log/LogRecord.cc @@ -57,6 +57,8 @@ #include "ignition/gazebo/components/Pose.hh" #include "ignition/gazebo/components/SourceFilePath.hh" #include "ignition/gazebo/components/Visual.hh" +#include "ignition/gazebo/components/World.hh" + #include "ignition/gazebo/Util.hh" using namespace ignition; @@ -279,16 +281,6 @@ bool LogRecordPrivate::Start(const std::string &_logPath, common::createDirectories(this->logPath); } - // Go up to root of SDF, to record entire SDF file - sdf::ElementPtr sdfRoot = this->sdf->GetParent(); - while (sdfRoot->GetParent() != nullptr) - { - sdfRoot = sdfRoot->GetParent(); - } - - // Construct message with SDF string - this->sdfMsg.set_data(sdfRoot->ToString("")); - // Use directory basename as topic name, to be able to retrieve at playback std::string sdfTopic = "/" + common::basename(this->logPath) + "/sdf"; this->sdfPub = this->node.Advertise(sdfTopic, this->sdfMsg.GetTypeName()); @@ -306,9 +298,6 @@ bool LogRecordPrivate::Start(const std::string &_logPath, } ignmsg << "Recording to log file [" << dbPath << "]" << std::endl; - // Use ign-transport directly - sdf::ElementPtr sdfWorld = sdfRoot->GetElement("world"); - // Add default topics if no topics were specified. std::string dynPoseTopic = "/world/" + this->worldName + "/dynamic_pose/info"; @@ -665,8 +654,28 @@ void LogRecord::PostUpdate(const UpdateInfo &_info, // Publish only once if (!this->dataPtr->sdfPublished) { - this->dataPtr->sdfPub.Publish(this->dataPtr->sdfMsg); - this->dataPtr->sdfPublished = true; + // Construct message with SDF string + auto worldEntity = _ecm.EntityByComponents(components::World()); + if (worldEntity == kNullEntity) + { + ignerr << "Could not find the world entity\n"; + } + else + { + auto worldSdfComp = _ecm.Component(worldEntity); + if (worldSdfComp == nullptr || worldSdfComp->Data().Element() == nullptr) + { + ignerr << "Could not load world SDF data\n"; + } + else + { + this->dataPtr->sdfMsg.set_data( + worldSdfComp->Data().Element()->ToString("")); + + this->dataPtr->sdfPub.Publish(this->dataPtr->sdfMsg); + this->dataPtr->sdfPublished = true; + } + } } // TODO(louise) Use the SceneBroadcaster's topic once that publishes diff --git a/test/worlds/plugins_empty.sdf b/test/worlds/plugins_empty.sdf new file mode 100644 index 0000000000..ac6128380c --- /dev/null +++ b/test/worlds/plugins_empty.sdf @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/test/worlds/server_invalid.config b/test/worlds/server_invalid.config new file mode 100644 index 0000000000..d0371fc23f --- /dev/null +++ b/test/worlds/server_invalid.config @@ -0,0 +1,13 @@ + + + + 0.123 + + + diff --git a/test/worlds/server_valid.config b/test/worlds/server_valid.config new file mode 100644 index 0000000000..7c55928937 --- /dev/null +++ b/test/worlds/server_valid.config @@ -0,0 +1,28 @@ + + + + + 0.123 + + + 987 + + + 456 + + + diff --git a/test/worlds/server_valid2.config b/test/worlds/server_valid2.config new file mode 100644 index 0000000000..e52be4382b --- /dev/null +++ b/test/worlds/server_valid2.config @@ -0,0 +1,21 @@ + + + + + 0.123 + + + 987 + + + diff --git a/test/worlds/shapes.sdf b/test/worlds/shapes.sdf index 7c4ebffeb3..ac254fa80b 100644 --- a/test/worlds/shapes.sdf +++ b/test/worlds/shapes.sdf @@ -5,18 +5,6 @@ 0.001 1.0 - - - - - - diff --git a/tutorials.md.in b/tutorials.md.in index a7f1c5be81..6930c6c746 100644 --- a/tutorials.md.in +++ b/tutorials.md.in @@ -16,6 +16,7 @@ Ignition @IGN_DESIGNATION_CAP@ library and how to use the library effectively. * \subpage physics "Physics engines": Loading different physics engines. * \subpage battery "Battery": Keep track of battery charge on robot models. * \subpage gui_config "GUI configuration": Customizing your layout. +* \subpage server_config "Server configuration": Customizing what system plugins are loaded. * \subpage debugging "Debugging": Information about debugging Gazebo. * \subpage pointcloud "Converting a Point Cloud to a 3D Model": Turn point cloud data into 3D models for use in simulations. * \subpage meshtofuel "Importing a Mesh to Fuel": Build a model directory around a mesh so it can be added to the Ignition Fuel app. diff --git a/tutorials/files/server_config/camera_env.gif b/tutorials/files/server_config/camera_env.gif new file mode 100644 index 0000000000000000000000000000000000000000..409b0c2b5c422661cb1c17d3de945e8ea347afaa GIT binary patch literal 267416 zcmV)3K+C^JNk%w1VZ8$b0`~$j0F~DOsPh2-00E@z0;uu@r|$}(<`90b5di=klEoaN z;3EwMB|=sx9vdhuGAk7aE11$ODJv{8J}oOQF&GIkE-f)JF)@FkGL^wIg{U_!EH^nt zI50Lj7X&&S2|h+J1xjCmN~_dMB@j#`7ECA?O=NpeDHKs85m6@;Q7IWwG%!*u 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z?>hc&z%$MH#9E!>ij}Up=qJf?1WeGsoH60Hml6Me#(?+#qTjzJ`u)o-&(|~sp#5|+ za6tDHy98NZG+cmc@%2lHD2Lgx+af4@blbc|1sug=Is(Ky9;lH1iT$wcG#CQZi>53z z%_Fmn{&FE06)XT9W%G2oYqF@dMv}8C5+>aPIeg{e)?Qiri^nNKsjYAmAdU!<+$GDN z5+>*+jBdz*$i=qyyXfUGriO*c8Y#np037xM?hFh|h)6x;5K3BwQ88KG@VRPkdeZ`i zYaA0CC`C{1{r@Lf` elements inside an SDF file. +2. File path defined by the `IGN_GAZEBO_SERVER_CONFIG_PATH` environment variable. +3. The default configuration file at `$HOME/.ignition/gazebo/server.config` \* + +Each of the items above takes precedence over the ones below it. For example, +if a the SDF file has any `` elements, then the +`IGN_GAZEBO_SERVER_CONFIG_PATH` variable is ignored. And the default configuration +file is only loaded if no plugins are passed through the SDF file or the +environment variable. + +> \* For log-playback, the default file is +> `$HOME/.ignition/gazebo/playback_gui.config` + +## Try it out + +### Default configuration + +Let's try this in practice. First, let's open Ignition Gazebo without passing +any arguments: + +`ign gazebo` + +You should see an empty world with several systems loaded by default, such as +physics, the scene broadcaster (which keeps the GUI updated), and the system that +handles user commands like translating models. Try for example inserting a simple +shape into simulation and pressing "play": + +* the shape is inserted correctly because the user commands system is loaded; +* the shape falls due to gravity because the physics system is loaded; +* and you can see the shape falling through the GUI because the scene +broadcaster is loaded. + +@image html files/server_config/default_server.gif + +By default, you're loading this file: + +`$HOME/.ignition/gazebo/server.config` + +That file is created the first time you load Ignition Gazebo. Once it is +created, Ignition will never write to it again unless you delete it. This +means that you can customize it with your preferences and they will be applied +every time Ignition is started! + +Let's try customizing it: + +1. Open this file with your favorite editor: + + `$HOME/.ignition/gazebo/server.config` + +2. Remove the `` block for the physics system + +3. Reload Gazebo: + + `ign gazebo` + +Now insert a shape and press play: it shouldn't fall because physics wasn't +loaded. + +@image html files/server_config/modified_default_config.gif + +You'll often want to restore default settings or to use the latest default +provided by Ignition (when you update to a newer version for example). In +that case, just delete that file, and the next time Gazebo is started a new file +will be created with default values: + +`rm $HOME/.ignition/gazebo/server.config` + +### SDF + +Let's try overriding the default configuration from an SDF file. Open your +favorite editor and save this file as `fuel_preview.sdf`: + +``` + + + + + + + + + + + + 3D View + false + docked + + + ogre2 + scene + 1.0 1.0 1.0 + 0.4 0.6 1.0 + 8.3 7 7.8 0 0.5 -2.4 + + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Sun + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Cone + + + + +``` + +Now let's load this world: + +`ign gazebo -r /fuel_preview.sdf` + +Notice how the application has only one system plugin loaded, the scene +broadcaster, as defined on the SDF file above. Physics is not loaded, so even +though the simulation is running (started with `-r`), the cone doesn't fall +with gravity. + +@image html files/server_config/from_sdf.png + +If you delete the `` element from the file above and reload it, you'll +see the same model loaded with the default plugins, so it will fall. + +@image html files/server_config/from_sdf_no_plugins.gif + +### Environment variable + +It's often inconvenient to embed your plugins directly into every SDF file. +But you also don't want to be editing the default config file every time you +want to start with a different set of plugins. That's why Gazebo also supports +loading configuration files from an environment variable. + +Let's start by saving this simple world with a camera sensor as +`simple_camera.sdf`: + +``` + + + + + + + + + + 3D View + false + docked + + + ogre2 + scene + 1.0 1.0 1.0 + 0.4 0.6 1.0 + 8.3 7 7.8 0 0.5 -2.4 + + + + + floating + + + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Sun + + + + 0 0 1 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Gazebo + + + + true + 20 0 1.0 0 0.0 3.14 + + 0.05 0.05 0.05 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + 1.047 + + 320 + 240 + + + 30 + + + + + + +``` + +Then load the `simple_camera.sdf` world: + +`ign gazebo -r /simple_camera.sdf` + +You'll see a world with a camera and a cone. If you refresh the image display +plugin, it won't show any image topics. That's because the default server +configuration doesn't include the sensors system, which is necessary for +rendering-based sensors to generate data. + +@image html files/server_config/camera_no_env.gif + +Now let's create a custom configuration file in +`$HOME/.ignition/gazebo/rendering_sensors_server.config` that has the sensors +system: + +``` + + + + + + ogre + + + +``` + +And point the environment variable to that file: + +`export IGN_GAZEBO_SERVER_CONFIG_PATH=$HOME/.ignition/gazebo/rendering_sensors_server.config` + +Now when we launch the simulation again, refreshing the image display will +show the camera topic, and we can see the camera data. +One interesting thing to notice is that on the camera view, there's no grid and +the background color is the default grey, instead of the blue color set on the +GUI `GzScene` plugin. + +@image html files/server_config/camera_env.gif + From 69e190c8e6ba73aece511eb10a44bbc388c2d46b Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Mon, 11 Jan 2021 11:58:45 -0800 Subject: [PATCH 05/55] Added missing version namespace (#541) * Added missing version namespace Signed-off-by: Nate Koenig * Fix codecheck Signed-off-by: Nate Koenig Co-authored-by: Nate Koenig --- include/ignition/gazebo/detail/EntityComponentManager.hh | 3 +++ 1 file changed, 3 insertions(+) diff --git a/include/ignition/gazebo/detail/EntityComponentManager.hh b/include/ignition/gazebo/detail/EntityComponentManager.hh index 027baf355c..880dba745c 100644 --- a/include/ignition/gazebo/detail/EntityComponentManager.hh +++ b/include/ignition/gazebo/detail/EntityComponentManager.hh @@ -32,6 +32,8 @@ namespace ignition { namespace gazebo { +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { ////////////////////////////////////////////////// namespace traits { @@ -547,5 +549,6 @@ bool EntityComponentManager::RemoveComponent(Entity _entity) } } } +} #endif From 6544c780dd0bffae892740283b2a8965d23d5cd8 Mon Sep 17 00:00:00 2001 From: Nick Lamprianidis Date: Tue, 12 Jan 2021 12:08:37 +0100 Subject: [PATCH 06/55] Fix examples in migration plugins tutorial (#543) Signed-off-by: Nick Lamprianidis --- tutorials/migration_plugins.md | 70 ++++++++++++++++++++-------------- 1 file changed, 42 insertions(+), 28 deletions(-) diff --git a/tutorials/migration_plugins.md b/tutorials/migration_plugins.md index c9825bbac2..7f972d5f21 100644 --- a/tutorials/migration_plugins.md +++ b/tutorials/migration_plugins.md @@ -1,6 +1,6 @@ \page migrationplugins -# Migration from Gazebo-classic: Plugins +# Migration from Gazebo Classic: Plugins Classic Gazebo supports [6 different C++ plugin types](http://gazebosim.org/tutorials?tut=plugins_hello_world&cat=write_plugin), @@ -75,7 +75,7 @@ class MyPlugin : public ModelPlugin this->link = _model->GetLink(linkName); // Register callback to be called at every iteration - this->connection = event::Events::ConnectWorldUpdateBegin( + this->updateConnection = event::Events::ConnectWorldUpdateBegin( std::bind(&MyPlugin::OnUpdate, this)); } @@ -103,6 +103,11 @@ On Ignition Gazebo, that would be implemented as follows: #include #include #include +#include + +using namespace ignition; +using namespace gazebo; +using namespace systems; // Inherit from System and 2 extra interfaces: // ISystemConfigure and ISystemPostUpdate @@ -113,25 +118,25 @@ class MyPlugin { // Implement Configure callback, provided by ISystemConfigure // and called once at startup. - void MyPlugin::Configure(const Entity &_entity, - const std::shared_ptr &_sdf, - EntityComponentManager &_ecm, - EventManager &/*_eventMgr*/) + virtual void Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &/*_eventMgr*/) override { // Read property from SDF auto linkName = _sdf->Get("link_name"); - // Create model object, to access convenient functions + // Create model object to access convenient functions auto model = Model(_entity); // Get link entity - auto linkEntity = model->LinkByName(_ecm, linkName); + this->linkEntity = model.LinkByName(_ecm, linkName); } // Implement PostUpdate callback, provided by ISystemPostUpdate // and called at every iteration, after physics is done - void MyPlugin::PostUpdate(const UpdateInfo &/*_info*/, - const EntityComponentManager &_ecm) + virtual void PostUpdate(const UpdateInfo &/*_info*/, + const EntityComponentManager &_ecm) override { // Get link pose and print it std::cout << worldPose(this->linkEntity, _ecm) << std::endl; @@ -149,7 +154,7 @@ IGNITION_ADD_PLUGIN(MyPlugin, // Add plugin alias so that we can refer to the plugin without the version // namespace -IGNITION_ADD_PLUGIN_ALIAS(MyPlugin,"ignition::gazebo::systems::MyPlugin") +IGNITION_ADD_PLUGIN_ALIAS(MyPlugin, "ignition::gazebo::systems::MyPlugin") ``` The example above uses headers like `Model.hh` and `Util.hh`, which offer @@ -161,6 +166,15 @@ the ECM's API: ```cpp #include #include +#include +#include +#include +#include +#include + +using namespace ignition; +using namespace gazebo; +using namespace systems; // Inherit from System and 2 extra interfaces: // ISystemConfigure and ISystemPostUpdate @@ -169,43 +183,43 @@ class MyPlugin public ISystemConfigure, public ISystemPostUpdate { - void MyPlugin::Configure(const Entity &_entity, - const std::shared_ptr &_sdf, - EntityComponentManager &_ecm, - EventManager &/*_eventMgr*/) + virtual void Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &/*_eventMgr*/) override { + // Read property from SDF auto linkName = _sdf->Get("link_name"); - // Create link entity by querying for an entity that has a specific set of + // Get link entity by querying for an entity that has a specific set of // components this->linkEntity = _ecm.EntityByComponents( - components::ParentEntity(this->dataPtr->id), - components::Name(_name), - components::Link()); + components::ParentEntity(_entity), + components::Name(linkName), components::Link()); } - void MyPlugin::PostUpdate(const UpdateInfo &/*_info*/, - const EntityComponentManager &_ecm) + virtual void PostUpdate(const UpdateInfo &/*_info*/, + const EntityComponentManager &_ecm) override { // Get link's local pose auto pose = _ecm.Component(this->linkEntity)->Data(); // Get link's parent entity - auto p = _ecm.Component(this->linkEntity); + auto parent = _ecm.Component(this->linkEntity); // Iterate over parents until world is reached - while (p) + while (parent) { // Get parent entity's pose - auto parentPose = _ecm.Component(p->Data()); + auto parentPose = _ecm.Component(parent->Data()); if (!parentPose) break; // Add pose - pose = pose + parentPose->Data(); + pose = parentPose->Data() * pose; // keep going up the tree - p = _ecm.Component(p->Data()); + parent = _ecm.Component(parent->Data()); } std::cout << pose << std::endl; @@ -220,7 +234,7 @@ IGNITION_ADD_PLUGIN(MyPlugin, MyPlugin::ISystemConfigure, MyPlugin::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(MyPlugin,"ignition::gazebo::systems::MyPlugin") +IGNITION_ADD_PLUGIN_ALIAS(MyPlugin, "ignition::gazebo::systems::MyPlugin") ``` In summary, the key differences between classic and Igntion Gazebo are: @@ -234,7 +248,7 @@ In summary, the key differences between classic and Igntion Gazebo are: * Plugins don't have direct access to physics objects such as `physics::Model`. Instead, they can either deal directly with entities and their components by - calling functions in the ECM, or use convenient objects such as + calling functions of the ECM, or use convenient objects such as `ignition::gazebo::Model` which wrap the ECM interface. All these changes are meant to give plugin developers more flexibility to From d5e65d9c485a94785703fd67f7b15efb63ecf8f3 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Wed, 13 Jan 2021 09:22:38 -0800 Subject: [PATCH 07/55] Prepare for 3.7.0 release (#552) Signed-off-by: Nate Koenig Co-authored-by: Nate Koenig --- CMakeLists.txt | 2 +- Changelog.md | 20 +++++++++++++++++++- 2 files changed, 20 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 2927065688..9d4b9575c9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(ignition-gazebo3 VERSION 3.6.0) +project(ignition-gazebo3 VERSION 3.7.0) #============================================================================ # Find ignition-cmake diff --git a/Changelog.md b/Changelog.md index e9ee76d1a7..9bfa6d1b67 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,6 +1,24 @@ ## Ignition Gazebo 3.x -### Ignition Gazebo 3.X.X (20XX-XX-XX) +### Ignition Gazebo 3.7.0 (2021-01-13) + +1. Fix examples in migration plugins tutorial. + * [Pull Request 543](https://github.com/ignitionrobotics/ign-gazebo/pull/543) + +1. Added missing namespace in `detail/EntityComponentManager.hh`. + * [Pull Request 541](https://github.com/ignitionrobotics/ign-gazebo/pull/541) + +1. Automatically load a subset of world plugins. + * [Pull Request 281](https://github.com/ignitionrobotics/ign-gazebo/pull/281) + +1. Update gtest to 1.10.0 for Windows compilation. + * [Pull Request 506](https://github.com/ignitionrobotics/ign-gazebo/pull/506) + +1. Updates to ardupilot migration tutorial. + * [Pull Request 525](https://github.com/ignitionrobotics/ign-gazebo/pull/525) + +1. Don't make docs on macOS. + * [Pull Request 528](https://github.com/ignitionrobotics/ign-gazebo/pull/528) ### Ignition Gazebo 3.6.0 (2020-12-30) From 4124deadabfa5c58dd821055ee521d072d220760 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Thu, 14 Jan 2021 10:19:04 -0800 Subject: [PATCH 08/55] Non-blocking paths request (#555) Signed-off-by: Louise Poubel --- src/ServerPrivate.cc | 2 +- src/gui/PathManager.cc | 29 +++++++++++++++++++---------- 2 files changed, 20 insertions(+), 11 deletions(-) diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc index 7792222754..67fa6df18c 100644 --- a/src/ServerPrivate.cc +++ b/src/ServerPrivate.cc @@ -401,7 +401,7 @@ void ServerPrivate::SetupTransport() if (this->node.Advertise(getPathService, &ServerPrivate::ResourcePathsService, this)) { - ignmsg << "Resource path get service on [" << addPathService << "]." + ignmsg << "Resource path get service on [" << getPathService << "]." << std::endl; } else diff --git a/src/gui/PathManager.cc b/src/gui/PathManager.cc index 575e8de6ec..a1f920519a 100644 --- a/src/gui/PathManager.cc +++ b/src/gui/PathManager.cc @@ -44,21 +44,30 @@ void onAddResourcePaths(const msgs::StringMsg_V &_msg) addResourcePaths(paths); } +////////////////////////////////////////////////// +void onAddResourcePaths(const msgs::StringMsg_V &_res, const bool _result) +{ + if (!_result) + { + ignerr << "Failed to get resource paths through service" << std::endl; + return; + } + igndbg << "Received resource paths." << std::endl; + + onAddResourcePaths(_res); +} + ///////////////////////////////////////////////// PathManager::PathManager() { - // Get resource paths + // Trigger an initial request to get all paths from server std::string service{"/gazebo/resource_paths/get"}; - msgs::StringMsg_V res; - bool result{false}; - auto executed = this->node.Request(service, 5000, res, result); - if (!executed) - ignerr << "Service call timed out for [" << service << "]" << std::endl; - else if (!result) - ignerr << "Service call failed for [" << service << "]" << std::endl; - - onAddResourcePaths(res); + igndbg << "Requesting resource paths through [" << service << "]" + << std::endl; + this->node.Request(service, onAddResourcePaths); + // Get path updates through this topic this->node.Subscribe("/gazebo/resource_paths", onAddResourcePaths); } + From ddd7fcda563b1f8c47c92610181a2d5f797c80bc Mon Sep 17 00:00:00 2001 From: John Shepherd Date: Fri, 15 Jan 2021 09:26:48 -0800 Subject: [PATCH 09/55] Parallelize State call in ECM (#451) Signed-off-by: John Shepherd Signed-off-by: Louise Poubel Co-authored-by: Louise Poubel --- src/EntityComponentManager.cc | 112 ++++++++++++++++++++++++++++++++-- 1 file changed, 108 insertions(+), 4 deletions(-) diff --git a/src/EntityComponentManager.cc b/src/EntityComponentManager.cc index 9946ccbaf8..3c4992b49d 100644 --- a/src/EntityComponentManager.cc +++ b/src/EntityComponentManager.cc @@ -50,6 +50,10 @@ class ignition::gazebo::EntityComponentManagerPrivate /// \return True if created successfully. public: bool CreateComponentStorage(const ComponentTypeId _typeId); + /// \brief Allots the work for multiple threads prior to running + /// `AddEntityToMessage`. + public: void CalculateStateThreadLoad(); + /// \brief Map of component storage classes. The key is a component /// type id, and the value is a pointer to the component storage. public: std::unordered_map> entityComponents; + /// \brief A vector of iterators to evenly distributed spots in the + /// `entityComponents` map. Threads in the `State` function use this + /// vector for easy access of their pre-allocated work. This vector + /// is recalculated if `entityComponents` is changed (when + /// `entityComponentsDirty` == true). + public: std::vector>::iterator> + entityComponentIterators; + /// \brief A mutex to protect newly created entityes. public: std::mutex entityCreatedMutex; @@ -222,6 +242,7 @@ void EntityComponentManager::ProcessRemoveEntityRequests() this->dataPtr->entities = EntityGraph(); this->dataPtr->entityComponents.clear(); this->dataPtr->toRemoveEntities.clear(); + this->dataPtr->entityComponentsDirty = true; for (std::pair> &comp: this->dataPtr->components) @@ -257,6 +278,7 @@ void EntityComponentManager::ProcessRemoveEntityRequests() // Remove the entry in the entityComponent map this->dataPtr->entityComponents.erase(entity); + this->dataPtr->entityComponentsDirty = true; } // Remove the entity from views. @@ -295,6 +317,7 @@ bool EntityComponentManager::RemoveComponent( this->dataPtr->entityComponents[_entity].erase(_key.first); this->dataPtr->oneTimeChangedComponents.erase(_key); this->dataPtr->periodicChangedComponents.erase(_key); + this->dataPtr->entityComponentsDirty = true; this->UpdateViews(_entity); return true; @@ -463,6 +486,7 @@ ComponentKey EntityComponentManager::CreateComponentImplementation( this->dataPtr->entityComponents[_entity].insert( {_componentTypeId, componentKey}); this->dataPtr->oneTimeChangedComponents.insert(componentKey); + this->dataPtr->entityComponentsDirty = true; if (componentIdPair.second) this->RebuildViews(); @@ -894,6 +918,51 @@ void EntityComponentManager::ChangedState( // TODO(anyone) New / removed / changed components } +////////////////////////////////////////////////// +void EntityComponentManagerPrivate::CalculateStateThreadLoad() +{ + // If the entity component vector is dirty, we need to recalculate the + // threads and each threads work load + if (!this->entityComponentsDirty) + return; + + this->entityComponentsDirty = false; + this->entityComponentIterators.clear(); + auto startIt = this->entityComponents.begin(); + int numComponents = this->entityComponents.size(); + + // Set the number of threads to spawn to the min of the calculated thread + // count or max threads that the hardware supports + int maxThreads = std::thread::hardware_concurrency(); + uint64_t numThreads = std::min(numComponents, maxThreads); + + int componentsPerThread = std::ceil(static_cast(numComponents) / + numThreads); + + igndbg << "Updated state thread iterators: " << numThreads + << " threads processing around " << componentsPerThread + << " components each." << std::endl; + + // Push back the starting iterator + this->entityComponentIterators.push_back(startIt); + for (uint64_t i = 0; i < numThreads; ++i) + { + // If we have added all of the components to the iterator vector, we are + // done so push back the end iterator + numComponents -= componentsPerThread; + if (numComponents <= 0) + { + this->entityComponentIterators.push_back( + this->entityComponents.end()); + break; + } + + // Get the iterator to the next starting group of components + auto nextIt = std::next(startIt, componentsPerThread); + this->entityComponentIterators.push_back(nextIt); + startIt = nextIt; + } +} ////////////////////////////////////////////////// ignition::msgs::SerializedState EntityComponentManager::State( @@ -922,11 +991,46 @@ void EntityComponentManager::State( const std::unordered_set &_types, bool _full) const { - for (const auto &it : this->dataPtr->entityComponents) + std::mutex stateMapMutex; + std::vector workers; + + this->dataPtr->CalculateStateThreadLoad(); + + auto functor = [&](auto itStart, auto itEnd) { - if (_entities.empty() || _entities.find(it.first) != _entities.end()) - this->AddEntityToMessage(_state, it.first, _types, _full); + msgs::SerializedStateMap threadMap; + while (itStart != itEnd) + { + auto entity = (*itStart).first; + if (_entities.empty() || _entities.find(entity) != _entities.end()) + { + this->AddEntityToMessage(threadMap, entity, _types, _full); + } + itStart++; + } + std::lock_guard lock(stateMapMutex); + + for (const auto &entity : threadMap.entities()) + { + (*_state.mutable_entities())[static_cast(entity.first)] = + entity.second; + } + }; + + // Spawn workers + uint64_t numThreads = this->dataPtr->entityComponentIterators.size() - 1; + for (uint64_t i = 0; i < numThreads; i++) + { + workers.push_back(std::thread(functor, + this->dataPtr->entityComponentIterators[i], + this->dataPtr->entityComponentIterators[i+1])); } + + // Wait for each thread to finish processing its components + std::for_each(workers.begin(), workers.end(), [](std::thread &_t) + { + _t.join(); + }); } ////////////////////////////////////////////////// From 89987404180f38dafe5542d677ba97c8f4ce23d9 Mon Sep 17 00:00:00 2001 From: Jenn Nguyen Date: Wed, 20 Jan 2021 18:29:19 -0800 Subject: [PATCH 10/55] added size to ground_plane in examples (#573) Signed-off-by: Jenn Nguyen --- examples/scripts/distributed/secondary.sdf | 1 + examples/scripts/distributed/standalone.sdf | 1 + examples/worlds/3k_shapes.sdf | 2003 +++++++++-------- examples/worlds/actor.sdf | 1 + examples/worlds/actors_population.sdf.erb | 1 + examples/worlds/apply_joint_force.sdf | 1 + examples/worlds/breadcrumbs.sdf | 2 +- examples/worlds/camera_sensor.sdf | 1 + .../camera_video_record_dbl_pendulum.sdf | 2 +- examples/worlds/contact_sensor.sdf | 1 + examples/worlds/debug_shapes.sdf | 1 + examples/worlds/default.sdf | 1 + examples/worlds/depth_camera_sensor.sdf | 1 + examples/worlds/detachable_joint.sdf | 2 +- examples/worlds/diff_drive.sdf | 2 +- examples/worlds/diff_drive_skid.sdf | 2 +- examples/worlds/empty.sdf | 1 + examples/worlds/fuel.sdf | 1 + examples/worlds/fuel_textured_mesh.sdf | 1 + examples/worlds/gpu_lidar_sensor.sdf | 1 + examples/worlds/grid.sdf | 1 + examples/worlds/import_mesh.sdf | 1 + examples/worlds/lift_drag.sdf | 1 + examples/worlds/lift_drag_battery.sdf | 1 + examples/worlds/lights.sdf | 1 + examples/worlds/log_record_dbl_pendulum.sdf | 2 +- examples/worlds/log_record_resources.sdf | 1 + examples/worlds/log_record_shapes.sdf | 1 + .../worlds/logical_audio_sensor_plugin.sdf | 1 + examples/worlds/logical_camera_sensor.sdf | 1 + .../worlds/multicopter_velocity_control.sdf | 2 +- examples/worlds/nested_model.sdf | 1 + examples/worlds/performer_detector.sdf | 2 +- examples/worlds/plane_propeller_demo.sdf | 1 + examples/worlds/pose_publisher.sdf | 2 +- examples/worlds/quadcopter.sdf | 2 +- examples/worlds/rolling_shapes.sdf | 1 + examples/worlds/sensors.sdf | 1 + examples/worlds/sensors_demo.sdf | 1 + examples/worlds/shapes.sdf | 1 + examples/worlds/shapes_bitmask.sdf | 1 + examples/worlds/shapes_population.sdf.erb | 1 + examples/worlds/thermal_camera.sdf | 1 + examples/worlds/touch_plugin.sdf | 2 +- examples/worlds/track_drive.sdf | 2 +- examples/worlds/triggered_publisher.sdf | 2 +- .../worlds/trisphere_cycle_wheel_slip.sdf | 1 + examples/worlds/velocity_control.sdf | 1 + examples/worlds/video_record_dbl_pendulum.sdf | 2 +- examples/worlds/wind.sdf | 1 + test/worlds/altimeter.sdf | 1 + test/worlds/apply_joint_force.sdf | 1 + test/worlds/breadcrumbs.sdf | 3 +- test/worlds/camera_video_record.sdf | 2 +- test/worlds/depth_camera_sensor.sdf | 1 + test/worlds/detachable_joint.sdf | 1 + test/worlds/diff_drive.sdf | 2 +- test/worlds/diff_drive_custom_frame_id.sdf | 2 +- test/worlds/diff_drive_custom_topics.sdf | 2 +- test/worlds/diff_drive_limited_joint_pub.sdf | 2 +- test/worlds/diff_drive_skid.sdf | 2 +- test/worlds/falling.sdf | 1 + test/worlds/friction.sdf | 2 +- test/worlds/gpu_lidar_sensor.sdf | 1 + test/worlds/imu.sdf | 1 + test/worlds/joint_controller.sdf | 1 + test/worlds/joint_position_controller.sdf | 1 + test/worlds/lift_drag.sdf | 2 +- test/worlds/log_record_dbl_pendulum.sdf | 2 +- test/worlds/log_record_resources.sdf | 1 + test/worlds/logical_camera_sensor.sdf | 1 + test/worlds/magnetometer.sdf | 1 + test/worlds/mesh.sdf | 1 + test/worlds/nondefault_canonical.sdf | 1 + test/worlds/performer_detector.sdf | 2 +- test/worlds/pose_publisher.sdf | 2 +- test/worlds/quadcopter.sdf | 2 +- test/worlds/quadcopter_velocity_control.sdf | 2 +- test/worlds/revolute_joint.sdf | 1 + test/worlds/rgbd_camera_sensor.sdf | 1 + test/worlds/thermal.sdf | 1 + test/worlds/touch_plugin.sdf | 2 +- test/worlds/triball_drift.sdf | 1 + test/worlds/trisphere_cycle_wheel_slip.sdf | 1 + test/worlds/velocity_control.sdf | 1 + 85 files changed, 1086 insertions(+), 1031 deletions(-) diff --git a/examples/scripts/distributed/secondary.sdf b/examples/scripts/distributed/secondary.sdf index f9dc09ed5c..13312dc93f 100644 --- a/examples/scripts/distributed/secondary.sdf +++ b/examples/scripts/distributed/secondary.sdf @@ -28,6 +28,7 @@ 0 0 1 + 100 100 diff --git a/examples/scripts/distributed/standalone.sdf b/examples/scripts/distributed/standalone.sdf index 94a6d74396..1b95237900 100644 --- a/examples/scripts/distributed/standalone.sdf +++ b/examples/scripts/distributed/standalone.sdf @@ -108,6 +108,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/3k_shapes.sdf b/examples/worlds/3k_shapes.sdf index d53292a574..ba5ea9298c 100644 --- a/examples/worlds/3k_shapes.sdf +++ b/examples/worlds/3k_shapes.sdf @@ -130,6 +130,7 @@ 0 0 1 + 100 100 @@ -149,7 +150,7 @@ - + -750.0 0 0.5 0 0 0 @@ -262,7 +263,7 @@ - + -748.5 0 0.5 0 0 0 @@ -375,7 +376,7 @@ - + -747.0 0 0.5 0 0 0 @@ -488,7 +489,7 @@ - + -745.5 0 0.5 0 0 0 @@ -601,7 +602,7 @@ - + -744.0 0 0.5 0 0 0 @@ -714,7 +715,7 @@ - + -742.5 0 0.5 0 0 0 @@ -827,7 +828,7 @@ - + -741.0 0 0.5 0 0 0 @@ -940,7 +941,7 @@ - + -739.5 0 0.5 0 0 0 @@ -1053,7 +1054,7 @@ - + -738.0 0 0.5 0 0 0 @@ -1166,7 +1167,7 @@ - + -736.5 0 0.5 0 0 0 @@ -1279,7 +1280,7 @@ - + -735.0 0 0.5 0 0 0 @@ -1392,7 +1393,7 @@ - + -733.5 0 0.5 0 0 0 @@ -1505,7 +1506,7 @@ - + -732.0 0 0.5 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b/examples/worlds/actor.sdf index df9a84c3db..e69a66513f 100644 --- a/examples/worlds/actor.sdf +++ b/examples/worlds/actor.sdf @@ -126,6 +126,7 @@ 0.0 0.0 1 + 100 100 diff --git a/examples/worlds/actors_population.sdf.erb b/examples/worlds/actors_population.sdf.erb index 855d89f2ba..f2bd07ece1 100644 --- a/examples/worlds/actors_population.sdf.erb +++ b/examples/worlds/actors_population.sdf.erb @@ -118,6 +118,7 @@ 0.0 0.0 1 + 100 100 diff --git a/examples/worlds/apply_joint_force.sdf b/examples/worlds/apply_joint_force.sdf index 2fc15ab1f3..1825eb7a4b 100644 --- a/examples/worlds/apply_joint_force.sdf +++ b/examples/worlds/apply_joint_force.sdf @@ -41,6 +41,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/breadcrumbs.sdf b/examples/worlds/breadcrumbs.sdf index 69033f1ee7..b3ade84636 100644 --- a/examples/worlds/breadcrumbs.sdf +++ b/examples/worlds/breadcrumbs.sdf @@ -55,6 +55,7 @@ 0 0 1 + 100 100 @@ -413,4 +414,3 @@ - diff --git a/examples/worlds/camera_sensor.sdf b/examples/worlds/camera_sensor.sdf index 608fa57f7e..b79e76b81b 100644 --- a/examples/worlds/camera_sensor.sdf +++ b/examples/worlds/camera_sensor.sdf @@ -123,6 +123,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/camera_video_record_dbl_pendulum.sdf b/examples/worlds/camera_video_record_dbl_pendulum.sdf index 8e22fc4d18..21ba632227 100644 --- a/examples/worlds/camera_video_record_dbl_pendulum.sdf +++ b/examples/worlds/camera_video_record_dbl_pendulum.sdf @@ -54,6 +54,7 @@ 0 0 1 + 100 100 @@ -320,4 +321,3 @@ - diff --git a/examples/worlds/contact_sensor.sdf b/examples/worlds/contact_sensor.sdf index e9baaaad1e..6e84f1c29c 100644 --- a/examples/worlds/contact_sensor.sdf +++ b/examples/worlds/contact_sensor.sdf @@ -52,6 +52,7 @@ Run the following to print out contacts, 0 0 1 + 100 100 diff --git a/examples/worlds/debug_shapes.sdf b/examples/worlds/debug_shapes.sdf index 1e83a2eb19..10ed07430f 100644 --- a/examples/worlds/debug_shapes.sdf +++ b/examples/worlds/debug_shapes.sdf @@ -43,6 +43,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/default.sdf b/examples/worlds/default.sdf index f359666e1f..a963e7e709 100644 --- a/examples/worlds/default.sdf +++ b/examples/worlds/default.sdf @@ -39,6 +39,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/depth_camera_sensor.sdf b/examples/worlds/depth_camera_sensor.sdf index 687a3faa13..ce693fe1b0 100644 --- a/examples/worlds/depth_camera_sensor.sdf +++ b/examples/worlds/depth_camera_sensor.sdf @@ -113,6 +113,7 @@ 20 20 0.1 diff --git a/examples/worlds/detachable_joint.sdf b/examples/worlds/detachable_joint.sdf index b5cb606e1e..c88799cda7 100644 --- a/examples/worlds/detachable_joint.sdf +++ b/examples/worlds/detachable_joint.sdf @@ -56,6 +56,7 @@ 0 0 1 + 100 100 @@ -482,4 +483,3 @@ - diff --git a/examples/worlds/diff_drive.sdf b/examples/worlds/diff_drive.sdf index e1e711ec77..647509944d 100644 --- a/examples/worlds/diff_drive.sdf +++ b/examples/worlds/diff_drive.sdf @@ -56,6 +56,7 @@ 0 0 1 + 100 100 @@ -436,4 +437,3 @@ - diff --git a/examples/worlds/diff_drive_skid.sdf b/examples/worlds/diff_drive_skid.sdf index dad1d68639..4edf93497d 100644 --- a/examples/worlds/diff_drive_skid.sdf +++ b/examples/worlds/diff_drive_skid.sdf @@ -52,6 +52,7 @@ 0 0 1 + 100 100 @@ -351,4 +352,3 @@ - diff --git a/examples/worlds/empty.sdf b/examples/worlds/empty.sdf index a0ea893bfa..74fa85eca9 100644 --- a/examples/worlds/empty.sdf +++ b/examples/worlds/empty.sdf @@ -95,6 +95,7 @@ ign service -s /world/empty/remove \ 0 0 1 + 100 100 diff --git a/examples/worlds/fuel.sdf b/examples/worlds/fuel.sdf index f9e9459b7d..9331c70837 100644 --- a/examples/worlds/fuel.sdf +++ b/examples/worlds/fuel.sdf @@ -34,6 +34,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/fuel_textured_mesh.sdf b/examples/worlds/fuel_textured_mesh.sdf index 2818448d44..7c2a39f95a 100644 --- a/examples/worlds/fuel_textured_mesh.sdf +++ b/examples/worlds/fuel_textured_mesh.sdf @@ -203,6 +203,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/gpu_lidar_sensor.sdf b/examples/worlds/gpu_lidar_sensor.sdf index 286a150752..07020dda9b 100644 --- a/examples/worlds/gpu_lidar_sensor.sdf +++ b/examples/worlds/gpu_lidar_sensor.sdf @@ -44,6 +44,7 @@ 20 20 0.1 diff --git a/examples/worlds/grid.sdf b/examples/worlds/grid.sdf index 1a383a0cc9..b775544573 100644 --- a/examples/worlds/grid.sdf +++ b/examples/worlds/grid.sdf @@ -123,6 +123,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/import_mesh.sdf b/examples/worlds/import_mesh.sdf index 0015bd15a7..1309625e2d 100644 --- a/examples/worlds/import_mesh.sdf +++ b/examples/worlds/import_mesh.sdf @@ -116,6 +116,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/lift_drag.sdf b/examples/worlds/lift_drag.sdf index 3589ce701a..d9c1f73bec 100644 --- a/examples/worlds/lift_drag.sdf +++ b/examples/worlds/lift_drag.sdf @@ -49,6 +49,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/lift_drag_battery.sdf b/examples/worlds/lift_drag_battery.sdf index 813a8a38be..afe4f8dbb9 100644 --- a/examples/worlds/lift_drag_battery.sdf +++ b/examples/worlds/lift_drag_battery.sdf @@ -52,6 +52,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/lights.sdf b/examples/worlds/lights.sdf index 46b4d6a657..f1910f0ac7 100644 --- a/examples/worlds/lights.sdf +++ b/examples/worlds/lights.sdf @@ -81,6 +81,7 @@ 0.0 0.0 1 + 100 100 diff --git a/examples/worlds/log_record_dbl_pendulum.sdf b/examples/worlds/log_record_dbl_pendulum.sdf index 0a964ee416..c7d4d208df 100644 --- a/examples/worlds/log_record_dbl_pendulum.sdf +++ b/examples/worlds/log_record_dbl_pendulum.sdf @@ -57,6 +57,7 @@ 0 0 1 + 100 100 @@ -278,4 +279,3 @@ - diff --git a/examples/worlds/log_record_resources.sdf b/examples/worlds/log_record_resources.sdf index 254c1e4f09..6bf9adb87c 100644 --- a/examples/worlds/log_record_resources.sdf +++ b/examples/worlds/log_record_resources.sdf @@ -63,6 +63,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/log_record_shapes.sdf b/examples/worlds/log_record_shapes.sdf index 60f9254254..39fb8797ba 100644 --- a/examples/worlds/log_record_shapes.sdf +++ b/examples/worlds/log_record_shapes.sdf @@ -54,6 +54,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/logical_audio_sensor_plugin.sdf b/examples/worlds/logical_audio_sensor_plugin.sdf index 9b93d11f99..a86a0656b0 100644 --- a/examples/worlds/logical_audio_sensor_plugin.sdf +++ b/examples/worlds/logical_audio_sensor_plugin.sdf @@ -71,6 +71,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/logical_camera_sensor.sdf b/examples/worlds/logical_camera_sensor.sdf index 3952828079..14d596c8e2 100644 --- a/examples/worlds/logical_camera_sensor.sdf +++ b/examples/worlds/logical_camera_sensor.sdf @@ -51,6 +51,7 @@ 20 20 0.1 diff --git a/examples/worlds/multicopter_velocity_control.sdf b/examples/worlds/multicopter_velocity_control.sdf index bdb0b83514..57e5bed01f 100644 --- a/examples/worlds/multicopter_velocity_control.sdf +++ b/examples/worlds/multicopter_velocity_control.sdf @@ -67,6 +67,7 @@ You can use the velocity controller and command linear velocity and yaw angular 0 0 1 + 100 100 @@ -402,4 +403,3 @@ You can use the velocity controller and command linear velocity and yaw angular - diff --git a/examples/worlds/nested_model.sdf b/examples/worlds/nested_model.sdf index ca705c7825..34310a6361 100644 --- a/examples/worlds/nested_model.sdf +++ b/examples/worlds/nested_model.sdf @@ -45,6 +45,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/performer_detector.sdf b/examples/worlds/performer_detector.sdf index bee3525430..5350526c03 100644 --- a/examples/worlds/performer_detector.sdf +++ b/examples/worlds/performer_detector.sdf @@ -53,6 +53,7 @@ 0 0 1 + 100 100 @@ -426,4 +427,3 @@ - diff --git a/examples/worlds/plane_propeller_demo.sdf b/examples/worlds/plane_propeller_demo.sdf index 1827a0c2c4..6de0ef7e92 100644 --- a/examples/worlds/plane_propeller_demo.sdf +++ b/examples/worlds/plane_propeller_demo.sdf @@ -109,6 +109,7 @@ 0 0 1 + 100000 100 diff --git a/examples/worlds/pose_publisher.sdf b/examples/worlds/pose_publisher.sdf index a3a927c68d..2c9947512e 100644 --- a/examples/worlds/pose_publisher.sdf +++ b/examples/worlds/pose_publisher.sdf @@ -47,6 +47,7 @@ 0 0 1 + 100 100 @@ -277,4 +278,3 @@ - diff --git a/examples/worlds/quadcopter.sdf b/examples/worlds/quadcopter.sdf index 7126135016..224a11cda9 100644 --- a/examples/worlds/quadcopter.sdf +++ b/examples/worlds/quadcopter.sdf @@ -56,6 +56,7 @@ 0 0 1 + 100 100 @@ -162,4 +163,3 @@ - diff --git a/examples/worlds/rolling_shapes.sdf b/examples/worlds/rolling_shapes.sdf index ac35e266ab..6c7d287631 100644 --- a/examples/worlds/rolling_shapes.sdf +++ b/examples/worlds/rolling_shapes.sdf @@ -43,6 +43,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/sensors.sdf b/examples/worlds/sensors.sdf index 967511ebe0..48af629339 100644 --- a/examples/worlds/sensors.sdf +++ b/examples/worlds/sensors.sdf @@ -65,6 +65,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/sensors_demo.sdf b/examples/worlds/sensors_demo.sdf index c40ac364a7..71a2e973bc 100644 --- a/examples/worlds/sensors_demo.sdf +++ b/examples/worlds/sensors_demo.sdf @@ -152,6 +152,7 @@ 20 20 0.1 diff --git a/examples/worlds/shapes.sdf b/examples/worlds/shapes.sdf index 5dec565b81..b43dbab638 100644 --- a/examples/worlds/shapes.sdf +++ b/examples/worlds/shapes.sdf @@ -34,6 +34,7 @@ Try moving a model: 0 0 1 + 100 100 diff --git a/examples/worlds/shapes_bitmask.sdf b/examples/worlds/shapes_bitmask.sdf index 4aca31166c..342ccb99aa 100644 --- a/examples/worlds/shapes_bitmask.sdf +++ b/examples/worlds/shapes_bitmask.sdf @@ -55,6 +55,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/shapes_population.sdf.erb b/examples/worlds/shapes_population.sdf.erb index 92122ffbbe..4c91b1206b 100644 --- a/examples/worlds/shapes_population.sdf.erb +++ b/examples/worlds/shapes_population.sdf.erb @@ -130,6 +130,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/thermal_camera.sdf b/examples/worlds/thermal_camera.sdf index c8498d3cc2..325139a1c0 100644 --- a/examples/worlds/thermal_camera.sdf +++ b/examples/worlds/thermal_camera.sdf @@ -131,6 +131,7 @@ 20 20 0.1 diff --git a/examples/worlds/touch_plugin.sdf b/examples/worlds/touch_plugin.sdf index eed0d28593..7497a15984 100644 --- a/examples/worlds/touch_plugin.sdf +++ b/examples/worlds/touch_plugin.sdf @@ -55,6 +55,7 @@ The output of the plugin is via 0 0 1 + 100 100 @@ -136,4 +137,3 @@ The output of the plugin is via - diff --git a/examples/worlds/track_drive.sdf b/examples/worlds/track_drive.sdf index ed4c852a82..9680cd01e5 100644 --- a/examples/worlds/track_drive.sdf +++ b/examples/worlds/track_drive.sdf @@ -60,6 +60,7 @@ 0 0 1 + 100 100 @@ -2096,4 +2097,3 @@ - diff --git a/examples/worlds/triggered_publisher.sdf b/examples/worlds/triggered_publisher.sdf index 110f10f0e1..e9812361c1 100644 --- a/examples/worlds/triggered_publisher.sdf +++ b/examples/worlds/triggered_publisher.sdf @@ -125,6 +125,7 @@ moment the box hits the ground, the second box should start falling. 0 0 1 + 100 100 @@ -532,4 +533,3 @@ moment the box hits the ground, the second box should start falling. - diff --git a/examples/worlds/trisphere_cycle_wheel_slip.sdf b/examples/worlds/trisphere_cycle_wheel_slip.sdf index bd7a23b219..7738361315 100644 --- a/examples/worlds/trisphere_cycle_wheel_slip.sdf +++ b/examples/worlds/trisphere_cycle_wheel_slip.sdf @@ -102,6 +102,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/velocity_control.sdf b/examples/worlds/velocity_control.sdf index fcfabd8c12..2e104e5f08 100644 --- a/examples/worlds/velocity_control.sdf +++ b/examples/worlds/velocity_control.sdf @@ -119,6 +119,7 @@ 0 0 1 + 100 100 diff --git a/examples/worlds/video_record_dbl_pendulum.sdf b/examples/worlds/video_record_dbl_pendulum.sdf index 2894e0f7dd..ddbe423ff3 100644 --- a/examples/worlds/video_record_dbl_pendulum.sdf +++ b/examples/worlds/video_record_dbl_pendulum.sdf @@ -113,6 +113,7 @@ 0 0 1 + 100 100 @@ -334,4 +335,3 @@ - diff --git a/examples/worlds/wind.sdf b/examples/worlds/wind.sdf index f260d17f07..d5d58b73b7 100644 --- a/examples/worlds/wind.sdf +++ b/examples/worlds/wind.sdf @@ -109,6 +109,7 @@ Example: 0 0 1 + 100 100 diff --git a/test/worlds/altimeter.sdf b/test/worlds/altimeter.sdf index 4aaa125fc4..95aa5ac43f 100644 --- a/test/worlds/altimeter.sdf +++ b/test/worlds/altimeter.sdf @@ -21,6 +21,7 @@ 0 0 1 + 100 100 diff --git a/test/worlds/apply_joint_force.sdf b/test/worlds/apply_joint_force.sdf index d89570e396..bdc7e56f92 100644 --- a/test/worlds/apply_joint_force.sdf +++ b/test/worlds/apply_joint_force.sdf @@ -13,6 +13,7 @@ 0 0 1 + 100 100 diff --git a/test/worlds/breadcrumbs.sdf b/test/worlds/breadcrumbs.sdf index 855614c1f6..fae8d86898 100644 --- a/test/worlds/breadcrumbs.sdf +++ b/test/worlds/breadcrumbs.sdf @@ -40,6 +40,7 @@ 0 0 1 + 100 100 @@ -661,5 +662,3 @@ - - diff --git a/test/worlds/camera_video_record.sdf b/test/worlds/camera_video_record.sdf index d8fdf8f1e3..3a08ef9fa9 100644 --- a/test/worlds/camera_video_record.sdf +++ b/test/worlds/camera_video_record.sdf @@ -41,6 +41,7 @@ 0 0 1 + 100 100 @@ -307,4 +308,3 @@ - diff --git a/test/worlds/depth_camera_sensor.sdf b/test/worlds/depth_camera_sensor.sdf index bd8c1a23b8..f6fd16a163 100644 --- a/test/worlds/depth_camera_sensor.sdf +++ b/test/worlds/depth_camera_sensor.sdf @@ -40,6 +40,7 @@ 20 20 0.1 diff --git a/test/worlds/detachable_joint.sdf b/test/worlds/detachable_joint.sdf index 89aa2fd68c..821d5a1a0f 100644 --- a/test/worlds/detachable_joint.sdf +++ b/test/worlds/detachable_joint.sdf @@ -11,6 +11,7 @@ 0 0 1 + 100 100 diff --git a/test/worlds/diff_drive.sdf b/test/worlds/diff_drive.sdf index 3a95bb1e92..b2b00bb0c4 100644 --- a/test/worlds/diff_drive.sdf +++ b/test/worlds/diff_drive.sdf @@ -32,6 +32,7 @@ 0 0 1 + 100 100 @@ -240,4 +241,3 @@ - diff --git a/test/worlds/diff_drive_custom_frame_id.sdf b/test/worlds/diff_drive_custom_frame_id.sdf index 073bfc41b8..41d9f1b4b9 100644 --- a/test/worlds/diff_drive_custom_frame_id.sdf +++ b/test/worlds/diff_drive_custom_frame_id.sdf @@ -32,6 +32,7 @@ 0 0 1 + 100 100 @@ -242,4 +243,3 @@ - diff --git a/test/worlds/diff_drive_custom_topics.sdf b/test/worlds/diff_drive_custom_topics.sdf index 312b28e872..075c1c6744 100644 --- a/test/worlds/diff_drive_custom_topics.sdf +++ b/test/worlds/diff_drive_custom_topics.sdf @@ -32,6 +32,7 @@ 0 0 1 + 100 100 @@ -237,4 +238,3 @@ - diff --git a/test/worlds/diff_drive_limited_joint_pub.sdf b/test/worlds/diff_drive_limited_joint_pub.sdf index a32638a281..33baaea880 100644 --- a/test/worlds/diff_drive_limited_joint_pub.sdf +++ b/test/worlds/diff_drive_limited_joint_pub.sdf @@ -32,6 +32,7 @@ 0 0 1 + 100 100 @@ -244,4 +245,3 @@ - diff --git a/test/worlds/diff_drive_skid.sdf b/test/worlds/diff_drive_skid.sdf index 2b314d83d2..1adff231cf 100644 --- a/test/worlds/diff_drive_skid.sdf +++ b/test/worlds/diff_drive_skid.sdf @@ -32,6 +32,7 @@ 0 0 1 + 100 100 @@ -325,4 +326,3 @@ - diff --git a/test/worlds/falling.sdf b/test/worlds/falling.sdf index 18f780bba4..9e69c968e6 100644 --- a/test/worlds/falling.sdf +++ b/test/worlds/falling.sdf @@ -61,6 +61,7 @@ 0 0 1 + 100 100 diff --git a/test/worlds/friction.sdf b/test/worlds/friction.sdf index f78c10dcbb..f4ce49cf4d 100644 --- a/test/worlds/friction.sdf +++ b/test/worlds/friction.sdf @@ -164,6 +164,7 @@ 0 0 1 + 100 100 @@ -186,4 +187,3 @@ - diff --git a/test/worlds/gpu_lidar_sensor.sdf b/test/worlds/gpu_lidar_sensor.sdf index e72ef9c32a..a8748e419b 100644 --- a/test/worlds/gpu_lidar_sensor.sdf +++ b/test/worlds/gpu_lidar_sensor.sdf @@ -40,6 +40,7 @@ 20 20 0.1 diff --git a/test/worlds/imu.sdf b/test/worlds/imu.sdf index 1cf77984f9..4bd476afa6 100644 --- a/test/worlds/imu.sdf +++ b/test/worlds/imu.sdf @@ -22,6 +22,7 @@ 0 0 1 + 100 100 diff --git a/test/worlds/joint_controller.sdf b/test/worlds/joint_controller.sdf index f2509c1ad6..06b9dd566b 100644 --- a/test/worlds/joint_controller.sdf +++ b/test/worlds/joint_controller.sdf @@ -58,6 +58,7 @@ 0 0 1 + 100 100 diff --git a/test/worlds/joint_position_controller.sdf b/test/worlds/joint_position_controller.sdf index 9394c1ad6a..906521db60 100644 --- a/test/worlds/joint_position_controller.sdf +++ b/test/worlds/joint_position_controller.sdf @@ -58,6 +58,7 @@ 0 0 1 + 100 100 diff --git a/test/worlds/lift_drag.sdf b/test/worlds/lift_drag.sdf index b3c4021254..4926c4d9a8 100644 --- a/test/worlds/lift_drag.sdf +++ b/test/worlds/lift_drag.sdf @@ -15,6 +15,7 @@ 0 0 1 + 100 100 @@ -204,4 +205,3 @@ - diff --git a/test/worlds/log_record_dbl_pendulum.sdf b/test/worlds/log_record_dbl_pendulum.sdf index b93844b5fc..6b79cc1a43 100644 --- a/test/worlds/log_record_dbl_pendulum.sdf +++ b/test/worlds/log_record_dbl_pendulum.sdf @@ -50,6 +50,7 @@ 0 0 1 + 100 100 @@ -294,4 +295,3 @@ - diff --git a/test/worlds/log_record_resources.sdf b/test/worlds/log_record_resources.sdf index 254c1e4f09..6bf9adb87c 100644 --- a/test/worlds/log_record_resources.sdf +++ b/test/worlds/log_record_resources.sdf @@ -63,6 +63,7 @@ 0 0 1 + 100 100 diff --git a/test/worlds/logical_camera_sensor.sdf b/test/worlds/logical_camera_sensor.sdf index 6ca45a21d0..74b6fc448f 100644 --- a/test/worlds/logical_camera_sensor.sdf +++ b/test/worlds/logical_camera_sensor.sdf @@ -37,6 +37,7 @@ 20 20 0.1 diff --git a/test/worlds/magnetometer.sdf b/test/worlds/magnetometer.sdf index c34dfc87b1..9fb5bda4ca 100644 --- a/test/worlds/magnetometer.sdf +++ b/test/worlds/magnetometer.sdf @@ -22,6 +22,7 @@ 0 0 1 + 100 100 diff --git a/test/worlds/mesh.sdf b/test/worlds/mesh.sdf index 9dcc8ae815..dd2d47ce04 100644 --- a/test/worlds/mesh.sdf +++ b/test/worlds/mesh.sdf @@ -42,6 +42,7 @@ 20 20 0.1 diff --git a/test/worlds/nondefault_canonical.sdf b/test/worlds/nondefault_canonical.sdf index a03d8c88e5..56c303542d 100644 --- a/test/worlds/nondefault_canonical.sdf +++ b/test/worlds/nondefault_canonical.sdf @@ -61,6 +61,7 @@ 0 0 1 + 100 100 diff --git a/test/worlds/performer_detector.sdf b/test/worlds/performer_detector.sdf index 2a093d0176..faa7cef57d 100644 --- a/test/worlds/performer_detector.sdf +++ b/test/worlds/performer_detector.sdf @@ -17,6 +17,7 @@ 0 0 1 + 100 100 @@ -387,4 +388,3 @@ - diff --git a/test/worlds/pose_publisher.sdf b/test/worlds/pose_publisher.sdf index a4d88b0517..fadf485754 100644 --- a/test/worlds/pose_publisher.sdf +++ b/test/worlds/pose_publisher.sdf @@ -35,6 +35,7 @@ 0 0 1 + 100 100 @@ -515,4 +516,3 @@ - diff --git a/test/worlds/quadcopter.sdf b/test/worlds/quadcopter.sdf index 06b0ad57c9..e6c7aa5a7b 100644 --- a/test/worlds/quadcopter.sdf +++ b/test/worlds/quadcopter.sdf @@ -17,6 +17,7 @@ 0 0 1 + 100 100 @@ -327,4 +328,3 @@ - diff --git a/test/worlds/quadcopter_velocity_control.sdf b/test/worlds/quadcopter_velocity_control.sdf index 9583a1fc8f..fc8adea119 100644 --- a/test/worlds/quadcopter_velocity_control.sdf +++ b/test/worlds/quadcopter_velocity_control.sdf @@ -17,6 +17,7 @@ 0 0 1 + 100 100 @@ -366,4 +367,3 @@ - diff --git a/test/worlds/revolute_joint.sdf b/test/worlds/revolute_joint.sdf index 3821ff0eee..fd9632f5cd 100644 --- a/test/worlds/revolute_joint.sdf +++ b/test/worlds/revolute_joint.sdf @@ -58,6 +58,7 @@ 0 0 1 + 100 100 diff --git a/test/worlds/rgbd_camera_sensor.sdf b/test/worlds/rgbd_camera_sensor.sdf index d7d1bcc66a..5759741e11 100644 --- a/test/worlds/rgbd_camera_sensor.sdf +++ b/test/worlds/rgbd_camera_sensor.sdf @@ -36,6 +36,7 @@ 20 20 0.1 diff --git a/test/worlds/thermal.sdf b/test/worlds/thermal.sdf index 223b04ba51..15b2ff13b4 100644 --- a/test/worlds/thermal.sdf +++ b/test/worlds/thermal.sdf @@ -49,6 +49,7 @@ 20 20 0.1 diff --git a/test/worlds/touch_plugin.sdf b/test/worlds/touch_plugin.sdf index 90a802f623..4ff260b7f3 100644 --- a/test/worlds/touch_plugin.sdf +++ b/test/worlds/touch_plugin.sdf @@ -17,6 +17,7 @@ 0 0 1 + 100 100 @@ -212,4 +213,3 @@ - diff --git a/test/worlds/triball_drift.sdf b/test/worlds/triball_drift.sdf index bba019b21b..d574e2a2b6 100644 --- a/test/worlds/triball_drift.sdf +++ b/test/worlds/triball_drift.sdf @@ -92,6 +92,7 @@ 0 0 1 + 100 100 diff --git a/test/worlds/trisphere_cycle_wheel_slip.sdf b/test/worlds/trisphere_cycle_wheel_slip.sdf index cf0af7d524..b086b05a0f 100644 --- a/test/worlds/trisphere_cycle_wheel_slip.sdf +++ b/test/worlds/trisphere_cycle_wheel_slip.sdf @@ -92,6 +92,7 @@ 0 0 1 + 100 100 diff --git a/test/worlds/velocity_control.sdf b/test/worlds/velocity_control.sdf index fcfabd8c12..2e104e5f08 100644 --- a/test/worlds/velocity_control.sdf +++ b/test/worlds/velocity_control.sdf @@ -119,6 +119,7 @@ 0 0 1 + 100 100 From afb228d6582341c9813986b73c0994c16ee0dde4 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Tue, 26 Jan 2021 04:03:31 +0800 Subject: [PATCH 11/55] Publish all periodic change components in Scene Broadcaster (#544) Signed-off-by: Luca Della Vedova --- .../ignition/gazebo/EntityComponentManager.hh | 6 +++++ src/EntityComponentManager.cc | 12 +++++++++ src/EntityComponentManager_TEST.cc | 25 +++++++++++++++++++ .../scene_broadcaster/SceneBroadcaster.cc | 5 ++-- 4 files changed, 46 insertions(+), 2 deletions(-) diff --git a/include/ignition/gazebo/EntityComponentManager.hh b/include/ignition/gazebo/EntityComponentManager.hh index bc99cf7eb1..326cdb1b8d 100644 --- a/include/ignition/gazebo/EntityComponentManager.hh +++ b/include/ignition/gazebo/EntityComponentManager.hh @@ -487,6 +487,12 @@ namespace ignition /// \return True if there are any components with one-time changes. public: bool HasOneTimeComponentChanges() const; + /// \brief Get the components types that are marked as periodic changes. + /// \return All the components that at least one entity marked as + /// periodic changes. + public: std::unordered_set + ComponentTypesWithPeriodicChanges() const; + /// \brief Set the absolute state of the ECM from a serialized message. /// Entities / components that are in the new state but not in the old /// one will be created. diff --git a/src/EntityComponentManager.cc b/src/EntityComponentManager.cc index 3c4992b49d..3590fb0bec 100644 --- a/src/EntityComponentManager.cc +++ b/src/EntityComponentManager.cc @@ -419,6 +419,18 @@ bool EntityComponentManager::HasOneTimeComponentChanges() const return !this->dataPtr->oneTimeChangedComponents.empty(); } +///////////////////////////////////////////////// +std::unordered_set + EntityComponentManager::ComponentTypesWithPeriodicChanges() const +{ + std::unordered_set periodicComponents; + for (const auto& compPair : this->dataPtr->periodicChangedComponents) + { + periodicComponents.insert(compPair.first); + } + return periodicComponents; +} + ///////////////////////////////////////////////// bool EntityComponentManager::HasEntity(const Entity _entity) const { diff --git a/src/EntityComponentManager_TEST.cc b/src/EntityComponentManager_TEST.cc index a58a056e63..0ef3587247 100644 --- a/src/EntityComponentManager_TEST.cc +++ b/src/EntityComponentManager_TEST.cc @@ -2082,6 +2082,7 @@ TEST_P(EntityComponentManagerFixture, SetChanged) auto c2 = manager.CreateComponent(e2, IntComponent(456)); EXPECT_TRUE(manager.HasOneTimeComponentChanges()); + EXPECT_EQ(0u, manager.ComponentTypesWithPeriodicChanges().size()); EXPECT_EQ(ComponentState::OneTimeChange, manager.ComponentState(e1, c1.first)); EXPECT_EQ(ComponentState::OneTimeChange, @@ -2093,6 +2094,7 @@ TEST_P(EntityComponentManagerFixture, SetChanged) // updated manager.RunSetAllComponentsUnchanged(); EXPECT_FALSE(manager.HasOneTimeComponentChanges()); + EXPECT_EQ(0u, manager.ComponentTypesWithPeriodicChanges().size()); EXPECT_EQ(ComponentState::NoChange, manager.ComponentState(e1, c1.first)); EXPECT_EQ(ComponentState::NoChange, @@ -2100,9 +2102,31 @@ TEST_P(EntityComponentManagerFixture, SetChanged) // Mark as changed manager.SetChanged(e1, c1.first, ComponentState::PeriodicChange); + + // check that only e1 c1 is serialized into a message + msgs::SerializedStateMap stateMsg; + manager.State(stateMsg); + { + ASSERT_EQ(1, stateMsg.entities_size()); + + auto iter = stateMsg.entities().find(e1); + const auto &e1Msg = iter->second; + EXPECT_EQ(e1, e1Msg.id()); + ASSERT_EQ(1, e1Msg.components_size()); + + auto compIter = e1Msg.components().begin(); + const auto &e1c1Msg = compIter->second; + EXPECT_EQ(IntComponent::typeId, e1c1Msg.type()); + EXPECT_EQ(123, std::stoi(e1c1Msg.component())); + } + manager.SetChanged(e2, c2.first, ComponentState::OneTimeChange); EXPECT_TRUE(manager.HasOneTimeComponentChanges()); + // Expect a single component type to be marked as PeriodicChange + ASSERT_EQ(1u, manager.ComponentTypesWithPeriodicChanges().size()); + EXPECT_EQ(IntComponent().TypeId(), + *manager.ComponentTypesWithPeriodicChanges().begin()); EXPECT_EQ(ComponentState::PeriodicChange, manager.ComponentState(e1, c1.first)); EXPECT_EQ(ComponentState::OneTimeChange, @@ -2112,6 +2136,7 @@ TEST_P(EntityComponentManagerFixture, SetChanged) EXPECT_TRUE(manager.RemoveComponent(e1, c1.first)); EXPECT_TRUE(manager.HasOneTimeComponentChanges()); + EXPECT_EQ(0u, manager.ComponentTypesWithPeriodicChanges().size()); EXPECT_EQ(ComponentState::NoChange, manager.ComponentState(e1, c1.first)); diff --git a/src/systems/scene_broadcaster/SceneBroadcaster.cc b/src/systems/scene_broadcaster/SceneBroadcaster.cc index 9dde20341b..722d8f58ac 100644 --- a/src/systems/scene_broadcaster/SceneBroadcaster.cc +++ b/src/systems/scene_broadcaster/SceneBroadcaster.cc @@ -293,12 +293,13 @@ void SceneBroadcaster::PostUpdate(const UpdateInfo &_info, { _manager.State(*this->dataPtr->stepMsg.mutable_state(), {}, {}, true); } - // Otherwise publish just selected components + // Otherwise publish just periodic change components else { IGN_PROFILE("SceneBroadcast::PostUpdate UpdateState"); + auto periodicComponents = _manager.ComponentTypesWithPeriodicChanges(); _manager.State(*this->dataPtr->stepMsg.mutable_state(), - {}, {components::Pose::typeId}); + {}, periodicComponents); } // Full state on demand From 347fd5129108fe72b8c9ebf56b221d42b3ec7540 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 26 Jan 2021 18:24:18 -0800 Subject: [PATCH 12/55] Backport state update changes from pull request #486 (#583) Signed-off-by: Ian Chen --- src/EntityComponentManager.cc | 18 ++++++++++++++++-- src/network/NetworkManagerSecondary.cc | 6 ++++++ 2 files changed, 22 insertions(+), 2 deletions(-) diff --git a/src/EntityComponentManager.cc b/src/EntityComponentManager.cc index 3590fb0bec..b7aa6e0a6a 100644 --- a/src/EntityComponentManager.cc +++ b/src/EntityComponentManager.cc @@ -1236,8 +1236,22 @@ void EntityComponentManager::SetState( { std::istringstream istr(compMsg.component()); comp->Deserialize(istr); - this->SetChanged(entity, compIter.first, - ComponentState::OneTimeChange); + // Note on merging forward: + // `has_one_time_component_changes` field is available in Edifice so + // this workaround can be removed + auto flag = ComponentState::PeriodicChange; + for (int i = 0; i < _stateMsg.header().data_size(); ++i) + { + if (_stateMsg.header().data(i).key() == + "has_one_time_component_changes") + { + int v = stoi(_stateMsg.header().data(i).value(0)); + if (v) + flag = ComponentState::OneTimeChange; + break; + } + } + this->SetChanged(entity, compIter.first, flag); } } } diff --git a/src/network/NetworkManagerSecondary.cc b/src/network/NetworkManagerSecondary.cc index eaf4f0c28b..46b979fa70 100644 --- a/src/network/NetworkManagerSecondary.cc +++ b/src/network/NetworkManagerSecondary.cc @@ -167,6 +167,12 @@ void NetworkManagerSecondary::OnStep( msgs::SerializedStateMap stateMsg; if (!entities.empty()) this->dataPtr->ecm->State(stateMsg, entities); + // Note on merging forward: + // `has_one_time_component_changes` field is available in Edifice so this + // workaround can be removed + auto data = stateMsg.mutable_header()->add_data(); + data->set_key("has_one_time_component_changes"); + data->add_value(this->dataPtr->ecm->HasOneTimeComponentChanges() ? "1" : "0"); this->stepAckPub.Publish(stateMsg); From 8fd9b2647a5c37b1dde5509b5a741c6c955ee10f Mon Sep 17 00:00:00 2001 From: Stephen Brawner Date: Tue, 26 Jan 2021 22:18:09 -0800 Subject: [PATCH 13/55] Fix code_check errors (#582) Signed-off-by: Stephen Brawner --- src/SimulationRunner.cc | 6 +++--- test/integration/logical_camera_system.cc | 1 - 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index fd39d17a95..bdd21a1cb8 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -872,18 +872,18 @@ void SimulationRunner::LoadLoggingPlugins(const ServerConfig &_config) { std::list plugins; - if(_config.UseLogRecord() && !_config.LogPlaybackPath().empty()) + if (_config.UseLogRecord() && !_config.LogPlaybackPath().empty()) { ignwarn << "Both recording and playback are specified, defaulting to playback\n"; } - if(!_config.LogPlaybackPath().empty()) + if (!_config.LogPlaybackPath().empty()) { auto playbackPlugin = _config.LogPlaybackPlugin(); plugins.push_back(playbackPlugin); } - else if(_config.UseLogRecord()) + else if (_config.UseLogRecord()) { auto recordPlugin = _config.LogRecordPlugin(); plugins.push_back(recordPlugin); diff --git a/test/integration/logical_camera_system.cc b/test/integration/logical_camera_system.cc index 94e4763bb6..4c4454a9b8 100644 --- a/test/integration/logical_camera_system.cc +++ b/test/integration/logical_camera_system.cc @@ -190,5 +190,4 @@ TEST_F(LogicalCameraTest, LogicalCameraBox) ignition::math::Pose3d boxPoseCamera2Frame = boxPose - sensor2Pose; EXPECT_EQ(boxPoseCamera2Frame, ignition::msgs::Convert(img2.model(0).pose())); mutex.unlock(); - } From ebd09d4ce75d9a793d4d887a40f4575fe706b7ef Mon Sep 17 00:00:00 2001 From: Jenn Nguyen Date: Wed, 27 Jan 2021 20:05:41 -0800 Subject: [PATCH 14/55] Visualize collisions (#531) Signed-off-by: Jenn Nguyen Co-authored-by: Nate Koenig --- .../ignition/gazebo/rendering/RenderUtil.hh | 4 + .../ignition/gazebo/rendering/SceneManager.hh | 13 ++ src/gui/plugins/modules/EntityContextMenu.cc | 12 + src/gui/plugins/modules/EntityContextMenu.qml | 42 +++- src/gui/plugins/scene3d/Scene3D.cc | 63 ++++++ src/gui/plugins/scene3d/Scene3D.hh | 15 ++ src/rendering/RenderUtil.cc | 213 ++++++++++++++++++ src/rendering/SceneManager.cc | 31 +++ 8 files changed, 391 insertions(+), 2 deletions(-) diff --git a/include/ignition/gazebo/rendering/RenderUtil.hh b/include/ignition/gazebo/rendering/RenderUtil.hh index aa66219bb3..f3c9a31248 100644 --- a/include/ignition/gazebo/rendering/RenderUtil.hh +++ b/include/ignition/gazebo/rendering/RenderUtil.hh @@ -111,6 +111,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { std::string(const sdf::Sensor &, const std::string &)> _createSensorCb = {}); + /// \brief View collisions of specified entity which are shown in orange + /// \param[in] _entity Entity to view collisions + public: void ViewCollisions(const Entity &_entity); + /// \brief Get the scene manager /// Returns reference to the scene manager. public: class SceneManager &SceneManager(); diff --git a/include/ignition/gazebo/rendering/SceneManager.hh b/include/ignition/gazebo/rendering/SceneManager.hh index cf195f86b3..2099ef7b0f 100644 --- a/include/ignition/gazebo/rendering/SceneManager.hh +++ b/include/ignition/gazebo/rendering/SceneManager.hh @@ -96,6 +96,19 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { public: rendering::VisualPtr CreateVisual(Entity _id, const sdf::Visual &_visual, Entity _parentId = 0); + /// \brief Create a collision visual + /// \param[in] _id Unique visual id + /// \param[in] _collision Collision sdf dom + /// \param[in] _parentId Parent id + /// \return Visual (collision) object created from the sdf dom + public: rendering::VisualPtr CreateCollision(Entity _id, + const sdf::Collision &_collision, Entity _parentId = 0); + + /// \brief Retrieve visual + /// \param[in] _id Unique visual (entity) id + /// \return Pointer to requested visual + public: rendering::VisualPtr VisualById(Entity _id); + /// \brief Create an actor /// \param[in] _id Unique actor id /// \param[in] _visual Actor sdf dom diff --git a/src/gui/plugins/modules/EntityContextMenu.cc b/src/gui/plugins/modules/EntityContextMenu.cc index 5bd42b2510..e76cbd8cf1 100644 --- a/src/gui/plugins/modules/EntityContextMenu.cc +++ b/src/gui/plugins/modules/EntityContextMenu.cc @@ -47,6 +47,9 @@ namespace ignition::gazebo /// \brief Remove service name public: std::string removeService; + /// \brief View collisions service name + public: std::string viewCollisionsService; + /// \brief Name of world. public: std::string worldName; }; @@ -75,6 +78,9 @@ EntityContextMenu::EntityContextMenu() // For remove service requests this->dataPtr->removeService = "/world/default/remove"; + + // For view collisions service requests + this->dataPtr->viewCollisionsService = "/gui/view/collisions"; } ///////////////////////////////////////////////// @@ -146,6 +152,12 @@ void EntityContextMenu::OnRequest(const QString &_request, const QString &_data) req.set_data(_data.toStdString()); this->dataPtr->node.Request(this->dataPtr->followService, req, cb); } + else if (request == "view_collisions") + { + ignition::msgs::StringMsg req; + req.set_data(_data.toStdString()); + this->dataPtr->node.Request(this->dataPtr->viewCollisionsService, req, cb); + } else { ignwarn << "Unknown request [" << request << "]" << std::endl; diff --git a/src/gui/plugins/modules/EntityContextMenu.qml b/src/gui/plugins/modules/EntityContextMenu.qml index 9e927e2356..bb2f4e02be 100644 --- a/src/gui/plugins/modules/EntityContextMenu.qml +++ b/src/gui/plugins/modules/EntityContextMenu.qml @@ -37,6 +37,40 @@ Item { text: "Remove" onTriggered: context.OnRemove(context.entity, context.type) } + // // cascading submenu only works in Qt 5.10+ on focal + // Menu { + // id: viewSubmenu + // title: "View" + // MenuItem { + // id: viewCollisionsMenu + // text: "Collisions" + // onTriggered: context.OnRequest("view_collisions", context.entity) + // } + // } + // workaround for getting submenu's to work on bionic (< Qt 5.10) + MenuItem { + id: viewSubmenu + text: "View >" + MouseArea { + id: viewSubMouseArea + anchors.fill: parent + hoverEnabled: true + onEntered: secondMenu.open() + } + } + } + Menu { + id: secondMenu + x: menu.x + menu.width + y: menu.y + viewSubmenu.y + MenuItem { + id: viewCollisionsMenu + text: "Collisions" + onTriggered: { + menu.close() + context.OnRequest("view_collisions", context.entity) + } + } } function open(_entity, _type, _x, _y) { @@ -47,6 +81,7 @@ Item { moveToMenu.enabled = false followMenu.enabled = false removeMenu.enabled = false + viewCollisionsMenu.enabled = false; // enable / disable menu items if (context.type == "model" || context.type == "link" || @@ -62,6 +97,11 @@ Item { removeMenu.enabled = true } + if (context.type == "model" || context.type == "link") + { + viewCollisionsMenu.enabled = true; + } + menu.open() } @@ -71,5 +111,3 @@ Item { property string type } } - - diff --git a/src/gui/plugins/scene3d/Scene3D.cc b/src/gui/plugins/scene3d/Scene3D.cc index b6e3dc9af1..af6c3ef967 100644 --- a/src/gui/plugins/scene3d/Scene3D.cc +++ b/src/gui/plugins/scene3d/Scene3D.cc @@ -231,6 +231,9 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \brief Helper object to move user camera public: MoveToHelper moveToHelper; + /// \brief Target to view collisions + public: std::string viewCollisionsTarget; + /// \brief Helper object to select entities. Only the latest selection /// request is kept. public: SelectionHelper selectionHelper; @@ -429,6 +432,9 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \brief mutex to protect the render condition variable /// Used when recording in lockstep mode. public: std::mutex renderMutex; + + /// \brief View collisions service + public: std::string viewCollisionsService; }; } } @@ -803,6 +809,31 @@ void IgnRenderer::Render() } } + // View collisions + { + IGN_PROFILE("IgnRenderer::Render ViewCollisions"); + if (!this->dataPtr->viewCollisionsTarget.empty()) + { + rendering::NodePtr targetNode = + scene->NodeByName(this->dataPtr->viewCollisionsTarget); + + if (targetNode) + { + Entity targetEntity = + this->dataPtr->renderUtil.SceneManager().EntityFromNode(targetNode); + this->dataPtr->renderUtil.ViewCollisions(targetEntity); + } + else + { + ignerr << "Unable to find node name [" + << this->dataPtr->viewCollisionsTarget + << "] to view collisions" << std::endl; + } + + this->dataPtr->viewCollisionsTarget.clear(); + } + } + if (ignition::gui::App()) { gui::events::Render event; @@ -1914,6 +1945,13 @@ void IgnRenderer::SetMoveToPose(const math::Pose3d &_pose) this->dataPtr->moveToPoseValue = _pose; } +///////////////////////////////////////////////// +void IgnRenderer::SetViewCollisionsTarget(const std::string &_target) +{ + std::lock_guard lock(this->dataPtr->mutex); + this->dataPtr->viewCollisionsTarget = _target; +} + ///////////////////////////////////////////////// void IgnRenderer::SetFollowPGain(double _gain) { @@ -2618,6 +2656,13 @@ void Scene3D::LoadConfig(const tinyxml2::XMLElement *_pluginElem) ignmsg << "Camera pose topic advertised on [" << this->dataPtr->cameraPoseTopic << "]" << std::endl; + // view collisions service + this->dataPtr->viewCollisionsService = "/gui/view/collisions"; + this->dataPtr->node.Advertise(this->dataPtr->viewCollisionsService, + &Scene3D::OnViewCollisions, this); + ignmsg << "View collisions service on [" + << this->dataPtr->viewCollisionsService << "]" << std::endl; + ignition::gui::App()->findChild< ignition::gui::MainWindow *>()->QuickWindow()->installEventFilter(this); ignition::gui::App()->findChild< @@ -2770,6 +2815,18 @@ bool Scene3D::OnMoveToPose(const msgs::GUICamera &_msg, msgs::Boolean &_res) return true; } +///////////////////////////////////////////////// +bool Scene3D::OnViewCollisions(const msgs::StringMsg &_msg, + msgs::Boolean &_res) +{ + auto renderWindow = this->PluginItem()->findChild(); + + renderWindow->SetViewCollisionsTarget(_msg.data()); + + _res.set_data(true); + return true; +} + ///////////////////////////////////////////////// void Scene3D::OnHovered(int _mouseX, int _mouseY) { @@ -3025,6 +3082,12 @@ void RenderWindowItem::SetMoveToPose(const math::Pose3d &_pose) this->dataPtr->renderThread->ignRenderer.SetMoveToPose(_pose); } +///////////////////////////////////////////////// +void RenderWindowItem::SetViewCollisionsTarget(const std::string &_target) +{ + this->dataPtr->renderThread->ignRenderer.SetViewCollisionsTarget(_target); +} + ///////////////////////////////////////////////// void RenderWindowItem::SetFollowPGain(double _gain) { diff --git a/src/gui/plugins/scene3d/Scene3D.hh b/src/gui/plugins/scene3d/Scene3D.hh index cf966a4efe..97289bd412 100644 --- a/src/gui/plugins/scene3d/Scene3D.hh +++ b/src/gui/plugins/scene3d/Scene3D.hh @@ -154,6 +154,13 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { private: bool OnMoveToPose(const msgs::GUICamera &_msg, msgs::Boolean &_res); + /// \brief Callback for view collisions request + /// \param[in] _msg Request message to set the target to view collisions + /// \param[in] _res Response data + /// \return True if the request is received + private: bool OnViewCollisions(const msgs::StringMsg &_msg, + msgs::Boolean &_res); + /// \internal /// \brief Pointer to private data. private: std::unique_ptr dataPtr; @@ -245,6 +252,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \param[in] _pose The world pose to set the camera to. public: void SetMoveToPose(const math::Pose3d &_pose); + /// \brief View collisions of the specified target + /// \param[in] _target Target to view collisions + public: void SetViewCollisionsTarget(const std::string &_target); + /// \brief Set the p gain for the camera follow movement /// \param[in] _gain Camera follow p gain. public: void SetFollowPGain(double _gain); @@ -580,6 +591,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \param[in] _pose The new camera pose in the world frame. public: void SetMoveToPose(const math::Pose3d &_pose); + /// \brief View collisions of the specified target + /// \param[in] _target Target to view collisions + public: void SetViewCollisionsTarget(const std::string &_target); + /// \brief Set the p gain for the camera follow movement /// \param[in] _gain Camera follow p gain. public: void SetFollowPGain(double _gain); diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 01bcd7644f..1dde5ba785 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -19,6 +19,7 @@ #include #include +#include #include #include #include @@ -43,6 +44,7 @@ #include "ignition/gazebo/components/Actor.hh" #include "ignition/gazebo/components/Camera.hh" #include "ignition/gazebo/components/CastShadows.hh" +#include "ignition/gazebo/components/Collision.hh" #include "ignition/gazebo/components/DepthCamera.hh" #include "ignition/gazebo/components/GpuLidar.hh" #include "ignition/gazebo/components/Geometry.hh" @@ -197,6 +199,30 @@ class ignition::gazebo::RenderUtilPrivate /// \param[in] _node Node to be restored. /// TODO(anyone) On future versions, use a bounding box instead public: void LowlightNode(const rendering::NodePtr &_node); + + /// \brief New collisions to be created + public: std::vector newCollisions; + + /// \brief Finds the links (collision parent) that are used to create child + /// collision visuals in RenderUtil::Update + /// \param[in] _ecm The entity-component manager + public: void FindCollisionLinks(const EntityComponentManager &_ecm); + + /// \brief A list of links used to create new collision visuals + public: std::vector newCollisionLinks; + + /// \brief A map of collision entity ids and their SDF DOM + public: std::map entityCollisions; + + /// \brief A map of model entities and their corresponding children links + public: std::map> modelToLinkEntities; + + /// \brief A map of link entities and their corresponding children collisions + public: std::map> linkToCollisionEntities; + + /// \brief A map of created collision entities and if they are currently + /// visible + public: std::map viewingCollisions; }; ////////////////////////////////////////////////// @@ -225,6 +251,42 @@ void RenderUtil::UpdateFromECM(const UpdateInfo &_info, this->dataPtr->UpdateRenderingEntities(_ecm); this->dataPtr->RemoveRenderingEntities(_ecm, _info); this->dataPtr->markerManager.SetSimTime(_info.simTime); + this->dataPtr->FindCollisionLinks(_ecm); +} + +////////////////////////////////////////////////// +void RenderUtilPrivate::FindCollisionLinks(const EntityComponentManager &_ecm) +{ + if (this->newCollisions.empty()) + return; + + for (const auto &entity : this->newCollisions) + { + std::vector links; + if (_ecm.EntityMatches(entity, + std::set{components::Model::typeId})) + { + links = _ecm.EntitiesByComponents(components::ParentEntity(entity), + components::Link()); + } + else if (_ecm.EntityMatches(entity, + std::set{components::Link::typeId})) + { + links.push_back(entity); + } + else + { + ignerr << "Entity [" << entity + << "] for viewing collision must be a model or link" + << std::endl; + continue; + } + + this->newCollisionLinks.insert(this->newCollisionLinks.end(), + links.begin(), + links.end()); + } + this->newCollisions.clear(); } ////////////////////////////////////////////////// @@ -263,6 +325,7 @@ void RenderUtil::Update() auto entityPoses = std::move(this->dataPtr->entityPoses); auto actorTransforms = std::move(this->dataPtr->actorTransforms); auto entityTemp = std::move(this->dataPtr->entityTemp); + auto newCollisionLinks = std::move(this->dataPtr->newCollisionLinks); this->dataPtr->newScenes.clear(); this->dataPtr->newModels.clear(); @@ -274,6 +337,7 @@ void RenderUtil::Update() this->dataPtr->entityPoses.clear(); this->dataPtr->actorTransforms.clear(); this->dataPtr->entityTemp.clear(); + this->dataPtr->newCollisionLinks.clear(); this->dataPtr->markerManager.Update(); @@ -457,6 +521,43 @@ void RenderUtil::Update() visual->SetUserData("temperature", temp.second); } } + + // create new collision visuals + { + for (const auto &link : newCollisionLinks) + { + std::vector colEntities = + this->dataPtr->linkToCollisionEntities[link]; + + for (const auto &colEntity : colEntities) + { + if (!this->dataPtr->sceneManager.HasEntity(colEntity)) + { + auto vis = this->dataPtr->sceneManager.CreateCollision(colEntity, + this->dataPtr->entityCollisions[colEntity], link); + this->dataPtr->viewingCollisions[colEntity] = true; + + // add geometry material to originalEmissive map + for (auto g = 0u; g < vis->GeometryCount(); ++g) + { + auto geom = vis->GeometryByIndex(g); + + // Geometry material + auto geomMat = geom->Material(); + if (nullptr == geomMat) + continue; + + if (this->dataPtr->originalEmissive.find(geom->Name()) == + this->dataPtr->originalEmissive.end()) + { + this->dataPtr->originalEmissive[geom->Name()] = + geomMat->Emissive(); + } + } + } + } + } + } } ////////////////////////////////////////////////// @@ -536,6 +637,8 @@ void RenderUtilPrivate::CreateRenderingEntities( link.SetRawPose(_pose->Data()); this->newLinks.push_back( std::make_tuple(_entity, link, _parent->Data())); + // used for collsions + this->modelToLinkEntities[_parent->Data()].push_back(_entity); return true; }); @@ -604,6 +707,23 @@ void RenderUtilPrivate::CreateRenderingEntities( return true; }); + // collisions + _ecm.Each( + [&](const Entity &_entity, + const components::Collision *, + const components::Name *, + const components::Pose *, + const components::Geometry *, + const components::CollisionElement *_collElement, + const components::ParentEntity *_parent) -> bool + { + this->entityCollisions[_entity] = _collElement->Data(); + this->linkToCollisionEntities[_parent->Data()].push_back(_entity); + return true; + }); + if (this->enableSensors) { // Create cameras @@ -709,6 +829,8 @@ void RenderUtilPrivate::CreateRenderingEntities( link.SetRawPose(_pose->Data()); this->newLinks.push_back( std::make_tuple(_entity, link, _parent->Data())); + // used for collsions + this->modelToLinkEntities[_parent->Data()].push_back(_entity); return true; }); @@ -768,6 +890,23 @@ void RenderUtilPrivate::CreateRenderingEntities( return true; }); + // collisions + _ecm.EachNew( + [&](const Entity &_entity, + const components::Collision *, + const components::Name *, + const components::Pose *, + const components::Geometry *, + const components::CollisionElement *_collElement, + const components::ParentEntity *_parent) -> bool + { + this->entityCollisions[_entity] = _collElement->Data(); + this->linkToCollisionEntities[_parent->Data()].push_back(_entity); + return true; + }); + if (this->enableSensors) { // Create cameras @@ -944,6 +1083,7 @@ void RenderUtilPrivate::RemoveRenderingEntities( [&](const Entity &_entity, const components::Model *)->bool { this->removeEntities[_entity] = _info.iterations; + this->modelToLinkEntities.erase(_entity); return true; }); @@ -951,6 +1091,7 @@ void RenderUtilPrivate::RemoveRenderingEntities( [&](const Entity &_entity, const components::Link *)->bool { this->removeEntities[_entity] = _info.iterations; + this->linkToCollisionEntities.erase(_entity); return true; }); @@ -1009,6 +1150,16 @@ void RenderUtilPrivate::RemoveRenderingEntities( this->removeEntities[_entity] = _info.iterations; return true; }); + + // collisions + _ecm.EachRemoved( + [&](const Entity &_entity, const components::Collision *)->bool + { + this->removeEntities[_entity] = _info.iterations; + this->viewingCollisions.erase(_entity); + this->entityCollisions.erase(_entity); + return true; + }); } ///////////////////////////////////////////////// @@ -1312,3 +1463,65 @@ void RenderUtilPrivate::LowlightNode(const rendering::NodePtr &_node) } } } + +///////////////////////////////////////////////// +void RenderUtil::ViewCollisions(const Entity &_entity) +{ + std::vector colEntities; + if (this->dataPtr->linkToCollisionEntities.find(_entity) != + this->dataPtr->linkToCollisionEntities.end()) + { + colEntities = this->dataPtr->linkToCollisionEntities[_entity]; + } + else if (this->dataPtr->modelToLinkEntities.find(_entity) != + this->dataPtr->modelToLinkEntities.end()) + { + std::vector links = this->dataPtr->modelToLinkEntities[_entity]; + for (const auto &link : links) + colEntities.insert(colEntities.end(), + this->dataPtr->linkToCollisionEntities[link].begin(), + this->dataPtr->linkToCollisionEntities[link].end()); + } + + // create and/or toggle collision visuals + + bool showCol, showColInit = false; + // first loop looks for new collisions + for (const auto &colEntity : colEntities) + { + if (this->dataPtr->viewingCollisions.find(colEntity) == + this->dataPtr->viewingCollisions.end()) + { + this->dataPtr->newCollisions.push_back(_entity); + showColInit = showCol = true; + } + } + + // second loop toggles already created collisions + for (const auto &colEntity : colEntities) + { + if (this->dataPtr->viewingCollisions.find(colEntity) == + this->dataPtr->viewingCollisions.end()) + continue; + + // when viewing multiple collisions (e.g. _entity is a model), + // boolean for view collisions is based on first colEntity in list + if (!showColInit) + { + showCol = !this->dataPtr->viewingCollisions[colEntity]; + showColInit = true; + } + + rendering::VisualPtr colVisual = + this->dataPtr->sceneManager.VisualById(colEntity); + if (colVisual == nullptr) + { + ignerr << "Could not find collision visual for entity [" << colEntity + << "]" << std::endl; + continue; + } + + this->dataPtr->viewingCollisions[colEntity] = showCol; + colVisual->SetVisible(showCol); + } +} diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 7e0beb34b4..0be6da0be2 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -19,6 +19,7 @@ #include #include +#include #include #include #include @@ -341,6 +342,36 @@ rendering::VisualPtr SceneManager::CreateVisual(Entity _id, return visualVis; } +///////////////////////////////////////////////// +rendering::VisualPtr SceneManager::VisualById(Entity _id) +{ + if (this->dataPtr->visuals.find(_id) == this->dataPtr->visuals.end()) + { + ignerr << "Could not find visual for entity: " << _id << std::endl; + return nullptr; + } + return this->dataPtr->visuals[_id]; +} + +///////////////////////////////////////////////// +rendering::VisualPtr SceneManager::CreateCollision(Entity _id, + const sdf::Collision &_collision, Entity _parentId) +{ + sdf::Material material; + material.SetAmbient(math::Color(1, 0.5088, 0.0468, 0.7)); + material.SetDiffuse(math::Color(1, 0.5088, 0.0468, 0.7)); + + sdf::Visual visual; + visual.SetGeom(*_collision.Geom()); + visual.SetMaterial(material); + visual.SetCastShadows(false); + + visual.SetRawPose(_collision.RawPose()); + visual.SetName(_collision.Name()); + + rendering::VisualPtr collisionVis = CreateVisual(_id, visual, _parentId); + return collisionVis; +} ///////////////////////////////////////////////// rendering::GeometryPtr SceneManager::LoadGeometry(const sdf::Geometry &_geom, math::Vector3d &_scale, math::Pose3d &_localPose) From 59ea1c6cb92dbdfa5e64d1b1b53ed3c0dd303e89 Mon Sep 17 00:00:00 2001 From: Mabel Zhang Date: Thu, 28 Jan 2021 23:19:25 -0500 Subject: [PATCH 15/55] Remove playback SDF param in Dome (#570) * change system injected playback path tag; update documentation * Remove SDF param for LogPlayback Signed-off-by: Mabel Zhang Co-authored-by: John Shepherd --- Migration.md | 3 ++ src/ServerConfig.cc | 4 +- src/systems/log/LogPlayback.cc | 2 +- test/integration/log_system.cc | 85 ++++++++++++---------------------- test/worlds/log_playback.sdf | 2 - tutorials/log.md | 5 ++ 6 files changed, 41 insertions(+), 60 deletions(-) diff --git a/Migration.md b/Migration.md index ab87e91c01..30fded54d3 100644 --- a/Migration.md +++ b/Migration.md @@ -24,6 +24,9 @@ in SDF by setting the `` SDF element. std::string(const gazebo::Entity &, const sdf::Sensor &, const std::string &)>)` +* Log playback using `` SDF parameter is removed. Use --playback command + line argument instead. + ## Ignition Gazebo 2.x to 3.x * Use ign-rendering3, ign-sensors3 and ign-gui3. diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index beee1e2ba4..b7dd413cb6 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -572,9 +572,9 @@ ServerConfig::LogPlaybackPlugin() const if (!this->LogPlaybackPath().empty()) { sdf::ElementPtr pathElem = std::make_shared(); - pathElem->SetName("path"); + pathElem->SetName("playback_path"); playbackElem->AddElementDescription(pathElem); - pathElem = playbackElem->GetElement("path"); + pathElem = playbackElem->GetElement("playback_path"); pathElem->AddValue("string", "", false, ""); pathElem->Set(this->LogPlaybackPath()); } diff --git a/src/systems/log/LogPlayback.cc b/src/systems/log/LogPlayback.cc index c061bbe997..e7b557e44d 100644 --- a/src/systems/log/LogPlayback.cc +++ b/src/systems/log/LogPlayback.cc @@ -183,7 +183,7 @@ void LogPlayback::Configure(const Entity &, EntityComponentManager &_ecm, EventManager &_eventMgr) { // Get directory paths from SDF - this->dataPtr->logPath = _sdf->Get("path"); + this->dataPtr->logPath = _sdf->Get("playback_path"); this->dataPtr->eventManager = &_eventMgr; diff --git a/test/integration/log_system.cc b/test/integration/log_system.cc index 06dc2b62e7..205ff31a16 100644 --- a/test/integration/log_system.cc +++ b/test/integration/log_system.cc @@ -165,7 +165,6 @@ class LogSystemTest : public ::testing::Test common::removeAll(this->logsDir); } common::createDirectories(this->logsDir); - common::createDirectories(this->logPlaybackDir); } // Append extension to the end of a path, removing the separator at @@ -266,10 +265,6 @@ class LogSystemTest : public ::testing::Test /// \brief Path to recorded log file public: std::string logDir = common::joinPaths(logsDir, "test_logs_record"); - - /// \brief Path to log file for playback - public: std::string logPlaybackDir = - common::joinPaths(this->logsDir, "test_logs_playback"); }; ///////////////////////////////////////////////// @@ -341,16 +336,16 @@ TEST_F(LogSystemTest, LogDefaults) EXPECT_EQ(setenv(IGN_HOMEDIR, homeFake.c_str(), 1), 0); // Test case 1: - // No path specified, on both command line and SDF. This does not go through + // No path specified on command line. This does not go through // ign.cc, so ignLogDirectory() is not initialized (empty string). Recording // should not take place. { - // Change log path in SDF to empty + // Load SDF sdf::Root recordSdfRoot; - this->ChangeLogPath(recordSdfRoot, recordSdfPath, "LogRecord", - " "); + EXPECT_EQ(recordSdfRoot.Load(recordSdfPath).size(), 0lu); + EXPECT_GT(recordSdfRoot.WorldCount(), 0lu); - // Pass changed SDF to server + // Pass SDF to server ServerConfig recordServerConfig; recordServerConfig.SetSdfString(recordSdfRoot.Element()->ToString("")); @@ -743,25 +738,17 @@ TEST_F(LogSystemTest, RecordAndPlayback) auto logFile = common::joinPaths(this->logDir, "state.tlog"); EXPECT_TRUE(common::exists(logFile)); - // move the log file to the playback directory - auto logPlaybackFile = common::joinPaths(this->logPlaybackDir, "state.tlog"); + // Path to log file for playback + std::string logPlaybackDir = + common::joinPaths(this->logsDir, "test_logs_playback"); + common::createDirectories(logPlaybackDir); + + // Move the log file to the playback directory + auto logPlaybackFile = common::joinPaths(logPlaybackDir, "state.tlog"); common::moveFile(logFile, logPlaybackFile); EXPECT_TRUE(common::exists(logPlaybackFile)); - // World file to load - const auto playSdfPath = common::joinPaths(std::string(PROJECT_SOURCE_PATH), - "test", "worlds", "log_playback.sdf"); - - // Change log path in world SDF to build directory - sdf::Root playSdfRoot; - this->ChangeLogPath(playSdfRoot, playSdfPath, "LogPlayback", - this->logPlaybackDir); - ASSERT_EQ(1u, playSdfRoot.WorldCount()); - - const auto sdfWorld = playSdfRoot.WorldByIndex(0); - EXPECT_EQ("default", sdfWorld->Name()); - - // Load log file recorded above + // Load log file recorded above for validation transport::log::Log log; log.Open(logPlaybackFile); @@ -794,10 +781,6 @@ TEST_F(LogSystemTest, RecordAndPlayback) EXPECT_EQ(32, stateMsg.entities_size()); EXPECT_EQ(batch.end(), ++recordedIter); - // Pass changed SDF to server - ServerConfig playServerConfig; - playServerConfig.SetSdfString(playSdfRoot.Element()->ToString("")); - // Keep track of total number of pose comparisons int nTotal{0}; @@ -818,6 +801,10 @@ TEST_F(LogSystemTest, RecordAndPlayback) EXPECT_EQ(0, recordedMsg.header().stamp().sec()); EXPECT_EQ(1000000, recordedMsg.header().stamp().nsec()); + // Playback config + ServerConfig playServerConfig; + playServerConfig.SetLogPlaybackPath(logPlaybackDir); + // Start server Server playServer(playServerConfig); @@ -1026,7 +1013,7 @@ TEST_F(LogSystemTest, LogOverwrite) // Create temp directory to store log this->CreateLogsDir(); #ifndef __APPLE__ - EXPECT_EQ(1, entryCount(this->logsDir)); + EXPECT_EQ(0, entryCount(this->logsDir)); EXPECT_EQ(0, entryCount(this->logDir)); #endif @@ -1062,7 +1049,7 @@ TEST_F(LogSystemTest, LogOverwrite) #ifndef __APPLE__ // Log files were created - EXPECT_EQ(2, entryCount(this->logsDir)); + EXPECT_EQ(1, entryCount(this->logsDir)); EXPECT_EQ(2, entryCount(this->logDir)); std::filesystem::path tlogStdPath = tlogPath; auto tlogPrevTime = std::filesystem::last_write_time(tlogStdPath); @@ -1088,7 +1075,7 @@ TEST_F(LogSystemTest, LogOverwrite) #ifndef __APPLE__ // No new files were created - EXPECT_EQ(2, entryCount(this->logsDir)); + EXPECT_EQ(1, entryCount(this->logsDir)); EXPECT_EQ(2, entryCount(this->logDir)); // Test timestamp is newer @@ -1116,7 +1103,7 @@ TEST_F(LogSystemTest, LogOverwrite) EXPECT_TRUE(common::exists(clogPath)); // No new files were created - EXPECT_EQ(2, entryCount(this->logsDir)); + EXPECT_EQ(1, entryCount(this->logsDir)); EXPECT_EQ(2, entryCount(this->logDir)); // Test timestamp is newer @@ -1158,7 +1145,7 @@ TEST_F(LogSystemTest, LogOverwrite) "server_console.log"))); // New files were created - EXPECT_EQ(3, entryCount(this->logsDir)); + EXPECT_EQ(2, entryCount(this->logsDir)); EXPECT_EQ(2, entryCount(this->logDir)); EXPECT_EQ(2, entryCount(this->logDir + "(1)")); @@ -1175,16 +1162,8 @@ TEST_F(LogSystemTest, LogControlLevels) auto logPath = common::joinPaths(PROJECT_SOURCE_PATH, "test", "media", "levels_log"); - const auto playSdfPath = common::joinPaths(std::string(PROJECT_SOURCE_PATH), - "test", "worlds", "log_playback.sdf"); - - // Change log path in world SDF to build directory - sdf::Root playSdfRoot; - this->ChangeLogPath(playSdfRoot, playSdfPath, "LogPlayback", - logPath); - ServerConfig config; - config.SetSdfString(playSdfRoot.Element()->ToString("")); + config.SetLogPlaybackPath(logPath); Server server(config); @@ -1390,29 +1369,25 @@ TEST_F(LogSystemTest, LogCompress) // Test compressed file exists EXPECT_TRUE(common::exists(customCmpPath)); + // Path to log file for playback + std::string logPlaybackDir = + common::joinPaths(this->logsDir, "test_logs_playback"); + common::createDirectories(logPlaybackDir); + // Move recorded file to playback directory // Prefix the zip by the name of the original recorded folder. Playback will // extract and assume subdirectory to take on the name of the zip file // without extension. - auto newCmpPath = common::joinPaths(this->logPlaybackDir, + auto newCmpPath = common::joinPaths(logPlaybackDir, common::basename(defaultCmpPath)); common::moveFile(customCmpPath, newCmpPath); EXPECT_TRUE(common::exists(newCmpPath)); // Play back compressed file { - // World with playback plugin - const auto playSdfPath = common::joinPaths(std::string(PROJECT_SOURCE_PATH), - "test", "worlds", "log_playback.sdf"); - - // Change log path in world SDF to build directory - sdf::Root playSdfRoot; - this->ChangeLogPath(playSdfRoot, playSdfPath, "LogPlayback", - newCmpPath); - // Pass changed SDF to server ServerConfig playServerConfig; - playServerConfig.SetSdfString(playSdfRoot.Element()->ToString("")); + playServerConfig.SetLogPlaybackPath(newCmpPath); // Run server Server playServer(playServerConfig); diff --git a/test/worlds/log_playback.sdf b/test/worlds/log_playback.sdf index 4ad6985c1a..b46b04d357 100644 --- a/test/worlds/log_playback.sdf +++ b/test/worlds/log_playback.sdf @@ -7,8 +7,6 @@ - - /tmp/log diff --git a/tutorials/log.md b/tutorials/log.md index 4a69e41eef..09423fa8a7 100644 --- a/tutorials/log.md +++ b/tutorials/log.md @@ -96,6 +96,11 @@ directory specified to record: `ign gazebo -r -v 4 --playback ` +### From plugin in SDF + +Playing back via the SDF tag `` has been removed. +Please use the command line argument. + ## Known issues * When using command-line playback there is currently a small caveat. From 4cbc9dd9f7805265c51b717d2ad7af4396feeb54 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Fri, 29 Jan 2021 17:21:10 +0100 Subject: [PATCH 16/55] Simplify particle emitter component. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- .../gazebo/components/ParticleEmitter.hh | 83 +------------ test/integration/components.cc | 113 +++++++++--------- 2 files changed, 58 insertions(+), 138 deletions(-) diff --git a/include/ignition/gazebo/components/ParticleEmitter.hh b/include/ignition/gazebo/components/ParticleEmitter.hh index 6385171838..a6ec2a242c 100644 --- a/include/ignition/gazebo/components/ParticleEmitter.hh +++ b/include/ignition/gazebo/components/ParticleEmitter.hh @@ -18,12 +18,9 @@ #define IGNITION_GAZEBO_COMPONENTS_PARTICLEEMITTER_HH_ #include - -#include -#include - #include #include +#include #include namespace ignition @@ -32,84 +29,12 @@ namespace gazebo { // Inline bracket to help doxygen filtering. inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { -namespace particles -{ - /// \brief Properties of a particle emitter. - class Emitter - { - /// \brief Equality operator. This function checks if the given - /// emitter has identical id than this object. - /// \param[in] _emitter The emitter to compare against. - /// \return True if this object matches the provided object. - public: bool operator==(const Emitter &_emitter) const - { - return this->data.id() == _emitter.data.id(); - } - - /// \brief Inequality operator. This function checks if the given - /// emitter has identical id than this object. - /// \param[in] _emitter The emitter to compare against. - /// \return True if this object doesn't match the provided object. - public: bool operator!=(const Emitter &_emitter) const - { - return !(*this == _emitter); - } - - /// \brief The particle emitter internal data. - public: ignition::msgs::ParticleEmitter data; - }; -} - -namespace serializers -{ - /// \brief Serializer for components::ParticleEmitter object - class ParticleEmitterSerializer - { - /// \brief Serialization for particles::Emitter - /// \param[out] _out Output stream - /// \param[in] _emitter Object for the stream - /// \return The stream - public: static std::ostream &Serialize(std::ostream &_out, - const particles::Emitter &_emitter) - { - if (!_emitter.data.SerializeToOstream(&_out)) - { - ignerr << "Error serializing particle emitter: " << std::endl; - ignerr << _emitter.data.DebugString() << std::endl; - } - - return _out; - } - - /// \brief Deserialization for particles::Emitter - /// \param[in] _in Input stream - /// \param[out] _emitter The object to populate - /// \return The stream - public: static std::istream &Deserialize(std::istream &_in, - particles::Emitter &_emitter) - { - if (!_emitter.data.ParseFromIstream(&_in)) - { - ignerr << "Error deserializing particle emitter: " << std::endl; - ignerr << _emitter.data.DebugString() << std::endl; - } - - return _in; - } - }; -} - -// using separate namespace blocks so all components appear in Doxygen -// (appears as if Doxygen can't parse multiple components in a single -// namespace block since IGN_GAZEBO_REGISTER_COMPONENT doesn't have a -// trailing semicolon) namespace components { - /// \brief A component that contains a particle emitter, which is - /// represented by particles::Emitter - using ParticleEmitter = Component; + serializers::MsgSerializer>; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.ParticleEmitter", ParticleEmitter) } diff --git a/test/integration/components.cc b/test/integration/components.cc index 3412d6010f..f5efe59e0d 100644 --- a/test/integration/components.cc +++ b/test/integration/components.cc @@ -1473,69 +1473,64 @@ TEST_F(ComponentsTest, Scene) ////////////////////////////////////////////////// TEST_F(ComponentsTest, ParticleEmitter) { - particles::Emitter emitter1; - emitter1.data.set_name("emitter1"); - emitter1.data.set_id(0); - emitter1.data.set_type(ignition::msgs::ParticleEmitter_EmitterType_BOX); - emitter1.data.mutable_size()->set_x(1); - emitter1.data.mutable_size()->set_y(2); - emitter1.data.mutable_size()->set_z(3); - emitter1.data.set_rate(4.0); - emitter1.data.set_duration(5.0); - emitter1.data.set_emitting(false); - emitter1.data.mutable_particle_size()->set_x(0.1); - emitter1.data.mutable_particle_size()->set_y(0.2); - emitter1.data.mutable_particle_size()->set_z(0.3); - emitter1.data.set_lifetime(6.0); - emitter1.data.set_min_velocity(7.0); - emitter1.data.set_max_velocity(8.0); - emitter1.data.mutable_color_start()->set_r(1.0); - emitter1.data.mutable_color_start()->set_g(0); - emitter1.data.mutable_color_start()->set_b(0); - emitter1.data.mutable_color_start()->set_a(0); - emitter1.data.mutable_color_end()->set_r(1.0); - emitter1.data.mutable_color_end()->set_g(1.0); - emitter1.data.mutable_color_end()->set_b(1.0); - emitter1.data.mutable_color_end()->set_a(0); - emitter1.data.set_scale_rate(9.0); - emitter1.data.set_color_range_image("path_to_texture"); - - particles::Emitter emitter2; - emitter2.data.set_name("emitter2"); - emitter2.data.set_id(1); - emitter2.data.set_type(ignition::msgs::ParticleEmitter_EmitterType_BOX); - emitter2.data.mutable_size()->set_x(1); - emitter2.data.mutable_size()->set_y(2); - emitter2.data.mutable_size()->set_z(3); - emitter2.data.set_rate(4.0); - emitter2.data.set_duration(5.0); - emitter2.data.set_emitting(false); - emitter2.data.mutable_particle_size()->set_x(0.1); - emitter2.data.mutable_particle_size()->set_y(0.2); - emitter2.data.mutable_particle_size()->set_z(0.3); - emitter2.data.set_lifetime(6.0); - emitter2.data.set_min_velocity(7.0); - emitter2.data.set_max_velocity(8.0); - emitter2.data.mutable_color_start()->set_r(1.0); - emitter2.data.mutable_color_start()->set_g(0); - emitter2.data.mutable_color_start()->set_b(0); - emitter2.data.mutable_color_start()->set_a(0); - emitter2.data.mutable_color_end()->set_r(1.0); - emitter2.data.mutable_color_end()->set_g(1.0); - emitter2.data.mutable_color_end()->set_b(1.0); - emitter2.data.mutable_color_end()->set_a(0); - emitter2.data.set_scale_rate(9.0); - emitter2.data.set_color_range_image("path_to_texture"); + msgs::ParticleEmitter emitter1; + emitter1.set_name("emitter1"); + emitter1.set_id(0); + emitter1.set_type(ignition::msgs::ParticleEmitter_EmitterType_BOX); + emitter1.mutable_size()->set_x(1); + emitter1.mutable_size()->set_y(2); + emitter1.mutable_size()->set_z(3); + emitter1.set_rate(4.0); + emitter1.set_duration(5.0); + emitter1.set_emitting(false); + emitter1.mutable_particle_size()->set_x(0.1); + emitter1.mutable_particle_size()->set_y(0.2); + emitter1.mutable_particle_size()->set_z(0.3); + emitter1.set_lifetime(6.0); + emitter1.set_min_velocity(7.0); + emitter1.set_max_velocity(8.0); + emitter1.mutable_color_start()->set_r(1.0); + emitter1.mutable_color_start()->set_g(0); + emitter1.mutable_color_start()->set_b(0); + emitter1.mutable_color_start()->set_a(0); + emitter1.mutable_color_end()->set_r(1.0); + emitter1.mutable_color_end()->set_g(1.0); + emitter1.mutable_color_end()->set_b(1.0); + emitter1.mutable_color_end()->set_a(0); + emitter1.set_scale_rate(9.0); + emitter1.set_color_range_image("path_to_texture"); + + msgs::ParticleEmitter emitter2; + emitter2.set_name("emitter2"); + emitter2.set_id(1); + emitter2.set_type(ignition::msgs::ParticleEmitter_EmitterType_BOX); + emitter2.mutable_size()->set_x(1); + emitter2.mutable_size()->set_y(2); + emitter2.mutable_size()->set_z(3); + emitter2.set_rate(4.0); + emitter2.set_duration(5.0); + emitter2.set_emitting(false); + emitter2.mutable_particle_size()->set_x(0.1); + emitter2.mutable_particle_size()->set_y(0.2); + emitter2.mutable_particle_size()->set_z(0.3); + emitter2.set_lifetime(6.0); + emitter2.set_min_velocity(7.0); + emitter2.set_max_velocity(8.0); + emitter2.mutable_color_start()->set_r(1.0); + emitter2.mutable_color_start()->set_g(0); + emitter2.mutable_color_start()->set_b(0); + emitter2.mutable_color_start()->set_a(0); + emitter2.mutable_color_end()->set_r(1.0); + emitter2.mutable_color_end()->set_g(1.0); + emitter2.mutable_color_end()->set_b(1.0); + emitter2.mutable_color_end()->set_a(0); + emitter2.set_scale_rate(9.0); + emitter2.set_color_range_image("path_to_texture"); // Create components. auto comp1 = components::ParticleEmitter(emitter1); auto comp2 = components::ParticleEmitter(emitter2); - // Equality operators. - EXPECT_NE(comp1, comp2); - EXPECT_FALSE(comp1 == comp2); - EXPECT_TRUE(comp1 != comp2); - // Stream operators. std::ostringstream ostr; comp1.Serialize(ostr); @@ -1543,5 +1538,5 @@ TEST_F(ComponentsTest, ParticleEmitter) std::istringstream istr(ostr.str()); components::ParticleEmitter comp3; comp3.Deserialize(istr); - EXPECT_EQ(comp1, comp3); + EXPECT_EQ(comp1.Data().id(), comp3.Data().id()); } From 39e98e1164844fb80842b90fb9f29610adfb0295 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Fri, 29 Jan 2021 09:49:33 -0800 Subject: [PATCH 17/55] Tutorial on migrating SDF files from Gazebo classic (#400) Signed-off-by: Louise Poubel Co-authored-by: Michael Carroll --- tutorials.md.in | 1 + tutorials/migration_sdf.md | 341 +++++++++++++++++++++++++++++++++++++ 2 files changed, 342 insertions(+) create mode 100644 tutorials/migration_sdf.md diff --git a/tutorials.md.in b/tutorials.md.in index 6930c6c746..0219b39c81 100644 --- a/tutorials.md.in +++ b/tutorials.md.in @@ -28,6 +28,7 @@ Ignition @IGN_DESIGNATION_CAP@ library and how to use the library effectively. **Migration from Gazebo classic** * \subpage migrationplugins "Plugins": Walk through the differences between writing plugins for Gazebo classic and Ignition Gazebo +* \subpage migrationsdf "SDF": Migrating SDF files from Gazebo classic to Ignition Gazebo * \subpage migrationworldapi "World API": Guide on what World C++ functions to call in Ignition Gazebo when migrating from Gazebo classic * \subpage migrationmodelapi "Model API": Guide on what Model C++ functions to call in Ignition Gazebo when migrating from Gazebo classic * \subpage migrationlinkapi "Link API": Guide on what Link C++ functions to call in Ignition Gazebo when migrating from Gazebo classic diff --git a/tutorials/migration_sdf.md b/tutorials/migration_sdf.md new file mode 100644 index 0000000000..52e3716bb1 --- /dev/null +++ b/tutorials/migration_sdf.md @@ -0,0 +1,341 @@ +\page migrationsdf + +# Migration from Gazebo classic: SDF + +Both Gazebo classic and Ignition Gazebo support [SDF](http://sdformat.org/) +files to describe the simulation to be loaded. An SDF file defines the world +environment, the robot's characteristics and what plugins to load. + +Despite using the same description format, users will note that the same SDF +file may behave differently for each simulator. This tutorial will +explain how to write SDF files in a way that they're as reusable by both +simulators as possible. It will also explain when you'll need to use separate +files for each simulator. + +The minimum required versions to use this guide are: + +* Gazebo 11.2.0 +* Igniton Citadel + +## URIs + +SDF files use URIs to refer to resources from other files, such as meshes and +nested models. These are some of the SDF tags that take URIs: + +* `` +* `` +* `<...><*_map>` (only on Ignition) +* `` +* `` + +Here are the recommended ways to use URIs from most recommended to least: + +### Ignition Fuel URL + +It's possible to use URLs of resources on +[Ignition Fuel](https://app.ignitionrobotics.org) within any of the tags +above and both simulators will be able to load it. + +For example, this world can be loaded into both simulators: + +``` + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Sun + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Ground Plane + + + + 3 -1.5 0 0 0 0 + true + + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Radio/4/files/meshes/Radio.dae + + + + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Radio/4/files/meshes/Radio.dae + + + + + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/actor - relative paths/tip/files/meshes/talk_b.dae + 1.0 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/actor - relative paths/tip/files/meshes/talk_b.dae + 1.0 + + + + + + +``` + +\note The actor's vertical pose will be different on both simulators. + That's because a hardcoded offset was removed on Ignition and + maintained on Gazebo classic for backwards compatibility. + +### Path relative to the SDF file + +It's possible to use relative paths within SDF files to refer to other files +in the same directory. This is recommended when creating files that work +together and need to be relocatable. + +For example, consider the following directory structure: + +``` +/home/username/ +├── world.sdf +└── models + └── model1 + ├── model.sdf + └── meshes + └── mesh.dae +``` + +The world `world.sdf` can include `model1` as follows: + +`models/model1` + +And `model.sdf` can refer to `mesh.dae` as: + +`meshes/mesh.dae` + +### Path relative to an environment variable + +This method is useful if you don't know where the files will be located +with respect to each other, and you have some control over the simulation's +runtime environment. On either simulator, you can refer to resources relative +to paths set on an environment variable. + +Each simulator uses a different environment variable: + +* Gazebo classic: + * `GAZEBO_MODEL_PATH` for models + * `GAZEBO_RESOURCE_PATH` for worlds and some rendering resources +* Ignition Gazebo: + * `IGN_GAZEBO_RESOURCE_PATH` for worlds, models and other resources + +For example, if you have the file structure above, you can set the environment +variable to `/home/username/models`: + +``` +export GAZEBO_MODEL_PATH=/home/username/models +export GAZEBO_RESOURCE_PATH=/home/username/models +export IGN_GAZEBO_RESOURCE_PATH=/home/username/models +``` + +And inside `world.sdf` include the model with: + +`model://model1` + +Also, `model.sdf` can refer to `mesh.dae` as: + +`model://model1/meshes/mesh.dae` + +On both situations, the `model://` prefix will be substituted by +`/home/username/models`. + +You can also set several lookup paths separating them with `:`, for example: + +`export IGN_GAZEBO_RESOURCE_PATH=/home/username/models:/home/username/another_project/models` + +### Absolute paths + +Finally, both simulators will accept absolute paths, for example: + +`/home/username/models/model1` + +This method is not recommended, because the file most likely won't work if +copied to a different computer. It also becomes inconvenient to move files to +different directories. + +## Plugins + +Plugins are binary files compiled to use with a specific simulator. Plugins +for Gazebo classic and Ignition Gazebo aren't usually compatible, so plugins +will need to be specified for each simulator separately. + +It's important to note that for both simulators, plugins compiled against +a major version of the simulator can't be loaded by other major versions. +The shared libraries will usually have the same name, so it's important to make +sure you're loading the correct plugins. + +### Official plugins + +Both simulators are installed with several built-in plugins. +[Gazebo classic's plugins](https://github.com/osrf/gazebo/tree/gazebo11/plugins) +and +[Ignition Gazebo's plugins](https://github.com/ignitionrobotics/ign-gazebo/tree/ign-gazebo3/src/systems) +have different file names. For example, to use Gazebo classic's differential drive +plugin, the user can refer to it as follows: + +``` + + + ... + + +``` + +On Ignition, that would be: + +``` + + + ... + + +``` + +Note that besides the different file name, Ignition also requires the C++ class +to be defined in the `name` attribute. + +Also keep in mind that plugins that offer similar functionality may accept +different parameters for each simulator. Be sure to check the documentation of +each plugin before using it. + +### Custom plugins + +To load custom plugins, users need to set environment variables to the directory +where that plugin is located. The variables are different for each simulator: + +* Gazebo classic: + * `GAZEBO_PLUGIN_PATH` for all plugin types. +* Ignition Gazebo: + * `IGN_GAZEBO_SYSTEM_PLUGIN_PATH` for Ignition Gazebo systems (world, model, + sensor and visual plugins). + * `IGN_GUI_PLUGIN_PATH` for GUI plugins. + +### Keeping plugins separate + +Trying to load a plugin from one simulator into the other will: + +* Print an error message if the simulator can't find the plugin +* Potentially crash if the simulator can find the plugin and tries to load it + +That's why it's recommended not to specify plugins for both simulators +side-by-side on the same file. Instead, keep separate files and inject the plugins as +needed. + +There isn't a built-in mechanism on SDFormat to inject plugins into files yet, +but users can make use of templating tools like [ERB](erb_template.html) +and [xacro](http://wiki.ros.org/xacro) to generate SDF files with the correct plugins. + +### Default plugins + +Ignition Gazebo is more modular than Gazebo classic, so most features are optional. +For example, by default, Ignition will load all the system plugins defined on +the `~/.ignition/gazebo/server.config` file and all GUI plugins defined on the +`~/.ignition/gazebo/gui.config` file. But the user can always remove plugins from +those files, or choose different ones by adding `` tags to the SDF file. +(For more details, see the [Server configuration tutorial](server_config.html) +and the [GUI configuration tutorial](gui_config.html)). + +This is important to keep in mind when migrating your SDF files, because files +that worked on Gazebo classic may need more plugins on Ignition. + +## Materials + +Ignition does not support Ogre material files like Classic does, because Ignition +Gazebo can be used with multiple rendering engines. Therefore, materials defined +within a ` + +``` + +To make your models compatible with both simulators, you can use these alternatives: + +### Plain colors + +If the material defines plain colors, use the ``, ``, +`` and `` tags as needed. + +For example, this material from +[gazebo.material](https://github.com/osrf/gazebo/blob/gazebo11/media/materials/scripts/gazebo.material): + +``` + + + +``` + +Can be changed to: + +``` + + 1 0 0 1 + 1 0 0 1 + 0.1 0.1 0.1 1 + + +``` + +### Textures + +If an Ogre material script is being used to define a texture, there are a +couple alternatives. + +If using mesh files, the texture can be embedded into it. The advantage is that +this works for both simulators. Some examples: + +* [OBJ + MTL](https://app.ignitionrobotics.org/OpenRobotics/fuel/models/DeskChair) +* [COLLADA](https://app.ignitionrobotics.org/OpenRobotics/fuel/models/Lamp%20Post) + +For primitive shapes or even meshes, you can pass the texture as the albedo map. If you +want the model to be compatible with both Classic and Ignition, you can specify both +the script and the albedo map. + +``` + + + + texture.png + + + +``` + From f6a7329ad7a283034a54647d44c4c061666cfeb8 Mon Sep 17 00:00:00 2001 From: Gonzo <42421541+gonzodepedro@users.noreply.github.com> Date: Fri, 29 Jan 2021 15:15:41 -0300 Subject: [PATCH 18/55] World exporter (#474) * Added world exporter Signed-off-by: Gonzalo de Pedro * Fixed CMake Signed-off-by: Gonzalo de Pedro * Changes based on review Signed-off-by: Gonzalo de Pedro * Added example world Signed-off-by: Nate Koenig * bump required ign-common version Signed-off-by: Louise Poubel * PR updates Signed-off-by: Nate Koenig * Update documentation to have simulation self terminate Signed-off-by: Nate Koenig * Rename world_export to collada_world_exporter Signed-off-by: Nate Koenig * Finish world exporter renaming Signed-off-by: Nate Koenig * Revert change Signed-off-by: Nate Koenig * Added a tutorial Signed-off-by: Nate Koenig * Update transform Signed-off-by: Nate Koenig * Added message Signed-off-by: Nate Koenig * Added a test Signed-off-by: Nate Koenig * Added more shapes Signed-off-by: Nate Koenig * Cleanup in two locations Signed-off-by: Nate Koenig * Fix build Signed-off-by: Nate Koenig * Apply scale, and fix codecheck Signed-off-by: Nate Koenig Co-authored-by: Louise Poubel Co-authored-by: Nate Koenig --- CMakeLists.txt | 2 +- examples/worlds/collada_world_exporter.sdf | 180 ++++++++++++ src/ServerPrivate.cc | 4 +- src/systems/CMakeLists.txt | 1 + .../collada_world_exporter/CMakeLists.txt | 4 + .../ColladaWorldExporter.cc | 266 ++++++++++++++++++ .../ColladaWorldExporter.hh | 59 ++++ test/integration/CMakeLists.txt | 1 + test/integration/collada_world_exporter.cc | 83 ++++++ test/integration/diff_drive_system.cc | 4 +- test/worlds/collada_world_exporter.sdf | 150 ++++++++++ tutorials.md.in | 2 + tutorials/collada_world_exporter.md | 25 ++ 13 files changed, 777 insertions(+), 4 deletions(-) create mode 100644 examples/worlds/collada_world_exporter.sdf create mode 100644 src/systems/collada_world_exporter/CMakeLists.txt create mode 100644 src/systems/collada_world_exporter/ColladaWorldExporter.cc create mode 100644 src/systems/collada_world_exporter/ColladaWorldExporter.hh create mode 100644 test/integration/collada_world_exporter.cc create mode 100644 test/worlds/collada_world_exporter.sdf create mode 100644 tutorials/collada_world_exporter.md diff --git a/CMakeLists.txt b/CMakeLists.txt index 9218eed0f7..274e168a10 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -59,7 +59,7 @@ set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR}) #-------------------------------------- # Find ignition-common # Always use the profiler component to get the headers, regardless of status. -ign_find_package(ignition-common3 VERSION 3.5 +ign_find_package(ignition-common3 VERSION 3.8 COMPONENTS profiler events diff --git a/examples/worlds/collada_world_exporter.sdf b/examples/worlds/collada_world_exporter.sdf new file mode 100644 index 0000000000..cd4b089ddd --- /dev/null +++ b/examples/worlds/collada_world_exporter.sdf @@ -0,0 +1,180 @@ + + + + + + + + + + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 0 0 0.5 0 0 0 + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 1.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + + + 0 -1.5 0.5 0 0 0 + + + + 2 + 0 + 0 + 2 + 0 + 2 + + 2.0 + + + + + 0.5 + 1.0 + + + + + + + + 0.5 + 1.0 + + + + 0 1 0 1 + 0 1 0 1 + 0 1 0 1 + + + + + + + 0 1.5 0.5 0 0 0 + + + + 3 + 0 + 0 + 3 + 0 + 3 + + 3.0 + + + + + 0.5 + + + + + + + + 0.5 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + + + + + + diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc index d082232740..cd1bdf7cde 100644 --- a/src/ServerPrivate.cc +++ b/src/ServerPrivate.cc @@ -227,15 +227,15 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config) bool sdfUseLogRecord = (recordPluginElem != nullptr); bool hasRecordResources {false}; - bool hasCompress {false}; bool hasRecordTopics {false}; bool sdfRecordResources; - bool sdfCompress; std::vector sdfRecordTopics; if (sdfUseLogRecord) { + bool hasCompress {false}; + bool sdfCompress; std::tie(sdfRecordResources, hasRecordResources) = recordPluginElem->Get("record_resources", false); std::tie(sdfCompress, hasCompress) = diff --git a/src/systems/CMakeLists.txt b/src/systems/CMakeLists.txt index c5eeabe6e7..d8b61a4056 100644 --- a/src/systems/CMakeLists.txt +++ b/src/systems/CMakeLists.txt @@ -76,6 +76,7 @@ add_subdirectory(apply_joint_force) add_subdirectory(battery_plugin) add_subdirectory(breadcrumbs) add_subdirectory(buoyancy) +add_subdirectory(collada_world_exporter) add_subdirectory(contact) add_subdirectory(camera_video_recorder) add_subdirectory(detachable_joint) diff --git a/src/systems/collada_world_exporter/CMakeLists.txt b/src/systems/collada_world_exporter/CMakeLists.txt new file mode 100644 index 0000000000..a4bae60924 --- /dev/null +++ b/src/systems/collada_world_exporter/CMakeLists.txt @@ -0,0 +1,4 @@ +gz_add_system(collada-world-exporter + SOURCES + ColladaWorldExporter.cc +) diff --git a/src/systems/collada_world_exporter/ColladaWorldExporter.cc b/src/systems/collada_world_exporter/ColladaWorldExporter.cc new file mode 100644 index 0000000000..0ab619f899 --- /dev/null +++ b/src/systems/collada_world_exporter/ColladaWorldExporter.cc @@ -0,0 +1,266 @@ +/* + * Copyright (C) 2020 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 +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include + +#include + +#include + +#include "ColladaWorldExporter.hh" + +using namespace ignition; +using namespace gazebo; +using namespace systems; + + +class ignition::gazebo::systems::ColladaWorldExporterPrivate +{ + // Default constructor + public: ColladaWorldExporterPrivate() = default; + + /// \brief Has the world already been exported?. + private: bool exported{false}; + + /// \brief Exports the world to a mesh. + /// \param[_ecm] _ecm Mutable reference to the EntityComponentManager. + public: void Export(const EntityComponentManager &_ecm) + { + if (this->exported) return; + + common::Mesh worldMesh; + std::vector subMeshMatrix; + + _ecm.Each( + [&](const Entity /*& _entity*/, + const components::World *, + const components::Name * _name)->bool + { + worldMesh.SetName(_name->Data()); + return true; + }); + + _ecm.Each( + [&](const ignition::gazebo::Entity &_entity, + const components::Visual *, + const components::Name *_name, + const components::Geometry *_geom, + const components::Transparency *_transparency)->bool + { + std::string name = _name->Data().empty() ? std::to_string(_entity) : + _name->Data(); + + math::Pose3d worldPose = gazebo::worldPose(_entity, _ecm); + + common::MaterialPtr mat = std::make_shared(); + auto material = _ecm.Component(_entity); + if (material != nullptr) + { + mat->SetDiffuse(material->Data().Diffuse()); + mat->SetAmbient(material->Data().Ambient()); + mat->SetEmissive(material->Data().Emissive()); + mat->SetSpecular(material->Data().Specular()); + } + mat->SetTransparency(_transparency->Data()); + + const ignition::common::Mesh *mesh; + std::weak_ptr subm; + math::Vector3d scale; + math::Matrix4d matrix(worldPose); + ignition::common::MeshManager *meshManager = + ignition::common::MeshManager::Instance(); + + auto addSubmeshFunc = [&](int i) { + subm = worldMesh.AddSubMesh( + *mesh->SubMeshByIndex(0).lock().get()); + subm.lock()->SetMaterialIndex(i); + subm.lock()->Scale(scale); + subMeshMatrix.push_back(matrix); + }; + + if (_geom->Data().Type() == sdf::GeometryType::BOX) + { + if (meshManager->HasMesh("unit_box")) + { + mesh = meshManager->MeshByName("unit_box"); + scale = _geom->Data().BoxShape()->Size(); + int i = worldMesh.AddMaterial(mat); + + addSubmeshFunc(i); + } + } + else if (_geom->Data().Type() == sdf::GeometryType::CYLINDER) + { + if (meshManager->HasMesh("unit_cylinder")) + { + mesh = meshManager->MeshByName("unit_cylinder"); + scale.X() = _geom->Data().CylinderShape()->Radius() * 2; + scale.Y() = scale.X(); + scale.Z() = _geom->Data().CylinderShape()->Length(); + + int i = worldMesh.AddMaterial(mat); + + addSubmeshFunc(i); + } + } + else if (_geom->Data().Type() == sdf::GeometryType::PLANE) + { + if (meshManager->HasMesh("unit_plane")) + { + // Create a rotation for the plane mesh to account + // for the normal vector. + mesh = meshManager->MeshByName("unit_plane"); + + scale.X() = _geom->Data().PlaneShape()->Size().X(); + scale.Y() = _geom->Data().PlaneShape()->Size().Y(); + + // // The rotation is the angle between the +z(0,0,1) vector and the + // // normal, which are both expressed in the local (Visual) frame. + math::Vector3d normal = _geom->Data().PlaneShape()->Normal(); + math::Quaterniond normalRot; + normalRot.From2Axes(math::Vector3d::UnitZ, normal.Normalized()); + worldPose.Rot() = worldPose.Rot() * normalRot; + + matrix = math::Matrix4d(worldPose); + + int i = worldMesh.AddMaterial(mat); + addSubmeshFunc(i); + } + } + else if (_geom->Data().Type() == sdf::GeometryType::SPHERE) + { + if (meshManager->HasMesh("unit_sphere")) + { + mesh = meshManager->MeshByName("unit_sphere"); + + scale.X() = _geom->Data().SphereShape()->Radius() * 2; + scale.Y() = scale.X(); + scale.Z() = scale.X(); + + int i = worldMesh.AddMaterial(mat); + + addSubmeshFunc(i); + } + } + else if (_geom->Data().Type() == sdf::GeometryType::MESH) + { + auto fullPath = asFullPath(_geom->Data().MeshShape()->Uri(), + _geom->Data().MeshShape()->FilePath()); + + if (fullPath.empty()) + { + ignerr << "Mesh geometry missing uri" << std::endl; + return true; + } + mesh = meshManager->Load(fullPath); + + if (!mesh) { + ignerr << "mesh not found!" << std::endl; + return true; + } + + for (unsigned int k = 0; k < mesh->SubMeshCount(); k++) + { + auto subMeshLock = mesh->SubMeshByIndex(k).lock(); + int j = subMeshLock->MaterialIndex(); + + int i = 0; + if (j != -1) + { + i = worldMesh.IndexOfMaterial(mesh->MaterialByIndex(j).get()); + if (i < 0) + { + i = worldMesh.AddMaterial(mesh->MaterialByIndex(j)); + } + } + else + { + i = worldMesh.AddMaterial(mat); + } + + scale = _geom->Data().MeshShape()->Scale(); + + addSubmeshFunc(i); + } + } + else + { + ignwarn << "Unsupported geometry type" << std::endl; + } + + return true; + }); + + common::ColladaExporter exporter; + exporter.Export(&worldMesh, "./" + worldMesh.Name(), true, + subMeshMatrix); + ignmsg << "The world has been exported into the " + << "./" + worldMesh.Name() << " directory." << std::endl; + this->exported = true; + } +}; + +///////////////////////////////////////////////// +ColladaWorldExporter::ColladaWorldExporter() : System(), + dataPtr(std::make_unique()) +{ +} + +///////////////////////////////////////////////// +ColladaWorldExporter::~ColladaWorldExporter() = default; + +///////////////////////////////////////////////// +void ColladaWorldExporter::PostUpdate(const UpdateInfo & /*_info*/, + const EntityComponentManager &_ecm) +{ + this->dataPtr->Export(_ecm); +} + +IGNITION_ADD_PLUGIN(ColladaWorldExporter, + System, + ColladaWorldExporter::ISystemPostUpdate) + +IGNITION_ADD_PLUGIN_ALIAS(ColladaWorldExporter, + "ignition::gazebo::systems::ColladaWorldExporter") diff --git a/src/systems/collada_world_exporter/ColladaWorldExporter.hh b/src/systems/collada_world_exporter/ColladaWorldExporter.hh new file mode 100644 index 0000000000..c31a175b0a --- /dev/null +++ b/src/systems/collada_world_exporter/ColladaWorldExporter.hh @@ -0,0 +1,59 @@ +/* + * Copyright (C) 2020 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. + * + */ + +#ifndef IGNITION_GAZEBO_SYSTEMS_COLLADAWORLDEXPORTER_HH_ +#define IGNITION_GAZEBO_SYSTEMS_COLLADAWORLDEXPORTER_HH_ + +#include +#include + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { +namespace systems +{ + // Forward declarations. + class ColladaWorldExporterPrivate; + + /// \brief A plugin that exports a world to a mesh. + /// When loaded the plugin will dump a mesh containing all the models in + /// the world to the current directory. + class IGNITION_GAZEBO_VISIBLE ColladaWorldExporter: + public System, + public ISystemPostUpdate + { + /// \brief Constructor + public: ColladaWorldExporter(); + + /// \brief Destructor + public: ~ColladaWorldExporter() final; + + // Documentation inherited + public: void PostUpdate(const UpdateInfo &_info, + const EntityComponentManager &_ecm); + + /// \brief Private data pointer. + private: std::unique_ptr dataPtr; + }; +} +} +} +} +#endif diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index b3c33508fc..1f228c1f88 100644 --- a/test/integration/CMakeLists.txt +++ b/test/integration/CMakeLists.txt @@ -7,6 +7,7 @@ set(tests battery_plugin.cc breadcrumbs.cc buoyancy.cc + collada_world_exporter.cc components.cc contact_system.cc detachable_joint.cc diff --git a/test/integration/collada_world_exporter.cc b/test/integration/collada_world_exporter.cc new file mode 100644 index 0000000000..ae677413c0 --- /dev/null +++ b/test/integration/collada_world_exporter.cc @@ -0,0 +1,83 @@ +/* + * 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 + +#include +#include + +#include "ignition/gazebo/Server.hh" +#include "ignition/gazebo/test_config.hh" + +#include "helpers/UniqueTestDirectoryEnv.hh" + +using namespace ignition; +using namespace gazebo; + +///////////////////////////////////////////////// +class ColladaWorldExporterFixture : public ::testing::Test +{ + public: void SetUp() override + { + ignition::common::Console::SetVerbosity(4); + } + + public: void LoadWorld(const std::string &_path) + { + ServerConfig serverConfig; + serverConfig.SetResourceCache(test::UniqueTestDirectoryEnv::Path()); + serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH, _path)); + + std::cout << "Loading: " << serverConfig.SdfFile() << std::endl; + this->server = std::make_unique(serverConfig); + EXPECT_FALSE(server->Running()); + } + + public: std::unique_ptr server; +}; + +///////////////////////////////////////////////// +TEST_F(ColladaWorldExporterFixture, ExportWorld) +{ + this->LoadWorld(common::joinPaths("test", "worlds", + "collada_world_exporter.sdf")); + + // Cleanup + common::removeAll("./collada_world_exporter_box_test"); + + // The export directory shouldn't exist. + EXPECT_FALSE(common::exists("./collada_world_exporter_box_test")); + + // Run one iteration which should export the world. + server->Run(true, 1, false); + + // The export directory should now exist. + EXPECT_TRUE(common::exists("./collada_world_exporter_box_test")); + + // Cleanup + common::removeAll("./collada_world_exporter_box_test"); +} + +///////////////////////////////////////////////// +/// Main +int main(int _argc, char **_argv) +{ + ::testing::InitGoogleTest(&_argc, _argv); + ::testing::AddGlobalTestEnvironment( + new test::UniqueTestDirectoryEnv("save_world_test_cache")); + return RUN_ALL_TESTS(); +} diff --git a/test/integration/diff_drive_system.cc b/test/integration/diff_drive_system.cc index 1d55d2b576..50279bd99a 100644 --- a/test/integration/diff_drive_system.cc +++ b/test/integration/diff_drive_system.cc @@ -358,7 +358,8 @@ TEST_P(DiffDriveTest, OdomFrameId) int sleep = 0; int maxSleep = 30; - for (; odomPosesCount < 5 && sleep < maxSleep; ++sleep) + // cppcheck-suppress knownConditionTrueFalse + for (; odomPosesCount < 5 && sleep < maxSleep; ++sleep) // NOLINT { std::this_thread::sleep_for(std::chrono::milliseconds(100)); } @@ -408,6 +409,7 @@ TEST_P(DiffDriveTest, OdomCustomFrameId) int sleep = 0; int maxSleep = 30; + // cppcheck-suppress knownConditionTrueFalse for (; odomPosesCount < 5 && sleep < maxSleep; ++sleep) { std::this_thread::sleep_for(std::chrono::milliseconds(100)); diff --git a/test/worlds/collada_world_exporter.sdf b/test/worlds/collada_world_exporter.sdf new file mode 100644 index 0000000000..b65709b628 --- /dev/null +++ b/test/worlds/collada_world_exporter.sdf @@ -0,0 +1,150 @@ + + + + + + + + + true + + + + + 0 0 1 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 0 0 0.5 0 0 0 + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 1.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + + + 0 -1.5 0.5 0 0 0 + + + + 2 + 0 + 0 + 2 + 0 + 2 + + 2.0 + + + + + 0.5 + 1.0 + + + + + + + + 0.5 + 1.0 + + + + 0 1 0 1 + 0 1 0 1 + 0 1 0 1 + + + + + + + 0 1.5 0.5 0 0 0 + + + + 3 + 0 + 0 + 3 + 0 + 3 + + 3.0 + + + + + 0.5 + + + + + + + + 0.5 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + + + + + + + diff --git a/tutorials.md.in b/tutorials.md.in index 6930c6c746..bacb32edb2 100644 --- a/tutorials.md.in +++ b/tutorials.md.in @@ -24,6 +24,8 @@ Ignition @IGN_DESIGNATION_CAP@ library and how to use the library effectively. * \subpage triggeredpublisher "Triggered Publisher": Using the TriggeredPublisher system to orchestrate actions in simulation. * \subpage logicalaudiosensor "Logical Audio Sensor": Using the LogicalAudioSensor system to mimic logical audio emission and detection in simulation. * \subpage videorecorder "Video Recorder": Record videos from the 3D render window. +* \subpage collada_world_exporter "Collada World Exporter": Export an entire +world to a single Collada mesh. **Migration from Gazebo classic** diff --git a/tutorials/collada_world_exporter.md b/tutorials/collada_world_exporter.md new file mode 100644 index 0000000000..e1bdd4e60a --- /dev/null +++ b/tutorials/collada_world_exporter.md @@ -0,0 +1,25 @@ +\page collada_world_exporter Collada World Exporter + +The Collada world exporter is a world plugin that automatically generates +a Collada mesh consisting of the models within a world SDF file. This plugin +can be useful if you'd like to share an SDF world without requiring an SDF +loader. + +## Using the Collada World Exporter + +1. Add the following lines as a child to the `` tag in an SDF file. +``` + + +``` + +2. Run the world using +``` +ign gazebo -v 4 -s -r --iterations 1 WORLD_FILE_NAME +``` + +3. A subdirectory, named after the world, has been created in the current working directory. Within this subdirectory is the mesh and materials for the world. + +Refer to the [collada_world_exporter.sdf](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo4/examples/worlds/collada_world_exporter.sdf) example. From 4c87e1d9c6cea8ede46463defa436daca6780c35 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Mon, 1 Feb 2021 18:28:21 +0100 Subject: [PATCH 19/55] Model creation tutorial using services (#530) * Model creation tutorial using services Signed-off-by: ahcorde * Updated tutorial Signed-off-by: ahcorde * Tweaks to tutorial and example Signed-off-by: Louise Poubel * Move files Signed-off-by: Louise Poubel * example only needs ign-transport Signed-off-by: Louise Poubel Co-authored-by: Louise Poubel --- .../standalone/entity_creation/CMakeLists.txt | 8 + examples/standalone/entity_creation/README.md | 25 +++ .../entity_creation/entity_creation.cc | 186 ++++++++++++++++++ tutorials.md.in | 1 + tutorials/entity_creation.md | 111 +++++++++++ 5 files changed, 331 insertions(+) create mode 100644 examples/standalone/entity_creation/CMakeLists.txt create mode 100644 examples/standalone/entity_creation/README.md create mode 100644 examples/standalone/entity_creation/entity_creation.cc create mode 100644 tutorials/entity_creation.md diff --git a/examples/standalone/entity_creation/CMakeLists.txt b/examples/standalone/entity_creation/CMakeLists.txt new file mode 100644 index 0000000000..99a0c16f7c --- /dev/null +++ b/examples/standalone/entity_creation/CMakeLists.txt @@ -0,0 +1,8 @@ +cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) + +find_package(ignition-transport9 QUIET REQUIRED OPTIONAL_COMPONENTS log) +set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR}) + +add_executable(entity_creation entity_creation.cc) +target_link_libraries(entity_creation + ignition-transport${IGN_TRANSPORT_VER}::core) diff --git a/examples/standalone/entity_creation/README.md b/examples/standalone/entity_creation/README.md new file mode 100644 index 0000000000..e9a4ffcc18 --- /dev/null +++ b/examples/standalone/entity_creation/README.md @@ -0,0 +1,25 @@ +# Examples using the create service + +## Build + +``` +mkdir build +cd build +cmake .. +make +``` + +## Run + +This example only works if the world is called `empty`. Start an empty world with: + +``` +ign gazebo empty.sdf +``` + +Then run the create program to spawn entities into the world: + +``` +cd build +./entity_creation +``` diff --git a/examples/standalone/entity_creation/entity_creation.cc b/examples/standalone/entity_creation/entity_creation.cc new file mode 100644 index 0000000000..6184f1beef --- /dev/null +++ b/examples/standalone/entity_creation/entity_creation.cc @@ -0,0 +1,186 @@ +/* + * 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 + +#include + +#include + +// Create a transport node. +ignition::transport::Node node; + +// timeout used for services +constexpr unsigned int timeout = 5000; + +void createLight() +{ + bool result; + ignition::msgs::Boolean rep; +//! [create light] + ignition::msgs::EntityFactory entityFactoryRequest; + + entityFactoryRequest.mutable_light()->set_name("point"); + entityFactoryRequest.mutable_light()->set_range(4); + entityFactoryRequest.mutable_light()->set_attenuation_linear(0.5); + entityFactoryRequest.mutable_light()->set_attenuation_constant(0.2); + entityFactoryRequest.mutable_light()->set_attenuation_quadratic(0.01); + entityFactoryRequest.mutable_light()->set_cast_shadows(false); + entityFactoryRequest.mutable_light()->set_type(ignition::msgs::Light::POINT); + ignition::msgs::Set( + entityFactoryRequest.mutable_light()->mutable_direction(), + ignition::math::Vector3d(0.5, 0.2, -0.9)); + ignition::msgs::Set(entityFactoryRequest.mutable_light()->mutable_pose(), + ignition::math::Pose3d(0.0, 0, 3.0, 0.0, 0.0, 0.0)); +//! [create light] + +//! [call service create] + bool executedEntityFactory = node.Request("/world/empty/create", + entityFactoryRequest, timeout, rep, result); + if (executedEntityFactory) + { + if (result) + std::cout << "Light was created : [" << rep.data() << "]" << std::endl; + else + { + std::cout << "Service call failed" << std::endl; + return; + } + } + else + std::cerr << "Service call timed out" << std::endl; +//! [call service create] +} + +void createEntityFromStr(const std::string modelStr) +{ +//! [call service create sphere] + bool result; + ignition::msgs::EntityFactory req; + ignition::msgs::Boolean res; + req.set_sdf(modelStr); + + bool executed = node.Request("/world/empty/create", + req, timeout, res, result); + if (executed) + { + if (result) + std::cout << "Sphere was created : [" << res.data() << "]" << std::endl; + else + { + std::cout << "Service call failed" << std::endl; + return; + } + } + else + std::cerr << "Service call timed out" << std::endl; +//! [call service create sphere] +} + +////////////////////////////////////////////////// +std::string generateLightStr( + const std::string light_type, const std::string name, + const bool cast_shadows, const ignition::math::Pose3d pose, + const ignition::math::Color diffuse, + const ignition::math::Color specular, + const double attRange, const double attConstant, + const double attLinear, const double attQuadratic, + const ignition::math::Vector3d direction, + const double spot_inner_angle, + const double spot_outer_angle, + const double spot_falloff +) +{ +//! [create light str] + std::string lightStr = std::string("") + + " " + + "" + std::to_string(cast_shadows) + "" + + "" + + std::to_string(pose.Pos().X()) + " " + + std::to_string(pose.Pos().Y()) + " " + + std::to_string(pose.Pos().Z()) + " " + + std::to_string(pose.Rot().Roll()) + " " + + std::to_string(pose.Rot().Pitch()) + " " + + std::to_string(pose.Rot().Yaw()) + + "" + + "" + + std::to_string(diffuse.R()) + " " + + std::to_string(diffuse.G()) + " " + + std::to_string(diffuse.B()) + " " + + std::to_string(diffuse.A()) + + "" + + "" + + std::to_string(specular.R()) + " " + + std::to_string(specular.G()) + " " + + std::to_string(specular.B()) + " " + + std::to_string(specular.A()) + + "" + + "" + + "" + std::to_string(attRange) + "" + + "" + std::to_string(attConstant) + "" + + "" + std::to_string(attLinear) + "" + + "" + std::to_string(attQuadratic) + "" + + "" + + "" + + std::to_string(direction.X()) + " " + + std::to_string(direction.Y()) + " " + + std::to_string(direction.Z()) + + "" + + "" + + "" + std::to_string(spot_inner_angle) + "" + + "" + std::to_string(spot_outer_angle) + "" + + "" + std::to_string(spot_falloff) + "" + + "" + + ""; +//! [create light str] + return lightStr; +} + +////////////////////////////////////////////////// +int main(int argc, char **argv) +{ +//! [create sphere] + auto sphereStr = R"( + + + + + 0 0 0.5 0 0 0 + + 1 + + + 1 + + + + )"; +//! [create sphere] + + createEntityFromStr(sphereStr); + + createEntityFromStr( + generateLightStr("spot", "spot_light", false, + ignition::math::Pose3d(0, 0, 4, 0, 0, 0), + ignition::math::Color(0, 0, 1.0, 1.0), + ignition::math::Color(0, 0, 1.0, 1.0), + 1.0, 0.2, 0.2, 0.001, + ignition::math::Vector3d(0.5, 0.2, -0.9), + 0.15, 0.45, 1.0)); + + createLight(); +} diff --git a/tutorials.md.in b/tutorials.md.in index bacb32edb2..5bf1018f1c 100644 --- a/tutorials.md.in +++ b/tutorials.md.in @@ -12,6 +12,7 @@ Ignition @IGN_DESIGNATION_CAP@ library and how to use the library effectively. * \subpage levels "Levels": Load entities on demand in large environments. * \subpage distributedsimulation "Distributed Simulation": Spread simulation across several processes. * \subpage resources "Finding resources": The different ways in which Ignition looks for files. +* \subpage entity_creation "Entity creation": Insert models or lights using services. * \subpage log "Logging": Record and play back time series of world state. * \subpage physics "Physics engines": Loading different physics engines. * \subpage battery "Battery": Keep track of battery charge on robot models. diff --git a/tutorials/entity_creation.md b/tutorials/entity_creation.md new file mode 100644 index 0000000000..0bbd34df56 --- /dev/null +++ b/tutorials/entity_creation.md @@ -0,0 +1,111 @@ +\page entity_creation Entity creation + +This tutorial gives an introduction to Ignition Gazebo's service `/world//create`. +This service allows creating entities in the scene such us spheres, lights, etc. + +Ignition Gazebo creates many services depending on the plugins that are specified in the SDF. +In this case we need to load the `UserCommands` plugin, which will offer the `create` service. +You can include the `UserCommands` system plugin including these lines in your SDF: + +```xml + + +``` + +You can check if this service is available typing: + +In one terminal + +```bash +ign gazebo -r -v 4 .sdf +``` + +In another terminal, see if the create service is listed: + +```bash +ign service --list +/gazebo/resource_paths/add +/gazebo/resource_paths/get +/gazebo/worlds +/gui/follow +/gui/move_to +/gui/move_to/pose +/gui/record_video +/gui/transform_mode +/gui/view_angle +/marker +/marker/list +/marker_array +/server_control +/world/world_name/control +/world/world_name/create +/world/world_name/create_multiple +/world/world_name/generate_world_sdf +/world/world_name/gui/info +/world/world_name/level/set_performer +/world/world_name/light_config +/world/world_name/playback/control +/world/world_name/remove +/world/world_name/scene/graph +/world/world_name/scene/info +/world/world_name/set_pose +/world/world_name/state +/world/world_name/state_async +``` + +# Factory message + +To create new entities in the world we need to use the +[ignition::msgs::EntityFactory](https://ignitionrobotics.org/api/msgs/6.0/classignition_1_1msgs_1_1EntityFactory__V.html) +message to send a request to the create service. +This message allows us to create entities from strings, files, +[Models](https://ignitionrobotics.org/api/msgs/6.0/classignition_1_1msgs_1_1Model.html), +[Lights](https://ignitionrobotics.org/api/msgs/6.0/classignition_1_1msgs_1_1Light.html) or even clone models. +This tutorial introduces how to create entities from SDF strings and light messages. + +## Insert an entity based on a string + +We will open an empty Ignition Gazebo world, let's start creating a sphere in the world. +In the next snippet you can see how to create models based on strings. + +\snippet examples/standalone/model_creation/model_creation.cc create sphere + +The variable `sphereStr` contains the SDF of the model that we want to create in the world. +In this case we are creating a sphere of 1 meter of radius in the position: `x: 0 y: 0 z: 0.5 roll: 0 pitch: 0 yaw: 0`. + +**NOTE**: You can insert here all kinds of models that can be described using an SDF string. + +Then we need to call the service `/world//create`: + +\snippet examples/standalone/model_creation/model_creation.cc call service create sphere + +**NOTE**: By default, if the entity name does not exist then the entity will be created +in the world. On the other hand, if that entity name already exists, then nothing will +happen. You may see some traces in the console showing this information. +There is an option to create a new entity every time that the message is sent by setting +`allow_renaming` to true (you can use the method `set_allow_renaming()`). + +## Insert a light + +To insert a light in the world we have two options: + + - Fill the string inside the `ignition::msgs::EntityFactory` message like in the section above. + - Fill the field `light` inside the `ignition::msgs::EntityFactory` message. + +In the following snippet you can see how the light's field is filled. + +\snippet examples/standalone/model_creation/model_creation.cc create light + +Or we can create an SDF string: + +\snippet examples/standalone/model_creation/model_creation.cc create light str + +Please check the API to know which fields are available in the +[Light message](https://ignitionrobotics.org/api/msgs/6.2/classignition_1_1msgs_1_1Light.html). +There are three types of lights: Point, Directional and Spot. + +Finally we should call the same service `/world//create`: + +\snippet examples/standalone/model_creation/model_creation.cc call service create From d8b9d0c3a328b6def406d411db5345c8799254b4 Mon Sep 17 00:00:00 2001 From: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> Date: Mon, 1 Feb 2021 12:58:34 -0500 Subject: [PATCH 20/55] Fix topLevelModel method (#600) Signed-off-by: Ashton Larkin --- include/ignition/gazebo/Util.hh | 3 ++- src/Util.cc | 27 ++++++++++++++------------- src/Util_TEST.cc | 16 ++++++++++++++-- 3 files changed, 30 insertions(+), 16 deletions(-) diff --git a/include/ignition/gazebo/Util.hh b/include/ignition/gazebo/Util.hh index 3ec9ebd54d..cfa49e98d3 100644 --- a/include/ignition/gazebo/Util.hh +++ b/include/ignition/gazebo/Util.hh @@ -134,7 +134,8 @@ namespace ignition /// \brief Get the top level model of an entity /// \param[in] _entity Input entity /// \param[in] _ecm Constant reference to ECM. - /// \return Entity of top level model + /// \return Entity of top level model. If _entity has no top level model, + /// kNullEntity is returned. ignition::gazebo::Entity IGNITION_GAZEBO_VISIBLE topLevelModel( const Entity &_entity, const EntityComponentManager &_ecm); diff --git a/src/Util.cc b/src/Util.cc index 828483d0f0..ce00fd6ea0 100644 --- a/src/Util.cc +++ b/src/Util.cc @@ -400,22 +400,23 @@ ignition::gazebo::Entity topLevelModel(const Entity &_entity, { auto entity = _entity; - // check if parent is a model - auto parentComp = _ecm.Component(entity); - while (parentComp) - { - // check if parent is a model - auto parentEntity = parentComp->Data(); - auto modelComp = _ecm.Component( - parentEntity); - if (!modelComp) + // search up the entity tree and find the model with no parent models + // (there is the possibility of nested models) + Entity modelEntity = kNullEntity; + while (entity) + { + if (_ecm.Component(entity)) + modelEntity = entity; + + // stop searching if we are at the root of the tree + auto parentComp = _ecm.Component(entity); + if (!parentComp) break; - // set current model entity - entity = parentEntity; - parentComp = _ecm.Component(entity); + entity = parentComp->Data(); } - return entity; + + return modelEntity; } ////////////////////////////////////////////////// diff --git a/src/Util_TEST.cc b/src/Util_TEST.cc index d699b3dc3b..f9edf2543b 100644 --- a/src/Util_TEST.cc +++ b/src/Util_TEST.cc @@ -428,6 +428,7 @@ TEST_F(UtilTest, TopLevelModel) // - linkA // - modelB // - linkB + // - visualB // - modelC // World @@ -459,20 +460,31 @@ TEST_F(UtilTest, TopLevelModel) ecm.CreateComponent(linkBEntity, components::Name("linkB_name")); ecm.CreateComponent(linkBEntity, components::ParentEntity(modelBEntity)); + // Visual B - child of Link B + auto visualBEntity = ecm.CreateEntity(); + ecm.CreateComponent(visualBEntity, components::Visual()); + ecm.CreateComponent(visualBEntity, components::Name("visualB_name")); + ecm.CreateComponent(visualBEntity, components::ParentEntity(linkBEntity)); + // Model C auto modelCEntity = ecm.CreateEntity(); ecm.CreateComponent(modelCEntity, components::Model()); ecm.CreateComponent(modelCEntity, components::Name("modelC_name")); ecm.CreateComponent(modelCEntity, components::ParentEntity(worldEntity)); - // model A, link A, model B and link B should have model A as top level entity + // model A, link A, model B, link B and visual B should have + // model A as the top level model EXPECT_EQ(modelAEntity, topLevelModel(modelAEntity, ecm)); EXPECT_EQ(modelAEntity, topLevelModel(linkAEntity, ecm)); EXPECT_EQ(modelAEntity, topLevelModel(modelBEntity, ecm)); EXPECT_EQ(modelAEntity, topLevelModel(linkBEntity, ecm)); + EXPECT_EQ(modelAEntity, topLevelModel(visualBEntity, ecm)); - // model C should have itself as the top level entity + // model C should have itself as the top level model EXPECT_EQ(modelCEntity, topLevelModel(modelCEntity, ecm)); + + // the world should have no top level model + EXPECT_EQ(kNullEntity, topLevelModel(worldEntity, ecm)); } ///////////////////////////////////////////////// From b4e152d5940944a908192f4d43c5610445e64e42 Mon Sep 17 00:00:00 2001 From: Ashton Larkin Date: Thu, 17 Dec 2020 17:59:29 -0500 Subject: [PATCH 21/55] add heat signature option to thermal system (#498) Signed-off-by: Ashton Larkin --- examples/worlds/thermal_camera.sdf | 119 +++-------- .../gazebo/components/TemperatureRange.hh | 99 +++++++++ src/rendering/RenderUtil.cc | 60 +++++- src/systems/sensors/Sensors.cc | 21 ++ src/systems/thermal/Thermal.cc | 92 ++++++++- test/integration/components.cc | 40 ++++ test/integration/thermal_system.cc | 90 ++++++++- test/worlds/thermal.sdf | 189 ++++++++++++++---- 8 files changed, 552 insertions(+), 158 deletions(-) create mode 100644 include/ignition/gazebo/components/TemperatureRange.hh diff --git a/examples/worlds/thermal_camera.sdf b/examples/worlds/thermal_camera.sdf index c8498d3cc2..3e2230f099 100644 --- a/examples/worlds/thermal_camera.sdf +++ b/examples/worlds/thermal_camera.sdf @@ -1,6 +1,6 @@ @@ -121,7 +121,14 @@ - 310 + 300 + + 0.1 @@ -157,7 +164,7 @@ - 0 0 0.5 0 0 0 + -1 1 0.5 0 0 0 @@ -192,93 +199,7 @@ - 200.0 - - - - - - - 0 1.5 0.5 0 0 0 - - - - 3 - 0 - 0 - 3 - 0 - 3 - - 3.0 - - - - - 0.5 - - - - - - - - 0.5 - - - - 0 0 1 1 - 0 0 1 1 - 0 0 1 1 - - - 600.0 - - - - - - - 0 -1.5 0.5 0 0 0 - - - - 2 - 0 - 0 - 2 - 0 - 2 - - 2.0 - - - - - 0.5 - 1.0 - - - - - - - - 0.5 - 1.0 - - - - 0 1 0 1 - 0 1 0 1 - 0 1 0 1 - - - 400.0 + 285.0 @@ -323,5 +244,23 @@ true + + 1 0 0 0 0 1.570796 + rescue_randy + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy + + + + 2.25 .5 .1 0 0 1.570796 + phone + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Samsung J8 Black + + + + 2.25 -.5 .1 0 0 1.570796 + backpack + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack + + diff --git a/include/ignition/gazebo/components/TemperatureRange.hh b/include/ignition/gazebo/components/TemperatureRange.hh new file mode 100644 index 0000000000..99e4a26151 --- /dev/null +++ b/include/ignition/gazebo/components/TemperatureRange.hh @@ -0,0 +1,99 @@ +/* + * 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. + * +*/ +#ifndef IGNITION_GAZEBO_COMPONENTS_TEMPERATURERANGE_HH_ +#define IGNITION_GAZEBO_COMPONENTS_TEMPERATURERANGE_HH_ + +#include +#include + +#include + +#include +#include +#include + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { +namespace components +{ + /// \brief Data structure to hold a temperature range, in kelvin + struct TemperatureRangeInfo + { + /// \brief The minimum temperature (kelvin) + math::Temperature min; + /// \brief The maximum temperature (kelvin) + math::Temperature max; + + public: bool operator==(const TemperatureRangeInfo &_info) const + { + return (this->min == _info.min) && + (this->max == _info.max); + } + + public: bool operator!=(const TemperatureRangeInfo &_info) const + { + return !(*this == _info); + } + }; +} + +namespace serializers +{ + /// \brief Serializer for components::TemperatureRangeInfo object + class TemperatureRangeInfoSerializer + { + /// \brief Serialization for components::TemperatureRangeInfo + /// \param[out] _out Output stream + /// \param[in] _info Object for the stream + /// \return The stream + public: static std::ostream &Serialize(std::ostream &_out, + const components::TemperatureRangeInfo &_info) + { + _out << _info.min << " " << _info.max; + return _out; + } + + /// \brief Deserialization for components::TemperatureRangeInfo + /// \param[in] _in Input stream + /// \param[out] _info The object to populate + /// \return The stream + public: static std::istream &Deserialize(std::istream &_in, + components::TemperatureRangeInfo &_info) + { + _in >> _info.min >> _info.max; + return _in; + } + }; +} + +namespace components +{ + /// \brief A component that stores a temperature range in kelvin + using TemperatureRange = Component; + IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.TemperatureRange", + TemperatureRange) +} +} +} +} + +#endif diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index acf90e1347..5243a7a31b 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -16,7 +16,10 @@ */ #include +#include +#include #include +#include #include #include @@ -58,7 +61,9 @@ #include "ignition/gazebo/components/Pose.hh" #include "ignition/gazebo/components/RgbdCamera.hh" #include "ignition/gazebo/components/Scene.hh" +#include "ignition/gazebo/components/SourceFilePath.hh" #include "ignition/gazebo/components/Temperature.hh" +#include "ignition/gazebo/components/TemperatureRange.hh" #include "ignition/gazebo/components/ThermalCamera.hh" #include "ignition/gazebo/components/Transparency.hh" #include "ignition/gazebo/components/Visibility.hh" @@ -167,8 +172,19 @@ class ignition::gazebo::RenderUtilPrivate public: std::map> actorTransforms; - /// \brief A map of entity ids and temperature - public: std::map entityTemp; + /// \brief A map of entity ids and temperature data. + /// The value of this map (tuple) represents either a single (uniform) + /// temperature, or a heat signature with a min/max temperature. If the string + /// in the tuple is empty, then this entity has a uniform temperature across + /// its surface, and this uniform temperature is stored in the first float of + /// the tuple (the second float and string are unused for uniform temperature + /// entities). If the string in the tuple is not empty, then the string + /// represents the entity's heat signature (a path to a heat signature texture + /// file), and the floats represent the min/max temperatures of the heat + /// signature, respectively. + /// + /// All temperatures are in Kelvin. + public: std::map> entityTemp; /// \brief A map of entity ids and wire boxes public: std::unordered_map wireBoxes; @@ -596,7 +612,7 @@ void RenderUtil::Update() } // set visual temperature - for (auto &temp : entityTemp) + for (const auto &temp : entityTemp) { auto node = this->dataPtr->sceneManager.NodeById(temp.first); if (!node) @@ -607,7 +623,15 @@ void RenderUtil::Update() if (!visual) continue; - visual->SetUserData("temperature", temp.second); + const auto &heatSignature = std::get<2>(temp.second); + if (heatSignature.empty()) + visual->SetUserData("temperature", std::get<0>(temp.second)); + else + { + visual->SetUserData("minTemp", std::get<0>(temp.second)); + visual->SetUserData("maxTemp", std::get<1>(temp.second)); + visual->SetUserData("temperature", heatSignature); + } } } @@ -724,13 +748,29 @@ void RenderUtilPrivate::CreateRenderingEntities( visual.SetMaterial(material->Data()); } - // todo(anyone) make visual updates more generic without using extra - // variables like entityTemp just for storing one specific visual - // param? - auto temp = _ecm.Component(_entity); - if (temp) + if (auto temp = _ecm.Component(_entity)) + { + // get the uniform temperature for the entity + this->entityTemp[_entity] = + std::make_tuple( + temp->Data().Kelvin(), 0.0, ""); + } + else { - this->entityTemp[_entity] = temp->Data().Kelvin(); + // entity doesn't have a uniform temperature. Check if it has + // a heat signature with an associated temperature range + auto heatSignature = + _ecm.Component(_entity); + auto tempRange = + _ecm.Component(_entity); + if (heatSignature && tempRange) + { + this->entityTemp[_entity] = + std::make_tuple( + tempRange->Data().min.Kelvin(), + tempRange->Data().max.Kelvin(), + std::string(heatSignature->Data())); + } } this->newVisuals.push_back( diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc index d973d94a60..20a929854d 100644 --- a/src/systems/sensors/Sensors.cc +++ b/src/systems/sensors/Sensors.cc @@ -78,6 +78,10 @@ class ignition::gazebo::systems::SensorsPrivate /// sea level public: double ambientTemperature = 288.15; + /// \brief Temperature gradient with respect to increasing altitude at sea + /// level in units of K/m. + public: double ambientTemperatureGradient = -0.0065; + /// \brief Keep track of cameras, in case we need to handle stereo cameras. /// Key: Camera's parent scoped name /// Value: Pointer to camera @@ -386,6 +390,8 @@ void Sensors::Configure(const Entity &/*_id*/, { auto atmosphereSdf = atmosphere->Data(); this->dataPtr->ambientTemperature = atmosphereSdf.Temperature().Kelvin(); + this->dataPtr->ambientTemperatureGradient = + atmosphereSdf.TemperatureGradient(); } // Set render engine if specified from command line @@ -564,6 +570,21 @@ std::string Sensors::CreateSensor(const Entity &_entity, if (nullptr != thermalSensor) { thermalSensor->SetAmbientTemperature(this->dataPtr->ambientTemperature); + + // temperature gradient is in kelvin per meter - typically change in + // temperature over change in altitude. However the implementation of + // thermal sensor in ign-sensors varies temperature for all objects in its + // view. So we will do an approximation based on camera view's vertical + // distance. + auto camSdf = _sdf.CameraSensor(); + double farClip = camSdf->FarClip(); + double angle = camSdf->HorizontalFov().Radian(); + double aspect = camSdf->ImageWidth() / camSdf->ImageHeight(); + double vfov = 2.0 * atan(tan(angle / 2.0) / aspect); + double height = tan(vfov / 2.0) * farClip * 2.0; + double tempRange = + std::fabs(this->dataPtr->ambientTemperatureGradient * height); + thermalSensor->SetAmbientTemperatureRange(tempRange); } return sensor->Name(); diff --git a/src/systems/thermal/Thermal.cc b/src/systems/thermal/Thermal.cc index 2a0f346797..28bd118931 100644 --- a/src/systems/thermal/Thermal.cc +++ b/src/systems/thermal/Thermal.cc @@ -15,16 +15,23 @@ * */ -#include +#include "Thermal.hh" + +#include +#include + +#include +#include #include -#include "ignition/gazebo/components/Name.hh" +#include "ignition/gazebo/components/Atmosphere.hh" +#include "ignition/gazebo/components/SourceFilePath.hh" #include "ignition/gazebo/components/Temperature.hh" +#include "ignition/gazebo/components/TemperatureRange.hh" +#include "ignition/gazebo/components/World.hh" #include "ignition/gazebo/EntityComponentManager.hh" #include "ignition/gazebo/Util.hh" -#include "Thermal.hh" - using namespace ignition; using namespace gazebo; using namespace systems; @@ -48,14 +55,79 @@ void Thermal::Configure(const Entity &_entity, gazebo::EntityComponentManager &_ecm, gazebo::EventManager & /*_eventMgr*/) { - if (!_sdf->HasElement("temperature")) + const std::string temperatureTag = "temperature"; + const std::string heatSignatureTag = "heat_signature"; + const std::string minTempTag = "min_temp"; + const std::string maxTempTag = "max_temp"; + + if (_sdf->HasElement(temperatureTag) && _sdf->HasElement(heatSignatureTag)) + { + ignwarn << "Both <" << temperatureTag << "> and <" << heatSignatureTag + << "> were specified, but the thermal system only uses one. " + << "<" << heatSignatureTag << "> will be used.\n"; + } + + if (_sdf->HasElement(heatSignatureTag)) + { + std::string heatSignature = _sdf->Get(heatSignatureTag); + auto modelEntity = topLevelModel(_entity, _ecm); + auto modelPath = + _ecm.ComponentData(modelEntity); + auto path = common::findFile(asFullPath(heatSignature, modelPath.value())); + + // make sure the specified heat signature can be found + if (path.empty()) + { + ignerr << "Failed to load thermal system. Heat signature [" + << heatSignature << "] could not be found\n"; + return; + } + _ecm.CreateComponent(_entity, components::SourceFilePath(path)); + + // see if the user defined a custom temperature range + // (default to ambient temperature if possible) + double min = 250.0; + double max = 300.0; + if (auto worldEntity = _ecm.EntityByComponents(components::World())) + { + if (auto atmosphere = + _ecm.Component(worldEntity)) + { + auto atmosphericTemp = atmosphere->Data().Temperature().Kelvin(); + min = atmosphericTemp; + max = atmosphericTemp; + } + } + if (_sdf->HasElement(minTempTag)) + min = _sdf->Get(minTempTag); + if (_sdf->HasElement(maxTempTag)) + max = _sdf->Get(maxTempTag); + // make sure that min is actually less than max + if (min > max) + { + auto temporary = max; + max = min; + min = temporary; + } + igndbg << "Thermal plugin, heat signature: using a minimum temperature of " + << min << " kelvin, and a max temperature of " << max << " kelvin.\n"; + + components::TemperatureRangeInfo rangeInfo; + rangeInfo.min = min; + rangeInfo.max = max; + _ecm.CreateComponent(_entity, components::TemperatureRange(rangeInfo)); + } + else if (_sdf->HasElement(temperatureTag)) + { + double temperature = _sdf->Get(temperatureTag); + _ecm.CreateComponent(_entity, components::Temperature(temperature)); + } + else { - ignerr << "Fail to load thermal system: is not specified" - << std::endl; - return; + ignerr << "Failed to load thermal system. " + << "Neither <" << temperatureTag << "> or <" << heatSignatureTag + << "> were specified.\n"; } - double temperature = _sdf->Get("temperature"); - _ecm.CreateComponent(_entity, components::Temperature(temperature)); } diff --git a/test/integration/components.cc b/test/integration/components.cc index 57bc96a2ba..fed087ef78 100644 --- a/test/integration/components.cc +++ b/test/integration/components.cc @@ -71,6 +71,7 @@ #include "ignition/gazebo/components/Sensor.hh" #include "ignition/gazebo/components/SourceFilePath.hh" #include "ignition/gazebo/components/Static.hh" +#include "ignition/gazebo/components/TemperatureRange.hh" #include "ignition/gazebo/components/ThreadPitch.hh" #include "ignition/gazebo/components/Visual.hh" #include "ignition/gazebo/components/World.hh" @@ -1376,6 +1377,45 @@ TEST_F(ComponentsTest, Static) EXPECT_FALSE(comp11 != comp12); } +///////////////////////////////////////////////// +TEST_F(ComponentsTest, TemperatureRange) +{ + // TODO(adlarkin) make sure min can't be >= max? + components::TemperatureRangeInfo range1; + range1.min = math::Temperature(125.0); + range1.max = math::Temperature(300.0); + + components::TemperatureRangeInfo range2; + range2.min = math::Temperature(140.0); + range2.max = math::Temperature(200.0); + + components::TemperatureRangeInfo range3; + range3.min = math::Temperature(125.0); + range3.max = math::Temperature(300.0); + + // Create components + auto comp1 = components::TemperatureRange(range1); + auto comp2 = components::TemperatureRange(range2); + auto comp3 = components::TemperatureRange(range3); + + // Equality operators + EXPECT_EQ(comp1, comp3); + EXPECT_NE(comp1, comp2); + EXPECT_NE(comp2, comp3); + EXPECT_FALSE(comp1 == comp2); + EXPECT_TRUE(comp1 != comp2); + + // Stream operators + std::ostringstream ostr; + comp1.Serialize(ostr); + EXPECT_EQ("125 300", ostr.str()); + + std::istringstream istr(ostr.str()); + components::TemperatureRange comp4; + comp4.Deserialize(istr); + EXPECT_EQ(comp1, comp4); +} + ///////////////////////////////////////////////// TEST_F(ComponentsTest, ThreadPitch) { diff --git a/test/integration/thermal_system.cc b/test/integration/thermal_system.cc index 4fffa35ee5..211f06b28d 100644 --- a/test/integration/thermal_system.cc +++ b/test/integration/thermal_system.cc @@ -21,7 +21,9 @@ #include #include "ignition/gazebo/components/Name.hh" +#include "ignition/gazebo/components/SourceFilePath.hh" #include "ignition/gazebo/components/Temperature.hh" +#include "ignition/gazebo/components/TemperatureRange.hh" #include "ignition/gazebo/components/Visual.hh" #include "ignition/gazebo/Server.hh" #include "ignition/gazebo/SystemLoader.hh" @@ -29,8 +31,6 @@ #include "../helpers/Relay.hh" -#define tol 10e-4 - using namespace ignition; using namespace gazebo; @@ -62,6 +62,9 @@ TEST_F(ThermalTest, TemperatureComponent) test::Relay testSystem; std::map entityTemp; + std::map + entityTempRange; + std::map heatSignatures; testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &, const gazebo::EntityComponentManager &_ecm) { @@ -76,20 +79,93 @@ TEST_F(ThermalTest, TemperatureComponent) // verify temperature data belongs to a visual EXPECT_NE(nullptr, _ecm.Component(_id)); + return true; + }); + + _ecm.Each( + [&](const ignition::gazebo::Entity &_id, + const components::TemperatureRange *_tempRange, + const components::SourceFilePath *_heatSigURI, + const components::Name *_name) -> bool + { + // store temperature range data + entityTempRange[_name->Data()] = _tempRange->Data(); + + // store heat signature URI data + heatSignatures[_name->Data()] = _heatSigURI->Data(); + + // verify temperature range data belongs to a visual + EXPECT_NE(nullptr, _ecm.Component(_id)); + return true; }); }); server.AddSystem(testSystem.systemPtr); - // verify nothing in map at beginning + // verify nothing in the maps at beginning EXPECT_TRUE(entityTemp.empty()); + EXPECT_TRUE(entityTempRange.empty()); + EXPECT_TRUE(heatSignatures.empty()); // Run server server.Run(true, 1, false); + const std::string sphereVisual = "sphere_visual"; + const std::string cylinderVisual = "cylinder_visual"; + const std::string visual = "visual"; + const std::string heatSignatureCylinderVisual = + "heat_signature_cylinder_visual"; + const std::string heatSignatureSphereVisual = + "heat_signature_sphere_visual"; + const std::string heatSignatureSphereVisual2 = + "heat_signature_sphere_visual_2"; + const std::string heatSignatureTestResource = "duck.png"; + // verify temperature components are created and the values are correct - EXPECT_EQ(3u, entityTemp.size()); - EXPECT_DOUBLE_EQ(200.0, entityTemp["box_visual"].Kelvin()); - EXPECT_DOUBLE_EQ(600.0, entityTemp["sphere_visual"].Kelvin()); - EXPECT_DOUBLE_EQ(400.0, entityTemp["cylinder_visual"].Kelvin()); + EXPECT_EQ(2u, entityTemp.size()); + ASSERT_TRUE(entityTemp.find(sphereVisual) != entityTemp.end()); + ASSERT_TRUE(entityTemp.find(cylinderVisual) != entityTemp.end()); + EXPECT_DOUBLE_EQ(600.0, entityTemp[sphereVisual].Kelvin()); + EXPECT_DOUBLE_EQ(400.0, entityTemp[cylinderVisual].Kelvin()); + + EXPECT_EQ(4u, entityTempRange.size()); + ASSERT_TRUE(entityTempRange.find(visual) != entityTempRange.end()); + ASSERT_TRUE(entityTempRange.find( + heatSignatureCylinderVisual) != entityTempRange.end()); + ASSERT_TRUE(entityTempRange.find( + heatSignatureSphereVisual) != entityTempRange.end()); + ASSERT_TRUE(entityTempRange.find( + heatSignatureSphereVisual2) != entityTempRange.end()); + EXPECT_DOUBLE_EQ(310.0, entityTempRange[visual].min.Kelvin()); + EXPECT_DOUBLE_EQ(310.0, entityTempRange[visual].max.Kelvin()); + EXPECT_DOUBLE_EQ(310.0, + entityTempRange[heatSignatureCylinderVisual].min.Kelvin()); + EXPECT_DOUBLE_EQ(310.0, + entityTempRange[heatSignatureCylinderVisual].max.Kelvin()); + EXPECT_DOUBLE_EQ(310.0, + entityTempRange[heatSignatureSphereVisual].min.Kelvin()); + EXPECT_DOUBLE_EQ(500.0, + entityTempRange[heatSignatureSphereVisual].max.Kelvin()); + EXPECT_DOUBLE_EQ(310.0, + entityTempRange[heatSignatureSphereVisual2].min.Kelvin()); + EXPECT_DOUBLE_EQ(400.0, + entityTempRange[heatSignatureSphereVisual2].max.Kelvin()); + + EXPECT_EQ(4u, heatSignatures.size()); + ASSERT_TRUE(heatSignatures.find(visual) != heatSignatures.end()); + ASSERT_TRUE(heatSignatures.find( + heatSignatureCylinderVisual) != heatSignatures.end()); + ASSERT_TRUE(heatSignatures.find( + heatSignatureSphereVisual) != heatSignatures.end()); + ASSERT_TRUE(heatSignatures.find( + heatSignatureSphereVisual2) != heatSignatures.end()); + EXPECT_TRUE(heatSignatures[visual].find( + "RescueRandy_Thermal.png") != std::string::npos); + EXPECT_TRUE(heatSignatures[heatSignatureCylinderVisual].find( + heatSignatureTestResource) != std::string::npos); + EXPECT_TRUE(heatSignatures[heatSignatureSphereVisual].find( + heatSignatureTestResource) != std::string::npos); + EXPECT_TRUE(heatSignatures[heatSignatureSphereVisual2].find( + heatSignatureTestResource) != std::string::npos); } diff --git a/test/worlds/thermal.sdf b/test/worlds/thermal.sdf index 223b04ba51..16a8436c0d 100644 --- a/test/worlds/thermal.sdf +++ b/test/worlds/thermal.sdf @@ -74,93 +74,100 @@ - - 0 0 0.5 0 0 0 - + + 0 1.5 0.5 0 0 0 + - 1 + 3 0 0 - 1 + 3 0 - 1 + 3 - 1.0 + 3.0 - + - - 1 1 1 - + + 0.5 + - + - - 1 1 1 - + + 0.5 + - 1 0 0 1 - 1 0 0 1 - 1 0 0 1 + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 - 200.0 + 600.0 - - 0 1.5 0.5 0 0 0 - + + 0 -1.5 0.5 0 0 0 + - 3 + 2 0 0 - 3 + 2 0 - 3 + 2 - 3.0 + 2.0 - + - + 0.5 - + 1.0 + - + - + 0.5 - + 1.0 + - 0 0 1 1 - 0 0 1 1 - 0 0 1 1 + 0 1 0 1 + 0 1 0 1 + 0 1 0 1 - 600.0 + 400.0 - - 0 -1.5 0.5 0 0 0 - + + + -2 -1.5 0.5 0 0 0 + 2 @@ -172,7 +179,7 @@ 2.0 - + 0.5 @@ -181,7 +188,7 @@ - + 0.5 @@ -196,10 +203,110 @@ + ../media/duck.png 400.0 + + + + 0 1.5 0.5 0 0 0 + + + + 3 + 0 + 0 + 3 + 0 + 3 + + 3.0 + + + + + 0.5 + + + + + + + + 0.5 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + + + ../media/duck.png + 500.0 + + + + + + + + 0 1.5 0.5 0 0 0 + + + + 3 + 0 + 0 + 3 + 0 + 3 + + 3.0 + + + + + 0.5 + + + + + + + + 0.5 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + + + ../media/duck.png + 400.0 + + + + + + + + 0 0 0 0 0 1.570796 + rescue_randy + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy + + From 9bc088de6289fbeb78e19ead6a29ee38af6c0a1f Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Wed, 3 Feb 2021 02:39:05 +0800 Subject: [PATCH 22/55] Add service and GUI to configure physics parameters (step size and real time factor) (#536) Signed-off-by: Maganty Rushyendra Signed-off-by: Luca Della Vedova Co-authored-by: mrushyendra Co-authored-by: Louise Poubel --- include/ignition/gazebo/Conversions.hh | 39 ++- include/ignition/gazebo/components/Physics.hh | 56 ++++ .../ignition/gazebo/components/PhysicsCmd.hh | 46 +++ src/Conversions.cc | 20 ++ src/Conversions_TEST.cc | 23 ++ src/LevelManager.cc | 9 + src/SdfEntityCreator.cc | 11 + src/SdfEntityCreator_TEST.cc | 10 +- src/SimulationRunner.cc | 55 +++- src/SimulationRunner.hh | 7 + src/SimulationRunner_TEST.cc | 4 + .../component_inspector/ComponentInspector.cc | 43 +++ .../component_inspector/ComponentInspector.hh | 14 + .../ComponentInspector.qml | 7 + .../ComponentInspector.qrc | 1 + .../plugins/component_inspector/Physics.qml | 263 ++++++++++++++++++ src/gui/plugins/plotting/Plotting.cc | 21 ++ src/gui/plugins/plotting/Plotting.hh | 8 + src/systems/user_commands/UserCommands.cc | 82 ++++++ test/integration/user_commands.cc | 64 +++++ 20 files changed, 776 insertions(+), 7 deletions(-) create mode 100644 include/ignition/gazebo/components/Physics.hh create mode 100644 include/ignition/gazebo/components/PhysicsCmd.hh create mode 100644 src/gui/plugins/component_inspector/Physics.qml diff --git a/include/ignition/gazebo/Conversions.hh b/include/ignition/gazebo/Conversions.hh index f02c9b4fff..a8740a291e 100644 --- a/include/ignition/gazebo/Conversions.hh +++ b/include/ignition/gazebo/Conversions.hh @@ -26,6 +26,7 @@ #include #include #include +#include #include #include #include @@ -46,6 +47,7 @@ #include #include #include +#include #include #include @@ -417,6 +419,41 @@ namespace ignition sdf::Atmosphere convert(const msgs::Atmosphere &_in); + /// \brief Generic conversion from an SDF Physics to another type. + /// \param[in] _in SDF Physics. + /// \return Conversion result. + /// \tparam Out Output type. + template + Out convert(const sdf::Physics &/*_in*/) + { + Out::ConversionNotImplemented; + } + + /// \brief Specialized conversion from an SDF physics to a physics + /// message. + /// \param[in] _in SDF physics. + /// \return Physics message. + template<> + msgs::Physics convert(const sdf::Physics &_in); + + /// \brief Generic conversion from a physics message to another type. + /// \param[in] _in Physics message. + /// \return Conversion result. + /// \tparam Out Output type. + template + Out convert(const msgs::Physics &/*_in*/) + { + Out::ConversionNotImplemented; + } + + /// \brief Specialized conversion from a physics message to a physics + /// SDF object. + /// \param[in] _in Physics message. + /// \return SDF physics. + template<> + sdf::Physics convert(const msgs::Physics &_in); + + /// \brief Generic conversion from an SDF Sensor to another type. /// \param[in] _in SDF Sensor. /// \return Conversion result. @@ -429,7 +466,7 @@ namespace ignition /// \brief Specialized conversion from an SDF sensor to a sensor /// message. - /// \param[in] _in SDF geometry. + /// \param[in] _in SDF sensor. /// \return Sensor message. template<> msgs::Sensor convert(const sdf::Sensor &_in); diff --git a/include/ignition/gazebo/components/Physics.hh b/include/ignition/gazebo/components/Physics.hh new file mode 100644 index 0000000000..804059dedc --- /dev/null +++ b/include/ignition/gazebo/components/Physics.hh @@ -0,0 +1,56 @@ +/* + * 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. + * +*/ +#ifndef IGNITION_GAZEBO_COMPONENTS_PHYSICS_HH_ +#define IGNITION_GAZEBO_COMPONENTS_PHYSICS_HH_ + +#include + +#include + +#include +#include + +#include +#include "ignition/gazebo/components/Component.hh" +#include +#include + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { +namespace serializers +{ + using PhysicsSerializer = + serializers::ComponentToMsgSerializer; +} +namespace components +{ + /// \brief A component type that contains the physics properties of + /// the World entity. + using Physics = Component; + IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.Physics", + Physics) +} +} +} +} + +#endif diff --git a/include/ignition/gazebo/components/PhysicsCmd.hh b/include/ignition/gazebo/components/PhysicsCmd.hh new file mode 100644 index 0000000000..f72dc328b0 --- /dev/null +++ b/include/ignition/gazebo/components/PhysicsCmd.hh @@ -0,0 +1,46 @@ +/* + * 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. + * +*/ +#ifndef IGNITION_GAZEBO_COMPONENTS_PHYSICSCMD_HH_ +#define IGNITION_GAZEBO_COMPONENTS_PHYSICSCMD_HH_ + +#include + +#include +#include + +#include +#include "ignition/gazebo/components/Component.hh" + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { +namespace components +{ + /// \brief A component type that contains the physics properties of + /// the World entity. + using PhysicsCmd = Component; + IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.PhysicsCmd", + PhysicsCmd) +} +} +} +} + +#endif diff --git a/src/Conversions.cc b/src/Conversions.cc index edbc024d77..4f4d102191 100644 --- a/src/Conversions.cc +++ b/src/Conversions.cc @@ -721,6 +721,26 @@ void ignition::gazebo::set(msgs::WorldStatistics *_msg, _msg->set_paused(_in.paused); } +////////////////////////////////////////////////// +template<> +msgs::Physics ignition::gazebo::convert(const sdf::Physics &_in) +{ + msgs::Physics out; + out.set_max_step_size(_in.MaxStepSize()); + out.set_real_time_factor(_in.RealTimeFactor()); + return out; +} + +////////////////////////////////////////////////// +template<> +sdf::Physics ignition::gazebo::convert(const msgs::Physics &_in) +{ + sdf::Physics out; + out.SetRealTimeFactor(_in.real_time_factor()); + out.SetMaxStepSize(_in.max_step_size()); + return out; +} + ////////////////////////////////////////////////// void ignition::gazebo::set(msgs::SensorNoise *_msg, const sdf::Noise &_sdf) { diff --git a/src/Conversions_TEST.cc b/src/Conversions_TEST.cc index fe155e00a5..76fad52775 100644 --- a/src/Conversions_TEST.cc +++ b/src/Conversions_TEST.cc @@ -28,6 +28,7 @@ #include #include #include +#include #include #include #include @@ -157,6 +158,28 @@ TEST(Conversions, Entity) EXPECT_EQ(msgs::Entity_Type_NONE, entityType2); } +///////////////////////////////////////////////// +TEST(Conversions, Physics) +{ + // Test conversion from msg to sdf + msgs::Physics msg; + msg.set_real_time_factor(1.23); + msg.set_max_step_size(0.12); + + auto physics = convert(msg); + EXPECT_DOUBLE_EQ(1.23, physics.RealTimeFactor()); + EXPECT_DOUBLE_EQ(0.12, physics.MaxStepSize()); + + // Test conversion from sdf to msg + sdf::Physics physSdf; + physSdf.SetMaxStepSize(0.34); + physSdf.SetRealTimeFactor(2.34); + + auto physMsg = convert(physSdf); + EXPECT_DOUBLE_EQ(2.34, physMsg.real_time_factor()); + EXPECT_DOUBLE_EQ(0.34, physMsg.max_step_size()); +} + ///////////////////////////////////////////////// TEST(Conversions, Pose) { diff --git a/src/LevelManager.cc b/src/LevelManager.cc index 1b54f01848..74e2f71020 100644 --- a/src/LevelManager.cc +++ b/src/LevelManager.cc @@ -46,6 +46,7 @@ #include "ignition/gazebo/components/ParentEntity.hh" #include "ignition/gazebo/components/Performer.hh" #include "ignition/gazebo/components/PerformerLevels.hh" +#include "ignition/gazebo/components/Physics.hh" #include "ignition/gazebo/components/PhysicsEnginePlugin.hh" #include "ignition/gazebo/components/Pose.hh" #include "ignition/gazebo/components/RenderEngineGuiPlugin.hh" @@ -102,6 +103,14 @@ void LevelManager::ReadLevelPerformerInfo() this->runner->entityCompMgr.CreateComponent(this->worldEntity, components::Gravity(this->runner->sdfWorld->Gravity())); + auto physics = this->runner->sdfWorld->PhysicsByIndex(0); + if (!physics) + { + physics = this->runner->sdfWorld->PhysicsDefault(); + } + this->runner->entityCompMgr.CreateComponent(this->worldEntity, + components::Physics(*physics)); + this->runner->entityCompMgr.CreateComponent(this->worldEntity, components::MagneticField(this->runner->sdfWorld->MagneticField())); diff --git a/src/SdfEntityCreator.cc b/src/SdfEntityCreator.cc index 414e871cd8..cc9c2c0794 100644 --- a/src/SdfEntityCreator.cc +++ b/src/SdfEntityCreator.cc @@ -54,6 +54,7 @@ #include "ignition/gazebo/components/Name.hh" #include "ignition/gazebo/components/ParentLinkName.hh" #include "ignition/gazebo/components/ParentEntity.hh" +#include "ignition/gazebo/components/Physics.hh" #include "ignition/gazebo/components/Pose.hh" #include "ignition/gazebo/components/RgbdCamera.hh" #include "ignition/gazebo/components/Scene.hh" @@ -202,6 +203,16 @@ Entity SdfEntityCreator::CreateEntities(const sdf::World *_world) this->dataPtr->ecm->CreateComponent(worldEntity, components::Gravity(_world->Gravity())); + // Physics + // \todo(anyone) Support picking a specific physics profile + auto physics = _world->PhysicsByIndex(0); + if (!physics) + { + physics = _world->PhysicsDefault(); + } + this->dataPtr->ecm->CreateComponent(worldEntity, + components::Physics(*physics)); + // MagneticField this->dataPtr->ecm->CreateComponent(worldEntity, components::MagneticField(_world->MagneticField())); diff --git a/src/SdfEntityCreator_TEST.cc b/src/SdfEntityCreator_TEST.cc index b46eb95322..71c392c5e0 100644 --- a/src/SdfEntityCreator_TEST.cc +++ b/src/SdfEntityCreator_TEST.cc @@ -42,6 +42,7 @@ #include "ignition/gazebo/components/Name.hh" #include "ignition/gazebo/components/ParentEntity.hh" #include "ignition/gazebo/components/ParentLinkName.hh" +#include "ignition/gazebo/components/Physics.hh" #include "ignition/gazebo/components/Pose.hh" #include "ignition/gazebo/components/Transparency.hh" #include "ignition/gazebo/components/Visibility.hh" @@ -111,15 +112,20 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) unsigned int worldCount{0}; Entity worldEntity = kNullEntity; this->ecm.Each( + components::Name, + components::Physics>( [&](const Entity &_entity, const components::World *_world, - const components::Name *_name)->bool + const components::Name *_name, + const components::Physics *_physics)->bool { EXPECT_NE(nullptr, _world); EXPECT_NE(nullptr, _name); + EXPECT_NE(nullptr, _physics); EXPECT_EQ("default", _name->Data()); + EXPECT_DOUBLE_EQ(0.001, _physics->Data().MaxStepSize()); + EXPECT_DOUBLE_EQ(1.0, _physics->Data().RealTimeFactor()); worldCount++; diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index bdd21a1cb8..e3d0bc8a4b 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -27,6 +27,8 @@ #include "ignition/gazebo/components/Sensor.hh" #include "ignition/gazebo/components/Visual.hh" #include "ignition/gazebo/components/World.hh" +#include "ignition/gazebo/components/Physics.hh" +#include "ignition/gazebo/components/PhysicsCmd.hh" #include "ignition/gazebo/Events.hh" #include "ignition/gazebo/SdfEntityCreator.hh" #include "ignition/gazebo/Util.hh" @@ -60,8 +62,8 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, // Keep system loader so plugins can be loaded at runtime this->systemLoader = _systemLoader; - // Get the first physics profile - // \todo(louise) Support picking a specific profile + // Get the physics profile + // TODO(luca): remove duplicated logic in SdfEntityCreator and LevelManager auto physics = _world->PhysicsByIndex(0); if (!physics) { @@ -76,7 +78,7 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, dur); // Desired real time factor - double desiredRtf = _world->PhysicsDefault()->RealTimeFactor(); + this->desiredRtf = physics->RealTimeFactor(); // The instantaneous real time factor is given as: // @@ -102,7 +104,7 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, // // period = step_size / RTF this->updatePeriod = std::chrono::nanoseconds( - static_cast(this->stepSize.count() / desiredRtf)); + static_cast(this->stepSize.count() / this->desiredRtf)); this->pauseConn = this->eventMgr.Connect( std::bind(&SimulationRunner::SetPaused, this, std::placeholders::_1)); @@ -330,6 +332,47 @@ void SimulationRunner::UpdateCurrentInfo() } } +///////////////////////////////////////////////// +void SimulationRunner::UpdatePhysicsParams() +{ + auto worldEntity = + this->entityCompMgr.EntityByComponents(components::World()); + const auto physicsCmdComp = + this->entityCompMgr.Component(worldEntity); + if (!physicsCmdComp) + { + return; + } + auto physicsComp = + this->entityCompMgr.Component(worldEntity); + + const auto& physicsParams = physicsCmdComp->Data(); + const auto newStepSize = + std::chrono::duration(physicsParams.max_step_size()); + const double newRTF = physicsParams.real_time_factor(); + + const double eps = 0.00001; + if (newStepSize != this->stepSize || + std::abs(newRTF - this->desiredRtf) > eps) + { + this->SetStepSize( + std::chrono::duration_cast( + newStepSize)); + this->desiredRtf = newRTF; + this->updatePeriod = std::chrono::nanoseconds( + static_cast(this->stepSize.count() / this->desiredRtf)); + + this->simTimes.clear(); + this->realTimes.clear(); + // Update physics components + physicsComp->Data().SetMaxStepSize(physicsParams.max_step_size()); + physicsComp->Data().SetRealTimeFactor(newRTF); + this->entityCompMgr.SetChanged(worldEntity, components::Physics::typeId, + ComponentState::OneTimeChange); + } + this->entityCompMgr.RemoveComponent(worldEntity); +} + ///////////////////////////////////////////////// void SimulationRunner::PublishStats() { @@ -647,6 +690,10 @@ bool SimulationRunner::Run(const uint64_t _iterations) processedIterations < _iterations)) { IGN_PROFILE("SimulationRunner::Run - Iteration"); + + // Update the step size and desired rtf + this->UpdatePhysicsParams(); + // Compute the time to sleep in order to match, as closely as possible, // the update period. sleepTime = 0ns; diff --git a/src/SimulationRunner.hh b/src/SimulationRunner.hh index faf8e3518b..e9d0316f63 100644 --- a/src/SimulationRunner.hh +++ b/src/SimulationRunner.hh @@ -372,6 +372,10 @@ namespace ignition /// \brief Set the next step to be blocking and paused. public: void SetNextStepAsBlockingPaused(const bool value); + /// \brief Updates the physics parameters of the simulation based on the + /// Physics component of the world, if any. + public: void UpdatePhysicsParams(); + /// \brief This is used to indicate that a stop event has been received. private: std::atomic stopReceived{false}; @@ -462,6 +466,9 @@ namespace ignition /// \brief Step size private: ignition::math::clock::duration stepSize{10ms}; + /// \brief Desired real time factor + private: double desiredRtf{1.0}; + /// \brief Connection to the pause event. private: ignition::common::ConnectionPtr pauseConn; diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc index 64b75f6c1f..21f84aafc2 100644 --- a/src/SimulationRunner_TEST.cc +++ b/src/SimulationRunner_TEST.cc @@ -176,6 +176,10 @@ TEST_P(SimulationRunnerTest, CreateEntities) EXPECT_EQ(1u, worldCount); EXPECT_NE(kNullEntity, worldEntity); + // Test step size, real time factor is not testable since it has no public API + auto stepSize = std::chrono::duration(runner.StepSize()).count(); + EXPECT_DOUBLE_EQ(0.001, stepSize); + // Check models unsigned int modelCount{0}; Entity boxModelEntity = kNullEntity; diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc index de0cf8afee..1c2de965b9 100644 --- a/src/gui/plugins/component_inspector/ComponentInspector.cc +++ b/src/gui/plugins/component_inspector/ComponentInspector.cc @@ -46,6 +46,7 @@ #include "ignition/gazebo/components/ParentLinkName.hh" #include "ignition/gazebo/components/Performer.hh" #include "ignition/gazebo/components/PerformerAffinity.hh" +#include "ignition/gazebo/components/Physics.hh" #include "ignition/gazebo/components/Pose.hh" #include "ignition/gazebo/components/PoseCmd.hh" #include "ignition/gazebo/components/SelfCollide.hh" @@ -174,6 +175,18 @@ void ignition::gazebo::setData(QStandardItem *_item, const double &_data) _item->setData(_data, ComponentsModel::RoleNames().key("data")); } +////////////////////////////////////////////////// +template<> +void ignition::gazebo::setData(QStandardItem *_item, const sdf::Physics &_data) +{ + _item->setData(QString("Physics"), + ComponentsModel::RoleNames().key("dataType")); + _item->setData(QList({ + QVariant(_data.MaxStepSize()), + QVariant(_data.RealTimeFactor()) + }), ComponentsModel::RoleNames().key("data")); +} + ////////////////////////////////////////////////// void ignition::gazebo::setUnit(QStandardItem *_item, const std::string &_unit) { @@ -521,6 +534,12 @@ void ComponentInspector::Update(const UpdateInfo &, if (comp) setData(item, comp->Data()); } + else if (typeId == components::Physics::typeId) + { + auto comp = _ecm.Component(this->dataPtr->entity); + if (comp) + setData(item, comp->Data()); + } else if (typeId == components::Pose::typeId) { auto comp = _ecm.Component(this->dataPtr->entity); @@ -728,6 +747,30 @@ void ComponentInspector::OnPose(double _x, double _y, double _z, double _roll, this->dataPtr->node.Request(poseCmdService, req, cb); } +///////////////////////////////////////////////// +void ComponentInspector::OnPhysics(double _stepSize, double _realTimeFactor) +{ + std::function cb = + [](const ignition::msgs::Boolean &/*_rep*/, const bool _result) + { + if (!_result) + ignerr << "Error setting physics parameters" << std::endl; + }; + + ignition::msgs::Physics req; + req.set_max_step_size(_stepSize); + req.set_real_time_factor(_realTimeFactor); + auto physicsCmdService = "/world/" + this->dataPtr->worldName + + "/set_physics"; + physicsCmdService = transport::TopicUtils::AsValidTopic(physicsCmdService); + if (physicsCmdService.empty()) + { + ignerr << "Invalid physics command service topic provided" << std::endl; + return; + } + this->dataPtr->node.Request(physicsCmdService, req, cb); +} + ///////////////////////////////////////////////// bool ComponentInspector::NestedModel() const { diff --git a/src/gui/plugins/component_inspector/ComponentInspector.hh b/src/gui/plugins/component_inspector/ComponentInspector.hh index 470c7b508f..8df6eb585b 100644 --- a/src/gui/plugins/component_inspector/ComponentInspector.hh +++ b/src/gui/plugins/component_inspector/ComponentInspector.hh @@ -28,6 +28,8 @@ #include #include +#include "ignition/gazebo/components/Physics.hh" + Q_DECLARE_METATYPE(ignition::gazebo::ComponentTypeId) namespace ignition @@ -75,6 +77,12 @@ namespace gazebo template<> void setData(QStandardItem *_item, const math::Vector3d &_data); + /// \brief Specialized to set Physics data. + /// \param[in] _item Item whose data will be set. + /// \param[in] _data Data to set. + template<> + void setData(QStandardItem *_item, const sdf::Physics &_data); + /// \brief Specialized to set boolean data. /// \param[in] _item Item whose data will be set. /// \param[in] _data Data to set. @@ -207,6 +215,12 @@ namespace gazebo public: Q_INVOKABLE void OnPose(double _x, double _y, double _z, double _roll, double _pitch, double _yaw); + /// \brief Callback in Qt thread when physics' properties change. + /// \param[in] _stepSize step size + /// \param[in] _realTimeFactor real time factor + public: Q_INVOKABLE void OnPhysics(double _stepSize, + double _realTimeFactor); + /// \brief Get whether the entity is a nested model or not /// \return True if the entity is a nested model, false otherwise public: Q_INVOKABLE bool NestedModel() const; diff --git a/src/gui/plugins/component_inspector/ComponentInspector.qml b/src/gui/plugins/component_inspector/ComponentInspector.qml index aa058cae4f..e48bc4b393 100644 --- a/src/gui/plugins/component_inspector/ComponentInspector.qml +++ b/src/gui/plugins/component_inspector/ComponentInspector.qml @@ -85,6 +85,13 @@ Rectangle { ComponentInspector.OnPose(_x, _y, _z, _roll, _pitch, _yaw) } + /** + * Forward physics changes to C++ + */ + function onPhysics(_stepSize, _realTimeFactor) { + ComponentInspector.OnPhysics(_stepSize, _realTimeFactor) + } + Rectangle { id: header height: lockButton.height diff --git a/src/gui/plugins/component_inspector/ComponentInspector.qrc b/src/gui/plugins/component_inspector/ComponentInspector.qrc index 43efec19d1..f50f8e7616 100644 --- a/src/gui/plugins/component_inspector/ComponentInspector.qrc +++ b/src/gui/plugins/component_inspector/ComponentInspector.qrc @@ -3,6 +3,7 @@ Boolean.qml ComponentInspector.qml NoData.qml + Physics.qml Pose3d.qml String.qml TypeHeader.qml diff --git a/src/gui/plugins/component_inspector/Physics.qml b/src/gui/plugins/component_inspector/Physics.qml new file mode 100644 index 0000000000..71f0a34fda --- /dev/null +++ b/src/gui/plugins/component_inspector/Physics.qml @@ -0,0 +1,263 @@ +/* + * 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. + * +*/ +import QtQuick 2.9 +import QtQuick.Controls 1.4 +import QtQuick.Controls 2.2 +import QtQuick.Controls.Material 2.1 +import QtQuick.Dialogs 1.0 +import QtQuick.Layouts 1.3 +import QtQuick.Controls.Styles 1.4 +import "qrc:/ComponentInspector" +import "qrc:/qml" + +// Item displaying physics information. +Rectangle { + height: header.height + content.height + width: componentInspector.width + color: index % 2 == 0 ? lightGrey : darkGrey + + // Left indentation + property int indentation: 10 + + // Minimum parameter value, step size and RTF must be strictly positive + property double minPhysParam: 0.000001 + + // Maximum parameter value + property double maxPhysParam: 100000 + + // Horizontal margins + property int margin: 5 + + property int iconWidth: 20 + property int iconHeight: 20 + + // Loaded item for physics step size + property var stepSizeItem: {} + + // Loaded item for real time factor + property var realTimeFactorItem: {} + + // Send new physics data to C++ + function sendPhysics() { + // TODO(anyone) There's a loss of precision when these values get to C++ + componentInspector.onPhysics( + stepSizeItem.value, + realTimeFactorItem.value + ); + } + + FontMetrics { + id: fontMetrics + font.family: "Roboto" + } + + /** + * Used to create a spin box + */ + + Component { + id: writablePositiveNumber + IgnSpinBox { + id: writableSpin + value: writableSpin.activeFocus ? writableSpin.value : numberValue + minimumValue: minPhysParam + maximumValue: maxPhysParam + decimals: 6 + stepSize: 0.001 + onEditingFinished: { + sendPhysics() + } + } + } + + Component { + id: plotIcon + Image { + property string componentInfo: "" + source: "plottable_icon.svg" + anchors.top: parent.top + anchors.left: parent.left + + Drag.mimeData: { "text/plain" : (model === null) ? "" : + "Component," + model.entity + "," + model.typeId + "," + + model.dataType + "," + componentInfo + "," + model.shortName + } + Drag.dragType: Drag.Automatic + Drag.supportedActions : Qt.CopyAction + Drag.active: dragMouse.drag.active + // a point to drag from + Drag.hotSpot.x: 0 + Drag.hotSpot.y: y + MouseArea { + id: dragMouse + anchors.fill: parent + drag.target: (model === null) ? null : parent + onPressed: parent.grabToImage(function(result) {parent.Drag.imageSource = result.url }) + onReleased: parent.Drag.drop(); + cursorShape: Qt.DragCopyCursor + } + } + } + + Column { + anchors.fill: parent + + // Header + Rectangle { + id: header + width: parent.width + height: typeHeader.height + color: "transparent" + + RowLayout { + anchors.fill: parent + Item { + width: margin + } + Image { + id: icon + sourceSize.height: indentation + sourceSize.width: indentation + fillMode: Image.Pad + Layout.alignment : Qt.AlignVCenter + source: content.show ? + "qrc:/Gazebo/images/minus.png" : "qrc:/Gazebo/images/plus.png" + } + TypeHeader { + id: typeHeader + } + Item { + Layout.fillWidth: true + } + } + MouseArea { + anchors.fill: parent + hoverEnabled: true + cursorShape: Qt.PointingHandCursor + onClicked: { + content.show = !content.show + } + onEntered: { + header.color = highlightColor + } + onExited: { + header.color = "transparent" + } + } + } + + // Content + Rectangle { + id: content + property bool show: false + width: parent.width + height: show ? grid.height : 0 + clip: true + color: "transparent" + + Behavior on height { + NumberAnimation { + duration: 200; + easing.type: Easing.InOutQuad + } + } + + GridLayout { + id: grid + width: parent.width + columns: 3 + + // Left spacer + Item { + Layout.rowSpan: 3 + width: margin + indentation + } + + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: stepSizeText.width + indentation*3 + Loader { + id: loaderStepSize + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderStepSize.item.componentInfo = "stepSize" + + Text { + id : stepSizeText + text: ' Step Size (s)' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + Layout.fillWidth: true + height: 40 + Loader { + id: stepSizeLoader + anchors.fill: parent + property double numberValue: model.data[0] + sourceComponent: writablePositiveNumber + onLoaded: { + stepSizeItem = stepSizeLoader.item + } + } + } + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: realTimeFactorText.width + indentation*3 + Loader { + id: loaderRealTimeFactor + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderRealTimeFactor.item.componentInfo = "realTimeFactor" + + Text { + id : realTimeFactorText + text: ' Real time factor' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + Layout.fillWidth: true + height: 40 + Loader { + id: realTimeFactorLoader + anchors.fill: parent + property double numberValue: model.data[1] + sourceComponent: writablePositiveNumber + onLoaded: { + realTimeFactorItem = realTimeFactorLoader.item + } + } + } + } + } + } +} diff --git a/src/gui/plugins/plotting/Plotting.cc b/src/gui/plugins/plotting/Plotting.cc index ef20533382..876e3e613a 100644 --- a/src/gui/plugins/plotting/Plotting.cc +++ b/src/gui/plugins/plotting/Plotting.cc @@ -28,6 +28,7 @@ #include "ignition/gazebo/components/LinearVelocitySeed.hh" #include "ignition/gazebo/components/MagneticField.hh" #include "ignition/gazebo/components/ParentEntity.hh" +#include "ignition/gazebo/components/Physics.hh" #include "ignition/gazebo/components/Pose.hh" #include "ignition/gazebo/components/PoseCmd.hh" #include "ignition/gazebo/components/Static.hh" @@ -96,6 +97,11 @@ PlotComponent::PlotComponent(const std::string &_type, } else if (_type == "double") this->dataPtr->data["value"] = std::make_shared(); + else if (_type == "Physics") + { + this->dataPtr->data["stepSize"] = std::make_shared(); + this->dataPtr->data["realTimeFactor"] = std::make_shared(); + } else ignwarn << "Invalid Plot Component Type:" << _type << std::endl; } @@ -215,6 +221,15 @@ void Plotting::SetData(std::string _Id, const ignition::math::Pose3d &_pose) this->dataPtr->components[_Id]->SetAttributeValue("yaw", _pose.Rot().Yaw()); } +////////////////////////////////////////////////// +void Plotting::SetData(std::string _Id, const sdf::Physics &_physics) +{ + this->dataPtr->components[_Id]->SetAttributeValue("stepSize", + _physics.MaxStepSize()); + this->dataPtr->components[_Id]->SetAttributeValue("realTimeFactor", + _physics.RealTimeFactor()); +} + ////////////////////////////////////////////////// void Plotting::SetData(std::string _Id, const double &_value) { @@ -325,6 +340,12 @@ void Plotting ::Update(const ignition::gazebo::UpdateInfo &_info, if (comp) this->SetData(component.first, comp->Data()); } + else if (typeId == components::Physics::typeId) + { + auto comp = _ecm.Component(entity); + if (comp) + this->SetData(component.first, comp->Data()); + } else if (typeId == components::Pose::typeId) { auto comp = _ecm.Component(entity); diff --git a/src/gui/plugins/plotting/Plotting.hh b/src/gui/plugins/plotting/Plotting.hh index bf9c54c69b..24601bdc6b 100644 --- a/src/gui/plugins/plotting/Plotting.hh +++ b/src/gui/plugins/plotting/Plotting.hh @@ -24,6 +24,8 @@ #include #include +#include "sdf/Physics.hh" + #include #include #include @@ -119,6 +121,12 @@ class Plotting : public ignition::gazebo::GuiSystem public: void SetData(std::string _Id, const ignition::math::Pose3d &_pose); + /// \brief Set the Component data of giving id to the giving + /// physics properties + /// \param [in] _Id Component Key of the components map + /// \param [in] _value physics Data to be set to the component + public: void SetData(std::string _Id, const sdf::Physics &_physics); + /// \brief Set the Component data of giving id to the giving number /// \param [in] _Id Component Key of the components map /// \param [in] _value double Data to be set to the component diff --git a/src/systems/user_commands/UserCommands.cc b/src/systems/user_commands/UserCommands.cc index d334c246a2..8ff22c10c8 100644 --- a/src/systems/user_commands/UserCommands.cc +++ b/src/systems/user_commands/UserCommands.cc @@ -21,6 +21,7 @@ #include #include #include +#include #include #include @@ -28,6 +29,7 @@ #include +#include #include #include @@ -42,7 +44,9 @@ #include "ignition/gazebo/components/ParentEntity.hh" #include "ignition/gazebo/components/Pose.hh" #include "ignition/gazebo/components/PoseCmd.hh" +#include "ignition/gazebo/components/PhysicsCmd.hh" #include "ignition/gazebo/components/World.hh" +#include "ignition/gazebo/Conversions.hh" #include "ignition/gazebo/EntityComponentManager.hh" #include "ignition/gazebo/SdfEntityCreator.hh" @@ -146,6 +150,19 @@ class PoseCommand : public UserCommandBase math::equal(_a.Rot().W(), _b.Rot().W(), 1e-6); }}; }; + +/// \brief Command to modify the physics parameters of a simulation. +class PhysicsCommand : public UserCommandBase +{ + /// \brief Constructor + /// \param[in] _msg Message containing the new physics parameters. + /// \param[in] _iface Pointer to user commands interface. + public: PhysicsCommand(msgs::Physics *_msg, + std::shared_ptr &_iface); + + // Documentation inherited + public: bool Execute() final; +}; } } } @@ -185,6 +202,13 @@ class ignition::gazebo::systems::UserCommandsPrivate /// \return True if successful. public: bool PoseService(const msgs::Pose &_req, msgs::Boolean &_res); + /// \brief Callback for physics service + /// \param[in] _req Request containing updates to the physics parameters. + /// \param[in] _res True if message successfully received and queued. + /// It does not mean that the physics parameters will be successfully updated. + /// \return True if successful. + public: bool PhysicsService(const msgs::Physics &_req, msgs::Boolean &_res); + /// \brief Queue of commands pending execution. public: std::vector> pendingCmds; @@ -258,6 +282,13 @@ void UserCommands::Configure(const Entity &_entity, &UserCommandsPrivate::PoseService, this->dataPtr.get()); ignmsg << "Pose service on [" << poseService << "]" << std::endl; + + // Physics service + std::string physicsService{"/world/" + validWorldName + "/set_physics"}; + this->dataPtr->node.Advertise(physicsService, + &UserCommandsPrivate::PhysicsService, this->dataPtr.get()); + + ignmsg << "Physics service on [" << physicsService << "]" << std::endl; } ////////////////////////////////////////////////// @@ -369,6 +400,24 @@ bool UserCommandsPrivate::PoseService(const msgs::Pose &_req, return true; } +////////////////////////////////////////////////// +bool UserCommandsPrivate::PhysicsService(const msgs::Physics &_req, + msgs::Boolean &_res) +{ + // Create command and push it to queue + auto msg = _req.New(); + msg->CopyFrom(_req); + auto cmd = std::make_unique(msg, this->iface); + // Push to pending + { + std::lock_guard lock(this->pendingMutex); + this->pendingCmds.push_back(std::move(cmd)); + } + + _res.set_data(true); + return true; +} + ////////////////////////////////////////////////// UserCommandBase::UserCommandBase(google::protobuf::Message *_msg, std::shared_ptr &_iface) @@ -715,6 +764,39 @@ bool PoseCommand::Execute() return true; } +////////////////////////////////////////////////// +PhysicsCommand::PhysicsCommand(msgs::Physics *_msg, + std::shared_ptr &_iface) + : UserCommandBase(_msg, _iface) +{ +} + +////////////////////////////////////////////////// +bool PhysicsCommand::Execute() +{ + auto physicsMsg = dynamic_cast(this->msg); + if (nullptr == physicsMsg) + { + ignerr << "Internal error, null physics message" << std::endl; + return false; + } + + auto worldEntity = this->iface->ecm->EntityByComponents(components::World()); + if (worldEntity == kNullEntity) + { + ignmsg << "Failed to find world entity" << std::endl; + return false; + } + + if (!this->iface->ecm->EntityHasComponentType(worldEntity, + components::PhysicsCmd().TypeId())) + { + this->iface->ecm->CreateComponent(worldEntity, + components::PhysicsCmd(*physicsMsg)); + } + + return true; +} IGNITION_ADD_PLUGIN(UserCommands, System, UserCommands::ISystemConfigure, diff --git a/test/integration/user_commands.cc b/test/integration/user_commands.cc index b87473e9b1..347135fc59 100644 --- a/test/integration/user_commands.cc +++ b/test/integration/user_commands.cc @@ -27,7 +27,9 @@ #include "ignition/gazebo/components/Link.hh" #include "ignition/gazebo/components/Model.hh" #include "ignition/gazebo/components/Name.hh" +#include "ignition/gazebo/components/Physics.hh" #include "ignition/gazebo/components/Pose.hh" +#include "ignition/gazebo/components/World.hh" #include "ignition/gazebo/Server.hh" #include "ignition/gazebo/SystemLoader.hh" #include "ignition/gazebo/test_config.hh" @@ -690,3 +692,65 @@ TEST_F(UserCommandsTest, Pose) ASSERT_NE(nullptr, poseComp); EXPECT_NEAR(500.0, poseComp->Data().Pos().Y(), 0.2); } + +///////////////////////////////////////////////// +TEST_F(UserCommandsTest, Physics) +{ + // Start server + ServerConfig serverConfig; + const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + + "/test/worlds/shapes.sdf"; + serverConfig.SetSdfFile(sdfFile); + + Server server(serverConfig); + EXPECT_FALSE(server.Running()); + EXPECT_FALSE(*server.Running(0)); + + // Create a system just to get the ECM + EntityComponentManager *ecm{nullptr}; + test::Relay testSystem; + testSystem.OnPreUpdate([&](const gazebo::UpdateInfo &, + gazebo::EntityComponentManager &_ecm) + { + ecm = &_ecm; + }); + + server.AddSystem(testSystem.systemPtr); + + // Run server and check we have the ECM + EXPECT_EQ(nullptr, ecm); + server.Run(true, 1, false); + EXPECT_NE(nullptr, ecm); + + // Check that the physics properties are the ones specified in the sdf + auto worldEntity = ecm->EntityByComponents(components::World()); + EXPECT_NE(kNullEntity, worldEntity); + auto physicsComp = ecm->Component(worldEntity); + ASSERT_NE(nullptr, physicsComp); + EXPECT_DOUBLE_EQ(0.001, physicsComp->Data().MaxStepSize()); + EXPECT_DOUBLE_EQ(1.0, physicsComp->Data().RealTimeFactor()); + + // Set physics properties + msgs::Physics req; + req.set_max_step_size(0.123); + req.set_real_time_factor(4.567); + + msgs::Boolean res; + bool result; + unsigned int timeout = 5000; + std::string service{"/world/default/set_physics"}; + + transport::Node node; + EXPECT_TRUE(node.Request(service, req, timeout, res, result)); + EXPECT_TRUE(result); + EXPECT_TRUE(res.data()); + + // Run two iterations, in the first one the PhysicsCmd component is created + // in the second one it is processed + server.Run(true, 2, false); + + // Check updated physics properties + physicsComp = ecm->Component(worldEntity); + EXPECT_DOUBLE_EQ(0.123, physicsComp->Data().MaxStepSize()); + EXPECT_DOUBLE_EQ(4.567, physicsComp->Data().RealTimeFactor()); +} From 701b6eea76031a514e0a37d78c7c6411530b75ea Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Tue, 2 Feb 2021 19:45:59 +0100 Subject: [PATCH 23/55] =?UTF-8?q?=F0=9F=91=A9=E2=80=8D=F0=9F=8C=BE=20Refac?= =?UTF-8?q?tor=20UNIT=5FServer=5FTEST:=20move=20tests=20to=20integration?= =?UTF-8?q?=20(#594)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Move several server interactions and fuel cached to their own tests in integration. Signed-off-by: Jose Luis Rivero --- src/Server_TEST.cc | 113 +------------------------ test/helpers/EnvTestFixture.hh | 36 ++++++++ test/integration/CMakeLists.txt | 2 + test/integration/fuel_cached_server.cc | 57 +++++++++++++ test/integration/multiple_servers.cc | 104 +++++++++++++++++++++++ 5 files changed, 200 insertions(+), 112 deletions(-) create mode 100644 test/helpers/EnvTestFixture.hh create mode 100644 test/integration/fuel_cached_server.cc create mode 100644 test/integration/multiple_servers.cc diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc index d625f936f5..672c64ca11 100644 --- a/src/Server_TEST.cc +++ b/src/Server_TEST.cc @@ -18,7 +18,6 @@ #include #include #include -#include #include #include #include @@ -39,23 +38,12 @@ #include "plugins/MockSystem.hh" #include "../test/helpers/Relay.hh" +#include "../test/helpers/EnvTestFixture.hh" using namespace ignition; using namespace ignition::gazebo; using namespace std::chrono_literals; -class ServerFixture : public ::testing::TestWithParam -{ - protected: void SetUp() override - { - // Augment the system plugin path. In SetUp to avoid test order issues. - setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", - (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1); - - ignition::common::Console::SetVerbosity(4); - } -}; - ///////////////////////////////////////////////// TEST_P(ServerFixture, DefaultServerConfig) { @@ -624,79 +612,6 @@ TEST_P(ServerFixture, SigInt) EXPECT_FALSE(*server.Running(0)); } -///////////////////////////////////////////////// -TEST_P(ServerFixture, TwoServersNonBlocking) -{ - ignition::gazebo::ServerConfig serverConfig; - serverConfig.SetSdfString(TestWorldSansPhysics::World()); - - gazebo::Server server1(serverConfig); - gazebo::Server server2(serverConfig); - EXPECT_FALSE(server1.Running()); - EXPECT_FALSE(*server1.Running(0)); - EXPECT_FALSE(server2.Running()); - EXPECT_FALSE(*server2.Running(0)); - EXPECT_EQ(0u, *server1.IterationCount()); - EXPECT_EQ(0u, *server2.IterationCount()); - - // Make the servers run fast. - server1.SetUpdatePeriod(1ns); - server2.SetUpdatePeriod(1ns); - - // Start non-blocking - const size_t iters1 = 9999; - EXPECT_TRUE(server1.Run(false, iters1, false)); - - // Expect that we can't start another instance. - EXPECT_FALSE(server1.Run(true, 10, false)); - - // It's okay to start another server - EXPECT_TRUE(server2.Run(false, 500, false)); - - while (*server1.IterationCount() < iters1 || *server2.IterationCount() < 500) - IGN_SLEEP_MS(100); - - EXPECT_EQ(iters1, *server1.IterationCount()); - EXPECT_EQ(500u, *server2.IterationCount()); - EXPECT_FALSE(server1.Running()); - EXPECT_FALSE(*server1.Running(0)); - EXPECT_FALSE(server2.Running()); - EXPECT_FALSE(*server2.Running(0)); -} - -///////////////////////////////////////////////// -TEST_P(ServerFixture, TwoServersMixedBlocking) -{ - ignition::gazebo::ServerConfig serverConfig; - serverConfig.SetSdfString(TestWorldSansPhysics::World()); - - gazebo::Server server1(serverConfig); - gazebo::Server server2(serverConfig); - EXPECT_FALSE(server1.Running()); - EXPECT_FALSE(*server1.Running(0)); - EXPECT_FALSE(server2.Running()); - EXPECT_FALSE(*server2.Running(0)); - EXPECT_EQ(0u, *server1.IterationCount()); - EXPECT_EQ(0u, *server2.IterationCount()); - - // Make the servers run fast. - server1.SetUpdatePeriod(1ns); - server2.SetUpdatePeriod(1ns); - - server1.Run(false, 10, false); - server2.Run(true, 1000, false); - - while (*server1.IterationCount() < 10) - IGN_SLEEP_MS(100); - - EXPECT_EQ(10u, *server1.IterationCount()); - EXPECT_EQ(1000u, *server2.IterationCount()); - EXPECT_FALSE(server1.Running()); - EXPECT_FALSE(*server1.Running(0)); - EXPECT_FALSE(server2.Running()); - EXPECT_FALSE(*server2.Running(0)); -} - ///////////////////////////////////////////////// TEST_P(ServerFixture, AddSystemWhileRunning) { @@ -902,32 +817,6 @@ TEST_P(ServerFixture, GetResourcePaths) EXPECT_EQ("/home/user/another_path", res.data(1)); } -///////////////////////////////////////////////// -TEST_P(ServerFixture, CachedFuelWorld) -{ - auto cachedWorldPath = - common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds"); - setenv("IGN_FUEL_CACHE_PATH", cachedWorldPath.c_str(), 1); - - ServerConfig serverConfig; - auto fuelWorldURL = - "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/worlds/Test%20world"; - EXPECT_TRUE(serverConfig.SetSdfFile(fuelWorldURL)); - - EXPECT_EQ(fuelWorldURL, serverConfig.SdfFile()); - EXPECT_TRUE(serverConfig.SdfString().empty()); - - // Check that world was loaded - auto server = Server(serverConfig); - EXPECT_NE(std::nullopt, server.Running(0)); - EXPECT_FALSE(*server.Running(0)); - - server.Run(true /*blocking*/, 1, false/*paused*/); - - EXPECT_NE(std::nullopt, server.Running(0)); - EXPECT_FALSE(*server.Running(0)); -} - ///////////////////////////////////////////////// TEST_P(ServerFixture, AddResourcePaths) { diff --git a/test/helpers/EnvTestFixture.hh b/test/helpers/EnvTestFixture.hh new file mode 100644 index 0000000000..e74f1a6ca1 --- /dev/null +++ b/test/helpers/EnvTestFixture.hh @@ -0,0 +1,36 @@ +/* + * Copyright (C) 2020 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. + * +*/ +#ifndef IGNITION_GAZEBO_TEST_HELPERS_ENVTESTFIXTURE_HH_ +#define IGNITION_GAZEBO_TEST_HELPERS_ENVTESTFIXTURE_HH_ + +#include + +#include +#include "ignition/gazebo/test_config.hh" + +class ServerFixture : public ::testing::TestWithParam +{ + protected: void SetUp() override + { + // Augment the system plugin path. In SetUp to avoid test order issues. + setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", + (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1); + + ignition::common::Console::SetVerbosity(4); + } +}; +#endif diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index 1f228c1f88..a2e4eb484f 100644 --- a/test/integration/CMakeLists.txt +++ b/test/integration/CMakeLists.txt @@ -17,6 +17,7 @@ set(tests events.cc examples_build.cc follow_actor_system.cc + fuel_cached_server.cc imu_system.cc joint_controller_system.cc joint_position_controller_system.cc @@ -31,6 +32,7 @@ set(tests magnetometer_system.cc model.cc multicopter.cc + multiple_servers.cc network_handshake.cc performer_detector.cc physics_system.cc diff --git a/test/integration/fuel_cached_server.cc b/test/integration/fuel_cached_server.cc new file mode 100644 index 0000000000..7003459ff7 --- /dev/null +++ b/test/integration/fuel_cached_server.cc @@ -0,0 +1,57 @@ +/* + * Copyright (C) 2018 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 + +#include "ignition/gazebo/Server.hh" +#include "ignition/gazebo/ServerConfig.hh" + +#include "../test/helpers/EnvTestFixture.hh" + +using namespace ignition; +using namespace ignition::gazebo; +using namespace std::chrono_literals; + +///////////////////////////////////////////////// +TEST_P(ServerFixture, CachedFuelWorld) +{ + auto cachedWorldPath = + common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds"); + setenv("IGN_FUEL_CACHE_PATH", cachedWorldPath.c_str(), 1); + + ServerConfig serverConfig; + auto fuelWorldURL = + "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/worlds/Test%20world"; + EXPECT_TRUE(serverConfig.SetSdfFile(fuelWorldURL)); + + EXPECT_EQ(fuelWorldURL, serverConfig.SdfFile()); + EXPECT_TRUE(serverConfig.SdfString().empty()); + + // Check that world was loaded + auto server = Server(serverConfig); + EXPECT_NE(std::nullopt, server.Running(0)); + EXPECT_FALSE(*server.Running(0)); + + server.Run(true /*blocking*/, 1, false/*paused*/); + + EXPECT_NE(std::nullopt, server.Running(0)); + EXPECT_FALSE(*server.Running(0)); +} + +// Run multiple times. We want to make sure that static globals don't cause +// problems. +INSTANTIATE_TEST_SUITE_P(ServerRepeat, ServerFixture, ::testing::Range(1, 2)); diff --git a/test/integration/multiple_servers.cc b/test/integration/multiple_servers.cc new file mode 100644 index 0000000000..71f89ab663 --- /dev/null +++ b/test/integration/multiple_servers.cc @@ -0,0 +1,104 @@ +/* + * Copyright (C) 2018 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 + +#include "ignition/gazebo/Server.hh" +#include "ignition/gazebo/ServerConfig.hh" + +#include "../test/helpers/EnvTestFixture.hh" + +using namespace ignition; +using namespace ignition::gazebo; +using namespace std::chrono_literals; + +///////////////////////////////////////////////// +TEST_P(ServerFixture, TwoServersNonBlocking) +{ + ignition::gazebo::ServerConfig serverConfig; + serverConfig.SetSdfString(TestWorldSansPhysics::World()); + + gazebo::Server server1(serverConfig); + gazebo::Server server2(serverConfig); + EXPECT_FALSE(server1.Running()); + EXPECT_FALSE(*server1.Running(0)); + EXPECT_FALSE(server2.Running()); + EXPECT_FALSE(*server2.Running(0)); + EXPECT_EQ(0u, *server1.IterationCount()); + EXPECT_EQ(0u, *server2.IterationCount()); + + // Make the servers run fast. + server1.SetUpdatePeriod(1ns); + server2.SetUpdatePeriod(1ns); + + // Start non-blocking + const size_t iters1 = 9999; + EXPECT_TRUE(server1.Run(false, iters1, false)); + + // Expect that we can't start another instance. + EXPECT_FALSE(server1.Run(true, 10, false)); + + // It's okay to start another server + EXPECT_TRUE(server2.Run(false, 500, false)); + + while (*server1.IterationCount() < iters1 || *server2.IterationCount() < 500) + IGN_SLEEP_MS(100); + + EXPECT_EQ(iters1, *server1.IterationCount()); + EXPECT_EQ(500u, *server2.IterationCount()); + EXPECT_FALSE(server1.Running()); + EXPECT_FALSE(*server1.Running(0)); + EXPECT_FALSE(server2.Running()); + EXPECT_FALSE(*server2.Running(0)); +} + +///////////////////////////////////////////////// +TEST_P(ServerFixture, TwoServersMixedBlocking) +{ + ignition::gazebo::ServerConfig serverConfig; + serverConfig.SetSdfString(TestWorldSansPhysics::World()); + + gazebo::Server server1(serverConfig); + gazebo::Server server2(serverConfig); + EXPECT_FALSE(server1.Running()); + EXPECT_FALSE(*server1.Running(0)); + EXPECT_FALSE(server2.Running()); + EXPECT_FALSE(*server2.Running(0)); + EXPECT_EQ(0u, *server1.IterationCount()); + EXPECT_EQ(0u, *server2.IterationCount()); + + // Make the servers run fast. + server1.SetUpdatePeriod(1ns); + server2.SetUpdatePeriod(1ns); + + server1.Run(false, 10, false); + server2.Run(true, 1000, false); + + while (*server1.IterationCount() < 10) + IGN_SLEEP_MS(100); + + EXPECT_EQ(10u, *server1.IterationCount()); + EXPECT_EQ(1000u, *server2.IterationCount()); + EXPECT_FALSE(server1.Running()); + EXPECT_FALSE(*server1.Running(0)); + EXPECT_FALSE(server2.Running()); + EXPECT_FALSE(*server2.Running(0)); +} + +// Run multiple times. We want to make sure that static globals don't cause +// problems. +INSTANTIATE_TEST_SUITE_P(ServerRepeat, ServerFixture, ::testing::Range(1, 2)); From 4eda53fa44139db8c3cd45a78077a7de4004854f Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Tue, 2 Feb 2021 11:43:41 -0800 Subject: [PATCH 24/55] Also use Ignition GUI render event (#598) Signed-off-by: Louise Poubel --- src/gui/plugins/scene3d/Scene3D.cc | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/src/gui/plugins/scene3d/Scene3D.cc b/src/gui/plugins/scene3d/Scene3D.cc index af6c3ef967..4f7730d67b 100644 --- a/src/gui/plugins/scene3d/Scene3D.cc +++ b/src/gui/plugins/scene3d/Scene3D.cc @@ -836,10 +836,16 @@ void IgnRenderer::Render() if (ignition::gui::App()) { - gui::events::Render event; + ignition::gui::events::Render event; ignition::gui::App()->sendEvent( ignition::gui::App()->findChild(), &event); + + // This will be deprecated on v5 and removed on v6 + ignition::gazebo::gui::events::Render oldEvent; + ignition::gui::App()->sendEvent( + ignition::gui::App()->findChild(), + &oldEvent); } // only has an effect in video recording lockstep mode From 71e6c314e703e510e3a05a5f728d877f25ad3c26 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Tue, 2 Feb 2021 11:54:44 -0800 Subject: [PATCH 25/55] Address deprecation warning and add note to migration guide (#602) Signed-off-by: Louise Poubel --- Migration.md | 4 ++++ src/gui/plugins/scene3d/Scene3D.cc | 5 +++-- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/Migration.md b/Migration.md index 30fded54d3..680026a02d 100644 --- a/Migration.md +++ b/Migration.md @@ -27,6 +27,10 @@ in SDF by setting the `` SDF element. * Log playback using `` SDF parameter is removed. Use --playback command line argument instead. +* `rendering::SceneManager` + * **Deprecated**: `Entity EntityFromNode(const rendering::NodePtr &_node) const;` + * **Replacement**: `Entity entity = std::get(visual->UserData("gazebo-entity"));` + ## Ignition Gazebo 2.x to 3.x * Use ign-rendering3, ign-sensors3 and ign-gui3. diff --git a/src/gui/plugins/scene3d/Scene3D.cc b/src/gui/plugins/scene3d/Scene3D.cc index 22c93fff6e..b22da15d99 100644 --- a/src/gui/plugins/scene3d/Scene3D.cc +++ b/src/gui/plugins/scene3d/Scene3D.cc @@ -816,11 +816,12 @@ void IgnRenderer::Render() { rendering::NodePtr targetNode = scene->NodeByName(this->dataPtr->viewCollisionsTarget); + auto targetVis = std::dynamic_pointer_cast(targetNode); - if (targetNode) + if (targetVis) { Entity targetEntity = - this->dataPtr->renderUtil.SceneManager().EntityFromNode(targetNode); + std::get(targetVis->UserData("gazebo-entity")); this->dataPtr->renderUtil.ViewCollisions(targetEntity); } else From 0f284ba7f14863e449cdbbe9fae821f5bd31d445 Mon Sep 17 00:00:00 2001 From: Ashton Larkin Date: Tue, 2 Feb 2021 16:31:55 -0500 Subject: [PATCH 26/55] 4.3.0 (#605) Signed-off-by: Ashton Larkin --- CMakeLists.txt | 2 +- Changelog.md | 56 ++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 57 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 274e168a10..d9ceb3e6fa 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(ignition-gazebo4 VERSION 4.2.0) +project(ignition-gazebo4 VERSION 4.3.0) #============================================================================ # Find ignition-cmake diff --git a/Changelog.md b/Changelog.md index 60ee6dc27d..8a76252c42 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,5 +1,61 @@ ## Ignition Gazebo 4.x +### Ignition Gazebo 4.3.0 (2020-02-02) + +1. Non-blocking paths request. + * [Pull Request 555](https://github.com/ignitionrobotics/ign-gazebo/pull/555) + +1. Parallelize State call in ECM. + * [Pull Request 451](https://github.com/ignitionrobotics/ign-gazebo/pull/451) + +1. Allow to create light with the create service. + * [Pull Request 513](https://github.com/ignitionrobotics/ign-gazebo/pull/513) + +1. Added size to ground_plane in examples. + * [Pull Request 573](https://github.com/ignitionrobotics/ign-gazebo/pull/573) + +1. Fix finding PBR materials. + * [Pull Request 575](https://github.com/ignitionrobotics/ign-gazebo/pull/575) + +1. Publish all periodic change components in Scene Broadcaster. + * [Pull Request 544](https://github.com/ignitionrobotics/ign-gazebo/pull/544) + +1. Backport state update changes from pull request [#486](https://github.com/ignitionrobotics/ign-gazebo/pull/486). + * [Pull Request 583](https://github.com/ignitionrobotics/ign-gazebo/pull/583) + +1. Fix code_check errors. + * [Pull Request 582](https://github.com/ignitionrobotics/ign-gazebo/pull/582) + +1. Visualize collisions. + * [Pull Request 531](https://github.com/ignitionrobotics/ign-gazebo/pull/531) + +1. Remove playback SDF param in Dome. + * [Pull Request 570](https://github.com/ignitionrobotics/ign-gazebo/pull/570) + +1. Tutorial on migrating SDF files from Gazebo classic. + * [Pull Request 400](https://github.com/ignitionrobotics/ign-gazebo/pull/400) + +1. World Exporter. + * [Pull Request 474](https://github.com/ignitionrobotics/ign-gazebo/pull/474) + +1. Model Creation tutorial using services. + * [Pull Request 530](https://github.com/ignitionrobotics/ign-gazebo/pull/530) + +1. Fix topLevelModel Method. + * [Pull Request 600](https://github.com/ignitionrobotics/ign-gazebo/pull/600) + +1. Add heat signature option to thermal system. + * [Pull Request 498](https://github.com/ignitionrobotics/ign-gazebo/pull/498) + +1. Add service and GUI to configure physics parameters (step size and RTF). + * [Pull Request 536](https://github.com/ignitionrobotics/ign-gazebo/pull/536) + +1. Refactor UNIT_Server_TEST. + * [Pull Request 594](https://github.com/ignitionrobotics/ign-gazebo/pull/594) + +1. Use Ignition GUI render event. + * [Pull Request 598](https://github.com/ignitionrobotics/ign-gazebo/pull/598) + ### Ignition Gazebo 4.2.0 (2020-01-13) 1. Automatically load a subset of world plugins. From c37e4822c1cf59f7302358d0b4dc7b8ba3db5a1d Mon Sep 17 00:00:00 2001 From: Jenn Nguyen Date: Thu, 4 Feb 2021 18:53:05 -0800 Subject: [PATCH 27/55] added issue & PR templates (#613) Signed-off-by: Jenn Nguyen --- .github/ISSUE_TEMPLATE/bug_report.md | 29 +++++++++++++ .github/ISSUE_TEMPLATE/feature_request.md | 23 ++++++++++ .github/PULL_REQUEST_TEMPLATE.md | 52 +++++++++++++++++++++++ .github/PULL_REQUEST_TEMPLATE/port.md | 6 +++ 4 files changed, 110 insertions(+) create mode 100644 .github/ISSUE_TEMPLATE/bug_report.md create mode 100644 .github/ISSUE_TEMPLATE/feature_request.md create mode 100644 .github/PULL_REQUEST_TEMPLATE.md create mode 100644 .github/PULL_REQUEST_TEMPLATE/port.md diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md new file mode 100644 index 0000000000..3d89f64143 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/bug_report.md @@ -0,0 +1,29 @@ +--- +name: Bug report +about: Report a bug +labels: bug +--- + + + +## Environment +* OS Version: +* Source or binary build? + + + +## Description +* Expected behavior: +* Actual behavior: + +## Steps to reproduce + + +1. +2. +3. + +## Output + diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md new file mode 100644 index 0000000000..f49727a0ce --- /dev/null +++ b/.github/ISSUE_TEMPLATE/feature_request.md @@ -0,0 +1,23 @@ +--- +name: Feature request +about: Request a new feature +labels: enhancement +--- + + + +## Desired behavior + + +## Alternatives considered + + +## Implementation suggestion + + +## Additional context + diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md new file mode 100644 index 0000000000..6c88bd5465 --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -0,0 +1,52 @@ + + +# Bug Report + +Fixes issue # + +## Summary + + +## Checklist +- [ ] Signed all commits for DCO +- [ ] Added tests +- [ ] Updated documentation (as needed) +- [ ] Updated migration guide (as needed) +- [ ] `codecheck` passed (See + [contributing](https://ignitionrobotics.org/docs/all/contributing#contributing-code)) +- [ ] All tests passed (See + [test coverage](https://ignitionrobotics.org/docs/all/contributing#test-coverage)) +- [ ] While waiting for a review on your PR, please help review +[another open pull request](https://github.com/pulls?q=is%3Aopen+is%3Apr+user%3Aignitionrobotics+archived%3Afalse+) +to support the maintainers + +**Note to maintainers**: Remember to use **Squash-Merge** + +--- + +# New feature + +Closes # + +## Summary + + +## Test it + + +## Checklist +- [ ] Signed all commits for DCO +- [ ] Added tests +- [ ] Added example world and/or tutorial +- [ ] Updated documentation (as needed) +- [ ] Updated migration guide (as needed) +- [ ] `codecheck` passed (See [contributing](https://ignitionrobotics.org/docs/all/contributing#contributing-code)) +- [ ] All tests passed (See [test coverage](https://ignitionrobotics.org/docs/all/contributing#test-coverage)) +- [ ] While waiting for a review on your PR, please help review +[another open pull request](https://github.com/pulls?q=is%3Aopen+is%3Apr+user%3Aignitionrobotics+archived%3Afalse+) +to support the maintainers + +**Note to maintainers**: Remember to use **Squash-Merge** diff --git a/.github/PULL_REQUEST_TEMPLATE/port.md b/.github/PULL_REQUEST_TEMPLATE/port.md new file mode 100644 index 0000000000..758127f585 --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE/port.md @@ -0,0 +1,6 @@ +Port to + +Branch comparison: https://github.com/ignitionrobotics/ign-gazebo/compare/... + +**Note to maintainers**: Remember to **Merge** with commit (not squash-merge +or rebase) From 766bb23eaca85ff60941e2ef852c4f286356fbcc Mon Sep 17 00:00:00 2001 From: Rushyendra Maganty Date: Mon, 8 Feb 2021 17:26:34 -0500 Subject: [PATCH 28/55] Fix seg fault in `SetRemovedComponentsMsgs` when TransformControl tool is used (#495) * Fix seg fault due to invalid iterator to mutable_entities Signed-off-by: mrushyendra * Elaborate comment on need to insert entity into message Signed-off-by: mrushyendra * Add types filter to SetRemovedComponentsMsgs Signed-off-by: mrushyendra * Add unit tests for checking StateMap msg with latest changes Verifies the message created in situations where components are only removed but not changed, and when a list of types to filter is passed to the function. Signed-off-by: Maganty Rushyendra * Fix traversal of removedComponents in multimap Signed-off-by: Maganty Rushyendra Co-authored-by: Ian Chen Co-authored-by: Louise Poubel Co-authored-by: Ashton Larkin --- src/EntityComponentManager.cc | 67 ++++++++++++++++--------- src/EntityComponentManager_TEST.cc | 80 ++++++++++++++++++++++++++++++ 2 files changed, 124 insertions(+), 23 deletions(-) diff --git a/src/EntityComponentManager.cc b/src/EntityComponentManager.cc index 3b2cd2f924..4c1089f1aa 100644 --- a/src/EntityComponentManager.cc +++ b/src/EntityComponentManager.cc @@ -56,15 +56,21 @@ class ignition::gazebo::EntityComponentManagerPrivate /// \brief Create a message for the removed components /// \param[in] _entity Entity with the removed components - /// \param[out] _msg Entity message + /// \param[in, out] _msg Entity message + /// \param[in] _types _types Type IDs of components to be serialized. Leave + /// empty to get all removed components. public: void SetRemovedComponentsMsgs(Entity &_entity, - msgs::SerializedEntity *_msg); + msgs::SerializedEntity *_msg, + const std::unordered_set &_types = {}); /// \brief Create a message for the removed components /// \param[in] _entity Entity with the removed components - /// \param[out] _msg State message + /// \param[in, out] _msg State message + /// \param[in] _types _types Type IDs of components to be serialized. Leave + /// empty to get all removed components. public: void SetRemovedComponentsMsgs(Entity &_entity, - msgs::SerializedStateMap &_msg); + msgs::SerializedStateMap &_msg, + const std::unordered_set &_types = {}); /// \brief Map of component storage classes. The key is a component /// type id, and the value is a pointer to the component storage. @@ -774,46 +780,63 @@ void EntityComponentManager::RebuildViews() ////////////////////////////////////////////////// void EntityComponentManagerPrivate::SetRemovedComponentsMsgs(Entity &_entity, - msgs::SerializedEntity *_entityMsg) + msgs::SerializedEntity *_entityMsg, + const std::unordered_set &_types) { std::lock_guard lock(this->removedComponentsMutex); - uint64_t nEntityKeys = this->removedComponents.count(_entity); - if (nEntityKeys == 0) - return; - - auto it = this->removedComponents.find(_entity); - for (uint64_t i = 0; i < nEntityKeys; ++i) + auto entRemovedComps = this->removedComponents.equal_range(_entity); + for (auto it = entRemovedComps.first; it != entRemovedComps.second; ++it) { - auto compMsg = _entityMsg->add_components(); - auto removedComponent = it->second; + if (!_types.empty() && _types.find(removedComponent.first) == _types.end()) + { + continue; + } + + auto compMsg = _entityMsg->add_components(); + // Empty data is needed for the component to be processed afterwards compMsg->set_component(" "); compMsg->set_type(removedComponent.first); compMsg->set_remove(true); - - it++; } } ////////////////////////////////////////////////// void EntityComponentManagerPrivate::SetRemovedComponentsMsgs(Entity &_entity, - msgs::SerializedStateMap &_msg) + msgs::SerializedStateMap &_msg, + const std::unordered_set &_types) { std::lock_guard lock(this->removedComponentsMutex); uint64_t nEntityKeys = this->removedComponents.count(_entity); if (nEntityKeys == 0) return; - // Find the entity in the message + // The message need not necessarily contain the entity initially. For + // instance, when AddEntityToMessage() calls this function, the entity may + // have some removed components but none in entityComponents that changed, + // so the entity may not have been added to the message beforehand. auto entIter = _msg.mutable_entities()->find(_entity); + if (entIter == _msg.mutable_entities()->end()) + { + msgs::SerializedEntityMap ent; + ent.set_id(_entity); + entIter = + (_msg.mutable_entities())->insert({static_cast(_entity), ent}) + .first; + } - auto it = this->removedComponents.find(_entity); - for (uint64_t i = 0; i < nEntityKeys; ++i) + auto entRemovedComps = this->removedComponents.equal_range(_entity); + for (auto it = entRemovedComps.first; it != entRemovedComps.second; ++it) { auto removedComponent = it->second; + if (!_types.empty() && _types.find(removedComponent.first) == _types.end()) + { + continue; + } + msgs::SerializedComponent compMsg; // Empty data is needed for the component to be processed afterwards @@ -823,8 +846,6 @@ void EntityComponentManagerPrivate::SetRemovedComponentsMsgs(Entity &_entity, (*(entIter->second.mutable_components()))[ static_cast(removedComponent.first)] = compMsg; - - it++; } } @@ -878,7 +899,7 @@ void EntityComponentManager::AddEntityToMessage(msgs::SerializedState &_msg, // Add a component to the message and set it to be removed if the component // exists in the removedComponents map. - this->dataPtr->SetRemovedComponentsMsgs(_entity, entityMsg); + this->dataPtr->SetRemovedComponentsMsgs(_entity, entityMsg, _types); } ////////////////////////////////////////////////// @@ -980,7 +1001,7 @@ void EntityComponentManager::AddEntityToMessage(msgs::SerializedStateMap &_msg, // Add a component to the message and set it to be removed if the component // exists in the removedComponents map. - this->dataPtr->SetRemovedComponentsMsgs(_entity, _msg); + this->dataPtr->SetRemovedComponentsMsgs(_entity, _msg, _types); } ////////////////////////////////////////////////// diff --git a/src/EntityComponentManager_TEST.cc b/src/EntityComponentManager_TEST.cc index 1a77d1daf1..b29fb53aef 100644 --- a/src/EntityComponentManager_TEST.cc +++ b/src/EntityComponentManager_TEST.cc @@ -2288,6 +2288,86 @@ TEST_P(EntityComponentManagerFixture, SerializedStateMsgAfterRemoveComponent) } } +////////////////////////////////////////////////// +// Verify SerializedStateMap message with no changed components, +// but some removed components +TEST_P(EntityComponentManagerFixture, SerializedStateMapMsgCompsRemovedOnly) +{ + // Create entity + Entity e1 = manager.CreateEntity(); + auto e1c0 = + manager.CreateComponent(e1, IntComponent(123)); + manager.CreateComponent(e1, DoubleComponent(0.0)); + auto e1c2 = + manager.CreateComponent(e1, StringComponent("int")); + + manager.RunSetAllComponentsUnchanged(); + manager.RemoveComponent(e1, e1c0); + manager.RemoveComponent(e1, e1c2); + // Serialize into a message + msgs::SerializedStateMap stateMsg; + manager.State(stateMsg); + + // Check message + { + auto iter = stateMsg.entities().find(e1); + const auto &e1Msg = iter->second; + auto compIter = e1Msg.components().begin(); + + // Check number of components + ASSERT_EQ(e1Msg.components().size(), 2u); + + // First component + const auto &c0 = compIter->second; + compIter++; + ASSERT_EQ(c0.remove(), true); + + // Second component + const auto &c2 = compIter->second; + ASSERT_EQ(c2.remove(), true); + } +} + +////////////////////////////////////////////////// +// Verify that removed components are correctly filtered when creating a +// SerializedStateMap message +TEST_P(EntityComponentManagerFixture, SetRemovedComponentsMsgTypesFilter) +{ + // Create entity + Entity e1 = manager.CreateEntity(); + auto e1c0 = + manager.CreateComponent(e1, IntComponent(123)); + auto e1c1 = + manager.CreateComponent(e1, DoubleComponent(0.0)); + auto e1c2 = + manager.CreateComponent(e1, StringComponent("foo")); + + manager.RunSetAllComponentsUnchanged(); + manager.RemoveComponent(e1, e1c0); + manager.RemoveComponent(e1, e1c2); + + // Serialize into a message, providing a list of types to be included + msgs::SerializedStateMap stateMsg; + std::unordered_set entitySet{e1}; + std::unordered_set types{e1c0.first, e1c1.first}; + manager.State(stateMsg, entitySet, types, false); + + // Check message + { + auto iter = stateMsg.entities().find(e1); + const auto &e1Msg = iter->second; + auto compIter = e1Msg.components().begin(); + + // Check number of components + ASSERT_EQ(e1Msg.components().size(), 1u); + + // Only component in message should be e1c2 + const auto &c0 = compIter->second; + EXPECT_EQ(c0.remove(), true); + EXPECT_EQ(c0.type(), e1c0.first); + } +} + ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, RemovedComponentsSyncBetweenServerAndGUI) { From ac1089278a063cfddc9b1322d1abcbb1ce760c00 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Tue, 9 Feb 2021 09:48:45 -0800 Subject: [PATCH 29/55] Make topics configurable for joint controllers (#584) Signed-off-by: Louise Poubel --- examples/worlds/joint_position_controller.sdf | 7 ++++--- src/systems/joint_controller/JointController.cc | 4 ++++ .../joint_position_controller/JointPositionController.cc | 4 ++++ 3 files changed, 12 insertions(+), 3 deletions(-) diff --git a/examples/worlds/joint_position_controller.sdf b/examples/worlds/joint_position_controller.sdf index 6d2ad62e83..b2bd104509 100644 --- a/examples/worlds/joint_position_controller.sdf +++ b/examples/worlds/joint_position_controller.sdf @@ -4,9 +4,9 @@ Try sending joint position commands: - ign topic -t "/model/joint_position_controller_demo/joint/j1/0/cmd_pos" -m ignition.msgs.Double -p "data: -1.0" + ign topic -t "/rotor_cmd" -m ignition.msgs.Double -p "data: -1.0" - ign topic -t "/model/joint_position_controller_demo/joint/j1/0/cmd_pos" -m ignition.msgs.Double -p "data: 1.0" + ign topic -t "/rotor_cmd" -m ignition.msgs.Double -p "data: 1.0" --> @@ -45,7 +45,7 @@ 72 121 1 - + floating @@ -156,6 +156,7 @@ filename="ignition-gazebo-joint-position-controller-system" name="ignition::gazebo::systems::JointPositionController"> j1 + rotor_cmd 1 0.1 0.01 diff --git a/src/systems/joint_controller/JointController.cc b/src/systems/joint_controller/JointController.cc index 42990d4447..695ee62d6d 100644 --- a/src/systems/joint_controller/JointController.cc +++ b/src/systems/joint_controller/JointController.cc @@ -133,6 +133,10 @@ void JointController::Configure(const Entity &_entity, // Subscribe to commands std::string topic{"/model/" + this->dataPtr->model.Name(_ecm) + "/joint/" + this->dataPtr->jointName + "/cmd_vel"}; + if (_sdf->HasElement("topic")) + { + topic = _sdf->Get("topic"); + } this->dataPtr->node.Subscribe(topic, &JointControllerPrivate::OnCmdVel, this->dataPtr.get()); diff --git a/src/systems/joint_position_controller/JointPositionController.cc b/src/systems/joint_position_controller/JointPositionController.cc index c048ff0e23..691336d901 100644 --- a/src/systems/joint_position_controller/JointPositionController.cc +++ b/src/systems/joint_position_controller/JointPositionController.cc @@ -150,6 +150,10 @@ void JointPositionController::Configure(const Entity &_entity, std::string topic{"/model/" + this->dataPtr->model.Name(_ecm) + "/joint/" + this->dataPtr->jointName + "/" + std::to_string(this->dataPtr->jointIndex) + "/cmd_pos"}; + if (_sdf->HasElement("topic")) + { + topic = _sdf->Get("topic"); + } this->dataPtr->node.Subscribe( topic, &JointPositionControllerPrivate::OnCmdPos, this->dataPtr.get()); From 87b2f4ba27cc10a1a586bda8d635aa929e1070ce Mon Sep 17 00:00:00 2001 From: Atharva Pusalkar Date: Thu, 11 Feb 2021 02:48:59 +0530 Subject: [PATCH 30/55] Add About dialog (#609) Signed-off-by: atharva-18 --- src/gui/AboutDialogHandler.cc | 67 ++++++++++++++++++++++++++++++ src/gui/AboutDialogHandler.hh | 58 ++++++++++++++++++++++++++ src/gui/CMakeLists.txt | 1 + src/gui/Gui.cc | 5 +++ src/gui/resources/GazeboDrawer.qml | 55 +++++++++++++++++++----- 5 files changed, 176 insertions(+), 10 deletions(-) create mode 100644 src/gui/AboutDialogHandler.cc create mode 100644 src/gui/AboutDialogHandler.hh diff --git a/src/gui/AboutDialogHandler.cc b/src/gui/AboutDialogHandler.cc new file mode 100644 index 0000000000..545f6fbb66 --- /dev/null +++ b/src/gui/AboutDialogHandler.cc @@ -0,0 +1,67 @@ +/* + * 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 "AboutDialogHandler.hh" + +#include +#include +#include + +using namespace ignition; +using namespace gazebo; +using namespace gazebo::gui; + +///////////////////////////////////////////////// +AboutDialogHandler::AboutDialogHandler() +{ + aboutText += std::string(IGNITION_GAZEBO_VERSION_HEADER); + aboutText += "" + "" + "" + "" + "" + "" + "" + "" + "" + "
Documentation:" + "" + "" + "https://ignitionrobotics.org/libs/gazebo" + "" + "
" + "Tutorials:" + "" + "" + "https://ignitionrobotics.org/docs/" + "" + "
"; +} + +///////////////////////////////////////////////// +QString AboutDialogHandler::getVersionInformation() +{ + return QString::fromStdString(this->aboutText); +} + +///////////////////////////////////////////////// +void AboutDialogHandler::openURL(QString _url) +{ + QDesktopServices::openUrl(QUrl(_url)); +} diff --git a/src/gui/AboutDialogHandler.hh b/src/gui/AboutDialogHandler.hh new file mode 100644 index 0000000000..b5f71b543d --- /dev/null +++ b/src/gui/AboutDialogHandler.hh @@ -0,0 +1,58 @@ +/* + * 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. + * + */ +#ifndef IGNITION_GAZEBO_GUI_ABOUTDIALOGHANDLER_HH_ +#define IGNITION_GAZEBO_GUI_ABOUTDIALOGHANDLER_HH_ + +#include +#include +#include + +#include "ignition/gazebo/EntityComponentManager.hh" +#include "ignition/gazebo/Export.hh" + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { +namespace gui +{ +/// \brief Class for handling about dialog +class IGNITION_GAZEBO_VISIBLE AboutDialogHandler : public QObject +{ + Q_OBJECT + + /// \brief Constructor + public: AboutDialogHandler(); + + /// \brief Get version information + /// \return Version information in rich text format + Q_INVOKABLE QString getVersionInformation(); + + /// \brief Function called from QML when user clicks on a link + /// \param[in] _url Url to web page. + Q_INVOKABLE void openURL(QString _url); + + /// \brief Version information and links to online resources + private: std::string aboutText; +}; +} +} +} +} +#endif diff --git a/src/gui/CMakeLists.txt b/src/gui/CMakeLists.txt index 5d53622322..46d4be7f5c 100644 --- a/src/gui/CMakeLists.txt +++ b/src/gui/CMakeLists.txt @@ -1,4 +1,5 @@ set (gui_sources + AboutDialogHandler.cc Gui.cc GuiFileHandler.cc GuiRunner.cc diff --git a/src/gui/Gui.cc b/src/gui/Gui.cc index 00c3b7215f..04340d116d 100644 --- a/src/gui/Gui.cc +++ b/src/gui/Gui.cc @@ -28,6 +28,7 @@ #include "ignition/gazebo/gui/TmpIface.hh" #include "ignition/gazebo/gui/Gui.hh" +#include "AboutDialogHandler.hh" #include "GuiFileHandler.hh" #include "PathManager.hh" @@ -63,6 +64,9 @@ std::unique_ptr createGui( auto tmp = new ignition::gazebo::TmpIface(); tmp->setParent(app->Engine()); + auto aboutDialogHandler = new ignition::gazebo::gui::AboutDialogHandler(); + aboutDialogHandler->setParent(app->Engine()); + auto guiFileHandler = new ignition::gazebo::gui::GuiFileHandler(); guiFileHandler->setParent(app->Engine()); @@ -102,6 +106,7 @@ std::unique_ptr createGui( // Let QML files use TmpIface' functions and properties auto context = new QQmlContext(app->Engine()->rootContext()); context->setContextProperty("TmpIface", tmp); + context->setContextProperty("AboutDialogHandler", aboutDialogHandler); context->setContextProperty("GuiFileHandler", guiFileHandler); // Instantiate GazeboDrawer.qml file into a component diff --git a/src/gui/resources/GazeboDrawer.qml b/src/gui/resources/GazeboDrawer.qml index 8ca3f273a7..647883da34 100644 --- a/src/gui/resources/GazeboDrawer.qml +++ b/src/gui/resources/GazeboDrawer.qml @@ -60,6 +60,9 @@ Rectangle { case "loadWorld": loadWorldDialog.open(); break + case "aboutDialog": + aboutDialog.open(); + break // Forward others to default drawer default: parent.onAction(_action); @@ -73,46 +76,50 @@ Rectangle { // Custom action which calls custom C++ code /*ListElement { title: "New world" - action: "newWorld" + actionElement: "newWorld" type: "world" } ListElement { title: "Load world" - action: "loadWorld" + actionElement: "loadWorld" type: "world" }*/ ListElement { title: "Save world" - action: "saveWorld" + actionElement: "saveWorld" enabled: false type: "world" } ListElement { title: "Save world as..." - action: "saveWorldAs" + actionElement: "saveWorldAs" type: "world" } // Actions provided by Ignition GUI, with custom titles ListElement { title: "Load client configuration" - action: "loadConfig" + actionElement: "loadConfig" } ListElement { title: "Save client configuration" - action: "saveConfig" + actionElement: "saveConfig" } ListElement { title: "Save client configuration as" - action: "saveConfigAs" + actionElement: "saveConfigAs" } ListElement { title: "Style settings" - action: "styleSettings" + actionElement: "styleSettings" + } + ListElement { + title: "About" + actionElement: "aboutDialog" } ListElement { title: "Quit" - action: "close" + actionElement: "close" } } @@ -125,7 +132,7 @@ Rectangle { text: title highlighted: ListView.isCurrentItem onClicked: { - customDrawer.onAction(action); + customDrawer.onAction(actionElement); customDrawer.parent.closeDrawer(); } } @@ -165,6 +172,34 @@ Rectangle { } } + /** + * About dialog + */ + Dialog { + id: aboutDialog + title: "Ignition Gazebo" + + modal: true + focus: true + parent: ApplicationWindow.overlay + width: parent.width / 3 > 500 ? 500 : parent.width / 3 + x: (parent.width - width) / 2 + y: (parent.height - height) / 2 + closePolicy: Popup.CloseOnEscape + standardButtons: StandardButton.Ok + + Text { + anchors.fill: parent + id: aboutMessage + wrapMode: Text.Wrap + verticalAlignment: Text.AlignVCenter + color: Material.theme == Material.Light ? "black" : "white" + textFormat: Text.RichText + text: AboutDialogHandler.getVersionInformation() + onLinkActivated: AboutDialogHandler.openURL(link) + } + } + /** * Dialog with configurations for SDF generation */ From e647570f25f962d63af75cf669ff72731d57bd5e Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Wed, 10 Feb 2021 14:59:20 -0800 Subject: [PATCH 31/55] Add thermal sensor system for configuring thermal camera properties (#614) Signed-off-by: Ian Chen Co-authored-by: Ashton Larkin --- examples/worlds/thermal_camera.sdf | 62 +++++ .../ignition/gazebo/components/Temperature.hh | 6 + .../ignition/gazebo/rendering/RenderUtil.hh | 6 + src/rendering/RenderUtil.cc | 118 ++++++++++ src/systems/sensors/Sensors.cc | 12 + src/systems/sensors/Sensors.hh | 5 + src/systems/thermal/CMakeLists.txt | 6 + src/systems/thermal/ThermalSensor.cc | 93 ++++++++ src/systems/thermal/ThermalSensor.hh | 60 +++++ test/integration/CMakeLists.txt | 3 +- test/integration/thermal_sensor_system.cc | 219 ++++++++++++++++++ test/integration/thermal_system.cc | 76 +++++- test/worlds/thermal.sdf | 46 ++++ test/worlds/thermal_invalid.sdf | 152 ++++++++++++ 14 files changed, 862 insertions(+), 2 deletions(-) create mode 100644 src/systems/thermal/ThermalSensor.cc create mode 100644 src/systems/thermal/ThermalSensor.hh create mode 100644 test/integration/thermal_sensor_system.cc create mode 100644 test/worlds/thermal_invalid.sdf diff --git a/examples/worlds/thermal_camera.sdf b/examples/worlds/thermal_camera.sdf index cf5c92b3f4..e21215537a 100644 --- a/examples/worlds/thermal_camera.sdf +++ b/examples/worlds/thermal_camera.sdf @@ -104,6 +104,18 @@ thermal_camera false + + + Thermal camera 8 Bit + floating + 350 + 315 + 500 + + thermal_camera_8bit/image + false + + @@ -230,6 +242,7 @@ 320 240 + L16 0.1 @@ -245,6 +258,55 @@ true + + 4.5 0 0.5 0.0 0.0 3.14 + + 0.05 0.05 0.05 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + + 1.047 + + 320 + 240 + L8 + + + 0.1 + 100 + + + 1 + 30 + true + thermal_camera_8bit/image + + 253.15 + 673.15 + 3.0 + + + + + true + + + 1 0 0 0 0 1.570796 rescue_randy diff --git a/include/ignition/gazebo/components/Temperature.hh b/include/ignition/gazebo/components/Temperature.hh index 228e208518..cfd8df5327 100644 --- a/include/ignition/gazebo/components/Temperature.hh +++ b/include/ignition/gazebo/components/Temperature.hh @@ -35,6 +35,12 @@ namespace components using Temperature = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.Temperature", Temperature) + + /// \brief A component that stores temperature linear resolution in Kelvin + using TemperatureLinearResolution = Component; + IGN_GAZEBO_REGISTER_COMPONENT( + "ign_gazebo_components.TemperatureLinearResolution", + TemperatureLinearResolution) } } } diff --git a/include/ignition/gazebo/rendering/RenderUtil.hh b/include/ignition/gazebo/rendering/RenderUtil.hh index 600744db97..5d64553867 100644 --- a/include/ignition/gazebo/rendering/RenderUtil.hh +++ b/include/ignition/gazebo/rendering/RenderUtil.hh @@ -66,6 +66,12 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \return Pointer to the scene public: rendering::ScenePtr Scene() const; + /// \brief Helper Update function for updating the scene + /// \param[in] _info Sim update info + /// \param[in] _ecm Mutable reference to the entity component manager + public: void UpdateECM(const UpdateInfo &_info, + EntityComponentManager &_ecm); + /// \brief Helper PostUpdate function for updating the scene public: void UpdateFromECM(const UpdateInfo &_info, const EntityComponentManager &_ecm); diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 563078231a..c1c507713b 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -262,6 +262,12 @@ class ignition::gazebo::RenderUtilPrivate /// \brief A map of created collision entities and if they are currently /// visible public: std::map viewingCollisions; + + /// \brief A map of entity id to thermal camera sensor configuration + /// properties. The elements in the tuple are: + /// + public:std::unordered_map> thermalCameraData; }; ////////////////////////////////////////////////// @@ -278,6 +284,53 @@ rendering::ScenePtr RenderUtil::Scene() const return this->dataPtr->scene; } +////////////////////////////////////////////////// +void RenderUtil::UpdateECM(const UpdateInfo &/*_info*/, + EntityComponentManager &_ecm) +{ + std::lock_guard lock(this->dataPtr->updateMutex); + // Update thermal cameras + _ecm.Each( + [&](const Entity &_entity, + const components::ThermalCamera *)->bool + { + // set properties from thermal sensor plugin + // Set defaults to invaid values so we know they have not been set. + // set UpdateECM(). We check for valid values first before setting + // these thermal camera properties.. + double resolution = 0.0; + components::TemperatureRangeInfo range; + range.min = std::numeric_limits::max(); + range.max = 0; + + // resolution + auto resolutionComp = + _ecm.Component(_entity); + if (resolutionComp != nullptr) + { + resolution = resolutionComp->Data(); + _ecm.RemoveComponent( + _entity); + } + + // min / max temp + auto tempRangeComp = + _ecm.Component(_entity); + if (tempRangeComp != nullptr) + { + range = tempRangeComp->Data(); + _ecm.RemoveComponent(_entity); + } + + if (resolutionComp || tempRangeComp) + { + this->dataPtr->thermalCameraData[_entity] = + std::make_tuple(resolution, range); + } + return true; + }); +} + ////////////////////////////////////////////////// void RenderUtil::UpdateFromECM(const UpdateInfo &_info, const EntityComponentManager &_ecm) @@ -367,6 +420,7 @@ void RenderUtil::Update() auto actorAnimationData = std::move(this->dataPtr->actorAnimationData); auto entityTemp = std::move(this->dataPtr->entityTemp); auto newCollisionLinks = std::move(this->dataPtr->newCollisionLinks); + auto thermalCameraData = std::move(this->dataPtr->thermalCameraData); this->dataPtr->newScenes.clear(); this->dataPtr->newModels.clear(); @@ -381,6 +435,7 @@ void RenderUtil::Update() this->dataPtr->actorAnimationData.clear(); this->dataPtr->entityTemp.clear(); this->dataPtr->newCollisionLinks.clear(); + this->dataPtr->thermalCameraData.clear(); this->dataPtr->markerManager.Update(); @@ -734,6 +789,44 @@ void RenderUtil::Update() } } } + + // update thermal camera + for (const auto &thermal : this->dataPtr->thermalCameraData) + { + Entity id = thermal.first; + rendering::ThermalCameraPtr camera = + std::dynamic_pointer_cast( + this->dataPtr->sceneManager.NodeById(id)); + if (camera) + { + double resolution = std::get<0>(thermal.second); + + if (resolution > 0.0) + { + camera->SetLinearResolution(resolution); + } + else + { + ignwarn << "Unable to set thermal camera temperature linear resolution." + << " Value must be greater than 0. Using the default value: " + << camera->LinearResolution() << ". " << std::endl; + } + double minTemp = std::get<1>(thermal.second).min.Kelvin(); + double maxTemp = std::get<1>(thermal.second).max.Kelvin(); + if (maxTemp >= minTemp) + { + camera->SetMinTemperature(minTemp); + camera->SetMaxTemperature(maxTemp); + } + else + { + ignwarn << "Unable to set thermal camera temperature range." + << "Max temperature must be greater or equal to min. " + << "Using the default values : [" << camera->MinTemperature() + << ", " << camera->MaxTemperature() << "]." << std::endl; + } + } + } } ////////////////////////////////////////////////// @@ -1062,6 +1155,31 @@ void RenderUtilPrivate::CreateRenderingEntities( visual.SetMaterial(material->Data()); } + if (auto temp = _ecm.Component(_entity)) + { + // get the uniform temperature for the entity + this->entityTemp[_entity] = + std::make_tuple( + temp->Data().Kelvin(), 0.0, ""); + } + else + { + // entity doesn't have a uniform temperature. Check if it has + // a heat signature with an associated temperature range + auto heatSignature = + _ecm.Component(_entity); + auto tempRange = + _ecm.Component(_entity); + if (heatSignature && tempRange) + { + this->entityTemp[_entity] = + std::make_tuple( + tempRange->Data().min.Kelvin(), + tempRange->Data().max.Kelvin(), + std::string(heatSignature->Data())); + } + } + this->newVisuals.push_back( std::make_tuple(_entity, visual, _parent->Data())); return true; diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc index 20a929854d..93d14fb354 100644 --- a/src/systems/sensors/Sensors.cc +++ b/src/systems/sensors/Sensors.cc @@ -412,6 +412,17 @@ void Sensors::Configure(const Entity &/*_id*/, this->dataPtr->Run(); } +////////////////////////////////////////////////// +void Sensors::Update(const UpdateInfo &_info, + EntityComponentManager &_ecm) +{ + IGN_PROFILE("Sensors::Update"); + if (this->dataPtr->running && this->dataPtr->initialized) + { + this->dataPtr->renderUtil.UpdateECM(_info, _ecm); + } +} + ////////////////////////////////////////////////// void Sensors::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) @@ -592,6 +603,7 @@ std::string Sensors::CreateSensor(const Entity &_entity, IGNITION_ADD_PLUGIN(Sensors, System, Sensors::ISystemConfigure, + Sensors::ISystemUpdate, Sensors::ISystemPostUpdate ) diff --git a/src/systems/sensors/Sensors.hh b/src/systems/sensors/Sensors.hh index b295159cf8..3ee5807268 100644 --- a/src/systems/sensors/Sensors.hh +++ b/src/systems/sensors/Sensors.hh @@ -42,6 +42,7 @@ namespace systems class IGNITION_GAZEBO_VISIBLE Sensors: public System, public ISystemConfigure, + public ISystemUpdate, public ISystemPostUpdate { /// \brief Constructor @@ -56,6 +57,10 @@ namespace systems EntityComponentManager &_ecm, EventManager &_eventMgr) final; + // Documentation inherited + public: void Update(const UpdateInfo &_info, + EntityComponentManager &_ecm) final; + // Documentation inherited public: void PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) final; diff --git a/src/systems/thermal/CMakeLists.txt b/src/systems/thermal/CMakeLists.txt index ff3e7aa265..c6d6dfc3ba 100644 --- a/src/systems/thermal/CMakeLists.txt +++ b/src/systems/thermal/CMakeLists.txt @@ -5,3 +5,9 @@ gz_add_system(thermal ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} ) +gz_add_system(thermal-sensor + SOURCES + ThermalSensor.cc + PUBLIC_LINK_LIBS + ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} +) diff --git a/src/systems/thermal/ThermalSensor.cc b/src/systems/thermal/ThermalSensor.cc new file mode 100644 index 0000000000..72e5f60a45 --- /dev/null +++ b/src/systems/thermal/ThermalSensor.cc @@ -0,0 +1,93 @@ +/* + * 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 "ThermalSensor.hh" + +#include +#include + +#include +#include + +#include "ignition/gazebo/components/ThermalCamera.hh" +#include "ignition/gazebo/components/Temperature.hh" +#include "ignition/gazebo/components/TemperatureRange.hh" +#include "ignition/gazebo/EntityComponentManager.hh" +#include "ignition/gazebo/Util.hh" + +using namespace ignition; +using namespace gazebo; +using namespace systems; + +/// \brief Private Thermal sensor data class. +class ignition::gazebo::systems::ThermalSensorPrivate +{ +}; + +////////////////////////////////////////////////// +ThermalSensor::ThermalSensor() : System(), + dataPtr(std::make_unique()) +{ +} + +////////////////////////////////////////////////// +ThermalSensor::~ThermalSensor() = default; + +////////////////////////////////////////////////// +void ThermalSensor::Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + gazebo::EntityComponentManager &_ecm, + gazebo::EventManager & /*_eventMgr*/) +{ + const std::string resolutionTag = "resolution"; + const std::string minTempTag = "min_temp"; + const std::string maxTempTag = "max_temp"; + + auto sensorComp = _ecm.Component(_entity); + if (sensorComp == nullptr) + { + ignerr << "The thermal sensor system can only be used to configure " + << "parameters of thermal camera sensor " << std::endl; + return; + } + + if (_sdf->HasElement(resolutionTag)) + { + double resolution = _sdf->Get(resolutionTag); + _ecm.CreateComponent(_entity, + components::TemperatureLinearResolution(resolution)); + } + + if (_sdf->HasElement(minTempTag) || _sdf->HasElement(maxTempTag)) + { + double min = 0.0; + double max = std::numeric_limits::max(); + min = _sdf->Get(minTempTag, min).first; + max = _sdf->Get(maxTempTag, max).first; + components::TemperatureRangeInfo rangeInfo; + rangeInfo.min = min; + rangeInfo.max = max; + _ecm.CreateComponent(_entity, components::TemperatureRange(rangeInfo)); + } +} + +IGNITION_ADD_PLUGIN(ThermalSensor, System, + ThermalSensor::ISystemConfigure +) + +IGNITION_ADD_PLUGIN_ALIAS(ThermalSensor, + "ignition::gazebo::systems::ThermalSensor") diff --git a/src/systems/thermal/ThermalSensor.hh b/src/systems/thermal/ThermalSensor.hh new file mode 100644 index 0000000000..ed2fb431f2 --- /dev/null +++ b/src/systems/thermal/ThermalSensor.hh @@ -0,0 +1,60 @@ +/* + * 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. + * +*/ +#ifndef IGNITION_GAZEBO_SYSTEMS_THERMALSENSOR_HH_ +#define IGNITION_GAZEBO_SYSTEMS_THERMALSENSOR_HH_ + +#include +#include +#include +#include + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { +namespace systems +{ + // Forward declarations. + class ThermalSensorPrivate; + + /// \brief A thermal sensor plugin for configuring thermal sensor properties + class IGNITION_GAZEBO_VISIBLE ThermalSensor: + public System, + public ISystemConfigure + { + /// \brief Constructor + public: explicit ThermalSensor(); + + /// \brief Destructor + public: ~ThermalSensor() override; + + /// Documentation inherited + public: void Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + gazebo::EventManager &_eventMgr) final; + + /// \brief Private data pointer. + private: std::unique_ptr dataPtr; + }; + } +} +} +} +#endif diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index a2e4eb484f..5e2233fbd0 100644 --- a/test/integration/CMakeLists.txt +++ b/test/integration/CMakeLists.txt @@ -42,7 +42,6 @@ set(tests scene_broadcaster_system.cc sdf_frame_semantics.cc sdf_include.cc - thermal_system.cc touch_plugin.cc triggered_publisher.cc user_commands.cc @@ -60,6 +59,8 @@ set(tests_needing_display gpu_lidar.cc rgbd_camera.cc sensors_system.cc + thermal_system.cc + thermal_sensor_system.cc ) # Add systems that need a valid display here. diff --git a/test/integration/thermal_sensor_system.cc b/test/integration/thermal_sensor_system.cc new file mode 100644 index 0000000000..472a8a60ff --- /dev/null +++ b/test/integration/thermal_sensor_system.cc @@ -0,0 +1,219 @@ +/* + * 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 + +#include +#include + +#include +#include +#include +#include + +#include "ignition/gazebo/components/Name.hh" +#include "ignition/gazebo/components/Temperature.hh" +#include "ignition/gazebo/components/TemperatureRange.hh" +#include "ignition/gazebo/components/ThermalCamera.hh" +#include "ignition/gazebo/components/Visual.hh" +#include "ignition/gazebo/Server.hh" +#include "ignition/gazebo/SystemLoader.hh" +#include "ignition/gazebo/test_config.hh" + +#include "../helpers/Relay.hh" + +using namespace ignition; +using namespace gazebo; + +/// \brief Test Thermal system +class ThermalSensorTest : public ::testing::Test +{ + // Documentation inherited + protected: void SetUp() override + { + common::Console::SetVerbosity(4); + setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", + (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1); + } +}; + + +std::mutex g_mutex; +std::vector g_imageMsgs; +unsigned char *g_image = nullptr; + +///////////////////////////////////////////////// +void thermalCb(const msgs::Image &_msg) +{ + std::lock_guard g_lock(g_mutex); + g_imageMsgs.push_back(_msg); + + unsigned int width = _msg.width(); + unsigned int height = _msg.height(); + unsigned int size = width * height * sizeof(unsigned char); + if (!g_image) + { + g_image = new unsigned char[size]; + } + memcpy(g_image, _msg.data().c_str(), size); +} + +///////////////////////////////////////////////// +TEST_F(ThermalSensorTest, + IGN_UTILS_TEST_DISABLED_ON_MAC(ThermalSensorSystemInvalidConfig)) +{ + // Start server + ServerConfig serverConfig; + serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH, + "test/worlds/thermal_invalid.sdf")); + + Server server(serverConfig); + EXPECT_FALSE(server.Running()); + EXPECT_FALSE(*server.Running(0)); + + // Create a system that checks for thermal component + test::Relay testSystem; + + double resolution = 0; + double minTemp = std::numeric_limits::max(); + double maxTemp = 0.0; + std::map entityTemp; + std::string name; + sdf::Sensor sensorSdf; + + testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &, + const gazebo::EntityComponentManager &_ecm) + { + _ecm.Each( + [&](const ignition::gazebo::Entity &_id, + const components::Temperature *_temp, + const components::Name *_name) -> bool + { + // store temperature data + entityTemp[_name->Data()] = _temp->Data(); + + // verify temperature data belongs to a visual + EXPECT_NE(nullptr, _ecm.Component(_id)); + + return true; + }); + }); + testSystem.OnUpdate([&](const gazebo::UpdateInfo &, + gazebo::EntityComponentManager &_ecm) + { + _ecm.Each( + [&](const ignition::gazebo::Entity &_id, + const components::ThermalCamera *_sensor, + const components::Name *_name) -> bool + { + // store temperature data + sensorSdf = _sensor->Data(); + name = _name->Data(); + + auto resolutionComp = + _ecm.Component( + _id); + if (resolutionComp) + resolution = resolutionComp->Data(); + + auto temperatureRangeComp = + _ecm.Component(_id); + if (temperatureRangeComp) + { + auto info = temperatureRangeComp->Data(); + minTemp = info.min.Kelvin(); + maxTemp = info.max.Kelvin(); + } + return true; + }); + }); + + server.AddSystem(testSystem.systemPtr); + + // subscribe to thermal topic + transport::Node node; + node.Subscribe("/thermal_camera_invalid/image", &thermalCb); + + // Run server + server.Run(true, 1, false); + + // verify camera properties from sdf + unsigned int width = 320u; + unsigned int height = 240u; + EXPECT_EQ("thermal_camera_invalid", name); + const sdf::Camera *cameraSdf = sensorSdf.CameraSensor(); + ASSERT_NE(nullptr, cameraSdf); + EXPECT_EQ(width, cameraSdf->ImageWidth()); + EXPECT_EQ(height, cameraSdf->ImageHeight()); + EXPECT_EQ(sdf::PixelFormatType::L_INT8, cameraSdf->PixelFormat()); + + // verify camera properties set through plugin + // the resolution, min and max are invalid range values. Ign-gazebo should + // print out warnings and use default values + EXPECT_DOUBLE_EQ(0.0, resolution); + EXPECT_DOUBLE_EQ(999.0, minTemp); + EXPECT_DOUBLE_EQ(-590.0, maxTemp); + + // verify temperature of heat source + const std::string sphereVisual = "sphere_visual"; + const std::string cylinderVisual = "cylinder_visual"; + EXPECT_EQ(2u, entityTemp.size()); + ASSERT_TRUE(entityTemp.find(sphereVisual) != entityTemp.end()); + ASSERT_TRUE(entityTemp.find(cylinderVisual) != entityTemp.end()); + EXPECT_DOUBLE_EQ(600.0, entityTemp[sphereVisual].Kelvin()); + // the user specified temp is larger than the max value representable by an + // 8 bit 3 degree resolution camera - this value should be clamped + EXPECT_DOUBLE_EQ(800.0, entityTemp[cylinderVisual].Kelvin()); + + // Run server + server.Run(true, 10, false); + + // wait for image + bool received = false; + for (unsigned int i = 0; i < 20; ++i) + { + { + std::lock_guard lock(g_mutex); + received = !g_imageMsgs.empty(); + } + if (received) + break; + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + } + EXPECT_TRUE(received); + + // check temperature in actual image output + { + std::lock_guard lock(g_mutex); + unsigned int leftIdx = height * 0.5 * width; + unsigned int rightIdx = leftIdx + width-1; + unsigned int defaultResolution = 3u; + unsigned int cylinderTemp = g_image[leftIdx] * defaultResolution; + unsigned int sphereTemp = g_image[rightIdx] * defaultResolution; + // default resolution, min, max values used so we should get correct + // temperature value + EXPECT_EQ(600u, sphereTemp); + // 8 bit 3 degree resolution camera - this value should be clamped + // in the image output to: + // 2^(bitDepth) - 1 * resolution = 2^8 - 1 * 3 = 765 + EXPECT_EQ(765u, cylinderTemp); + } + + g_imageMsgs.clear(); + delete [] g_image; + g_image = nullptr; +} diff --git a/test/integration/thermal_system.cc b/test/integration/thermal_system.cc index 211f06b28d..25b8a98bb0 100644 --- a/test/integration/thermal_system.cc +++ b/test/integration/thermal_system.cc @@ -16,14 +16,21 @@ */ #include + +#include +#include + #include +#include #include #include +#include #include "ignition/gazebo/components/Name.hh" #include "ignition/gazebo/components/SourceFilePath.hh" #include "ignition/gazebo/components/Temperature.hh" #include "ignition/gazebo/components/TemperatureRange.hh" +#include "ignition/gazebo/components/ThermalCamera.hh" #include "ignition/gazebo/components/Visual.hh" #include "ignition/gazebo/Server.hh" #include "ignition/gazebo/SystemLoader.hh" @@ -47,7 +54,7 @@ class ThermalTest : public ::testing::Test }; ///////////////////////////////////////////////// -TEST_F(ThermalTest, TemperatureComponent) +TEST_F(ThermalTest, IGN_UTILS_TEST_DISABLED_ON_MAC(TemperatureComponent)) { // Start server ServerConfig serverConfig; @@ -169,3 +176,70 @@ TEST_F(ThermalTest, TemperatureComponent) EXPECT_TRUE(heatSignatures[heatSignatureSphereVisual2].find( heatSignatureTestResource) != std::string::npos); } + +///////////////////////////////////////////////// +TEST_F(ThermalTest, IGN_UTILS_TEST_DISABLED_ON_MAC(ThermalSensorSystem)) +{ + // Start server + ServerConfig serverConfig; + serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH, + "test/worlds/thermal.sdf")); + + Server server(serverConfig); + EXPECT_FALSE(server.Running()); + EXPECT_FALSE(*server.Running(0)); + + // Create a system that checks for thermal component + test::Relay testSystem; + + double resolution = 0; + double minTemp = std::numeric_limits::max(); + double maxTemp = 0.0; + std::string name; + sdf::Sensor sensorSdf; + testSystem.OnUpdate([&](const gazebo::UpdateInfo &, + gazebo::EntityComponentManager &_ecm) + { + _ecm.Each( + [&](const ignition::gazebo::Entity &_id, + const components::ThermalCamera *_sensor, + const components::Name *_name) -> bool + { + // store temperature data + sensorSdf = _sensor->Data(); + name = _name->Data(); + + auto resolutionComp = + _ecm.Component( + _id); + EXPECT_NE(nullptr, resolutionComp); + resolution = resolutionComp->Data(); + + auto temperatureRangeComp = + _ecm.Component(_id); + EXPECT_NE(nullptr, temperatureRangeComp); + auto info = temperatureRangeComp->Data(); + minTemp = info.min.Kelvin(); + maxTemp = info.max.Kelvin(); + return true; + }); + + }); + server.AddSystem(testSystem.systemPtr); + + // Run server + server.Run(true, 1, false); + + // verify camera properties from sdf + EXPECT_EQ("thermal_camera_8bit", name); + const sdf::Camera *cameraSdf = sensorSdf.CameraSensor(); + ASSERT_NE(nullptr, cameraSdf); + EXPECT_EQ(320u, cameraSdf->ImageWidth()); + EXPECT_EQ(240u, cameraSdf->ImageHeight()); + EXPECT_EQ(sdf::PixelFormatType::L_INT8, cameraSdf->PixelFormat()); + + // verify camera properties set through plugin + EXPECT_DOUBLE_EQ(3.0, resolution); + EXPECT_DOUBLE_EQ(253.15, minTemp); + EXPECT_DOUBLE_EQ(673.15, maxTemp); +} diff --git a/test/worlds/thermal.sdf b/test/worlds/thermal.sdf index 73cc58c228..5274b749b0 100644 --- a/test/worlds/thermal.sdf +++ b/test/worlds/thermal.sdf @@ -309,5 +309,51 @@ https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy + + 4.5 0 0.5 0.0 0.0 3.14 + + 0.05 0.05 0.05 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + + 1.047 + + 320 + 240 + L8 + + + 0.1 + 100 + + + 1 + 30 + true + thermal_camera_8bit/image + + 253.15 + 673.15 + 3.0 + + + + true + diff --git a/test/worlds/thermal_invalid.sdf b/test/worlds/thermal_invalid.sdf new file mode 100644 index 0000000000..89c621b9c9 --- /dev/null +++ b/test/worlds/thermal_invalid.sdf @@ -0,0 +1,152 @@ + + + + + + + 0.001 + 1.0 + + + + + ogre2 + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + -0.5 0.1 -0.9 + + + + 310 + + + + true` + 0 0.5 0.5 0 0 0 + + + + + 0.5 + + + + + + + + 0.5 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + + + 600.0 + + + + + + + true` + 0 -0.5 0.5 0 0 0 + + + + + 0.5 + 1.0 + + + + + + + + 0.5 + 1.0 + + + + 0 1 0 1 + 0 1 0 1 + 0 1 0 1 + + + 800.0 + + + + + + + 1.0 0 0.5 0.0 0.0 3.14 + + 0.05 0.05 0.05 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + + 1.047 + + 320 + 240 + L8 + + + 0.1 + 100 + + + 1 + 30 + true + thermal_camera_invalid/image + + 999 + -590 + 0.0 + + + + true + + + From d959c41136713b7f9dc48aee92ac6a8726116976 Mon Sep 17 00:00:00 2001 From: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> Date: Wed, 10 Feb 2021 21:42:23 -0500 Subject: [PATCH 32/55] 4.4.0 (#625) * 4.4.0 Signed-off-by: Ashton Larkin * fix typo Signed-off-by: Ian Chen Co-authored-by: Ian Chen --- CMakeLists.txt | 2 +- Changelog.md | 17 +++++++++++++++++ 2 files changed, 18 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index d9ceb3e6fa..f11b8106de 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(ignition-gazebo4 VERSION 4.3.0) +project(ignition-gazebo4 VERSION 4.4.0) #============================================================================ # Find ignition-cmake diff --git a/Changelog.md b/Changelog.md index 8a76252c42..5e7fc77a9b 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,5 +1,22 @@ ## Ignition Gazebo 4.x +### Ignition Gazebo 4.4.0 (2020-02-10) + +1. Added issue and PR templates + * [Pull Request 613](https://github.com/ignitionrobotics/ign-gazebo/pull/613) + +1. Fix segfault in SetRemovedComponentsMsgs method + * [Pull Request 495](https://github.com/ignitionrobotics/ign-gazebo/pull/495) + +1. Make topics configurable for joint controllers + * [Pull Request 584](https://github.com/ignitionrobotics/ign-gazebo/pull/584) + +1. Add about dialog + * [Pull Request 609](https://github.com/ignitionrobotics/ign-gazebo/pull/609) + +1. Add thermal sensor system for configuring thermal camera properties + * [Pull Request 614](https://github.com/ignitionrobotics/ign-gazebo/pull/614) + ### Ignition Gazebo 4.3.0 (2020-02-02) 1. Non-blocking paths request. From 14cc8370f052bf5139018d472914491cf6fef3a4 Mon Sep 17 00:00:00 2001 From: Andrej Orsula Date: Thu, 11 Feb 2021 19:50:34 +0100 Subject: [PATCH 33/55] Add JointTrajectoryController system plugin (#473) Signed-off-by: Andrej Orsula Co-authored-by: Louise Poubel --- CMakeLists.txt | 2 +- .../worlds/joint_trajectory_controller.sdf | 722 +++++++++++ src/systems/CMakeLists.txt | 1 + .../CMakeLists.txt | 7 + .../JointTrajectoryController.cc | 1067 +++++++++++++++++ .../JointTrajectoryController.hh | 164 +++ test/integration/CMakeLists.txt | 1 + .../joint_trajectory_controller_system.cc | 399 ++++++ test/worlds/joint_trajectory_controller.sdf | 420 +++++++ 9 files changed, 2782 insertions(+), 1 deletion(-) create mode 100644 examples/worlds/joint_trajectory_controller.sdf create mode 100644 src/systems/joint_trajectory_controller/CMakeLists.txt create mode 100644 src/systems/joint_trajectory_controller/JointTrajectoryController.cc create mode 100644 src/systems/joint_trajectory_controller/JointTrajectoryController.hh create mode 100644 test/integration/joint_trajectory_controller_system.cc create mode 100644 test/worlds/joint_trajectory_controller.sdf diff --git a/CMakeLists.txt b/CMakeLists.txt index f11b8106de..b616eadfec 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -53,7 +53,7 @@ set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR}) #-------------------------------------- # Find ignition-msgs -ign_find_package(ignition-msgs6 REQUIRED) +ign_find_package(ignition-msgs6 REQUIRED VERSION 6.2) set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR}) #-------------------------------------- diff --git a/examples/worlds/joint_trajectory_controller.sdf b/examples/worlds/joint_trajectory_controller.sdf new file mode 100644 index 0000000000..29b68f69a5 --- /dev/null +++ b/examples/worlds/joint_trajectory_controller.sdf @@ -0,0 +1,722 @@ + + + + + + + + + + + + + 0.4 0.4 0.4 + false + + + + + + + + + + 3D View + false + docked + + ogre + scene + 1 0 0 0 0 3.1416 + + + + + + World control + false + false + 50 + 100 + 1 + floating + + + + + + true + true + true + + + + + + World stats + false + false + 250 + 110 + 1 + floating + + + + + + true + true + true + true + + + + + + + + false + 5 5 5 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -1 -1 -1 + + + + + + + -0.1 0 0 0 1.5708 0 + true + + + + + 0 0 1 + 5 5 + + + + 0.5 0.5 0.5 1 + 0.5 0.5 0.5 1 + + + + + + + + + 0 0 0.25 -2.3561945 0 0 + + + world + RR_position_control_link0 + + + + + + + 0.025 + + + + + + + 0.025 + + + + 0.5 0.5 0.5 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + 0 0 0.1 0 0 0 + + + + 0.01 + 0.2 + + + + + + + 0.0125 + + + + + + + 0.01 + 0.2 + + + + 0.5 0 0 1 + 0.8 0 0 1 + 0.8 0 0 1 + + + + 0 0 0.2 0 0 0 + + + 0.0125 + + + + 0.5 0.5 0.5 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + 0.1 + + 0.0003358 + 0.0003358 + 0.000005 + + + + + 0 0 0.1 0 0 0 + + + + 0.01 + 0.2 + + + + + + + 0.01 + 0.2 + + + + 0.5 0 0 1 + 0.8 0 0 1 + 0.8 0 0 1 + + + + 0.1 + + 0.0003358 + 0.0003358 + 0.000005 + + + + + + 0 0 0 0 0 0 + RR_position_control_link0 + RR_position_control_link1 + + 1 0 0 + + 0.5 + + + + + 0 0 0.1 0 0 0 + RR_position_control_link1 + RR_position_control_link2 + + 1 0 0 + + 0.25 + + + + + + RR_position_control_joint1 + 0.7854 + 20 + 0.4 + 1.0 + -1 + 1 + -20 + 20 + + RR_position_control_joint2 + -1.5708 + 10 + 0.2 + 0.5 + -1 + 1 + -10 + 10 + + + + + + + 0 -0.5 -0.25 0 0 0 + + + world + RR_velocity_control_link0 + + + + + + + 0.025 + + + + + + + 0.025 + + + + 0.5 0.5 0.5 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + 0 0 0.1 0 0 0 + + + + 0.01 + 0.2 + + + + + + + 0.0125 + + + + + + + 0.01 + 0.2 + + + + 0 0.5 0 1 + 0 0.8 0 1 + 0 0.8 0 1 + + + + 0 0 0.2 0 0 0 + + + 0.0125 + + + + 0.5 0.5 0.5 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + 0.1 + + 0.0003358 + 0.0003358 + 0.000005 + + + + + 0 0 0.1 0 0 0 + + + + 0.01 + 0.2 + + + + + + + 0.01 + 0.2 + + + + 0 0.5 0 1 + 0 0.8 0 1 + 0 0.8 0 1 + + + + 0.1 + + 0.0003358 + 0.0003358 + 0.000005 + + + + + + 0 0 0 0 0 0 + RR_velocity_control_link0 + RR_velocity_control_link1 + + 1 0 0 + + + 0.02 + + + + 0 0 0.1 0 0 0 + RR_velocity_control_link1 + RR_velocity_control_link2 + + 1 0 0 + + + 0.01 + + + + + + 0.6 + 175 + -10 + 10 + + 0.1 + 200 + -5 + 5 + + + + + + + 0 0.5 -0.25 -0.7854 0 0 + + + world + RR_effort_control_link0 + + + + + + + 0.025 + + + + + + + 0.025 + + + + 0.5 0.5 0.5 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + 0 0 0.1 0 0 0 + + + + 0.01 + 0.2 + + + + + + + 0.0125 + + + + + + + 0.01 + 0.2 + + + + 0 0 0.5 1 + 0 0 0.8 1 + 0 0 0.8 1 + + + + 0 0 0.2 0 0 0 + + + 0.0125 + + + + 0.5 0.5 0.5 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + 0.1 + + 0.0003358 + 0.0003358 + 0.000005 + + + + + 0 0 0.1 0 0 0 + + + + 0.01 + 0.2 + + + + + + + 0.01 + 0.2 + + + + 0 0 0.5 1 + 0 0 0.8 1 + 0 0 0.8 1 + + + + 0.1 + + 0.0003358 + 0.0003358 + 0.000005 + + + + + + 0 0 0 0 0 0 + RR_effort_control_link0 + RR_effort_control_link1 + + 1 0 0 + + 0.02 + + + + + 0 0 0.1 0 0 0 + RR_effort_control_link1 + RR_effort_control_link2 + + 1 0 0 + + 0.01 + + + + + + + custom_topic_effort_control + + + + + diff --git a/src/systems/CMakeLists.txt b/src/systems/CMakeLists.txt index d8b61a4056..07b88dfba4 100644 --- a/src/systems/CMakeLists.txt +++ b/src/systems/CMakeLists.txt @@ -86,6 +86,7 @@ add_subdirectory(imu) add_subdirectory(joint_controller) add_subdirectory(joint_position_controller) add_subdirectory(joint_state_publisher) +add_subdirectory(joint_trajectory_controller) add_subdirectory(kinetic_energy_monitor) add_subdirectory(lift_drag) add_subdirectory(log) diff --git a/src/systems/joint_trajectory_controller/CMakeLists.txt b/src/systems/joint_trajectory_controller/CMakeLists.txt new file mode 100644 index 0000000000..c4150b372e --- /dev/null +++ b/src/systems/joint_trajectory_controller/CMakeLists.txt @@ -0,0 +1,7 @@ +gz_add_system(joint-trajectory-controller + SOURCES + JointTrajectoryController.cc + PUBLIC_LINK_LIBS + ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} + ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER} +) diff --git a/src/systems/joint_trajectory_controller/JointTrajectoryController.cc b/src/systems/joint_trajectory_controller/JointTrajectoryController.cc new file mode 100644 index 0000000000..d7cb345e60 --- /dev/null +++ b/src/systems/joint_trajectory_controller/JointTrajectoryController.cc @@ -0,0 +1,1067 @@ +/* + * 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 +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include + +#include +#include +#include + +#include "JointTrajectoryController.hh" + +using namespace ignition; +using namespace gazebo; +using namespace systems; + +/// \brief Helper class that contains all parameters required to create and +/// configure an instance of ActuatedJoint +class JointParameters +{ + /// \brief Parse all parameters required for creation of ActuatedJoint and + /// return them in a map + /// \param[in] _sdf SDF reference used to obtain the parameters + /// \param[in] _ecm Ignition Entity Component Manager + /// \param[in] _enabledJoints List of joint entities that are enabled and + /// need to be created + /// \return Map of parameters for each joint, the first entry of pair + /// indicates the joint name + public: static std::map ParseAll( + const std::shared_ptr &_sdf, + ignition::gazebo::EntityComponentManager &_ecm, + std::vector _enabledJoints); + + /// \brief Parse all values of a single parameter that is specified multiple + /// times in SDF + /// \param[in] _sdf SDF reference used to obtain the parameters + /// \param[in] _parameterName Name of the repeated parameter to parse all + /// values for + /// \return Ordered list of all values for a given repeated parameter + public: template static std::vector Parse( + const std::shared_ptr &_sdf, + const std::string &_parameterName); + + /// \brief Return value from `_vec` at `_index`, or `_alternative_value` if + /// `_vec` is not large enough + /// \param[in] _vec Vector that contains desired value of type T + /// \param[in] _index Index at which the value is stored + /// \param[in] _alternative_value Alternative or default value of type T + /// \return Value from `_vec` at `_index`, or `_alternative_value` if `_vec` + /// is not large enough + public: template static T NthElementOr( + const std::vector &_vec, + const size_t &_index, + const T &_alternative_value); + + /// \brief Initial position of the joint + public: double initialPosition; + /// \brief Default value for initial position of the joint + public: static constexpr double initialPositionDefault = 0.0; + + /// \brief Parameters required for creation of new PID controller + public: struct PID + { + /// \brief Proportional gain + double pGain; + /// \brief Default value for proportional gain + static constexpr double pGainDefault = 0.0; + + /// \brief Integral gain + double iGain; + /// \brief Default value for integral gain + static constexpr double iGainDefault = 0.0; + + /// \brief Derivative gain + double dGain; + /// \brief Default value for derivative gain + static constexpr double dGainDefault = 0.0; + + /// \brief Integral lower limit + double iMin; + /// \brief Default value for integral lower limit + static constexpr double iMinDefault = 0.0; + + /// \brief Integral upper limit + double iMax; + /// \brief Default value for integral upper limit + static constexpr double iMaxDefault = -1.0; + + /// \brief Output min value + double cmdMin; + /// \brief Default value for output min value + static constexpr double cmdMinDefault = 0.0; + + /// \brief Output max value + double cmdMax; + /// \brief Default value for output max value + static constexpr double cmdMaxDefault = -1.0; + + /// \brief Output offset + double cmdOffset; + /// \brief Default value for output offset + static constexpr double cmdOffsetDefault = 0.0; + } positionPID, velocityPID; +}; + +/// \brief A single 1-axis joint that is controlled by JointTrajectoryController +/// plugin +class ActuatedJoint +{ + /// \brief Default contructor + public: ActuatedJoint() = default; + + /// \brief Constructor that properly configures the actuated joint + /// \param[in] _entity Entity of the joint + /// \param[in] _params All parameters of the joint required for its + /// configuration + public: ActuatedJoint(const Entity &_entity, + const JointParameters &_params); + + /// \brief Setup components required for control of this joint + /// \param[in,out] _ecm Ignition Entity Component Manager + public: void SetupComponents( + ignition::gazebo::EntityComponentManager &_ecm) const; + + /// \brief Set target of the joint that the controller will attempt to reach + /// \param[in] _targetPoint Targets of all controlled joint + /// \param[in] _jointIndex Index of the joint, used to determine what index + /// of `_targetPoint` to use + public: void SetTarget( + const ignition::msgs::JointTrajectoryPoint &_targetPoint, + const size_t &_jointIndex); + + /// \brief Update command force that is applied on the joint + /// \param[in,out] _ecm Ignition Entity Component Manager + /// \param[in] _dt Time difference to update for + public: void Update(ignition::gazebo::EntityComponentManager &_ecm, + const std::chrono::steady_clock::duration &_dt); + + /// \brief Reset the target of the joint + public: void ResetTarget(); + + /// \brief Reset the position and velocity PID error on the joint + public: void ResetPIDs(); + + /// \brief Entity of the joint + public: Entity entity; + + /// \brief Target state that the joint controller should reach + public: struct TargetState + { + /// \brief Target position of the joint + double position; + /// \brief Target position of the joint + double velocity; + /// \brief Target acceleration of the joint + /// \attention Acceleration control is NOT implemented at the moment + double acceleration; + /// \brief Target force or torque of the joint + double effort; + } target; + + /// \brief Initial position of the joint + public: double initialPosition; + + /// \brief List of PID controllers used for the control of this actuated joint + public: struct PIDs + { + /// \brief Position PID controller + ignition::math::PID position; + /// \brief Velocity PID controller + ignition::math::PID velocity; + } pids; +}; + +/// \brief Information about trajectory that is followed by +/// JointTrajectoryController plugin +class Trajectory +{ + /// \brief Update index of trajectory points, such that it directs to a point + /// that needs to be currently followed + /// \param[in] _simTime Current simulation time + /// \return True if index of the trajectory point was updated, False otherwise + public: bool UpdateCurrentPoint( + const std::chrono::steady_clock::duration &_simTime); + + /// \brief Determine if the trajectory goal was reached + /// \return True if trajectory goal was reached, False otherwise + public: bool IsGoalReached() const; + + /// \brief Compute progress of the current trajectory + /// \return Fraction of the completed points in range (0.0, 1.0] + public: float ComputeProgress() const; + + /// \brief Reset trajectory internals, i.e. clean list of joint names, points + /// and reset index of the current point + public: void Reset(); + + /// \brief Status of the trajectory + public: enum TrajectoryStatus + { + /// \brief Trajectory is new and needs to be configure on the next update + /// loop + New, + /// \brief Trajectory is currently being followed + Active, + /// \brief Trajectory goal is reached + Reached, + } status; + + /// \brief Start time of trajectory + public: std::chrono::steady_clock::duration startTime; + + /// \brief Index of the current trajectory point + public: unsigned int pointIndex; + + /// \brief Ordered joints that need to be actuated to follow the current + /// trajectory + public: std::vector jointNames; + + /// \brief Trajectory defined in terms of temporal points, whose members are + /// ordered according to `jointNames` + public: std::vector points; +}; + +/// \brief Private data of the JointTrajectoryController plugin +class ignition::gazebo::systems::JointTrajectoryControllerPrivate +{ + /// \brief Get a list of enabled, unique, 1-axis joints of the model. If no + /// joint names are specified in the plugin configuration, all valid 1-axis + /// joints are returned + /// \param[in] _entity Entity of the model that the plugin is being + /// configured for + /// \param[in] _sdf SDF reference used to determine enabled joints + /// \param[in] _ecm Ignition Entity Component Manager + /// \return List of entities containinig all enabled joints + public: std::vector GetEnabledJoints( + const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm) const; + + /// \brief Callback for joint trajectory subscription + /// \param[in] _msg A new message describing a joint trajectory that needs + /// to be followed + public: void JointTrajectoryCallback( + const ignition::msgs::JointTrajectory &_msg); + + /// \brief Reset internals of the plugin, without affecting already created + /// components + public: void Reset(); + + /// \brief Ignition communication node + public: transport::Node node; + + /// \brief Publisher of the progress for currently followed trajectory + public: transport::Node::Publisher progressPub; + + /// \brief Map of actuated joints, where the first entry of pair is the name + /// of the joint + public: std::map actuatedJoints; + + /// \brief Mutex projecting trajectory + public: std::mutex trajectoryMutex; + + /// \brief Information about trajectory that should be followed + public: Trajectory trajectory; + + /// \brief Flag that determines whether to use message header timestamp as + /// the trajectory start, where simulation time at the beginning of execution + /// is used otherwise + public: bool useHeaderStartTime; + + /// \brief Flag that determines if all components required for control are + /// already setup + public: bool componentSetupFinished; +}; + +///////////////////////////////// +/// JointTrajectoryController /// +///////////////////////////////// + +////////////////////////////////////////////////// +JointTrajectoryController::JointTrajectoryController() + : dataPtr(std::make_unique()) +{ +} + +////////////////////////////////////////////////// +void JointTrajectoryController::Configure( + const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager & /*_eventManager*/) +{ + // Make sure the controller is attached to a valid model + const auto model = Model(_entity); + if (!model.Valid(_ecm)) + { + ignerr << "[JointTrajectoryController] Failed to initialize because [" + << model.Name(_ecm) << "(Entity=" << _entity + << ")] is not a model. Please make sure that" + " JointTrajectoryController is attached to a valid model.\n"; + return; + } + ignmsg << "[JointTrajectoryController] Setting up controller for [" + << model.Name(_ecm) << "(Entity=" << _entity << ")].\n"; + + // Get list of enabled joints + const auto enabledJoints = this->dataPtr->GetEnabledJoints(_entity, + _sdf, + _ecm); + + // For each enabled joint, parse all of its parameters from SDF + auto jointParameters = JointParameters::ParseAll(_sdf, _ecm, enabledJoints); + + // Iterate over all enabled joints and create/configure them + for (const auto &jointEntity : enabledJoints) + { + const auto jointName = + _ecm.Component(jointEntity)->Data(); + this->dataPtr->actuatedJoints[jointName] = + ActuatedJoint(jointEntity, jointParameters[jointName]); + ignmsg << "[JointTrajectoryController] Configured joint [" + << jointName << "(Entity=" << jointEntity << ")].\n"; + } + + // Make sure at least one joint is configured + if (this->dataPtr->actuatedJoints.empty()) + { + ignerr << "[JointTrajectoryController] Failed to initialize because [" + << model.Name(_ecm) << "(Entity=" << _entity + << ")] has no supported joints.\n"; + return; + } + + // Get additional parameters from SDF + if (_sdf->HasAttribute("use_header_start_time")) + { + this->dataPtr->useHeaderStartTime = + _sdf->Get("use_header_start_time"); + } + else + { + this->dataPtr->useHeaderStartTime = false; + } + + // Subscribe to joint trajectory commands + auto trajectoryTopic = _sdf->Get("topic"); + if (trajectoryTopic.empty()) + { + // If not specified, use the default topic based on model name + trajectoryTopic = "/model/" + model.Name(_ecm) + "/joint_trajectory"; + } + // Make sure the topic is valid + const auto validTrajectoryTopic = transport::TopicUtils::AsValidTopic( + trajectoryTopic); + if (validTrajectoryTopic.empty()) + { + ignerr << "[JointTrajectoryController] Cannot subscribe to invalid topic [" + << trajectoryTopic << "].\n"; + return; + } + // Subscribe + ignmsg << "[JointTrajectoryController] Subscribing to joint trajectory" + " commands on topic [" << validTrajectoryTopic << "].\n"; + this->dataPtr->node.Subscribe( + validTrajectoryTopic, + &JointTrajectoryControllerPrivate::JointTrajectoryCallback, + this->dataPtr.get()); + + // Advertise progress + const auto progressTopic = validTrajectoryTopic + "_progress"; + ignmsg << "[JointTrajectoryController] Advertising joint trajectory progress" + " on topic [" << progressTopic << "].\n"; + this->dataPtr->progressPub = + this->dataPtr->node.Advertise(progressTopic); +} + +////////////////////////////////////////////////// +void JointTrajectoryController::PreUpdate( + const ignition::gazebo::UpdateInfo &_info, + ignition::gazebo::EntityComponentManager &_ecm) +{ + IGN_PROFILE("JointTrajectoryController::PreUpdate"); + + // Create required components for each joint (only once) + if (!this->dataPtr->componentSetupFinished) + { + for (auto &actuatedJoint : this->dataPtr->actuatedJoints) + { + ActuatedJoint *joint = &actuatedJoint.second; + joint->SetupComponents(_ecm); + } + this->dataPtr->componentSetupFinished = true; + } + + // Reset plugin if jump back in time is detected + if (_info.dt < std::chrono::steady_clock::duration::zero()) + { + ignmsg << "[JointTrajectoryController] Resetting plugin because jump back" + " in time [" + << std::chrono::duration_cast(_info.dt).count() + << " s] was detected.\n"; + this->dataPtr->Reset(); + } + + // Nothing else to do if paused + if (_info.paused) + { + return; + } + + // Update joint targets based on the current trajectory + { + auto isTargetUpdateRequired = false; + + // Lock mutex before accessing trajectory + std::lock_guard lock(this->dataPtr->trajectoryMutex); + + if (this->dataPtr->trajectory.status == Trajectory::New) + { + // Set trajectory start time if not set before + if (this->dataPtr->trajectory.startTime.count() == 0) + { + this->dataPtr->trajectory.startTime = _info.simTime; + this->dataPtr->trajectory.status = Trajectory::Active; + } + + // If the new trajectory has no points, consider it reached + if (this->dataPtr->trajectory.points.empty()) + { + this->dataPtr->trajectory.status = Trajectory::Reached; + } + + // Update is always needed for a new trajectory + isTargetUpdateRequired = true; + } + + if (this->dataPtr->trajectory.status == Trajectory::Active) + { + // Determine what point needs to be reached at the current time + if (this->dataPtr->trajectory.UpdateCurrentPoint(_info.simTime)) + { + // Update is needed if point was updated + isTargetUpdateRequired = true; + } + } + + // Update the target for each joint that is defined in the + // trajectory, if needed + if (isTargetUpdateRequired && + this->dataPtr->trajectory.status != Trajectory::Reached) + { + const auto targetPoint = + this->dataPtr->trajectory.points[this->dataPtr->trajectory + .pointIndex]; + for (auto jointIndex = 0u; + jointIndex < this->dataPtr->trajectory.jointNames.size(); + ++jointIndex) + { + const auto jointName = this->dataPtr->trajectory.jointNames[jointIndex]; + if (this->dataPtr->actuatedJoints.count(jointName) == 0) + { + // Warning about unconfigured joint is already logged above + continue; + } + auto *joint = &this->dataPtr->actuatedJoints[jointName]; + joint->SetTarget(targetPoint, jointIndex); + } + + // If there are no more points after the current one, set the trajectory + // to Reached + if (this->dataPtr->trajectory.IsGoalReached()) + { + this->dataPtr->trajectory.status = Trajectory::Reached; + } + + // Publish current progress of the trajectory + ignition::msgs::Float progressMsg; + progressMsg.set_data(this->dataPtr->trajectory.ComputeProgress()); + this->dataPtr->progressPub.Publish(progressMsg); + } + } + + // Control loop + for (auto &actuatedJoint : this->dataPtr->actuatedJoints) + { + auto *joint = &actuatedJoint.second; + joint->Update(_ecm, _info.dt); + } +} + +//////////////////////////////////////// +/// JointTrajectoryControllerPrivate /// +//////////////////////////////////////// + +////////////////////////////////////////////////// +std::vector JointTrajectoryControllerPrivate::GetEnabledJoints( + const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm) const +{ + std::vector output; + + // Get list of user-enabled joint names. If empty, enable all 1-axis joints + const auto enabledJoints = JointParameters::Parse(_sdf, + "joint_name"); + + // Get list of joint entities of the model + // If there are joints explicitely enabled by the user, get only those + std::vector jointEntities; + if (!enabledJoints.empty()) + { + for (const auto &enabledJointName : enabledJoints) + { + auto enabledJointEntity = _ecm.ChildrenByComponents( + _entity, components::Joint(), components::Name(enabledJointName)); + // Check that model has exactly one joint that matches the name + if (enabledJointEntity.empty()) + { + ignerr << "[JointTrajectoryController] Model does not contain joint [" + << enabledJointName << "], which was explicitly enabled.\n"; + continue; + } + else if (enabledJointEntity.size() > 1) + { + ignwarn << "[JointTrajectoryController] Model has " + << enabledJointEntity.size() << " duplicate joints named [" + << enabledJointName << "]. Only the first (Entity=" + << enabledJointEntity[0] << ") will be configured.\n"; + } + // Add entity to the list of enabled joints + jointEntities.push_back(enabledJointEntity[0]); + } + } + else + { + jointEntities = _ecm.ChildrenByComponents(_entity, components::Joint()); + } + + // Iterate over all joints and verify whether they can be enabled or not + for (const auto &jointEntity : jointEntities) + { + const auto jointName = _ecm.Component( + jointEntity)->Data(); + + // Ignore duplicate joints + for (const auto &actuatedJoint : this->actuatedJoints) + { + if (actuatedJoint.second.entity == jointEntity) + { + ignwarn << "[JointTrajectoryController] Ignoring duplicate joint [" + << jointName << "(Entity=" << jointEntity << ")].\n"; + continue; + } + } + + // Make sure the joint type is supported, i.e. it has exactly one + // actuated axis + const auto *jointType = _ecm.Component(jointEntity); + switch (jointType->Data()) + { + case sdf::JointType::PRISMATIC: + case sdf::JointType::REVOLUTE: + case sdf::JointType::CONTINUOUS: + case sdf::JointType::GEARBOX: + { + // Supported joint type + break; + } + case sdf::JointType::FIXED: + { + igndbg << "[JointTrajectoryController] Fixed joint [" << jointName + << "(Entity=" << jointEntity << ")] is skipped.\n"; + continue; + } + case sdf::JointType::REVOLUTE2: + case sdf::JointType::SCREW: + case sdf::JointType::BALL: + case sdf::JointType::UNIVERSAL: + { + ignwarn << "[JointTrajectoryController] Joint [" << jointName + << "(Entity=" << jointEntity + << ")] is of unsupported type. Only joints with a single axis" + " are supported.\n"; + continue; + } + default: + { + ignwarn << "[JointTrajectoryController] Joint [" << jointName + << "(Entity=" << jointEntity << ")] is of unknown type.\n"; + continue; + } + } + output.push_back(jointEntity); + } + + return output; +} + +////////////////////////////////////////////////// +void JointTrajectoryControllerPrivate::JointTrajectoryCallback( + const ignition::msgs::JointTrajectory &_msg) +{ + // Make sure the message is valid + if (_msg.joint_names_size() == 0) + { + ignwarn << "[JointTrajectoryController] JointTrajectory message does not" + " contain any joint names.\n"; + return; + } + + // Warn user that accelerations are currently ignored if the first point + // contains them + if (_msg.points(0).accelerations_size() > 0) + { + ignwarn << "[JointTrajectoryController] JointTrajectory message contains" + " acceleration commands, which are currently ignored.\n"; + } + + // Lock mutex guarding the trajectory + std::lock_guard lock(this->trajectoryMutex); + + if (this->trajectory.status != Trajectory::Reached) + { + ignwarn << "[JointTrajectoryController] A new JointTrajectory message was" + " received while executing a previous trajectory.\n"; + } + + // Get start time of the trajectory from message header if desired + // If not enabled or there is no header, set start time to 0 and determine + // it later from simTime + if (this->useHeaderStartTime && _msg.has_header()) + { + if (_msg.header().has_stamp()) + { + const auto stamp = _msg.header().stamp(); + this->trajectory.startTime = std::chrono::seconds(stamp.sec()) + + std::chrono::nanoseconds(stamp.nsec()); + } + } + else + { + this->trajectory.startTime = std::chrono::nanoseconds(0); + } + + // Reset for a new trajectory + this->trajectory.Reset(); + + // Extract joint names and points + for (const auto &joint_name : _msg.joint_names()) + { + this->trajectory.jointNames.push_back(joint_name); + } + for (const auto &point : _msg.points()) + { + this->trajectory.points.push_back(point); + } +} + +////////////////////////////////////////////////// +void JointTrajectoryControllerPrivate::Reset() +{ + for (auto &actuatedJoint : this->actuatedJoints) + { + auto *joint = &actuatedJoint.second; + // Reset joint target + joint->ResetTarget(); + // Reset PIDs + joint->ResetPIDs(); + } + + // Reset trajectory + this->trajectory.Reset(); +} + +/////////////////////// +/// JointParameters /// +/////////////////////// + +////////////////////////////////////////////////// +std::map JointParameters::ParseAll( + const std::shared_ptr &_sdf, + ignition::gazebo::EntityComponentManager &_ecm, + std::vector _enabledJoints) +{ + std::map output; + + const auto initialPositionAll = JointParameters::Parse(_sdf, + "initial_position"); + + const auto positionPGainAll = JointParameters::Parse(_sdf, + "position_p_gain"); + const auto positionIGainAll = JointParameters::Parse(_sdf, + "position_i_gain"); + const auto positionDGainAll = JointParameters::Parse(_sdf, + "position_d_gain"); + const auto positionIMinAll = JointParameters::Parse(_sdf, + "position_i_min"); + const auto positionIMaxAll = JointParameters::Parse(_sdf, + "position_i_max"); + const auto positionCmdMinAll = JointParameters::Parse(_sdf, + "position_cmd_min"); + const auto positionCmdMaxAll = JointParameters::Parse(_sdf, + "position_cmd_max"); + const auto positionCmdOffsetAll = JointParameters::Parse(_sdf, + "position_cmd_offset"); + + const auto velocityPGainAll = JointParameters::Parse(_sdf, + "velocity_p_gain"); + const auto velocityIGainAll = JointParameters::Parse(_sdf, + "velocity_i_gain"); + const auto velocityDGainAll = JointParameters::Parse(_sdf, + "velocity_d_gain"); + const auto velocityIMinAll = JointParameters::Parse(_sdf, + "velocity_i_min"); + const auto velocityIMaxAll = JointParameters::Parse(_sdf, + "velocity_i_max"); + const auto velocityCmdMinAll = JointParameters::Parse(_sdf, + "velocity_cmd_min"); + const auto velocityCmdMaxAll = JointParameters::Parse(_sdf, + "velocity_cmd_max"); + const auto velocityCmdOffsetAll = JointParameters::Parse(_sdf, + "velocity_cmd_offset"); + + for (std::size_t i = 0; i < _enabledJoints.size(); ++i) + { + JointParameters params; + params.initialPosition = params.NthElementOr(initialPositionAll, i, + params.initialPositionDefault); + + params.positionPID.pGain = params.NthElementOr(positionPGainAll, i, + params.positionPID.pGainDefault); + params.positionPID.iGain = params.NthElementOr(positionIGainAll, i, + params.positionPID.iGainDefault); + params.positionPID.dGain = params.NthElementOr(positionDGainAll, i, + params.positionPID.dGainDefault); + params.positionPID.iMin = params.NthElementOr(positionIMinAll, i, + params.positionPID.iMinDefault); + params.positionPID.iMax = params.NthElementOr(positionIMaxAll, i, + params.positionPID.iMaxDefault); + params.positionPID.cmdMin = params.NthElementOr(positionCmdMinAll, i, + params.positionPID.cmdMinDefault); + params.positionPID.cmdMax = params.NthElementOr(positionCmdMaxAll, i, + params.positionPID.cmdMaxDefault); + params.positionPID.cmdOffset = params.NthElementOr(positionCmdOffsetAll, i, + params.positionPID.cmdOffsetDefault); + + params.velocityPID.pGain = params.NthElementOr(velocityPGainAll, i, + params.velocityPID.pGainDefault); + params.velocityPID.iGain = params.NthElementOr(velocityIGainAll, i, + params.velocityPID.iGainDefault); + params.velocityPID.dGain = params.NthElementOr(velocityDGainAll, i, + params.velocityPID.dGainDefault); + params.velocityPID.iMin = params.NthElementOr(velocityIMinAll, i, + params.velocityPID.iMinDefault); + params.velocityPID.iMax = params.NthElementOr(velocityIMaxAll, i, + params.velocityPID.iMaxDefault); + params.velocityPID.cmdMin = params.NthElementOr(velocityCmdMinAll, i, + params.velocityPID.cmdMinDefault); + params.velocityPID.cmdMax = params.NthElementOr(velocityCmdMaxAll, i, + params.velocityPID.cmdMaxDefault); + params.velocityPID.cmdOffset = params.NthElementOr(velocityCmdOffsetAll, i, + params.velocityPID.cmdOffsetDefault); + + const auto jointName = _ecm.Component( + _enabledJoints[i])->Data(); + output[jointName] = params; + } + + return output; +} + +////////////////////////////////////////////////// +template +std::vector JointParameters::Parse( + const std::shared_ptr &_sdf, + const std::string &_parameterName) +{ + std::vector output; + + if (_sdf->HasElement(_parameterName)) + { + sdf::ElementPtr param = const_cast( + _sdf.get())->GetElement(_parameterName); + while (param) + { + output.push_back(param->Get()); + param = param->GetNextElement(_parameterName); + } + } + + return output; +} + +//////////////////////////////////////////////// +template +T JointParameters::NthElementOr(const std::vector &_vec, + const size_t &_index, + const T &_alternative_value) +{ + if (_index < _vec.size()) + { + return _vec[_index]; + } + else + { + return _alternative_value; + } +} + +///////////////////// +/// ActuatedJoint /// +///////////////////// + +////////////////////////////////////////////////// +ActuatedJoint::ActuatedJoint(const Entity &_entity, + const JointParameters &_params) +{ + this->entity = _entity; + + this->initialPosition = _params.initialPosition; + this->target.position = _params.initialPosition; + this->target.velocity = 0.0; + this->target.acceleration = 0.0; + this->target.effort = 0.0; + + this->pids.position = ignition::math::PID(_params.positionPID.pGain, + _params.positionPID.iGain, + _params.positionPID.dGain, + _params.positionPID.iMax, + _params.positionPID.iMin, + _params.positionPID.cmdMax, + _params.positionPID.cmdMin, + _params.positionPID.cmdOffset); + + this->pids.velocity = ignition::math::PID(_params.velocityPID.pGain, + _params.velocityPID.iGain, + _params.velocityPID.dGain, + _params.velocityPID.iMax, + _params.velocityPID.iMin, + _params.velocityPID.cmdMax, + _params.velocityPID.cmdMin, + _params.velocityPID.cmdOffset); + + igndbg << "[JointTrajectoryController] Parameters for joint (Entity=" + << _entity << "):\n" + << "initial_position: [" << _params.initialPosition << "]\n" + << "position_p_gain: [" << _params.positionPID.pGain << "]\n" + << "position_i_gain: [" << _params.positionPID.iGain << "]\n" + << "position_d_gain: [" << _params.positionPID.dGain << "]\n" + << "position_i_min: [" << _params.positionPID.iMax << "]\n" + << "position_i_max: [" << _params.positionPID.iMax << "]\n" + << "position_cmd_min: [" << _params.positionPID.cmdMin << "]\n" + << "position_cmd_max: [" << _params.positionPID.cmdMax << "]\n" + << "position_cmd_offset: [" << _params.positionPID.cmdOffset << "]\n" + << "velocity_p_gain: [" << _params.velocityPID.pGain << "]\n" + << "velocity_i_gain: [" << _params.velocityPID.iGain << "]\n" + << "velocity_d_gain: [" << _params.velocityPID.dGain << "]\n" + << "velocity_i_min: [" << _params.velocityPID.iMax << "]\n" + << "velocity_i_max: [" << _params.velocityPID.iMax << "]\n" + << "velocity_cmd_min: [" << _params.velocityPID.cmdMin << "]\n" + << "velocity_cmd_max: [" << _params.velocityPID.cmdMax << "]\n" + << "velocity_cmd_offset: [" << _params.velocityPID.cmdOffset << "]\n"; +} + +////////////////////////////////////////////////// +void ActuatedJoint::SetupComponents( + ignition::gazebo::EntityComponentManager &_ecm) const +{ + // Create JointPosition component if one does not exist + if (nullptr == _ecm.Component(this->entity)) + { + _ecm.CreateComponent(this->entity, components::JointPosition()); + } + + // Create JointVelocity component if one does not exist + if (nullptr == _ecm.Component(this->entity)) + { + _ecm.CreateComponent(this->entity, components::JointVelocity()); + } + + // Create JointForceCmd component if one does not exist + if (nullptr == _ecm.Component(this->entity)) + { + _ecm.CreateComponent(this->entity, components::JointForceCmd({0.0})); + } +} + +////////////////////////////////////////////////// +void ActuatedJoint::SetTarget( + const ignition::msgs::JointTrajectoryPoint &_targetPoint, + const size_t &_jointIndex) +{ + if ((signed)_jointIndex < _targetPoint.positions_size()) + { + this->target.position = _targetPoint.positions(_jointIndex); + } + if ((signed)_jointIndex < _targetPoint.velocities_size()) + { + this->target.velocity = _targetPoint.velocities(_jointIndex); + } + if ((signed)_jointIndex < _targetPoint.accelerations_size()) + { + this->target.acceleration = _targetPoint.accelerations(_jointIndex); + } + if ((signed)_jointIndex < _targetPoint.effort_size()) + { + this->target.effort = _targetPoint.effort(_jointIndex); + } +} + +////////////////////////////////////////////////// +void ActuatedJoint::Update(ignition::gazebo::EntityComponentManager &_ecm, + const std::chrono::steady_clock::duration &_dt) +{ + // Get JointPosition and JointVelocity components + const auto jointPositionComponent = _ecm.Component( + this->entity); + const auto jointVelocityComponent = _ecm.Component( + this->entity); + + // Compute control errors and force for each PID controller + double forcePosition = 0.0, forceVelocity = 0.0; + if (!jointPositionComponent->Data().empty()) + { + double errorPosition = jointPositionComponent->Data()[0] - + this->target.position; + forcePosition = this->pids.position.Update(errorPosition, _dt); + } + if (!jointVelocityComponent->Data().empty()) + { + double errorVelocity = jointVelocityComponent->Data()[0] - + this->target.velocity; + forceVelocity = this->pids.velocity.Update(errorVelocity, _dt); + } + + // Sum all forces + const double force = forcePosition + forceVelocity + this->target.effort; + + // Get JointForceCmd component and apply command force + auto jointForceCmdComponent = _ecm.Component( + this->entity); + jointForceCmdComponent->Data()[0] = force; +} + +////////////////////////////////////////////////// +void ActuatedJoint::ResetTarget() +{ + this->target.position = this->initialPosition; + this->target.velocity = 0.0; + this->target.acceleration = 0.0; + this->target.effort = 0.0; +} + +////////////////////////////////////////////////// +void ActuatedJoint::ResetPIDs() +{ + this->pids.position.Reset(); + this->pids.velocity.Reset(); +} + +////////////////// +/// Trajectory /// +////////////////// + +////////////////////////////////////////////////// +bool Trajectory::UpdateCurrentPoint( + const std::chrono::steady_clock::duration &_simTime) +{ + bool isUpdated = false; + + const auto trajectoryTime = _simTime - this->startTime; + while (true) + { + // Break if end of trajectory is reached (there are no more points after + // the current one) + if (this->IsGoalReached()) + { + break; + } + + // Break if point needs to be followed + const auto pointTFS = this->points[this->pointIndex].time_from_start(); + const auto pointTime = std::chrono::seconds(pointTFS.sec()) + + std::chrono::nanoseconds(pointTFS.nsec()); + if (pointTime >= trajectoryTime) + { + break; + } + + // Otherwise increment and try again (joint targets need to be updated) + ++this->pointIndex; + isUpdated = true; + }; + + // Return true if a point index was updated + return isUpdated; +} + +////////////////////////////////////////////////// +bool Trajectory::IsGoalReached() const +{ + return this->pointIndex + 1 >= this->points.size(); +} + +////////////////////////////////////////////////// +float Trajectory::ComputeProgress() const +{ + if (this->points.size() == 0) + { + return 1.0; + } + else + { + return static_cast(this->pointIndex + 1) / + static_cast(this->points.size()); + } +} + +////////////////////////////////////////////////// +void Trajectory::Reset() +{ + this->status = Trajectory::New; + this->pointIndex = 0; + this->jointNames.clear(); + this->points.clear(); +} + +// Register plugin +IGNITION_ADD_PLUGIN(JointTrajectoryController, + ignition::gazebo::System, + JointTrajectoryController::ISystemConfigure, + JointTrajectoryController::ISystemPreUpdate) +IGNITION_ADD_PLUGIN_ALIAS( + JointTrajectoryController, + "ignition::gazebo::systems::JointTrajectoryController") diff --git a/src/systems/joint_trajectory_controller/JointTrajectoryController.hh b/src/systems/joint_trajectory_controller/JointTrajectoryController.hh new file mode 100644 index 0000000000..8f895b77e0 --- /dev/null +++ b/src/systems/joint_trajectory_controller/JointTrajectoryController.hh @@ -0,0 +1,164 @@ +/* + * 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. + * + */ + +#ifndef IGNITION_GAZEBO_SYSTEMS_JOINT_TRAJECTORY_CONTROLLER_HH_ +#define IGNITION_GAZEBO_SYSTEMS_JOINT_TRAJECTORY_CONTROLLER_HH_ + +#include +#include + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { +namespace systems +{ + // Forward declaration + class IGNITION_GAZEBO_HIDDEN JointTrajectoryControllerPrivate; + + /// \brief Joint trajectory controller, which can be attached to a model with + /// reference to one or more 1-axis joints in order to follow a trajectory. + /// + /// Joint trajectories can be sent to this plugin via Ignition Transport. + /// The default topic name is "/model/${MODEL_NAME}/joint_trajectory" that + /// can be configured with the `` system parameter. + /// + /// This topic accepts ignition::msgs::JointTrajectory messages that represent + /// a full trajectory, defined as temporal `points` with their fields ordered + /// according to `joint_names` field. The fields under `points` are + /// `positions` - Controlled by position PID controller for each joint + /// `velocities` - Controlled by velocity PID controller for each joint + /// `accelerations` - This field is currently ignored + /// `effort` - Controlled directly for each joint + /// `time_from_start` - Temporal information about the point + /// + /// Forces/torques from `position`, `velocity` and `effort` are summed and + /// applied to the joint. Each PID controller can be configured with system + /// parameters described below. + /// + /// Input trajectory can be produced by a motion planning framework such as + /// MoveIt2. For smooth execution of the trajectory, its points should to be + /// interpolated before sending them via Ignition Transport (interpolation + /// might already be implemented in the motion planning framework of your + /// choice). + /// + /// The progress of the current trajectory can be tracked on topic whose name + /// is derived as `_progress`. This progress is indicated in the range + /// of (0.0, 1.0] and is currently based purely on `time_from_start` contained + /// in the trajectory points. + /// + /// ## System Parameters + /// + /// `` The name of the topic that this plugin subscribes to. + /// Optional parameter. + /// Defaults to "/model/${MODEL_NAME}/joint_trajectory". + /// + /// `` If enabled, trajectory execution begins at the + /// timestamp contained in the header of received trajectory messages. + /// Optional parameter. + /// Defaults to false. + /// + /// `` Name of a joint to control. + /// This parameter can be specified multiple times, i.e. once for each joint. + /// Optional parameter. + /// Defaults to all 1-axis joints contained in the model SDF (order is kept). + /// + /// `` Initial position of a joint (for position control). + /// This parameter can be specified multiple times. Follows joint_name order. + /// Optional parameter. + /// Defaults to 0 for all joints. + /// + /// `<%s_p_gain>` The proportional gain of the PID. + /// Substitute '%s' for "position" or "velocity" (e.g. "position_p_gain"). + /// This parameter can be specified multiple times. Follows joint_name order. + /// Optional parameter. + /// The default value is 0 (disabled). + /// + /// `<%s_i_gain>` The integral gain of the PID. Optional parameter. + /// Substitute '%s' for "position" or "velocity" (e.g. "position_p_gain"). + /// This parameter can be specified multiple times. Follows joint_name order. + /// Optional parameter. + /// The default value is 0 (disabled). + /// + /// `<%s_d_gain>` The derivative gain of the PID. + /// Substitute '%s' for "position" or "velocity" (e.g. "position_p_gain"). + /// This parameter can be specified multiple times. Follows joint_name order. + /// Optional parameter. + /// The default value is 0 (disabled). + /// + /// `<%s_i_min>` The integral lower limit of the PID. + /// Substitute '%s' for "position" or "velocity" (e.g. "position_p_gain"). + /// This parameter can be specified multiple times. Follows joint_name order. + /// Optional parameter. + /// The default value is 0 (no limit if higher than `%s_i_max`). + /// + /// `<%s_i_max>` The integral upper limit of the PID. + /// Substitute '%s' for "position" or "velocity" (e.g. "position_p_gain"). + /// This parameter can be specified multiple times. Follows joint_name order. + /// Optional parameter. + /// The default value is -1 (no limit if lower than `%s_i_min`). + /// + /// `<%s_cmd_min>` Output min value of the PID. + /// Substitute '%s' for "position" or "velocity" (e.g. "position_p_gain"). + /// This parameter can be specified multiple times. Follows joint_name order. + /// Optional parameter. + /// The default value is 0 (no limit if higher than `%s_i_max`). + /// + /// `<%s_cmd_max>` Output max value of the PID. + /// Substitute '%s' for "position" or "velocity" (e.g. "position_p_gain"). + /// This parameter can be specified multiple times. Follows joint_name order. + /// Optional parameter. + /// The default value is -1 (no limit if lower than `%s_i_min`). + /// + /// `<%s_cmd_offset>` Command offset (feed-forward) of the PID. + /// Substitute '%s' for "position" or "velocity" (e.g. "position_p_gain"). + /// This parameter can be specified multiple times. Follows joint_name order. + /// Optional parameter. + /// The default value is 0 (no offset). + class IGNITION_GAZEBO_VISIBLE JointTrajectoryController + : public System, + public ISystemConfigure, + public ISystemPreUpdate + { + /// \brief Constructor + public: JointTrajectoryController(); + + /// \brief Destructor + public: ~JointTrajectoryController() override = default; + + // Documentation inherited + public: void Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &_eventMgr) override; + + // Documentation inherited + public: void PreUpdate( + const ignition::gazebo::UpdateInfo &_info, + ignition::gazebo::EntityComponentManager &_ecm) override; + + /// \brief Private data pointer + private: std::unique_ptr dataPtr; + }; +} // namespace systems +} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace gazebo +} // namespace ignition + +#endif diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index 5e2233fbd0..c306ec83bc 100644 --- a/test/integration/CMakeLists.txt +++ b/test/integration/CMakeLists.txt @@ -22,6 +22,7 @@ set(tests joint_controller_system.cc joint_position_controller_system.cc joint_state_publisher_system.cc + joint_trajectory_controller_system.cc kinetic_energy_monitor_system.cc lift_drag_system.cc level_manager.cc diff --git a/test/integration/joint_trajectory_controller_system.cc b/test/integration/joint_trajectory_controller_system.cc new file mode 100644 index 0000000000..70ca0aad3f --- /dev/null +++ b/test/integration/joint_trajectory_controller_system.cc @@ -0,0 +1,399 @@ +/* + * 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 + +#include +#include + +#include +#include + +#include "ignition/gazebo/components/Joint.hh" +#include "ignition/gazebo/components/JointPosition.hh" +#include "ignition/gazebo/components/JointVelocity.hh" +#include "ignition/gazebo/components/Name.hh" + +#include "ignition/gazebo/Server.hh" +#include "ignition/gazebo/SystemLoader.hh" +#include "ignition/gazebo/test_config.hh" + +#include "../helpers/Relay.hh" + +#define TOL 1e-4 + +using namespace ignition; +using namespace gazebo; + +/// \brief Test fixture for JointTrajectoryController system +class JointTrajectoryControllerTestFixture : public ::testing::Test +{ + // Documentation inherited +protected: + void SetUp() override + { + ignition::common::Console::SetVerbosity(4); + setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", + (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1); + } +}; + +///////////////////////////////////////////////// +// Tests that JointTrajectoryController accepts position-controlled joint +// trajectory +TEST_F(JointTrajectoryControllerTestFixture, + JointTrajectoryControllerPositionControl) +{ + using namespace std::chrono_literals; + + const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + + "/test/worlds/joint_trajectory_controller.sdf"; + + // Define joints of the model to investigate + const size_t kNumberOfJoints = 2; + const std::string jointNames[kNumberOfJoints] = {"RR_position_control_joint1", + "RR_position_control_joint2"}; + + // Define names of Ignition Transport topics + const std::string trajectoryTopic = + "/model/RR_position_control/joint_trajectory"; + const std::string feedbackTopic = + "/model/RR_position_control/joint_trajectory_feedback"; + + // Define initial joint positions + const std::array initialPositions = {0.0, 0.0}; + + // Define a trajectory to follow + msgs::Duration timeFromStart; + std::vector trajectoryTimes; + std::vector> trajectoryPositions; + // Point1 + timeFromStart.set_sec(0); + timeFromStart.set_nsec(666000000); + trajectoryTimes.push_back(timeFromStart); + trajectoryPositions.push_back({-0.7854, 0.7854}); + // Point2 + timeFromStart.set_sec(1); + timeFromStart.set_nsec(333000000); + trajectoryTimes.push_back(timeFromStart); + trajectoryPositions.push_back({1.5708, -0.7854}); + // Point3 + timeFromStart.set_sec(2); + timeFromStart.set_nsec(0); + trajectoryTimes.push_back(timeFromStart); + trajectoryPositions.push_back({3.1416, -1.5708}); + + // Start server + ServerConfig serverConfig; + serverConfig.SetSdfFile(sdfFile); + + Server server(serverConfig); + EXPECT_FALSE(server.Running()); + EXPECT_FALSE(*server.Running(0)); + + server.SetUpdatePeriod(0ns); + + // Setup test system + test::Relay testSystem; + double currentPositions[kNumberOfJoints]; + testSystem.OnPreUpdate( + [&](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + { + // Create a JointPosition component for each joint if it doesn't exist + for (const auto &jointName : jointNames) + { + const auto joint = _ecm.EntityByComponents(components::Joint(), + components::Name( + jointName)); + if (nullptr == _ecm.Component(joint)) + { + _ecm.CreateComponent(joint, components::JointPosition()); + } + } + }); + testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &, + const gazebo::EntityComponentManager &_ecm) + { + // Get the current position of each joint + for (std::size_t i = 0; i < kNumberOfJoints; ++i) + { + const auto joint = _ecm.EntityByComponents(components::Joint(), + components::Name( + jointNames[i])); + const auto jointPositionComponent = + _ecm.Component(joint); + if (nullptr != jointPositionComponent) + { + currentPositions[i] = jointPositionComponent->Data()[0]; + } + } + }); + server.AddSystem(testSystem.systemPtr); + + // Step few iterations and assert that the initial position is kept + const std::size_t initIters = 10; + server.Run(true, initIters, false); + for (size_t i = 0; i < kNumberOfJoints; ++i) + { + EXPECT_NEAR(currentPositions[i], initialPositions[i], TOL); + } + + // Create new JointTrajectory message based on the defined trajectory + ignition::msgs::JointTrajectory msg; + for (const auto &jointName : jointNames) + { + msg.add_joint_names(jointName); + } + for (size_t i = 0; i < trajectoryPositions.size(); ++i) + { + ignition::msgs::JointTrajectoryPoint point; + + // Set the temporal information for the point + auto time = point.mutable_time_from_start(); + time->set_sec(trajectoryTimes[i].sec()); + time->set_nsec(trajectoryTimes[i].nsec()); + + // Add target positions to the point + for (size_t j = 0; j < kNumberOfJoints; ++j) + { + point.add_positions(trajectoryPositions[i][j]); + } + + // Add point to the trajectory + msg.add_points(); + msg.mutable_points(i)->CopyFrom(point); + } + + // Verify that feedback is strictly increasing and reaches value of 1.0 + size_t count = 0; + std::function feedbackCallback = + [&](const ignition::msgs::Float &_msg) { + count++; + if (trajectoryPositions.size() == count) + { + EXPECT_FLOAT_EQ(_msg.data(), 1.0f); + } + else + { + EXPECT_FLOAT_EQ(_msg.data(), static_cast(count) / + static_cast(trajectoryPositions.size())); + } + }; + transport::Node node; + node.Subscribe(feedbackTopic, feedbackCallback); + + // Publish joint trajectory + auto pub = node.Advertise(trajectoryTopic); + pub.Publish(msg); + + // Wait for message to be published + std::this_thread::sleep_for(100ms); + + // Run the simulation while asserting the target position of all joints at + // each trajectory point + auto previousIterFromStart = 0; + for (size_t i = 0; i < trajectoryPositions.size(); ++i) + { + // Number of iters required to reach time_from_start of the current + // point (1ms step size) + auto iterFromStart = trajectoryTimes[i].sec() * 1000 + + trajectoryTimes[i].nsec() / 1000000; + auto neededIters = iterFromStart - previousIterFromStart; + + // Run the simulation + server.Run(true, neededIters, false); + + // Assert that each joint reached its target position + for (size_t j = 0; j < kNumberOfJoints; ++j) + { + EXPECT_NEAR(currentPositions[j], trajectoryPositions[i][j], TOL); + } + + // Keep track of how many iterations have already passed + previousIterFromStart = iterFromStart; + } +} + +///////////////////////////////////////////////// +// Tests that JointTrajectoryController accepts velocity-controlled joint +// trajectory +TEST_F(JointTrajectoryControllerTestFixture, + JointTrajectoryControllerVelocityControl) +{ + using namespace std::chrono_literals; + + const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + + "/test/worlds/joint_trajectory_controller.sdf"; + + // Define joints of the model to investigate + const size_t kNumberOfJoints = 2; + const std::string jointNames[kNumberOfJoints] = {"RR_velocity_control_joint1", + "RR_velocity_control_joint2"}; + + // Define names of Ignition Transport topics + const std::string trajectoryTopic = "/test_custom_topic/velocity_control"; + const std::string feedbackTopic = + "/test_custom_topic/velocity_control_feedback"; + + // Define initial joint velocities + const std::array initialVelocities = {0.0, 0.0}; + + // Define a trajectory to follow + msgs::Duration timeFromStart; + std::vector trajectoryTimes; + std::vector> trajectoryVelocities; + // Point1 + timeFromStart.set_sec(0); + timeFromStart.set_nsec(500000000); + trajectoryTimes.push_back(timeFromStart); + trajectoryVelocities.push_back({0.5, 0.5}); + // Point2 + timeFromStart.set_sec(1); + timeFromStart.set_nsec(0); + trajectoryTimes.push_back(timeFromStart); + trajectoryVelocities.push_back({-1.0, 1.0}); + + // Start server + ServerConfig serverConfig; + serverConfig.SetSdfFile(sdfFile); + + Server server(serverConfig); + EXPECT_FALSE(server.Running()); + EXPECT_FALSE(*server.Running(0)); + + server.SetUpdatePeriod(0ns); + + // Setup test system + test::Relay testSystem; + double currentVelocities[kNumberOfJoints]; + testSystem.OnPreUpdate( + [&](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + { + // Create a JointVelocity component for each joint if it doesn't exist + for (const auto &jointName : jointNames) + { + const auto joint = _ecm.EntityByComponents(components::Joint(), + components::Name( + jointName)); + if (nullptr == _ecm.Component(joint)) + { + _ecm.CreateComponent(joint, components::JointVelocity()); + } + } + }); + testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &, + const gazebo::EntityComponentManager &_ecm) + { + // Get the current velocity of each joint + for (std::size_t i = 0; i < kNumberOfJoints; ++i) + { + const auto joint = _ecm.EntityByComponents(components::Joint(), + components::Name( + jointNames[i])); + const auto jointVelocityComponent = + _ecm.Component(joint); + if (nullptr != jointVelocityComponent) + { + currentVelocities[i] = jointVelocityComponent->Data()[0]; + } + } + }); + server.AddSystem(testSystem.systemPtr); + + // Step few iterations and assert that the initial velocity is kept + const std::size_t initIters = 10; + server.Run(true, initIters, false); + for (size_t i = 0; i < kNumberOfJoints; ++i) + { + EXPECT_NEAR(currentVelocities[i], initialVelocities[i], TOL); + } + + // Create new JointTrajectory message based on the defined trajectory + ignition::msgs::JointTrajectory msg; + for (const auto &jointName : jointNames) + { + msg.add_joint_names(jointName); + } + for (size_t i = 0; i < trajectoryVelocities.size(); ++i) + { + ignition::msgs::JointTrajectoryPoint point; + + // Set the temporal information for the point + auto time = point.mutable_time_from_start(); + time->set_sec(trajectoryTimes[i].sec()); + time->set_nsec(trajectoryTimes[i].nsec()); + + // Add target velocities to the point + for (size_t j = 0; j < kNumberOfJoints; ++j) + { + point.add_velocities(trajectoryVelocities[i][j]); + } + + // Add point to the trajectory + msg.add_points(); + msg.mutable_points(i)->CopyFrom(point); + } + + // Verify that feedback is strictly increasing and reaches value of 1.0 + size_t count = 0; + std::function feedbackCallback = + [&](const ignition::msgs::Float &_msg) { + count++; + if (trajectoryVelocities.size() == count) + { + EXPECT_FLOAT_EQ(_msg.data(), 1.0f); + } + else + { + EXPECT_FLOAT_EQ(_msg.data(), static_cast(count) / + static_cast(trajectoryVelocities.size())); + } + }; + transport::Node node; + node.Subscribe(feedbackTopic, feedbackCallback); + + // Publish joint trajectory + auto pub = node.Advertise(trajectoryTopic); + pub.Publish(msg); + + // Wait for message to be published + std::this_thread::sleep_for(100ms); + + // Run the simulation while asserting the target velocity of all joints at + // each trajectory point + auto previousIterFromStart = 0; + for (size_t i = 0; i < trajectoryVelocities.size(); ++i) + { + // Number of iters required to reach time_from_start of the current + // point (1ms step size) + auto iterFromStart = trajectoryTimes[i].sec() * 1000 + + trajectoryTimes[i].nsec() / 1000000; + auto neededIters = iterFromStart - previousIterFromStart; + + // Run the simulation + server.Run(true, neededIters, false); + + // Assert that each joint reached its target velocity + for (size_t j = 0; j < kNumberOfJoints; ++j) + { + EXPECT_NEAR(currentVelocities[j], trajectoryVelocities[i][j], TOL); + } + + // Keep track of how many iterations have already passed + previousIterFromStart = iterFromStart; + } +} diff --git a/test/worlds/joint_trajectory_controller.sdf b/test/worlds/joint_trajectory_controller.sdf new file mode 100644 index 0000000000..4aaee68ca5 --- /dev/null +++ b/test/worlds/joint_trajectory_controller.sdf @@ -0,0 +1,420 @@ + + + + + + + + + + + + 0.4 0.4 0.4 + false + + + + + + + + + + 3D View + false + docked + + ogre + scene + 0 0 1 0 1.5708 0 + + + + + + World control + false + false + 50 + 100 + 1 + floating + + + + + + true + true + true + + + + + + World stats + false + false + 250 + 110 + 1 + floating + + + + + + true + true + true + true + + + + + + + + false + 5 5 5 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -1 -1 -1 + + + + + + + + 0 -0.5 0 0 1.5708 0 + + + world + RR_position_control_link0 + + + + + + + 0.025 + + + + + + + 0.025 + + + + 0.5 0.5 0.5 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + 0 0 0.1 0 0 0 + + + + 0.01 + 0.2 + + + + + + + 0.0125 + + + + + + + 0.01 + 0.2 + + + + 0.5 0 0 1 + 0.8 0 0 1 + 0.8 0 0 1 + + + + 0 0 0.2 0 0 0 + + + 0.0125 + + + + 0.5 0.5 0.5 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + 0.1 + + 0.0003358 + 0.0003358 + 0.000005 + + + + + 0 0 0.1 0 0 0 + + + + 0.01 + 0.2 + + + + + + + 0.01 + 0.2 + + + + 0.5 0 0 1 + 0.8 0 0 1 + 0.8 0 0 1 + + + + 0.1 + + 0.0003358 + 0.0003358 + 0.000005 + + + + + + 0 0 0 0 0 0 + RR_position_control_link0 + RR_position_control_link1 + + 1 0 0 + + 0.5 + + + + + 0 0 0.1 0 0 0 + RR_position_control_link1 + RR_position_control_link2 + + 1 0 0 + + 0.25 + + + + + + + RR_position_control_joint2 + 25 + 400 + 0.1 + -0.5 + 0.5 + -5 + 5 + + RR_position_control_joint1 + 50 + 600 + 0.8 + -1 + 1 + -10 + 10 + + + + + + + 0 0.5 0 0 1.5708 0 + + + world + RR_velocity_control_link0 + + + + + + + 0.025 + + + + 0.5 0.5 0.5 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + 0.025 + + + + + + 0 0 0.1 0 0 0 + + + + 0.01 + 0.2 + + + + + + + 0.0125 + + + + + + + 0.01 + 0.2 + + + + 0 0.5 0 1 + 0 0.8 0 1 + 0 0.8 0 1 + + + + 0 0 0.2 0 0 0 + + + 0.0125 + + + + 0.5 0.5 0.5 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + 0.1 + + 0.0003358 + 0.0003358 + 0.000005 + + + + + 0 0 0.1 0 0 0 + + + + 0.01 + 0.2 + + + + + + + 0.01 + 0.2 + + + + 0 0.5 0 1 + 0 0.8 0 1 + 0 0.8 0 1 + + + + 0.1 + + 0.0003358 + 0.0003358 + 0.000005 + + + + + + 0 0 0 0 0 0 + RR_velocity_control_link0 + RR_velocity_control_link1 + + 1 0 0 + + + 0.02 + + + + 0 0 0.1 0 0 0 + RR_velocity_control_link1 + RR_velocity_control_link2 + + 1 0 0 + + + 0.01 + + + + + + test_custom_topic/velocity_control + + + 0.6 + 175 + -10 + 10 + + 0.1 + 200 + -5 + 5 + + + + + From 18475130310f114afa1647e13cdcdc23e9c7dbe2 Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Thu, 11 Feb 2021 18:55:05 -0600 Subject: [PATCH 34/55] Fix pose of plane visual with non-default normal vector (#574) Signed-off-by: Addisu Z. Taddese Co-authored-by: Louise Poubel --- src/rendering/SceneManager.cc | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 0be6da0be2..98e3cbecc5 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -258,17 +258,19 @@ rendering::VisualPtr SceneManager::CreateVisual(Entity _id, /// localPose is currently used to handle the normal vector in plane visuals /// In general, this can be used to store any local transforms between the /// parent Visual and geometry. - rendering::VisualPtr geomVis; if (localPose != math::Pose3d::Zero) { - geomVis = this->dataPtr->scene->CreateVisual(name + "_geom"); - geomVis->SetUserData("gazebo-entity", static_cast(_id)); - geomVis->SetUserData("pause-update", static_cast(0)); - geomVis->SetLocalPose(_visual.RawPose() * localPose); - visualVis = geomVis; + rendering::VisualPtr geomVis = + this->dataPtr->scene->CreateVisual(name + "_geom"); + geomVis->AddGeometry(geom); + geomVis->SetLocalPose(localPose); + visualVis->AddChild(geomVis); + } + else + { + visualVis->AddGeometry(geom); } - visualVis->AddGeometry(geom); visualVis->SetLocalScale(scale); // set material From 3465bbececc259b9486601ea5be3db1c95ceed83 Mon Sep 17 00:00:00 2001 From: "G.Doisy" Date: Fri, 12 Feb 2021 05:42:21 +0100 Subject: [PATCH 35/55] Add laser_retro support (#603) Signed-off-by: Guillaume Doisy Co-authored-by: Louise Poubel --- .../worlds/gpu_lidar_retro_values_sensor.sdf | 214 ++++++++++++++++++ .../ignition/gazebo/components/LaserRetro.hh | 41 ++++ src/SdfEntityCreator.cc | 7 + src/SdfEntityCreator_TEST.cc | 7 + src/rendering/RenderUtil.cc | 13 ++ src/rendering/SceneManager.cc | 5 + test/worlds/shapes.sdf | 3 + 7 files changed, 290 insertions(+) create mode 100644 examples/worlds/gpu_lidar_retro_values_sensor.sdf create mode 100644 include/ignition/gazebo/components/LaserRetro.hh diff --git a/examples/worlds/gpu_lidar_retro_values_sensor.sdf b/examples/worlds/gpu_lidar_retro_values_sensor.sdf new file mode 100644 index 0000000000..f2d7a27c76 --- /dev/null +++ b/examples/worlds/gpu_lidar_retro_values_sensor.sdf @@ -0,0 +1,214 @@ + + + + + + 0.001 + 1.0 + + + + + ogre2 + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + + 20 20 0.1 + + + + + + + + 20 20 0.1 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 0 -1 0.5 0 0 0 + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 1.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + + + 0 1 0.5 0 0 0 + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 1.0 + + + + + 1 1 1 + + + + + + 500 + + + 1 1 1 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + + + + + + + 4 0 0.5 0 0.0 3.14 + + 0.05 0.05 0.05 0 0 0 + + 0.1 + + 0.000166667 + 0.000166667 + 0.000166667 + + + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + + lidar + 10 + + + + 640 + 1 + -1.396263 + 1.396263 + + + 16 + 1 + -0.261799 + 0.261799 + + + + 0.08 + 10.0 + 0.01 + + + 1 + true + + + + true + + + + + diff --git a/include/ignition/gazebo/components/LaserRetro.hh b/include/ignition/gazebo/components/LaserRetro.hh new file mode 100644 index 0000000000..75d1145e92 --- /dev/null +++ b/include/ignition/gazebo/components/LaserRetro.hh @@ -0,0 +1,41 @@ +/* + * Copyright (C) 2020 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. + * + */ +#ifndef IGNITION_GAZEBO_COMPONENTS_LASERRETRO_HH_ +#define IGNITION_GAZEBO_COMPONENTS_LASERRETRO_HH_ + +#include +#include +#include + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { +namespace components +{ + /// \brief A component used to indicate an lidar reflective value + using LaserRetro = Component; + IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.LaserRetro", + LaserRetro) +} +} +} +} + +#endif diff --git a/src/SdfEntityCreator.cc b/src/SdfEntityCreator.cc index 3845830acb..ca14ac7c4b 100644 --- a/src/SdfEntityCreator.cc +++ b/src/SdfEntityCreator.cc @@ -41,6 +41,7 @@ #include "ignition/gazebo/components/Joint.hh" #include "ignition/gazebo/components/JointAxis.hh" #include "ignition/gazebo/components/JointType.hh" +#include "ignition/gazebo/components/LaserRetro.hh" #include "ignition/gazebo/components/Lidar.hh" #include "ignition/gazebo/components/Light.hh" #include "ignition/gazebo/components/LinearAcceleration.hh" @@ -503,6 +504,12 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Visual *_visual) this->dataPtr->ecm->CreateComponent(visualEntity, components::Transparency(_visual->Transparency())); + if (_visual->HasLaserRetro()) + { + this->dataPtr->ecm->CreateComponent(visualEntity, + components::LaserRetro(_visual->LaserRetro())); + } + if (_visual->Geom()) { this->dataPtr->ecm->CreateComponent(visualEntity, diff --git a/src/SdfEntityCreator_TEST.cc b/src/SdfEntityCreator_TEST.cc index 94101b4b00..17e776b44d 100644 --- a/src/SdfEntityCreator_TEST.cc +++ b/src/SdfEntityCreator_TEST.cc @@ -35,6 +35,7 @@ #include "ignition/gazebo/components/Joint.hh" #include "ignition/gazebo/components/JointAxis.hh" #include "ignition/gazebo/components/JointType.hh" +#include "ignition/gazebo/components/LaserRetro.hh" #include "ignition/gazebo/components/Light.hh" #include "ignition/gazebo/components/Link.hh" #include "ignition/gazebo/components/Material.hh" @@ -101,6 +102,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) EXPECT_TRUE(this->ecm.HasComponentType(components::Geometry::typeId)); EXPECT_TRUE(this->ecm.HasComponentType(components::Material::typeId)); EXPECT_TRUE(this->ecm.HasComponentType(components::Inertial::typeId)); + EXPECT_TRUE(this->ecm.HasComponentType(components::LaserRetro::typeId)); // Check entities // 1 x world + 3 x model + 3 x link + 3 x collision + 3 x visual + 1 x light @@ -356,6 +358,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) unsigned int visualCount{0}; this->ecm.Eachecm.ParentEntity(_entity)); EXPECT_DOUBLE_EQ(0.0, _transparency->Data()); + EXPECT_DOUBLE_EQ(1150.0, _laserRetro->Data()); EXPECT_TRUE(_castShadows->Data()); EXPECT_EQ(sdf::GeometryType::BOX, _geometry->Data().Type()); @@ -417,6 +422,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) EXPECT_EQ(cylLinkEntity, this->ecm.ParentEntity(_entity)); EXPECT_DOUBLE_EQ(0.0, _transparency->Data()); + EXPECT_DOUBLE_EQ(1654.0, _laserRetro->Data()); EXPECT_TRUE(_castShadows->Data()); EXPECT_EQ(sdf::GeometryType::CYLINDER, _geometry->Data().Type()); @@ -440,6 +446,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) EXPECT_EQ(sphLinkEntity, this->ecm.ParentEntity(_entity)); EXPECT_DOUBLE_EQ(0.5, _transparency->Data()); + EXPECT_DOUBLE_EQ(50.0, _laserRetro->Data()); EXPECT_FALSE(_castShadows->Data()); EXPECT_EQ(sdf::GeometryType::SPHERE, _geometry->Data().Type()); diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 1dde5ba785..43c2ca676c 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -48,6 +48,7 @@ #include "ignition/gazebo/components/DepthCamera.hh" #include "ignition/gazebo/components/GpuLidar.hh" #include "ignition/gazebo/components/Geometry.hh" +#include "ignition/gazebo/components/LaserRetro.hh" #include "ignition/gazebo/components/Light.hh" #include "ignition/gazebo/components/Link.hh" #include "ignition/gazebo/components/Material.hh" @@ -671,6 +672,12 @@ void RenderUtilPrivate::CreateRenderingEntities( visual.SetMaterial(material->Data()); } + auto laserRetro = _ecm.Component(_entity); + if (laserRetro != nullptr) + { + visual.SetLaserRetro(laserRetro->Data()); + } + // todo(anyone) make visual updates more generic without using extra // variables like entityTemp just for storing one specific visual // param? @@ -863,6 +870,12 @@ void RenderUtilPrivate::CreateRenderingEntities( visual.SetMaterial(material->Data()); } + auto laserRetro = _ecm.Component(_entity); + if (laserRetro != nullptr) + { + visual.SetLaserRetro(laserRetro->Data()); + } + this->newVisuals.push_back( std::make_tuple(_entity, visual, _parent->Data())); return true; diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 98e3cbecc5..41c8a5a81c 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -248,6 +248,11 @@ rendering::VisualPtr SceneManager::CreateVisual(Entity _id, visualVis->SetUserData("pause-update", static_cast(0)); visualVis->SetLocalPose(_visual.RawPose()); + if (_visual.HasLaserRetro()) + { + visualVis->SetUserData("laser_retro", _visual.LaserRetro()); + } + math::Vector3d scale = math::Vector3d::One; math::Pose3d localPose; rendering::GeometryPtr geom = diff --git a/test/worlds/shapes.sdf b/test/worlds/shapes.sdf index ac254fa80b..dad5d0a8db 100644 --- a/test/worlds/shapes.sdf +++ b/test/worlds/shapes.sdf @@ -64,6 +64,7 @@ + 1150 0.12 0.12 0.12 0 0 0 @@ -105,6 +106,7 @@ + 1654 0.22 0.22 0.22 0 0 0 @@ -146,6 +148,7 @@ + 50 0.32 0.32 0.32 0 0 0 0.5 false From 0f6c2b7ca3ea45a99e12193550890e9034e9ba65 Mon Sep 17 00:00:00 2001 From: Atharva Pusalkar Date: Mon, 15 Feb 2021 14:17:37 +0530 Subject: [PATCH 36/55] Add SDF topic validity check (#632) * Add SDF topic validity check Signed-off-by: Atharva Pusalkar * Fix SDF topic error message Signed-off-by: Atharva Pusalkar --- src/systems/joint_controller/JointController.cc | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/src/systems/joint_controller/JointController.cc b/src/systems/joint_controller/JointController.cc index cd35d55805..9e78162403 100644 --- a/src/systems/joint_controller/JointController.cc +++ b/src/systems/joint_controller/JointController.cc @@ -142,7 +142,16 @@ void JointController::Configure(const Entity &_entity, } if (_sdf->HasElement("topic")) { - topic = _sdf->Get("topic"); + topic = transport::TopicUtils::AsValidTopic( + _sdf->Get("topic")); + + if (topic.empty()) + { + ignerr << "Failed to create topic [" << this->dataPtr->jointName + << "]" << " for joint [" << _sdf->Get("topic") + << "]" << std::endl; + return; + } } this->dataPtr->node.Subscribe(topic, &JointControllerPrivate::OnCmdVel, this->dataPtr.get()); From 215c8ed22c672107edaedfd5602b876acd2417b7 Mon Sep 17 00:00:00 2001 From: ddengster Date: Wed, 17 Feb 2021 03:55:32 +0800 Subject: [PATCH 37/55] Fix EntityComponentManager race condition (#601) Signed-off-by: ddengster Signed-off-by: Louise Poubel Co-authored-by: Louise Poubel --- src/gui/GuiRunner.cc | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/src/gui/GuiRunner.cc b/src/gui/GuiRunner.cc index 6f88a441fe..1925efa8a5 100644 --- a/src/gui/GuiRunner.cc +++ b/src/gui/GuiRunner.cc @@ -79,7 +79,16 @@ void GuiRunner::RequestState() } reqSrv = reqSrvValid; - this->node.Advertise(reqSrv, &GuiRunner::OnStateAsyncService, this); + auto advertised = this->node.AdvertisedServices(); + if (std::find(advertised.begin(), advertised.end(), reqSrv) == + advertised.end()) + { + if (!this->node.Advertise(reqSrv, &GuiRunner::OnStateAsyncService, this)) + { + ignerr << "Failed to advertise [" << reqSrv << "]" << std::endl; + } + } + ignition::msgs::StringMsg req; req.set_data(reqSrv); @@ -98,7 +107,7 @@ void GuiRunner::OnPluginAdded(const QString &_objectName) return; } - plugin->Update(this->updateInfo, this->ecm); + this->RequestState(); } ///////////////////////////////////////////////// From a5c66591704b8d2a6aab0b8b7c16c56ba208e58c Mon Sep 17 00:00:00 2001 From: Martin Pecka Date: Tue, 16 Feb 2021 20:56:31 +0100 Subject: [PATCH 38/55] Added link to HW-accelerated video recording (#627) Signed-off-by: Martin Pecka Co-authored-by: Michael Carroll --- tutorials/video_recorder.md | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/tutorials/video_recorder.md b/tutorials/video_recorder.md index 50bbef75d9..47454230cf 100644 --- a/tutorials/video_recorder.md +++ b/tutorials/video_recorder.md @@ -105,3 +105,10 @@ going to the world SDF file, locate the * **bitrate**: Video encoding bitrate in bps. This affects the quality of the generated video. The default bitrate is 2Mbps. + +## Hardware-accelerated encoding + +Since Ignition Common 3.10.2, there is support for utilizing the power of GPUs +to speed up the video encoding process. See the +[Hardware-accelerated Video Encoding tutorial](https://ignitionrobotics.org/api/common/3.10/hw-encoding.html) +for more details. From 5e0c773cb64275604061575333a7384252fd2f31 Mon Sep 17 00:00:00 2001 From: Jenn Nguyen Date: Tue, 16 Feb 2021 14:07:04 -0800 Subject: [PATCH 39/55] Remove issue & PR templates (#631) Signed-off-by: Jenn Nguyen --- .github/ISSUE_TEMPLATE/bug_report.md | 29 ------------- .github/ISSUE_TEMPLATE/feature_request.md | 23 ---------- .github/PULL_REQUEST_TEMPLATE.md | 52 ----------------------- .github/PULL_REQUEST_TEMPLATE/port.md | 6 --- 4 files changed, 110 deletions(-) delete mode 100644 .github/ISSUE_TEMPLATE/bug_report.md delete mode 100644 .github/ISSUE_TEMPLATE/feature_request.md delete mode 100644 .github/PULL_REQUEST_TEMPLATE.md delete mode 100644 .github/PULL_REQUEST_TEMPLATE/port.md diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md deleted file mode 100644 index 3d89f64143..0000000000 --- a/.github/ISSUE_TEMPLATE/bug_report.md +++ /dev/null @@ -1,29 +0,0 @@ ---- -name: Bug report -about: Report a bug -labels: bug ---- - - - -## Environment -* OS Version: -* Source or binary build? - - - -## Description -* Expected behavior: -* Actual behavior: - -## Steps to reproduce - - -1. -2. -3. - -## Output - diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md deleted file mode 100644 index f49727a0ce..0000000000 --- a/.github/ISSUE_TEMPLATE/feature_request.md +++ /dev/null @@ -1,23 +0,0 @@ ---- -name: Feature request -about: Request a new feature -labels: enhancement ---- - - - -## Desired behavior - - -## Alternatives considered - - -## Implementation suggestion - - -## Additional context - diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md deleted file mode 100644 index 6c88bd5465..0000000000 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ /dev/null @@ -1,52 +0,0 @@ - - -# Bug Report - -Fixes issue # - -## Summary - - -## Checklist -- [ ] Signed all commits for DCO -- [ ] Added tests -- [ ] Updated documentation (as needed) -- [ ] Updated migration guide (as needed) -- [ ] `codecheck` passed (See - [contributing](https://ignitionrobotics.org/docs/all/contributing#contributing-code)) -- [ ] All tests passed (See - [test coverage](https://ignitionrobotics.org/docs/all/contributing#test-coverage)) -- [ ] While waiting for a review on your PR, please help review -[another open pull request](https://github.com/pulls?q=is%3Aopen+is%3Apr+user%3Aignitionrobotics+archived%3Afalse+) -to support the maintainers - -**Note to maintainers**: Remember to use **Squash-Merge** - ---- - -# New feature - -Closes # - -## Summary - - -## Test it - - -## Checklist -- [ ] Signed all commits for DCO -- [ ] Added tests -- [ ] Added example world and/or tutorial -- [ ] Updated documentation (as needed) -- [ ] Updated migration guide (as needed) -- [ ] `codecheck` passed (See [contributing](https://ignitionrobotics.org/docs/all/contributing#contributing-code)) -- [ ] All tests passed (See [test coverage](https://ignitionrobotics.org/docs/all/contributing#test-coverage)) -- [ ] While waiting for a review on your PR, please help review -[another open pull request](https://github.com/pulls?q=is%3Aopen+is%3Apr+user%3Aignitionrobotics+archived%3Afalse+) -to support the maintainers - -**Note to maintainers**: Remember to use **Squash-Merge** diff --git a/.github/PULL_REQUEST_TEMPLATE/port.md b/.github/PULL_REQUEST_TEMPLATE/port.md deleted file mode 100644 index 758127f585..0000000000 --- a/.github/PULL_REQUEST_TEMPLATE/port.md +++ /dev/null @@ -1,6 +0,0 @@ -Port to - -Branch comparison: https://github.com/ignitionrobotics/ign-gazebo/compare/... - -**Note to maintainers**: Remember to **Merge** with commit (not squash-merge -or rebase) From 44a6713bb6ef041703b0dc32ce9156296b134cc2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Wed, 17 Feb 2021 19:55:34 +0100 Subject: [PATCH 40/55] Add Light Usercommand and include Light parameters in the componentInspector (#482) Signed-off-by: ahcorde Co-authored-by: Louise Poubel --- .../standalone/light_control/CMakeLists.txt | 12 + .../standalone/light_control/light_control.cc | 179 +++ .../ignition/gazebo/components/LightCmd.hh | 48 + .../component_inspector/ComponentInspector.cc | 125 +- .../component_inspector/ComponentInspector.hh | 38 + .../ComponentInspector.qml | 15 + .../ComponentInspector.qrc | 1 + src/gui/plugins/component_inspector/Light.qml | 1099 +++++++++++++++++ src/gui/plugins/plotting/Plotting.cc | 83 ++ src/gui/plugins/plotting/Plotting.hh | 7 + src/gui/plugins/scene3d/Scene3D.cc | 1 + src/rendering/RenderUtil.cc | 163 ++- src/systems/user_commands/UserCommands.cc | 189 +++ test/integration/user_commands.cc | 227 ++++ test/worlds/lights.sdf | 6 +- test/worlds/lights_render.sdf | 116 ++ tutorials.md.in | 1 + tutorials/light_config.md | 45 + 18 files changed, 2343 insertions(+), 12 deletions(-) create mode 100644 examples/standalone/light_control/CMakeLists.txt create mode 100644 examples/standalone/light_control/light_control.cc create mode 100644 include/ignition/gazebo/components/LightCmd.hh create mode 100644 src/gui/plugins/component_inspector/Light.qml create mode 100644 test/worlds/lights_render.sdf create mode 100644 tutorials/light_config.md diff --git a/examples/standalone/light_control/CMakeLists.txt b/examples/standalone/light_control/CMakeLists.txt new file mode 100644 index 0000000000..be27581c40 --- /dev/null +++ b/examples/standalone/light_control/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) + +find_package(ignition-transport9 QUIET REQUIRED OPTIONAL_COMPONENTS log) +set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR}) + +find_package(ignition-gazebo4 REQUIRED) +set(IGN_GAZEBO_VER ${ignition-gazebo4_VERSION_MAJOR}) + +add_executable(light_control light_control.cc) +target_link_libraries(light_control + ignition-transport${IGN_TRANSPORT_VER}::core + ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER}) diff --git a/examples/standalone/light_control/light_control.cc b/examples/standalone/light_control/light_control.cc new file mode 100644 index 0000000000..4f499787c2 --- /dev/null +++ b/examples/standalone/light_control/light_control.cc @@ -0,0 +1,179 @@ +/* + * Copyright (C) 2020 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 +#include + +#include +#include +#include +#include + +using namespace std::chrono_literals; + +// Create a transport node. +ignition::transport::Node node; + +bool result; +// timeout used for services +constexpr unsigned int timeout = 5000; + +std::mt19937 twister(std::time(0)); +std::uniform_real_distribution distr(0, 1000); +constexpr double epsilon = 0.1; + +float directionX = 0.5; +float directionY = 0.2; +float directionZ = -0.9; + +void createLight() +{ + ignition::msgs::Boolean rep; +//! [create light] + ignition::msgs::EntityFactory entityFactoryRequest; + + entityFactoryRequest.mutable_light()->set_name("point"); + entityFactoryRequest.mutable_light()->set_range(4); + entityFactoryRequest.mutable_light()->set_attenuation_linear(0.5); + entityFactoryRequest.mutable_light()->set_attenuation_constant(0.2); + entityFactoryRequest.mutable_light()->set_attenuation_quadratic(0.01); + entityFactoryRequest.mutable_light()->set_cast_shadows(false); + entityFactoryRequest.mutable_light()->set_type(ignition::msgs::Light::POINT); + ignition::msgs::Set( + entityFactoryRequest.mutable_light()->mutable_direction(), + ignition::math::Vector3d(directionX, directionY, directionZ)); + ignition::msgs::Set(entityFactoryRequest.mutable_light()->mutable_pose(), + ignition::math::Pose3d(0.0, 0, 3.0, 0.0, 0.0, 0.0)); +//! [create light] + + bool executedEntityFactory = node.Request("/world/empty/create", + entityFactoryRequest, timeout, rep, result); + if (executedEntityFactory) + { + if (result) + std::cout << "Light was created : [" << rep.data() << "]" << std::endl; + else + { + std::cout << "Service call failed" << std::endl; + return; + } + } + else + std::cerr << "Service call timed out" << std::endl; +} + +void createSphere() +{ + auto modelStr = R"( + + + + + 0 0 0.5 0 0 0 + + 1 + + + 1 + + + + )"; + + ignition::msgs::EntityFactory req; + ignition::msgs::Boolean res; + req.set_sdf(modelStr); + + bool executed = node.Request("/world/empty/create", + req, timeout, res, result); + if (executed) + { + if (result) + std::cout << "Sphere was created : [" << res.data() << "]" << std::endl; + else + { + std::cout << "Service call failed" << std::endl; + return; + } + } + else + std::cerr << "Service call timed out" << std::endl; +} + +////////////////////////////////////////////////// +int main(int argc, char **argv) +{ + ignition::msgs::Boolean rep; + ignition::msgs::Light lightRequest; + auto lightConfigService = "/world/empty/light_config"; + + createSphere(); + createLight(); + + while (1) + { + float r, g, b; + double m = 0; +//! [random numbers] + while (m < epsilon) + { + r = distr(twister); + g = distr(twister); + b = distr(twister); + m = std::sqrt(r*r + b*b + g*g); + } + r /= m; + b /= m; + b /= m; +//! [random numbers] + +//! [modify light] + lightRequest.set_name("point"); + lightRequest.set_range(4); + lightRequest.set_attenuation_linear(0.5); + lightRequest.set_attenuation_constant(0.2); + lightRequest.set_attenuation_quadratic(0.01); + lightRequest.set_cast_shadows(false); + lightRequest.set_type(ignition::msgs::Light::POINT); + // direction field only affects spot / directional lights + ignition::msgs::Set(lightRequest.mutable_direction(), + ignition::math::Vector3d(directionX, directionY, directionZ)); + ignition::msgs::Set(lightRequest.mutable_pose(), + ignition::math::Pose3d(0.0, -1.5, 3.0, 0.0, 0.0, 0.0)); + ignition::msgs::Set(lightRequest.mutable_diffuse(), + ignition::math::Color(r, g, b, 1)); + ignition::msgs::Set(lightRequest.mutable_specular(), + ignition::math::Color(r, g, b, 1)); +//! [modify light] + bool executed = node.Request(lightConfigService, lightRequest, timeout, + rep, result); + std::cout << "Service called: [" << r << ", " << g << ", " << b << "]" + << std::endl; + + if (executed) + { + if (result) + std::cout << "Response: [" << rep.data() << "]" << std::endl; + else + std::cout << "Service call failed" << std::endl; + } + else + std::cerr << "Service call timed out" << std::endl; + + std::this_thread::sleep_for(1s); + } +} diff --git a/include/ignition/gazebo/components/LightCmd.hh b/include/ignition/gazebo/components/LightCmd.hh new file mode 100644 index 0000000000..fdba5858fc --- /dev/null +++ b/include/ignition/gazebo/components/LightCmd.hh @@ -0,0 +1,48 @@ +/* + * Copyright (C) 2020 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. + * + */ +#ifndef IGNITION_GAZEBO_COMPONENTS_LIGHTCMD_HH_ +#define IGNITION_GAZEBO_COMPONENTS_LIGHTCMD_HH_ + +#include + +#include +#include +#include +#include +#include + +#include + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { +namespace components +{ + /// \brief A component type that contains commanded light of an + /// entity in the world frame represented by msgs::Light. + using LightCmd = Component; + IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.LightCmd", + LightCmd) +} +} +} +} +#endif diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc index 1c2de965b9..4d95c66b3e 100644 --- a/src/gui/plugins/component_inspector/ComponentInspector.cc +++ b/src/gui/plugins/component_inspector/ComponentInspector.cc @@ -35,6 +35,7 @@ #include "ignition/gazebo/components/Joint.hh" #include "ignition/gazebo/components/Level.hh" #include "ignition/gazebo/components/Light.hh" +#include "ignition/gazebo/components/LightCmd.hh" #include "ignition/gazebo/components/LinearAcceleration.hh" #include "ignition/gazebo/components/LinearVelocity.hh" #include "ignition/gazebo/components/LinearVelocitySeed.hh" @@ -77,6 +78,9 @@ namespace ignition::gazebo /// \brief Name of the world public: std::string worldName; + /// \brief Entity name + public: std::string entityName; + /// \brief Entity type, such as 'world' or 'model'. public: QString type; @@ -113,6 +117,50 @@ void ignition::gazebo::setData(QStandardItem *_item, const math::Pose3d &_data) }), ComponentsModel::RoleNames().key("data")); } +////////////////////////////////////////////////// +template<> +void ignition::gazebo::setData(QStandardItem *_item, const msgs::Light &_data) +{ + int lightType = -1; + if (_data.type() == msgs::Light::POINT) + { + lightType = 0; + } + else if (_data.type() == msgs::Light::SPOT) + { + lightType = 1; + } + else if (_data.type() == msgs::Light::DIRECTIONAL) + { + lightType = 2; + } + + _item->setData(QString("Light"), + ComponentsModel::RoleNames().key("dataType")); + _item->setData(QList({ + QVariant(_data.specular().r()), + QVariant(_data.specular().g()), + QVariant(_data.specular().b()), + QVariant(_data.specular().a()), + QVariant(_data.diffuse().r()), + QVariant(_data.diffuse().g()), + QVariant(_data.diffuse().b()), + QVariant(_data.diffuse().a()), + QVariant(_data.range()), + QVariant(_data.attenuation_linear()), + QVariant(_data.attenuation_constant()), + QVariant(_data.attenuation_quadratic()), + QVariant(_data.cast_shadows()), + QVariant(_data.direction().x()), + QVariant(_data.direction().y()), + QVariant(_data.direction().z()), + QVariant(_data.spot_inner_angle()), + QVariant(_data.spot_outer_angle()), + QVariant(_data.spot_falloff()), + QVariant(lightType) + }), ComponentsModel::RoleNames().key("data")); +} + ////////////////////////////////////////////////// template<> void ignition::gazebo::setData(QStandardItem *_item, @@ -383,12 +431,6 @@ void ComponentInspector::Update(const UpdateInfo &, continue; } - if (typeId == components::Light::typeId) - { - this->SetType("light"); - continue; - } - if (typeId == components::Actor::typeId) { this->SetType("actor"); @@ -512,6 +554,7 @@ void ComponentInspector::Update(const UpdateInfo &, if (this->dataPtr->entity == this->dataPtr->worldEntity) this->dataPtr->worldName = comp->Data(); + this->dataPtr->entityName = comp->Data(); } else if (typeId == components::ParentEntity::typeId) { @@ -534,6 +577,16 @@ void ComponentInspector::Update(const UpdateInfo &, if (comp) setData(item, comp->Data()); } + else if (typeId == components::Light::typeId) + { + this->SetType("light"); + auto comp = _ecm.Component(this->dataPtr->entity); + if (comp) + { + msgs::Light lightMsgs = convert(comp->Data()); + setData(item, lightMsgs); + } + } else if (typeId == components::Physics::typeId) { auto comp = _ecm.Component(this->dataPtr->entity); @@ -747,6 +800,66 @@ void ComponentInspector::OnPose(double _x, double _y, double _z, double _roll, this->dataPtr->node.Request(poseCmdService, req, cb); } +///////////////////////////////////////////////// +void ComponentInspector::OnLight( + double _rSpecular, double _gSpecular, double _bSpecular, double _aSpecular, + double _rDiffuse, double _gDiffuse, double _bDiffuse, double _aDiffuse, + double _attRange, double _attLinear, double _attConstant, + double _attQuadratic, bool _castShadows, double _directionX, + double _directionY, double _directionZ, double _innerAngle, + double _outerAngle, double _falloff, int _type) +{ + std::function cb = + [](const ignition::msgs::Boolean &/*_rep*/, const bool _result) + { + if (!_result) + ignerr << "Error setting light configuration" << std::endl; + }; + + ignition::msgs::Light req; + req.set_name(this->dataPtr->entityName); + req.set_id(this->dataPtr->entity); + ignition::msgs::Set(req.mutable_diffuse(), + ignition::math::Color(_rDiffuse, _gDiffuse, _bDiffuse, _aDiffuse)); + ignition::msgs::Set(req.mutable_specular(), + ignition::math::Color(_rSpecular, _gSpecular, _bSpecular, _aSpecular)); + req.set_range(_attRange); + req.set_attenuation_linear(_attLinear); + req.set_attenuation_constant(_attConstant); + req.set_attenuation_quadratic(_attQuadratic); + req.set_cast_shadows(_castShadows); + if (_type == 0) + req.set_type(ignition::msgs::Light::POINT); + else if (_type == 1) + req.set_type(ignition::msgs::Light::SPOT); + else + req.set_type(ignition::msgs::Light::DIRECTIONAL); + + if (_type == 1) // sdf::LightType::SPOT + { + req.set_spot_inner_angle(_innerAngle); + req.set_spot_outer_angle(_outerAngle); + req.set_spot_falloff(_falloff); + } + + // if sdf::LightType::SPOT || sdf::LightType::DIRECTIONAL + if (_type == 1 || _type == 2) + { + ignition::msgs::Set(req.mutable_direction(), + ignition::math::Vector3d(_directionX, _directionY, _directionZ)); + } + + auto lightConfigService = "/world/" + this->dataPtr->worldName + + "/light_config"; + lightConfigService = transport::TopicUtils::AsValidTopic(lightConfigService); + if (lightConfigService.empty()) + { + ignerr << "Invalid light command service topic provided" << std::endl; + return; + } + this->dataPtr->node.Request(lightConfigService, req, cb); +} + ///////////////////////////////////////////////// void ComponentInspector::OnPhysics(double _stepSize, double _realTimeFactor) { diff --git a/src/gui/plugins/component_inspector/ComponentInspector.hh b/src/gui/plugins/component_inspector/ComponentInspector.hh index 8df6eb585b..cd6cc470b2 100644 --- a/src/gui/plugins/component_inspector/ComponentInspector.hh +++ b/src/gui/plugins/component_inspector/ComponentInspector.hh @@ -30,6 +30,8 @@ #include "ignition/gazebo/components/Physics.hh" +#include + Q_DECLARE_METATYPE(ignition::gazebo::ComponentTypeId) namespace ignition @@ -71,6 +73,12 @@ namespace gazebo template<> void setData(QStandardItem *_item, const math::Pose3d &_data); + /// \brief Specialized to set light data. + /// \param[in] _item Item whose data will be set. + /// \param[in] _data Data to set. + template<> + void setData(QStandardItem *_item, const msgs::Light &_data); + /// \brief Specialized to set vector data. /// \param[in] _item Item whose data will be set. /// \param[in] _data Data to set. @@ -215,6 +223,36 @@ namespace gazebo public: Q_INVOKABLE void OnPose(double _x, double _y, double _z, double _roll, double _pitch, double _yaw); + /// \brief Callback in Qt thread when specular changes. + /// \param[in] _rSpecular specular red + /// \param[in] _gSpecular specular green + /// \param[in] _bSpecular specular blue + /// \param[in] _aSpecular specular alpha + /// \param[in] _rDiffuse Diffuse red + /// \param[in] _gDiffuse Diffuse green + /// \param[in] _bDiffuse Diffuse blue + /// \param[in] _aDiffuse Diffuse alpha + /// \param[in] _attRange Range attenuation + /// \param[in] _attLinear Linear attenuation + /// \param[in] _attConstant Constant attenuation + /// \param[in] _attQuadratic Quadratic attenuation + /// \param[in] _castShadows Specify if this light should cast shadows + /// \param[in] _directionX X direction of the light + /// \param[in] _directionY Y direction of the light + /// \param[in] _directionZ Z direction of the light + /// \param[in] _innerAngle Inner angle of the spotlight + /// \param[in] _outerAngle Outer angle of the spotlight + /// \param[in] _falloff Falloff of the spotlight + /// \param[in] _type light type + public: Q_INVOKABLE void OnLight( + double _rSpecular, double _gSpecular, double _bSpecular, + double _aSpecular, double _rDiffuse, double _gDiffuse, + double _bDiffuse, double _aDiffuse, double _attRange, + double _attLinear, double _attConstant, double _attQuadratic, + bool _castShadows, double _directionX, double _directionY, + double _directionZ, double _innerAngle, double _outerAngle, + double _falloff, int _type); + /// \brief Callback in Qt thread when physics' properties change. /// \param[in] _stepSize step size /// \param[in] _realTimeFactor real time factor diff --git a/src/gui/plugins/component_inspector/ComponentInspector.qml b/src/gui/plugins/component_inspector/ComponentInspector.qml index e48bc4b393..1c3ed07414 100644 --- a/src/gui/plugins/component_inspector/ComponentInspector.qml +++ b/src/gui/plugins/component_inspector/ComponentInspector.qml @@ -86,6 +86,21 @@ Rectangle { } /** + * Forward light changes to C++ + */ + function onLight(_rSpecular, _gSpecular, _bSpecular, _aSpecular, + _rDiffuse, _gDiffuse, _bDiffuse, _aDiffuse, + _attRange, _attLinear, _attConstant, _attQuadratic, + _castShadows, _directionX, _directionY, _directionZ, + _innerAngle, _outerAngle, _falloff, _type) { + ComponentInspector.OnLight(_rSpecular, _gSpecular, _bSpecular, _aSpecular, + _rDiffuse, _gDiffuse, _bDiffuse, _aDiffuse, + _attRange, _attLinear, _attConstant, _attQuadratic, + _castShadows, _directionX, _directionY, _directionZ, + _innerAngle, _outerAngle, _falloff, _type) + } + + /* * Forward physics changes to C++ */ function onPhysics(_stepSize, _realTimeFactor) { diff --git a/src/gui/plugins/component_inspector/ComponentInspector.qrc b/src/gui/plugins/component_inspector/ComponentInspector.qrc index f50f8e7616..1996720cbc 100644 --- a/src/gui/plugins/component_inspector/ComponentInspector.qrc +++ b/src/gui/plugins/component_inspector/ComponentInspector.qrc @@ -2,6 +2,7 @@ Boolean.qml ComponentInspector.qml + Light.qml NoData.qml Physics.qml Pose3d.qml diff --git a/src/gui/plugins/component_inspector/Light.qml b/src/gui/plugins/component_inspector/Light.qml new file mode 100644 index 0000000000..68314d7053 --- /dev/null +++ b/src/gui/plugins/component_inspector/Light.qml @@ -0,0 +1,1099 @@ +/* + * Copyright (C) 2020 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. + * +*/ +import QtQuick 2.9 +import QtQuick.Controls 1.4 +import QtQuick.Controls 2.2 +import QtQuick.Controls.Material 2.1 +import QtQuick.Dialogs 1.0 +import QtQuick.Layouts 1.3 +import QtQuick.Controls.Styles 1.4 +import "qrc:/ComponentInspector" +import "qrc:/qml" + +// Item displaying light information. +Rectangle { + height: header.height + content.height + width: componentInspector.width + color: index % 2 == 0 ? lightGrey : darkGrey + + // Left indentation + property int indentation: 10 + + // Horizontal margins + property int margin: 5 + + property int iconWidth: 20 + property int iconHeight: 20 + + // Loaded item for specular red + property var rSpecularItem: {} + + // Loaded item for specular green + property var gSpecularItem: {} + + // Loaded item for specular blue + property var bSpecularItem: {} + + // Loaded item for specular alpha + property var aSpecularItem: {} + + // Loaded item for diffuse red + property var rDiffuseItem: {} + + // Loaded item for diffuse green + property var gDiffuseItem: {} + + // Loaded item for diffuse blue + property var bDiffuseItem: {} + + // Loaded item for diffuse alpha + property var aDiffuseItem: {} + + // Loaded item for attenuation range + property var attRangeItem: {} + + // Loaded item for attenuation linear + property var attLinearItem: {} + + // Loaded item for attenuation constant + property var attConstantItem: {} + + // Loaded item for attenuation quadratic + property var attQuadraticItem: {} + + // Loaded item for cast shadows + property var castShadowsItem: {} + + // Loaded item for direction X (spotlight or directional) + property var directionXItem: {} + + // Loaded item for direction Y (spotlight or directional) + property var directionYItem: {} + + // Loaded item for direction Z (spotlight or directional) + property var directionZItem: {} + + // Loaded item for inner angle (spotlight) + property var innerAngleItem: {} + + // Loaded item for inner angle (spotlight) + property var outerAngleItem: {} + + // Loaded item for falloff (spotlight) + property var falloffItem: {} + + // Send new light data to C++ + function sendLight() { + // TODO(anyone) There's a loss of precision when these values get to C++ + componentInspector.onLight( + rSpecularItem.value, + gSpecularItem.value, + bSpecularItem.value, + aSpecularItem.value, + rDiffuseItem.value, + gDiffuseItem.value, + bDiffuseItem.value, + aDiffuseItem.value, + attRangeItem.value, + attLinearItem.value, + attConstantItem.value, + attQuadraticItem.value, + castShadowsItem.checked, + directionXItem.value, + directionYItem.value, + directionZItem.value, + innerAngleItem.value, + outerAngleItem.value, + falloffItem.value, + model.data[19] + ); + } + + FontMetrics { + id: fontMetrics + font.family: "Roboto" + } + + /** + * Used to create a spin box + */ + Component { + id: sliderZeroOne + Slider { + id: writableSpin + value: writableSpin.activeFocus ? writableSpin.value : numberValue + from: 0.0 + to: 1.0 + onValueChanged: { + if (hovered){ + sendLight() + } + } + } + } + + Component { + id: ignSwitch + Switch { + id: booleanSwitch + checked: numberValue + enabled: true + onToggled: { + sendLight() + } + } + } + + Component { + id: spinZeroMax + IgnSpinBox { + id: writableSpin + value: writableSpin.activeFocus ? writableSpin.value : numberValue + minimumValue: 0 + maximumValue: 1000000 + decimals: 6 + onEditingFinished: { + sendLight() + } + } + } + Component { + id: spinNoLimit + IgnSpinBox { + id: writableSpin + value: writableSpin.activeFocus ? writableSpin.value : numberValue + minimumValue: -100000 + maximumValue: 100000 + decimals: 6 + onEditingFinished: { + sendLight() + } + } + } + + Component { + id: plotIcon + Image { + property string componentInfo: "" + source: "plottable_icon.svg" + anchors.top: parent.top + anchors.left: parent.left + + Drag.mimeData: { "text/plain" : (model === null) ? "" : + "Component," + model.entity + "," + model.typeId + "," + + model.dataType + "," + componentInfo + "," + model.shortName + } + Drag.dragType: Drag.Automatic + Drag.supportedActions : Qt.CopyAction + Drag.active: dragMouse.drag.active + // a point to drag from + Drag.hotSpot.x: 0 + Drag.hotSpot.y: y + MouseArea { + id: dragMouse + anchors.fill: parent + drag.target: (model === null) ? null : parent + onPressed: parent.grabToImage(function(result) {parent.Drag.imageSource = result.url }) + onReleased: parent.Drag.drop(); + cursorShape: Qt.DragCopyCursor + } + } + } + + Column { + anchors.fill: parent + + // Header + Rectangle { + id: header + width: parent.width + height: typeHeader.height + color: "transparent" + + RowLayout { + anchors.fill: parent + Item { + width: margin + } + Image { + id: icon + sourceSize.height: indentation + sourceSize.width: indentation + fillMode: Image.Pad + Layout.alignment : Qt.AlignVCenter + source: content.show ? + "qrc:/Gazebo/images/minus.png" : "qrc:/Gazebo/images/plus.png" + } + TypeHeader { + id: typeHeader + } + Item { + Layout.fillWidth: true + } + } + MouseArea { + anchors.fill: parent + hoverEnabled: true + cursorShape: Qt.PointingHandCursor + onClicked: { + content.show = !content.show + } + onEntered: { + header.color = highlightColor + } + onExited: { + header.color = "transparent" + } + } + } + + // Content + Rectangle { + id: content + property bool show: false + width: parent.width + height: show ? grid.height : 0 + clip: true + color: "transparent" + + Behavior on height { + NumberAnimation { + duration: 200; + easing.type: Easing.InOutQuad + } + } + + ColumnLayout { + id: grid + width: parent.width + + RowLayout { + Layout.alignment : Qt.AlignLeft + Text { + text: " Specular" + color: "dimgrey" + width: margin + indentation + } + } + RowLayout { + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: rSpecularText.width + indentation*3 + Loader { + id: loaderSpecularR + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderSpecularR.item.componentInfo = "specularR" + + Text { + id : rSpecularText + text: ' R' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + Layout.fillWidth: true + height: 40 + Loader { + id: rSpecularLoader + anchors.fill: parent + property double numberValue: model.data[0] + sourceComponent: sliderZeroOne + onLoaded: { + rSpecularItem = rSpecularLoader.item + } + } + } + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: gSpecularText.width + indentation*3 + Loader { + id: loaderSpecularG + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderSpecularG.item.componentInfo = "specularG" + + Text { + id : gSpecularText + text: ' G' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + Layout.fillWidth: true + height: 40 + Loader { + id: gSpecularLoader + anchors.fill: parent + property double numberValue: model.data[1] + sourceComponent: sliderZeroOne + onLoaded: { + gSpecularItem = gSpecularLoader.item + } + } + } + } + RowLayout { + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: bSpecularText.width + indentation*3 + Loader { + id: loaderSpecularB + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderSpecularB.item.componentInfo = "specularB" + + Text { + id : bSpecularText + text: ' B' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + Layout.fillWidth: true + height: 40 + Loader { + id: bSpecularLoader + anchors.fill: parent + property double numberValue: model.data[2] + sourceComponent: sliderZeroOne + onLoaded: { + bSpecularItem = bSpecularLoader.item + } + } + } + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: aSpecularText.width + indentation*3 + Loader { + id: loaderSpecularA + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderSpecularA.item.componentInfo = "specularA" + + Text { + id : aSpecularText + text: ' A' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + Layout.fillWidth: true + height: 40 + Loader { + id: aSpecularLoader + anchors.fill: parent + property double numberValue: model.data[3] + sourceComponent: sliderZeroOne + onLoaded: { + aSpecularItem = aSpecularLoader.item + } + } + } + } + RowLayout { + Layout.alignment: Qt.AlignHCenter + Button { + Layout.alignment: Qt.AlignHCenter + id: specularColor + text: qsTr("Specular Color") + onClicked: colorDialog.open() + ColorDialog { + id: colorDialog + title: "Choose a specular color" + visible: false + onAccepted: { + rSpecularLoader.item.value = colorDialog.color.r + gSpecularLoader.item.value = colorDialog.color.g + bSpecularLoader.item.value = colorDialog.color.b + aSpecularLoader.item.value = colorDialog.color.a + sendLight() + colorDialog.close() + } + onRejected: { + colorDialog.close() + } + } + } + } + RowLayout { + Text { + Layout.columnSpan: 6 + text: " Diffuse" + color: "dimgrey" + width: margin + indentation + } + } + RowLayout { + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: rDiffuseText.width + indentation*3 + Loader { + id: loaderDiffuseR + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderDiffuseR.item.componentInfo = "diffuseR" + + Text { + id : rDiffuseText + text: ' R' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + Layout.fillWidth: true + height: 40 + Loader { + id: rDiffuseLoader + anchors.fill: parent + property double numberValue: model.data[4] + sourceComponent: sliderZeroOne + onLoaded: { + rDiffuseItem = rDiffuseLoader.item + } + } + } + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: gDiffuseText.width + indentation*3 + Loader { + id: loaderDiffuseG + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderDiffuseG.item.componentInfo = "diffuseG" + + Text { + id : gDiffuseText + text: ' G' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + Layout.fillWidth: true + height: 40 + Loader { + id: gDiffuseLoader + anchors.fill: parent + property double numberValue: model.data[5] + sourceComponent: sliderZeroOne + onLoaded: { + gDiffuseItem = gDiffuseLoader.item + } + } + } + } + RowLayout { + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: bDiffuseText.width + indentation*3 + Loader { + id: loaderDiffuseB + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderDiffuseB.item.componentInfo = "diffuseB" + + Text { + id : bDiffuseText + text: ' B' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + Layout.fillWidth: true + height: 40 + Loader { + id: bDiffuseLoader + anchors.fill: parent + property double numberValue: model.data[6] + sourceComponent: sliderZeroOne + onLoaded: { + bDiffuseItem = bDiffuseLoader.item + } + } + } + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: aDiffuseText.width + indentation*3 + Loader { + id: loaderDiffuseA + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderDiffuseA.item.componentInfo = "diffuseA" + + Text { + id : aDiffuseText + text: ' A' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + Layout.fillWidth: true + height: 40 + Loader { + id: aDiffuseLoader + anchors.fill: parent + property double numberValue: model.data[7] + sourceComponent: sliderZeroOne + onLoaded: { + aDiffuseItem = aDiffuseLoader.item + } + } + } + } + RowLayout { + Layout.alignment: Qt.AlignHCenter + Button { + Layout.alignment: Qt.AlignHCenter + id: diffuseColor + text: qsTr("Diffuse Color") + onClicked: colorDialogDiffuse.open() + ColorDialog { + id: colorDialogDiffuse + title: "Choose a diffuse color" + visible: false + onAccepted: { + rDiffuseLoader.item.value = colorDialogDiffuse.color.r + gDiffuseLoader.item.value = colorDialogDiffuse.color.g + bDiffuseLoader.item.value = colorDialogDiffuse.color.b + aDiffuseLoader.item.value = colorDialogDiffuse.color.a + sendLight() + colorDialogDiffuse.close() + } + onRejected: { + colorDialogDiffuse.close() + } + } + } + } + RowLayout { + Text { + Layout.columnSpan: 6 + text: " Attenuation" + color: "dimgrey" + width: margin + indentation + } + } + RowLayout { + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: attRangeText.width + indentation*3 + Loader { + id: loaderAttRange + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderAttRange.item.componentInfo = "attRange" + + Text { + id : attRangeText + text: ' Range' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + Layout.fillWidth: true + height: 40 + Loader { + id: attRangeLoader + anchors.fill: parent + property double numberValue: model.data[8] + sourceComponent: spinZeroMax + onLoaded: { + attRangeItem = attRangeLoader.item + } + } + } + } + RowLayout { + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: attLinearText.width + indentation*3 + Loader { + id: loaderAttLinear + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderAttLinear.item.componentInfo = "attLinear" + + Text { + id : attLinearText + text: ' Linear' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + Layout.fillWidth: true + height: 40 + Loader { + id: attLinearLoader + anchors.fill: parent + property double numberValue: model.data[9] + sourceComponent: sliderZeroOne + onLoaded: { + attLinearItem = attLinearLoader.item + } + } + } + } + RowLayout { + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: attConstantText.width + indentation*3 + Loader { + id: loaderAttConstant + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderAttConstant.item.componentInfo = "attConstant" + + Text { + id : attConstantText + text: ' Constant' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + Layout.fillWidth: true + height: 40 + Loader { + id: attConstantLoader + anchors.fill: parent + property double numberValue: model.data[10] + sourceComponent: sliderZeroOne + onLoaded: { + attConstantItem = attConstantLoader.item + } + } + } + } + RowLayout { + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: attQuadraticText.width + indentation*3 + Loader { + id: loaderAttQuadratic + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderAttQuadratic.item.componentInfo = "attQuadratic" + + Text { + id : attQuadraticText + text: ' Quadratic' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + Layout.fillWidth: true + height: 40 + Loader { + id: attQuadraticLoader + anchors.fill: parent + property double numberValue: model.data[11] + sourceComponent: spinZeroMax + onLoaded: { + attQuadraticItem = attQuadraticLoader.item + } + } + } + } + RowLayout { + Rectangle { + color: "transparent" + height: 40 + Layout.preferredWidth: castShadowsText.width + indentation*3 + Loader { + id: loaderCastShadows + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderCastShadows.item.componentInfo = "castshadows" + + Text { + id : castShadowsText + text: ' Cast shadows' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + Layout.fillWidth: true + height: 40 + + Loader { + id: castShadowLoader + anchors.fill: parent + property double numberValue: model.data[12] + sourceComponent: ignSwitch + onLoaded: { + castShadowsItem = castShadowLoader.item + } + } + } + } + RowLayout { + Text { + visible: model.data[19] === 1 || model.data[19] === 2 + Layout.columnSpan: 6 + text: " Direction" + color: "dimgrey" + width: margin + indentation + } + } + RowLayout { + Rectangle { + visible: model.data[19] === 1 || model.data[19] === 2 + color: "transparent" + height: 40 + Layout.preferredWidth: xDirectionText.width + indentation*3 + Loader { + id: loaderDirectionX + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderDirectionX.item.componentInfo = "directionX" + + Text { + visible: model.data[19] === 1 || model.data[19] === 2 + id : xDirectionText + text: ' X:' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + visible: model.data[19] === 1 || model.data[19] === 2 + Layout.fillWidth: true + height: 40 + Layout.columnSpan: 4 + Loader { + id: xDirectionLoader + anchors.fill: parent + property double numberValue: model.data[13] + sourceComponent: spinNoLimit + onLoaded: { + directionXItem = xDirectionLoader.item + } + } + } + } + RowLayout { + Rectangle { + visible: model.data[19] === 1 || model.data[19] === 2 + color: "transparent" + height: 40 + Layout.preferredWidth: yDirectionText.width + indentation*3 + Loader { + id: loaderDirectionY + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderDirectionY.item.componentInfo = "directionY" + + Text { + visible: model.data[19] === 1 || model.data[19] === 2 + id : yDirectionText + text: ' Y:' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + visible: model.data[19] === 1 || model.data[19] === 2 + Layout.fillWidth: true + height: 40 + Layout.columnSpan: 4 + Loader { + id: yDirectionLoader + anchors.fill: parent + property double numberValue: model.data[14] + sourceComponent: spinNoLimit + onLoaded: { + directionYItem = yDirectionLoader.item + } + } + } + } + RowLayout { + Rectangle { + visible: model.data[19] === 1 || model.data[19] === 2 + color: "transparent" + height: 40 + Layout.preferredWidth: zDirectionText.width + indentation*3 + Loader { + id: loaderDirectionZ + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderDirectionZ.item.componentInfo = "directionZ" + + Text { + visible: model.data[19] === 1 || model.data[19] === 2 + id : zDirectionText + text: ' Z:' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + visible: model.data[19] === 1 || model.data[19] === 2 + Layout.fillWidth: true + height: 40 + Layout.columnSpan: 4 + Loader { + id: zDirectionLoader + anchors.fill: parent + property double numberValue: model.data[15] + sourceComponent: spinNoLimit + onLoaded: { + directionZItem = zDirectionLoader.item + } + } + } + } + RowLayout { + Text { + visible: model.data[19] === 1 + Layout.columnSpan: 6 + text: " Spot features" + color: "dimgrey" + width: margin + indentation + } + } + RowLayout { + Rectangle { + visible: model.data[19] === 1 + color: "transparent" + height: 40 + Layout.preferredWidth: innerAngleText.width + indentation*3 + Loader { + id: loaderInnerAngle + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderInnerAngle.item.componentInfo = "innerAngle" + + Text { + visible: model.data[19] === 1 + id : innerAngleText + text: ' Inner Angle:' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + visible: model.data[19] === 1 + Layout.fillWidth: true + height: 40 + Layout.columnSpan: 4 + Loader { + id: innerAngleLoader + anchors.fill: parent + property double numberValue: model.data[16] + sourceComponent: spinNoLimit + onLoaded: { + innerAngleItem = innerAngleLoader.item + } + } + } + } + RowLayout { + Rectangle { + visible: model.data[19] === 1 + color: "transparent" + height: 40 + Layout.preferredWidth: outerAngleText.width + indentation*3 + Loader { + id: loaderOuterAngle + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderOuterAngle.item.componentInfo = "outerAngle" + + Text { + visible: model.data[19] === 1 + id : outerAngleText + text: ' Outer angle:' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + visible: model.data[19] === 1 + Layout.fillWidth: true + height: 40 + Layout.columnSpan: 4 + Loader { + id: outerAngleLoader + anchors.fill: parent + property double numberValue: model.data[17] + sourceComponent: spinNoLimit + onLoaded: { + outerAngleItem = outerAngleLoader.item + } + } + } + } + RowLayout { + Rectangle { + visible: model.data[19] === 1 + color: "transparent" + height: 40 + Layout.preferredWidth: fallOffText.width + indentation*3 + Loader { + id: loaderFallOff + width: iconWidth + height: iconHeight + y:10 + sourceComponent: plotIcon + } + Component.onCompleted: loaderFallOff.item.componentInfo = "falloff" + + Text { + visible: model.data[19] === 1 + id : fallOffText + text: ' Falloff:' + leftPadding: 5 + color: Material.theme == Material.Light ? "#444444" : "#bbbbbb" + font.pointSize: 12 + anchors.centerIn: parent + } + } + Item { + visible: model.data[19] === 1 + Layout.fillWidth: true + height: 40 + Layout.columnSpan: 4 + Loader { + id: fallOffLoader + anchors.fill: parent + property double numberValue: model.data[18] + sourceComponent: spinZeroMax + onLoaded: { + falloffItem = fallOffLoader.item + } + } + } + } + } + } + } +} diff --git a/src/gui/plugins/plotting/Plotting.cc b/src/gui/plugins/plotting/Plotting.cc index 876e3e613a..864eebb1c9 100644 --- a/src/gui/plugins/plotting/Plotting.cc +++ b/src/gui/plugins/plotting/Plotting.cc @@ -23,6 +23,7 @@ #include "ignition/gazebo/components/CastShadows.hh" #include "ignition/gazebo/components/Factory.hh" #include "ignition/gazebo/components/Gravity.hh" +#include "ignition/gazebo/components/Light.hh" #include "ignition/gazebo/components/LinearAcceleration.hh" #include "ignition/gazebo/components/LinearVelocity.hh" #include "ignition/gazebo/components/LinearVelocitySeed.hh" @@ -95,6 +96,28 @@ PlotComponent::PlotComponent(const std::string &_type, this->dataPtr->data["pitch"] = std::make_shared(); this->dataPtr->data["yaw"] = std::make_shared(); } + else if (_type == "Light") + { + this->dataPtr->data["diffuseR"] = std::make_shared(); + this->dataPtr->data["diffuseG"] = std::make_shared(); + this->dataPtr->data["diffuseB"] = std::make_shared(); + this->dataPtr->data["diffuseA"] = std::make_shared(); + this->dataPtr->data["specularR"] = std::make_shared(); + this->dataPtr->data["specularG"] = std::make_shared(); + this->dataPtr->data["specularB"] = std::make_shared(); + this->dataPtr->data["specularA"] = std::make_shared(); + this->dataPtr->data["attRange"] = std::make_shared(); + this->dataPtr->data["attConstant"] = std::make_shared(); + this->dataPtr->data["attLinear"] = std::make_shared(); + this->dataPtr->data["attQuadratic"] = std::make_shared(); + this->dataPtr->data["castshadows"] = std::make_shared(); + this->dataPtr->data["directionX"] = std::make_shared(); + this->dataPtr->data["directionY"] = std::make_shared(); + this->dataPtr->data["directionZ"] = std::make_shared(); + this->dataPtr->data["innerAngle"] = std::make_shared(); + this->dataPtr->data["outerAngle"] = std::make_shared(); + this->dataPtr->data["falloff"] = std::make_shared(); + } else if (_type == "double") this->dataPtr->data["value"] = std::make_shared(); else if (_type == "Physics") @@ -209,6 +232,57 @@ void Plotting::SetData(std::string _Id, const ignition::math::Vector3d &_vector) this->dataPtr->components[_Id]->SetAttributeValue("z", _vector.Z()); } +void Plotting::SetData(std::string _Id, const msgs::Light &_light) +{ + if (_light.has_specular()) + { + this->dataPtr->components[_Id]->SetAttributeValue("specularR", + _light.specular().r()); + this->dataPtr->components[_Id]->SetAttributeValue("specularG", + _light.specular().g()); + this->dataPtr->components[_Id]->SetAttributeValue("specularB", + _light.specular().b()); + this->dataPtr->components[_Id]->SetAttributeValue("specularA", + _light.specular().a()); + } + if (_light.has_diffuse()) + { + this->dataPtr->components[_Id]->SetAttributeValue("diffuseR", + _light.diffuse().r()); + this->dataPtr->components[_Id]->SetAttributeValue("diffuseG", + _light.diffuse().g()); + this->dataPtr->components[_Id]->SetAttributeValue("diffuseB", + _light.diffuse().b()); + this->dataPtr->components[_Id]->SetAttributeValue("diffuseA", + _light.diffuse().a()); + } + this->dataPtr->components[_Id]->SetAttributeValue("attRange", + _light.range()); + this->dataPtr->components[_Id]->SetAttributeValue("attLinear", + _light.attenuation_linear()); + this->dataPtr->components[_Id]->SetAttributeValue("attConstant", + _light.attenuation_constant()); + this->dataPtr->components[_Id]->SetAttributeValue("attQuadratic", + _light.attenuation_quadratic()); + this->dataPtr->components[_Id]->SetAttributeValue("castshadows", + _light.cast_shadows()); + if (_light.has_direction()) + { + this->dataPtr->components[_Id]->SetAttributeValue("directionX", + _light.direction().x()); + this->dataPtr->components[_Id]->SetAttributeValue("directionY", + _light.direction().y()); + this->dataPtr->components[_Id]->SetAttributeValue("directionZ", + _light.direction().z()); + } + this->dataPtr->components[_Id]->SetAttributeValue("innerAngle", + _light.spot_inner_angle()); + this->dataPtr->components[_Id]->SetAttributeValue("outerAngle", + _light.spot_outer_angle()); + this->dataPtr->components[_Id]->SetAttributeValue("falloff", + _light.spot_falloff()); +} + ////////////////////////////////////////////////// void Plotting::SetData(std::string _Id, const ignition::math::Pose3d &_pose) { @@ -403,6 +477,15 @@ void Plotting ::Update(const ignition::gazebo::UpdateInfo &_info, if (comp) this->SetData(component.first, comp->Data()); } + else if (typeId == components::Light::typeId) + { + auto comp = _ecm.Component(entity); + if (comp) + { + msgs::Light lightMsgs = convert(comp->Data()); + this->SetData(component.first, lightMsgs); + } + } for (auto attribute : component.second->Data()) { diff --git a/src/gui/plugins/plotting/Plotting.hh b/src/gui/plugins/plotting/Plotting.hh index 24601bdc6b..534d9a5008 100644 --- a/src/gui/plugins/plotting/Plotting.hh +++ b/src/gui/plugins/plotting/Plotting.hh @@ -23,6 +23,7 @@ #include #include #include +#include #include "sdf/Physics.hh" @@ -115,6 +116,12 @@ class Plotting : public ignition::gazebo::GuiSystem public: void SetData(std::string _Id, const ignition::math::Vector3d &_vector); + /// \brief Set the Component data of giving id to the giving light + /// \param [in] _Id Component Key of the components map + /// \param [in] _light Vector Data to be set to the component + public: void SetData(std::string _Id, + const msgs::Light &_light); + /// \brief Set the Component data of giving id to the giving pose /// \param [in] _Id Component Key of the components map /// \param [in] _pose Position Data to be set to the component diff --git a/src/gui/plugins/scene3d/Scene3D.cc b/src/gui/plugins/scene3d/Scene3D.cc index b22da15d99..e43b749893 100644 --- a/src/gui/plugins/scene3d/Scene3D.cc +++ b/src/gui/plugins/scene3d/Scene3D.cc @@ -2752,6 +2752,7 @@ void Scene3D::Update(const UpdateInfo &_info, msgs::Pose poseMsg = msgs::Convert(renderWindow->CameraPose()); this->dataPtr->cameraPosePub.Publish(poseMsg); } + this->dataPtr->renderUtil->UpdateECM(_info, _ecm); this->dataPtr->renderUtil->UpdateFromECM(_info, _ecm); // check if video recording is enabled and if we need to lock step diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index c1c507713b..ae94373ebd 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -42,6 +42,8 @@ #include #include +#include + #include #include #include @@ -55,6 +57,7 @@ #include "ignition/gazebo/components/GpuLidar.hh" #include "ignition/gazebo/components/Geometry.hh" #include "ignition/gazebo/components/Light.hh" +#include "ignition/gazebo/components/LightCmd.hh" #include "ignition/gazebo/components/Link.hh" #include "ignition/gazebo/components/Material.hh" #include "ignition/gazebo/components/Model.hh" @@ -170,6 +173,12 @@ class ignition::gazebo::RenderUtilPrivate /// \brief A map of entity ids and pose updates. public: std::unordered_map entityPoses; + /// \brief A map of entity ids and light updates. + public: std::unordered_map entityLights; + + /// \brief A map of entity ids and light updates. + public: std::vector entityLightsCmdToDelete; + /// \brief A map of entity ids and actor transforms. public: std::map> actorTransforms; @@ -218,6 +227,36 @@ class ignition::gazebo::RenderUtilPrivate public: std::function createSensorCb; + /// \brief Light equality comparison function. + public: std::function + lightEql { [](const sdf::Light &_a, const sdf::Light &_b) + { + return + _a.Type() == _b.Type() && + _a.Name() == _b.Name() && + _a.Diffuse() == _b.Diffuse() && + _a.Specular() == _b.Specular() && + math::equal( + _a.AttenuationRange(), _b.AttenuationRange(), 1e-6) && + math::equal( + _a.LinearAttenuationFactor(), + _b.LinearAttenuationFactor(), + 1e-6) && + math::equal( + _a.ConstantAttenuationFactor(), + _b.ConstantAttenuationFactor(), + 1e-6) && + math::equal( + _a.QuadraticAttenuationFactor(), + _b.QuadraticAttenuationFactor(), + 1e-6) && + _a.CastShadows() == _b.CastShadows() && + _a.Direction() == _b.Direction() && + _a.SpotInnerAngle() == _b.SpotInnerAngle() && + _a.SpotOuterAngle() == _b.SpotOuterAngle() && + math::equal(_a.SpotFalloff(), _b.SpotFalloff(), 1e-6); + }}; + /// \brief Callback function for removing sensors. /// The function arg is the entity id public: std::function removeSensorCb; @@ -289,6 +328,37 @@ void RenderUtil::UpdateECM(const UpdateInfo &/*_info*/, EntityComponentManager &_ecm) { std::lock_guard lock(this->dataPtr->updateMutex); + + // Update lights + auto olderEntitiesLightsCmdToDelete = + std::move(this->dataPtr->entityLightsCmdToDelete); + this->dataPtr->entityLightsCmdToDelete.clear(); + + _ecm.Each( + [&](const Entity &_entity, + const components::LightCmd * _lightCmd) -> bool + { + this->dataPtr->entityLights[_entity] = _lightCmd->Data(); + this->dataPtr->entityLightsCmdToDelete.push_back(_entity); + + auto lightComp = _ecm.Component(_entity); + if (lightComp) + { + sdf::Light sdfLight = convert(_lightCmd->Data()); + auto state = lightComp->SetData(sdfLight, + this->dataPtr->lightEql) ? + ComponentState::OneTimeChange : + ComponentState::NoChange; + _ecm.SetChanged(_entity, components::Light::typeId, state); + } + return true; + }); + + for (const auto entity : olderEntitiesLightsCmdToDelete) + { + _ecm.RemoveComponent(entity); + } + // Update thermal cameras _ecm.Each( [&](const Entity &_entity, @@ -415,6 +485,7 @@ void RenderUtil::Update() auto newLights = std::move(this->dataPtr->newLights); auto removeEntities = std::move(this->dataPtr->removeEntities); auto entityPoses = std::move(this->dataPtr->entityPoses); + auto entityLights = std::move(this->dataPtr->entityLights); auto trajectoryPoses = std::move(this->dataPtr->trajectoryPoses); auto actorTransforms = std::move(this->dataPtr->actorTransforms); auto actorAnimationData = std::move(this->dataPtr->actorAnimationData); @@ -430,6 +501,7 @@ void RenderUtil::Update() this->dataPtr->newLights.clear(); this->dataPtr->removeEntities.clear(); this->dataPtr->entityPoses.clear(); + this->dataPtr->entityLights.clear(); this->dataPtr->trajectoryPoses.clear(); this->dataPtr->actorTransforms.clear(); this->dataPtr->actorAnimationData.clear(); @@ -562,6 +634,95 @@ void RenderUtil::Update() } } + // update lights + { + IGN_PROFILE("RenderUtil::Update Lights"); + for (const auto &light : entityLights) { + auto node = this->dataPtr->sceneManager.NodeById(light.first); + if (!node) + continue; + auto l = std::dynamic_pointer_cast(node); + if (l) + { + if (light.second.has_diffuse()) + { + if (l->DiffuseColor() != msgs::Convert(light.second.diffuse())) + l->SetDiffuseColor(msgs::Convert(light.second.diffuse())); + } + if (light.second.has_specular()) + { + if (l->SpecularColor() != msgs::Convert(light.second.specular())) + { + l->SetSpecularColor(msgs::Convert(light.second.specular())); + } + } + if (!ignition::math::equal( + l->AttenuationRange(), + static_cast(light.second.range()))) + { + l->SetAttenuationRange(light.second.range()); + } + if (!ignition::math::equal( + l->AttenuationLinear(), + static_cast(light.second.attenuation_linear()))) + { + l->SetAttenuationLinear(light.second.attenuation_linear()); + } + if (!ignition::math::equal( + l->AttenuationConstant(), + static_cast(light.second.attenuation_constant()))) + { + l->SetAttenuationConstant(light.second.attenuation_constant()); + } + if (!ignition::math::equal( + l->AttenuationQuadratic(), + static_cast(light.second.attenuation_quadratic()))) + { + l->SetAttenuationQuadratic(light.second.attenuation_quadratic()); + } + if (l->CastShadows() != light.second.cast_shadows()) + l->SetCastShadows(light.second.cast_shadows()); + auto lDirectional = + std::dynamic_pointer_cast(node); + if (lDirectional) + { + if (light.second.has_direction()) + { + if (lDirectional->Direction() != + msgs::Convert(light.second.direction())) + { + lDirectional->SetDirection( + msgs::Convert(light.second.direction())); + } + } + } + auto lSpotLight = + std::dynamic_pointer_cast(node); + if (lSpotLight) + { + if (light.second.has_direction()) + { + if (lSpotLight->Direction() != + msgs::Convert(light.second.direction())) + { + lSpotLight->SetDirection( + msgs::Convert(light.second.direction())); + } + } + if (lSpotLight->InnerAngle() != light.second.spot_inner_angle()) + lSpotLight->SetInnerAngle(light.second.spot_inner_angle()); + if (lSpotLight->OuterAngle() != light.second.spot_outer_angle()) + lSpotLight->SetOuterAngle(light.second.spot_outer_angle()); + if (!ignition::math::equal( + lSpotLight->Falloff(), + static_cast(light.second.spot_falloff()))) + { + lSpotLight->SetFalloff(light.second.spot_falloff()); + } + } + } + } + } // update entities' pose { IGN_PROFILE("RenderUtil::Update Poses"); @@ -1367,7 +1528,7 @@ void RenderUtilPrivate::UpdateRenderingEntities( return true; }); - // lights + // update lights _ecm.Each( [&](const Entity &_entity, const components::Light *, diff --git a/src/systems/user_commands/UserCommands.cc b/src/systems/user_commands/UserCommands.cc index 8ff22c10c8..c98d4e91df 100644 --- a/src/systems/user_commands/UserCommands.cc +++ b/src/systems/user_commands/UserCommands.cc @@ -20,6 +20,7 @@ #include #include #include +#include #include #include @@ -32,6 +33,7 @@ #include #include #include +#include #include #include @@ -39,6 +41,8 @@ #include "ignition/common/Profiler.hh" #include "ignition/gazebo/components/Light.hh" +#include "ignition/gazebo/components/LightCmd.hh" +#include "ignition/gazebo/components/Link.hh" #include "ignition/gazebo/components/Model.hh" #include "ignition/gazebo/components/Name.hh" #include "ignition/gazebo/components/ParentEntity.hh" @@ -127,6 +131,70 @@ class RemoveCommand : public UserCommandBase public: bool Execute() final; }; +/// \brief Command to modify a light entity from simulation. +class LightCommand : public UserCommandBase +{ + /// \brief Constructor + /// \param[in] _msg Message identifying the entity to be edited. + /// \param[in] _iface Pointer to user commands interface. + public: LightCommand(msgs::Light *_msg, + std::shared_ptr &_iface); + + // Documentation inherited + public: bool Execute() final; + + /// \brief Light equality comparison function. + public: std::function + lightEql { [](const msgs::Light &_a, const msgs::Light &_b) + { + return + _a.type() == _b.type() && + _a.name() == _b.name() && + math::equal( + _a.diffuse().a(), _b.diffuse().a(), 1e-6f) && + math::equal( + _a.diffuse().r(), _b.diffuse().r(), 1e-6f) && + math::equal( + _a.diffuse().g(), _b.diffuse().g(), 1e-6f) && + math::equal( + _a.diffuse().b(), _b.diffuse().b(), 1e-6f) && + math::equal( + _a.specular().a(), _b.specular().a(), 1e-6f) && + math::equal( + _a.specular().r(), _b.specular().r(), 1e-6f) && + math::equal( + _a.specular().g(), _b.specular().g(), 1e-6f) && + math::equal( + _a.specular().b(), _b.specular().b(), 1e-6f) && + math::equal( + _a.range(), _b.range(), 1e-6f) && + math::equal( + _a.attenuation_linear(), + _b.attenuation_linear(), + 1e-6f) && + math::equal( + _a.attenuation_constant(), + _b.attenuation_constant(), + 1e-6f) && + math::equal( + _a.attenuation_quadratic(), + _b.attenuation_quadratic(), + 1e-6f) && + _a.cast_shadows() == _b.cast_shadows() && + math::equal( + _a.direction().x(), _b.direction().x(), 1e-6) && + math::equal( + _a.direction().y(), _b.direction().y(), 1e-6) && + math::equal( + _a.direction().z(), _b.direction().z(), 1e-6) && + math::equal( + _a.spot_inner_angle(), _b.spot_inner_angle(), 1e-6f) && + math::equal( + _a.spot_outer_angle(), _b.spot_outer_angle(), 1e-6f) && + math::equal(_a.spot_falloff(), _b.spot_falloff(), 1e-6f); + }}; +}; + /// \brief Command to update an entity's pose transform. class PoseCommand : public UserCommandBase { @@ -195,6 +263,13 @@ class ignition::gazebo::systems::UserCommandsPrivate public: bool RemoveService(const msgs::Entity &_req, msgs::Boolean &_res); + /// \brief Callback for light service + /// \param[in] _req Request containing light update of an entity. + /// \param[in] _res True if message successfully received and queued. + /// It does not mean that the light will be successfully updated. + /// \return True if successful. + public: bool LightService(const msgs::Light &_req, msgs::Boolean &_res); + /// \brief Callback for pose service /// \param[in] _req Request containing pose update of an entity. /// \param[in] _res True if message successfully received and queued. @@ -283,6 +358,14 @@ void UserCommands::Configure(const Entity &_entity, ignmsg << "Pose service on [" << poseService << "]" << std::endl; + // Light service + std::string lightService{"/world/" + validWorldName + "/light_config"}; + this->dataPtr->node.Advertise(lightService, + &UserCommandsPrivate::LightService, this->dataPtr.get()); + + ignmsg << "Light configuration service on [" << lightService << "]" + << std::endl; + // Physics service std::string physicsService{"/world/" + validWorldName + "/set_physics"}; this->dataPtr->node.Advertise(physicsService, @@ -381,6 +464,25 @@ bool UserCommandsPrivate::RemoveService(const msgs::Entity &_req, return true; } +////////////////////////////////////////////////// +bool UserCommandsPrivate::LightService(const msgs::Light &_req, + msgs::Boolean &_res) +{ + // Create command and push it to queue + auto msg = _req.New(); + msg->CopyFrom(_req); + auto cmd = std::make_unique(msg, this->iface); + + // Push to pending + { + std::lock_guard lock(this->pendingMutex); + this->pendingCmds.push_back(std::move(cmd)); + } + + _res.set_data(true); + return true; +} + ////////////////////////////////////////////////// bool UserCommandsPrivate::PoseService(const msgs::Pose &_req, msgs::Boolean &_res) @@ -706,6 +808,93 @@ bool RemoveCommand::Execute() return true; } + +////////////////////////////////////////////////// +LightCommand::LightCommand(msgs::Light *_msg, + std::shared_ptr &_iface) + : UserCommandBase(_msg, _iface) +{ +} + +////////////////////////////////////////////////// +bool LightCommand::Execute() +{ + auto lightMsg = dynamic_cast(this->msg); + if (nullptr == lightMsg) + { + ignerr << "Internal error, null light message" << std::endl; + return false; + } + + Entity lightEntity{kNullEntity}; + + if (lightMsg->id() != kNullEntity) + { + lightEntity = lightMsg->id(); + } + else if (!lightMsg->name().empty()) + { + if (lightMsg->parent_id() != kNullEntity) + { + lightEntity = this->iface->ecm->EntityByComponents( + components::Name(lightMsg->name()), + components::ParentEntity(lightMsg->parent_id())); + } + else + { + lightEntity = this->iface->ecm->EntityByComponents( + components::Name(lightMsg->name())); + } + } + if (kNullEntity == lightEntity) + { + ignerr << "Failed to find light with name [" << lightMsg->name() + << "], ID [" << lightMsg->id() << "] and parent ID [" + << lightMsg->parent_id() << "]." << std::endl; + return false; + } + + if (!lightEntity) + { + ignmsg << "Failed to find light entity named [" << lightMsg->name() + << "]." << std::endl; + return false; + } + + auto lightPose = this->iface->ecm->Component(lightEntity); + if (nullptr == lightPose) + lightEntity = kNullEntity; + + if (!lightEntity) + { + ignmsg << "Pose component not available" << std::endl; + return false; + } + + if (lightMsg->has_pose()) + { + lightPose->Data().Pos() = msgs::Convert(lightMsg->pose()).Pos(); + } + + auto lightCmdComp = + this->iface->ecm->Component(lightEntity); + if (!lightCmdComp) + { + this->iface->ecm->CreateComponent( + lightEntity, components::LightCmd(*lightMsg)); + } + else + { + auto state = lightCmdComp->SetData(*lightMsg, this->lightEql) ? + ComponentState::OneTimeChange : + ComponentState::NoChange; + this->iface->ecm->SetChanged(lightEntity, components::LightCmd::typeId, + state); + } + + return true; +} + ////////////////////////////////////////////////// PoseCommand::PoseCommand(msgs::Pose *_msg, std::shared_ptr &_iface) diff --git a/test/integration/user_commands.cc b/test/integration/user_commands.cc index 347135fc59..381a5a961e 100644 --- a/test/integration/user_commands.cc +++ b/test/integration/user_commands.cc @@ -18,6 +18,7 @@ #include #include +#include #include #include @@ -693,6 +694,232 @@ TEST_F(UserCommandsTest, Pose) EXPECT_NEAR(500.0, poseComp->Data().Pos().Y(), 0.2); } +///////////////////////////////////////////////// +TEST_F(UserCommandsTest, Light) +{ + // Start server + ServerConfig serverConfig; + const auto sdfFile = ignition::common::joinPaths( + std::string(PROJECT_SOURCE_PATH), "test", "worlds", "lights_render.sdf"); + serverConfig.SetSdfFile(sdfFile); + + Server server(serverConfig); + EXPECT_FALSE(server.Running()); + EXPECT_FALSE(*server.Running(0)); + + // Create a system just to get the ECM + EntityComponentManager *ecm{nullptr}; + test::Relay testSystem; + testSystem.OnPreUpdate([&](const gazebo::UpdateInfo &, + gazebo::EntityComponentManager &_ecm) + { + ecm = &_ecm; + }); + + server.AddSystem(testSystem.systemPtr); + + // Run server and check we have the ECM + EXPECT_EQ(nullptr, ecm); + server.Run(true, 1, false); + EXPECT_NE(nullptr, ecm); + + msgs::Light req; + msgs::Boolean res; + transport::Node node; + bool result; + unsigned int timeout = 1000; + std::string service{"/world/lights_command/light_config"}; + + // Point light + auto pointLightEntity = ecm->EntityByComponents(components::Name("point")); + EXPECT_NE(kNullEntity, pointLightEntity); + + // Check point light entity has not been edited yet - Initial values + auto pointLightComp = ecm->Component(pointLightEntity); + ASSERT_NE(nullptr, pointLightComp); + EXPECT_EQ( + math::Pose3d(0, -1.5, 3, 0, 0, 0), pointLightComp->Data().RawPose()); + EXPECT_EQ(math::Color(1, 0, 0, 1), pointLightComp->Data().Diffuse()); + EXPECT_EQ(math::Color(0.1, 0.1, 0.1, 1), pointLightComp->Data().Specular()); + EXPECT_NEAR(4.0, pointLightComp->Data().AttenuationRange(), 0.1); + EXPECT_NEAR(0.5, pointLightComp->Data().LinearAttenuationFactor(), 0.1); + EXPECT_NEAR(0.2, pointLightComp->Data().ConstantAttenuationFactor(), 0.1); + EXPECT_NEAR(0.01, pointLightComp->Data().QuadraticAttenuationFactor(), 0.1); + EXPECT_FALSE(pointLightComp->Data().CastShadows()); + + req.Clear(); + ignition::msgs::Set(req.mutable_diffuse(), + ignition::math::Color(0, 1, 1, 0)); + ignition::msgs::Set(req.mutable_specular(), + ignition::math::Color(0.2, 0.2, 0.2, 0.2)); + req.set_range(2.6); + req.set_name("point"); + req.set_type(ignition::msgs::Light::POINT); + req.set_attenuation_linear(0.7); + req.set_attenuation_constant(0.6); + req.set_attenuation_quadratic(0.001); + req.set_cast_shadows(true); + EXPECT_TRUE(node.Request(service, req, timeout, res, result)); + EXPECT_TRUE(result); + EXPECT_TRUE(res.data()); + + server.Run(true, 100, false); + // Sleep for a small duration to allow Run thread to start + IGN_SLEEP_MS(10); + + // Check point light entity has been edited using the service + pointLightComp = ecm->Component(pointLightEntity); + ASSERT_NE(nullptr, pointLightComp); + + EXPECT_EQ(math::Color(0, 1, 1, 0), pointLightComp->Data().Diffuse()); + EXPECT_EQ(math::Color(0.2, 0.2, 0.2, 0.2), + pointLightComp->Data().Specular()); + EXPECT_NEAR(2.6, pointLightComp->Data().AttenuationRange(), 0.1); + EXPECT_NEAR(0.7, pointLightComp->Data().LinearAttenuationFactor(), 0.1); + EXPECT_NEAR(0.6, pointLightComp->Data().ConstantAttenuationFactor(), 0.1); + EXPECT_NEAR(0.001, pointLightComp->Data().QuadraticAttenuationFactor(), 0.1); + EXPECT_TRUE(pointLightComp->Data().CastShadows()); + EXPECT_EQ(sdf::LightType::POINT, pointLightComp->Data().Type()); + + // Check directional light entity has not been edited yet - Initial values + auto directionalLightEntity = ecm->EntityByComponents( + components::Name("directional")); + EXPECT_NE(kNullEntity, directionalLightEntity); + + auto directionalLightComp = + ecm->Component(directionalLightEntity); + ASSERT_NE(nullptr, directionalLightComp); + + EXPECT_EQ( + math::Pose3d(0, 0, 10, 0, 0, 0), directionalLightComp->Data().RawPose()); + EXPECT_EQ( + math::Color(0.8, 0.8, 0.8, 1), directionalLightComp->Data().Diffuse()); + EXPECT_EQ( + math::Color(0.2, 0.2, 0.2, 1), directionalLightComp->Data().Specular()); + EXPECT_NEAR(100, directionalLightComp->Data().AttenuationRange(), 0.1); + EXPECT_NEAR( + 0.01, directionalLightComp->Data().LinearAttenuationFactor(), 0.01); + EXPECT_NEAR( + 0.9, directionalLightComp->Data().ConstantAttenuationFactor(), 0.1); + EXPECT_NEAR( + 0.001, directionalLightComp->Data().QuadraticAttenuationFactor(), 0.001); + EXPECT_EQ( + math::Vector3d(0.5, 0.2, -0.9), directionalLightComp->Data().Direction()); + EXPECT_TRUE(directionalLightComp->Data().CastShadows()); + EXPECT_EQ(sdf::LightType::POINT, pointLightComp->Data().Type()); + + req.Clear(); + ignition::msgs::Set(req.mutable_diffuse(), + ignition::math::Color(0, 1, 1, 0)); + ignition::msgs::Set(req.mutable_specular(), + ignition::math::Color(0.3, 0.3, 0.3, 0.3)); + req.set_range(2.6); + req.set_name("directional"); + req.set_type(ignition::msgs::Light::DIRECTIONAL); + req.set_attenuation_linear(0.7); + req.set_attenuation_constant(0.6); + req.set_attenuation_quadratic(1); + req.set_cast_shadows(false); + ignition::msgs::Set(req.mutable_direction(), + ignition::math::Vector3d(1, 2, 3)); + EXPECT_TRUE(node.Request(service, req, timeout, res, result)); + EXPECT_TRUE(result); + EXPECT_TRUE(res.data()); + + server.Run(true, 100, false); + // Sleep for a small duration to allow Run thread to start + IGN_SLEEP_MS(10); + + // Check directional light entity has been edited using the service + directionalLightComp = + ecm->Component(directionalLightEntity); + ASSERT_NE(nullptr, directionalLightComp); + + EXPECT_EQ(math::Color(0, 1, 1, 0), directionalLightComp->Data().Diffuse()); + EXPECT_EQ(math::Color(0.3, 0.3, 0.3, 0.3), + directionalLightComp->Data().Specular()); + EXPECT_NEAR(2.6, directionalLightComp->Data().AttenuationRange(), 0.1); + EXPECT_NEAR( + 0.7, directionalLightComp->Data().LinearAttenuationFactor(), 0.1); + EXPECT_NEAR( + 0.6, directionalLightComp->Data().ConstantAttenuationFactor(), 0.1); + EXPECT_NEAR( + 1, directionalLightComp->Data().QuadraticAttenuationFactor(), 0.1); + EXPECT_EQ(math::Vector3d(1, 2, 3), directionalLightComp->Data().Direction()); + EXPECT_FALSE(directionalLightComp->Data().CastShadows()); + EXPECT_EQ(sdf::LightType::DIRECTIONAL, + directionalLightComp->Data().Type()); + + // spot light + auto spotLightEntity = ecm->EntityByComponents( + components::Name("spot")); + EXPECT_NE(kNullEntity, spotLightEntity); + + // Check spot light entity has not been edited yet - Initial values + auto spotLightComp = + ecm->Component(spotLightEntity); + ASSERT_NE(nullptr, spotLightComp); + + EXPECT_EQ(math::Pose3d(0, 1.5, 3, 0, 0, 0), spotLightComp->Data().RawPose()); + EXPECT_EQ(math::Color(0, 1, 0, 1), spotLightComp->Data().Diffuse()); + EXPECT_EQ(math::Color(0.2, 0.2, 0.2, 1), spotLightComp->Data().Specular()); + EXPECT_NEAR(5, spotLightComp->Data().AttenuationRange(), 0.1); + EXPECT_NEAR(0.4, spotLightComp->Data().LinearAttenuationFactor(), 0.01); + EXPECT_NEAR(0.3, spotLightComp->Data().ConstantAttenuationFactor(), 0.1); + EXPECT_NEAR( + 0.001, spotLightComp->Data().QuadraticAttenuationFactor(), 0.001); + EXPECT_EQ(math::Vector3d(0, 0, -1), spotLightComp->Data().Direction()); + EXPECT_FALSE(spotLightComp->Data().CastShadows()); + EXPECT_EQ(sdf::LightType::SPOT, spotLightComp->Data().Type()); + EXPECT_NEAR(0.1, spotLightComp->Data().SpotInnerAngle().Radian(), 0.1); + EXPECT_NEAR(0.5, spotLightComp->Data().SpotOuterAngle().Radian(), 0.1); + EXPECT_NEAR(0.8, spotLightComp->Data().SpotFalloff(), 0.1); + + req.Clear(); + ignition::msgs::Set(req.mutable_diffuse(), + ignition::math::Color(1, 0, 1, 0)); + ignition::msgs::Set(req.mutable_specular(), + ignition::math::Color(0.3, 0.3, 0.3, 0.3)); + req.set_range(2.6); + req.set_name("spot"); + req.set_type(ignition::msgs::Light::SPOT); + req.set_attenuation_linear(0.7); + req.set_attenuation_constant(0.6); + req.set_attenuation_quadratic(1); + req.set_cast_shadows(true); + ignition::msgs::Set(req.mutable_direction(), + ignition::math::Vector3d(1, 2, 3)); + req.set_spot_inner_angle(1.5); + req.set_spot_outer_angle(0.3); + req.set_spot_falloff(0.9); + + EXPECT_TRUE(node.Request(service, req, timeout, res, result)); + EXPECT_TRUE(result); + EXPECT_TRUE(res.data()); + + server.Run(true, 100, false); + // Sleep for a small duration to allow Run thread to start + IGN_SLEEP_MS(10); + + // Check spot light entity has been edited using the service + spotLightComp = ecm->Component(spotLightEntity); + ASSERT_NE(nullptr, spotLightComp); + + EXPECT_EQ(math::Color(1, 0, 1, 0), spotLightComp->Data().Diffuse()); + EXPECT_EQ(math::Color(0.3, 0.3, 0.3, 0.3), + spotLightComp->Data().Specular()); + EXPECT_NEAR(2.6, spotLightComp->Data().AttenuationRange(), 0.1); + EXPECT_NEAR(0.7, spotLightComp->Data().LinearAttenuationFactor(), 0.1); + EXPECT_NEAR(0.6, spotLightComp->Data().ConstantAttenuationFactor(), 0.1); + EXPECT_NEAR(1, spotLightComp->Data().QuadraticAttenuationFactor(), 0.1); + EXPECT_EQ(math::Vector3d(1, 2, 3), spotLightComp->Data().Direction()); + EXPECT_TRUE(spotLightComp->Data().CastShadows()); + EXPECT_EQ(sdf::LightType::SPOT, spotLightComp->Data().Type()); + EXPECT_NEAR(1.5, spotLightComp->Data().SpotInnerAngle().Radian(), 0.1); + EXPECT_NEAR(0.3, spotLightComp->Data().SpotOuterAngle().Radian(), 0.1); + EXPECT_NEAR(0.9, spotLightComp->Data().SpotFalloff(), 0.1); +} + ///////////////////////////////////////////////// TEST_F(UserCommandsTest, Physics) { diff --git a/test/worlds/lights.sdf b/test/worlds/lights.sdf index 5454c28fd6..6f5daa40af 100644 --- a/test/worlds/lights.sdf +++ b/test/worlds/lights.sdf @@ -13,7 +13,6 @@ filename="ignition-gazebo-scene-broadcaster-system" name="ignition::gazebo::systems::SceneBroadcaster"> - true 0 0 10 0 0 0 @@ -63,7 +62,7 @@ 0 0.0 0.0 0 0 0 - + 0.5 @@ -75,7 +74,6 @@ 0.3 0.3 0.3 1 - 0 0 1.0 0 0 0 0 0 1 1 @@ -88,9 +86,7 @@ false - - diff --git a/test/worlds/lights_render.sdf b/test/worlds/lights_render.sdf new file mode 100644 index 0000000000..3f4d677460 --- /dev/null +++ b/test/worlds/lights_render.sdf @@ -0,0 +1,116 @@ + + + + + 0.001 + 1.0 + + + + + + + ogre + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 100 + 0.9 + 0.01 + 0.001 + + 0.5 0.2 -0.9 + + + + 0 -1.5 3 0 0 0 + 1 0 0 1 + .1 .1 .1 1 + + 4 + 0.2 + 0.5 + 0.01 + + false + + + + 0 1.5 3 0 0 0 + 0 1 0 1 + .2 .2 .2 1 + + 5 + 0.3 + 0.4 + 0.001 + + 0 0 -1 + + 0.1 + 0.5 + 0.8 + + false + + + + 0 0.0 0.0 0 0 0 + + + + 1 0 1.3 0 0 0 + + 1.047 + + 320 + 240 + + + 0.1 + 100 + + + 1 + 30 + false + camera + + + + + 0.5 + + + + 0.3 0.3 0.3 1 + 0.3 0.3 0.3 1 + 0.3 0.3 0.3 1 + + + + 0 0 1.0 0 0 0 + 0 0 1 1 + .1 .1 .1 1 + + 2 + 0.05 + 0.02 + 0.01 + + false + + + + + diff --git a/tutorials.md.in b/tutorials.md.in index 2fb4a7d3c7..4b5976a5cd 100644 --- a/tutorials.md.in +++ b/tutorials.md.in @@ -15,6 +15,7 @@ Ignition @IGN_DESIGNATION_CAP@ library and how to use the library effectively. * \subpage entity_creation "Entity creation": Insert models or lights using services. * \subpage log "Logging": Record and play back time series of world state. * \subpage physics "Physics engines": Loading different physics engines. +* \subpage light_config "Light config": Configure lights in the scene. * \subpage battery "Battery": Keep track of battery charge on robot models. * \subpage gui_config "GUI configuration": Customizing your layout. * \subpage server_config "Server configuration": Customizing what system plugins are loaded. diff --git a/tutorials/light_config.md b/tutorials/light_config.md new file mode 100644 index 0000000000..8a87170faf --- /dev/null +++ b/tutorials/light_config.md @@ -0,0 +1,45 @@ +\page light_config Light config + +This tutorial gives an introduction to Ignition Gazebo's service `/world//light_config`. +This service will allow to modify lights in the scene. + +# Modifying lights + +To modify lights inside the scene we need to use the service `/world//light_config` and +fill the message [`ignition::msgs::Light`](https://ignitionrobotics.org/api/msgs/6.0/classignition_1_1msgs_1_1Light.html). +In particular this example modifies the point light that we introduced with the function `createLight()`. + +\snippet examples/standalone/light_control/light_control.cc create light + +**NOTE:**: You can check the [entity creation](entity_creation.html) tutorial to learn how to include models and lights in the scene. + +As you can see in the snippet we modify the specular and diffuse colors of the light in the scene. + +\snippet examples/standalone/light_control/light_control.cc modify light + +In this case we are creating random numbers to fill the diffuse and specular. + +\snippet examples/standalone/light_control/light_control.cc random numbers + +# Run the example + +To run this example you should `cd` into `examples/standalone/light_control` and build the code: + +```bash +mkdir build +cd build +cmake .. +make +``` + +Then you should open two terminals and run: + + - Terminal one: + ```bash + ign gazebo -r -v 4 empty.sdf + ``` + + - Terminal two: + ```bash + ./light_control + ``` From e77e3763cc69a72f34f0b992fc8867ab7aa3f34c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Thu, 18 Feb 2021 02:49:39 +0100 Subject: [PATCH 41/55] Particle system - Part2 (#562) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero Co-authored-by: Ashton Larkin Co-authored-by: Ian Chen --- examples/worlds/particle_emitter.sdf | 90 +++++ .../gazebo/components/ParticleEmitter.hh | 7 + .../ignition/gazebo/rendering/SceneManager.hh | 17 + src/gui/plugins/scene3d/Scene3D.cc | 1 + src/rendering/RenderUtil.cc | 83 +++++ src/rendering/SceneManager.cc | 192 +++++++++- src/systems/CMakeLists.txt | 1 + src/systems/particle_emitter/CMakeLists.txt | 9 + .../particle_emitter/ParticleEmitter.cc | 335 ++++++++++++++++++ .../particle_emitter/ParticleEmitter.hh | 141 ++++++++ test/integration/CMakeLists.txt | 1 + test/integration/components.cc | 21 ++ test/integration/particle_emitter.cc | 170 +++++++++ test/worlds/particle_emitter.sdf | 148 ++++++++ 14 files changed, 1201 insertions(+), 15 deletions(-) create mode 100644 examples/worlds/particle_emitter.sdf create mode 100644 src/systems/particle_emitter/CMakeLists.txt create mode 100644 src/systems/particle_emitter/ParticleEmitter.cc create mode 100644 src/systems/particle_emitter/ParticleEmitter.hh create mode 100644 test/integration/particle_emitter.cc create mode 100644 test/worlds/particle_emitter.sdf diff --git a/examples/worlds/particle_emitter.sdf b/examples/worlds/particle_emitter.sdf new file mode 100644 index 0000000000..58fb36c3be --- /dev/null +++ b/examples/worlds/particle_emitter.sdf @@ -0,0 +1,90 @@ + + + + + + + + + 0.001 + 1.0 + + + + + + + + + + true + 0 0 10 0 0 0 + 1 1 1 1 + 0.5 0.5 0.5 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + https://fuel.ignitionrobotics.org/1.0/caguero/models/smoke_generator + + + + + + diff --git a/include/ignition/gazebo/components/ParticleEmitter.hh b/include/ignition/gazebo/components/ParticleEmitter.hh index a6ec2a242c..86fc36bd88 100644 --- a/include/ignition/gazebo/components/ParticleEmitter.hh +++ b/include/ignition/gazebo/components/ParticleEmitter.hh @@ -37,6 +37,13 @@ namespace components serializers::MsgSerializer>; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.ParticleEmitter", ParticleEmitter) + + /// \brief A component that contains a particle emitter command. + using ParticleEmitterCmd = Component; + IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.ParticleEmitterCmd", + ParticleEmitterCmd) } } } diff --git a/include/ignition/gazebo/rendering/SceneManager.hh b/include/ignition/gazebo/rendering/SceneManager.hh index 113c8731a8..f7643e250f 100644 --- a/include/ignition/gazebo/rendering/SceneManager.hh +++ b/include/ignition/gazebo/rendering/SceneManager.hh @@ -34,6 +34,8 @@ #include #include +#include + #include #include @@ -161,6 +163,21 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { public: rendering::LightPtr CreateLight(Entity _id, const sdf::Light &_light, Entity _parentId); + /// \brief Create a particle emitter. + /// \param[in] _id Unique particle emitter id + /// \param[in] _emitter Particle emitter data + /// \param[in] _parentId Parent id + /// \return Default particle emitter object created + public: rendering::ParticleEmitterPtr CreateParticleEmitter( + Entity _id, const msgs::ParticleEmitter &_emitter, Entity _parentId); + + /// \brief Update an existing particle emitter + /// \brief _id Emitter id to update + /// \brief _emitter Data to update the particle emitter + /// \return Particle emitter updated + public: rendering::ParticleEmitterPtr UpdateParticleEmitter(Entity _id, + const msgs::ParticleEmitter &_emitter); + /// \brief Ignition sensors is the one responsible for adding sensors /// to the scene. Here we just keep track of it and make sure it has /// the correct parent. diff --git a/src/gui/plugins/scene3d/Scene3D.cc b/src/gui/plugins/scene3d/Scene3D.cc index b22da15d99..e43b749893 100644 --- a/src/gui/plugins/scene3d/Scene3D.cc +++ b/src/gui/plugins/scene3d/Scene3D.cc @@ -2752,6 +2752,7 @@ void Scene3D::Update(const UpdateInfo &_info, msgs::Pose poseMsg = msgs::Convert(renderWindow->CameraPose()); this->dataPtr->cameraPosePub.Publish(poseMsg); } + this->dataPtr->renderUtil->UpdateECM(_info, _ecm); this->dataPtr->renderUtil->UpdateFromECM(_info, _ecm); // check if video recording is enabled and if we need to lock step diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index c1c507713b..d1f833d12d 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -42,6 +42,8 @@ #include #include +#include + #include #include #include @@ -60,6 +62,7 @@ #include "ignition/gazebo/components/Model.hh" #include "ignition/gazebo/components/Name.hh" #include "ignition/gazebo/components/ParentEntity.hh" +#include "ignition/gazebo/components/ParticleEmitter.hh" #include "ignition/gazebo/components/Pose.hh" #include "ignition/gazebo/components/RgbdCamera.hh" #include "ignition/gazebo/components/Scene.hh" @@ -163,6 +166,17 @@ class ignition::gazebo::RenderUtilPrivate public: std::vector> newSensors; + /// \brief New particle emitter to be created. The elements in the tuple are: + /// [0] entity id, [1], particle emitter, [2] parent entity id + public: std::vector> + newParticleEmitters; + + /// \brief New particle emitter commands to be requested. + /// The map key and value are: entity id of the particle emitter to + /// update, and particle emitter msg + public: std::unordered_map + newParticleEmittersCmds; + /// \brief Map of ids of entites to be removed and sim iteration when the /// remove request is received public: std::unordered_map removeEntities; @@ -289,6 +303,28 @@ void RenderUtil::UpdateECM(const UpdateInfo &/*_info*/, EntityComponentManager &_ecm) { std::lock_guard lock(this->dataPtr->updateMutex); + + // particle emitters commands + _ecm.Each( + [&](const Entity &_entity, + const components::ParticleEmitterCmd *_emitterCmd) -> bool + { + // store emitter properties and update them in rendering thread + this->dataPtr->newParticleEmittersCmds[_entity] = + _emitterCmd->Data(); + + // update pose comp here + if (_emitterCmd->Data().has_pose()) + { + auto poseComp = _ecm.Component(_entity); + if (poseComp) + poseComp->Data() = msgs::Convert(_emitterCmd->Data().pose()); + } + _ecm.RemoveComponent(_entity); + + return true; + }); + // Update thermal cameras _ecm.Each( [&](const Entity &_entity, @@ -413,6 +449,9 @@ void RenderUtil::Update() auto newVisuals = std::move(this->dataPtr->newVisuals); auto newActors = std::move(this->dataPtr->newActors); auto newLights = std::move(this->dataPtr->newLights); + auto newParticleEmitters = std::move(this->dataPtr->newParticleEmitters); + auto newParticleEmittersCmds = + std::move(this->dataPtr->newParticleEmittersCmds); auto removeEntities = std::move(this->dataPtr->removeEntities); auto entityPoses = std::move(this->dataPtr->entityPoses); auto trajectoryPoses = std::move(this->dataPtr->trajectoryPoses); @@ -428,6 +467,8 @@ void RenderUtil::Update() this->dataPtr->newVisuals.clear(); this->dataPtr->newActors.clear(); this->dataPtr->newLights.clear(); + this->dataPtr->newParticleEmitters.clear(); + this->dataPtr->newParticleEmittersCmds.clear(); this->dataPtr->removeEntities.clear(); this->dataPtr->entityPoses.clear(); this->dataPtr->trajectoryPoses.clear(); @@ -529,6 +570,18 @@ void RenderUtil::Update() std::get<0>(light), std::get<1>(light), std::get<2>(light)); } + for (const auto &emitter : newParticleEmitters) + { + this->dataPtr->sceneManager.CreateParticleEmitter( + std::get<0>(emitter), std::get<1>(emitter), std::get<2>(emitter)); + } + + for (const auto &emitterCmd : newParticleEmittersCmds) + { + this->dataPtr->sceneManager.UpdateParticleEmitter( + emitterCmd.first, emitterCmd.second); + } + if (this->dataPtr->enableSensors && this->dataPtr->createSensorCb) { for (const auto &sensor : newSensors) @@ -1013,6 +1066,17 @@ void RenderUtilPrivate::CreateRenderingEntities( return true; }); + // particle emitters + _ecm.Each( + [&](const Entity &_entity, + const components::ParticleEmitter *_emitter, + const components::ParentEntity *_parent) -> bool + { + this->newParticleEmitters.push_back( + std::make_tuple(_entity, _emitter->Data(), _parent->Data())); + return true; + }); + if (this->enableSensors) { // Create cameras @@ -1224,6 +1288,17 @@ void RenderUtilPrivate::CreateRenderingEntities( return true; }); + // particle emitters + _ecm.EachNew( + [&](const Entity &_entity, + const components::ParticleEmitter *_emitter, + const components::ParentEntity *_parent) -> bool + { + this->newParticleEmitters.push_back( + std::make_tuple(_entity, _emitter->Data(), _parent->Data())); + return true; + }); + if (this->enableSensors) { // Create cameras @@ -1465,6 +1540,14 @@ void RenderUtilPrivate::RemoveRenderingEntities( return true; }); + // particle emitters + _ecm.EachRemoved( + [&](const Entity &_entity, const components::ParticleEmitter *)->bool + { + this->removeEntities[_entity] = _info.iterations; + return true; + }); + // cameras _ecm.EachRemoved( [&](const Entity &_entity, const components::Camera *)->bool diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 9bdfe0b1bb..c4e603d430 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -29,16 +29,20 @@ #include #include #include +#include #include #include -#include + +#include #include #include #include +#include #include #include +#include "ignition/gazebo/Conversions.hh" #include "ignition/gazebo/Util.hh" #include "ignition/gazebo/rendering/SceneManager.hh" @@ -75,6 +79,10 @@ class ignition::gazebo::SceneManagerPrivate /// \brief Map of light entity in Gazebo to light pointers. public: std::map lights; + /// \brief Map of particle emitter entity in Gazebo to particle emitter + /// rendering pointers. + public: std::map particleEmitters; + /// \brief Map of sensor entity in Gazebo to sensor pointers. public: std::map sensors; @@ -960,6 +968,148 @@ rendering::LightPtr SceneManager::CreateLight(Entity _id, return light; } +///////////////////////////////////////////////// +rendering::ParticleEmitterPtr SceneManager::CreateParticleEmitter( + Entity _id, const msgs::ParticleEmitter &_emitter, Entity _parentId) +{ + if (!this->dataPtr->scene) + return rendering::ParticleEmitterPtr(); + + if (this->dataPtr->particleEmitters.find(_id) != + this->dataPtr->particleEmitters.end()) + { + ignerr << "Particle emitter with Id: [" << _id << "] already exists in the " + <<" scene" << std::endl; + return rendering::ParticleEmitterPtr(); + } + + rendering::VisualPtr parent; + if (_parentId != this->dataPtr->worldId) + { + auto it = this->dataPtr->visuals.find(_parentId); + if (it == this->dataPtr->visuals.end()) + { + // It is possible to get here if the model entity is created then + // removed in between render updates. + return rendering::ParticleEmitterPtr(); + } + parent = it->second; + } + + // Name. + std::string name = _emitter.name().empty() ? std::to_string(_id) : + _emitter.name(); + if (parent) + name = parent->Name() + "::" + name; + + rendering::ParticleEmitterPtr emitter; + emitter = this->dataPtr->scene->CreateParticleEmitter(name); + + this->dataPtr->particleEmitters[_id] = emitter; + + if (parent) + parent->AddChild(emitter); + + this->UpdateParticleEmitter(_id, _emitter); + + return emitter; +} + +///////////////////////////////////////////////// +rendering::ParticleEmitterPtr SceneManager::UpdateParticleEmitter(Entity _id, + const msgs::ParticleEmitter &_emitter) +{ + if (!this->dataPtr->scene) + return rendering::ParticleEmitterPtr(); + + // Sanity check: Make sure that the id exists. + auto emitterIt = this->dataPtr->particleEmitters.find(_id); + if (emitterIt == this->dataPtr->particleEmitters.end()) + { + ignerr << "Particle emitter with Id: [" << _id << "] not found in the " + << "scene" << std::endl; + return rendering::ParticleEmitterPtr(); + } + auto emitter = emitterIt->second; + + // Type. + switch (_emitter.type()) + { + case ignition::msgs::ParticleEmitter_EmitterType_BOX: + { + emitter->SetType(ignition::rendering::EmitterType::EM_BOX); + break; + } + case ignition::msgs::ParticleEmitter_EmitterType_CYLINDER: + { + emitter->SetType(ignition::rendering::EmitterType::EM_CYLINDER); + break; + } + case ignition::msgs::ParticleEmitter_EmitterType_ELLIPSOID: + { + emitter->SetType(ignition::rendering::EmitterType::EM_ELLIPSOID); + break; + } + default: + { + emitter->SetType(ignition::rendering::EmitterType::EM_POINT); + } + } + + // Emitter size. + if (_emitter.has_size()) + emitter->SetEmitterSize(ignition::msgs::Convert(_emitter.size())); + + // Rate. + emitter->SetRate(_emitter.rate()); + + // Duration. + emitter->SetDuration(_emitter.duration()); + + // Emitting. + emitter->SetEmitting(_emitter.emitting()); + + // Particle size. + emitter->SetParticleSize( + ignition::msgs::Convert(_emitter.particle_size())); + + // Lifetime. + emitter->SetLifetime(_emitter.lifetime()); + + // Material. + if (_emitter.has_material()) + { + ignition::rendering::MaterialPtr material = + this->LoadMaterial(convert(_emitter.material())); + emitter->SetMaterial(material); + } + + // Velocity range. + emitter->SetVelocityRange(_emitter.min_velocity(), _emitter.max_velocity()); + + // Color range image. + if (!_emitter.color_range_image().empty()) + { + emitter->SetColorRangeImage(_emitter.color_range_image()); + } + // Color range. + else if (_emitter.has_color_start() && _emitter.has_color_end()) + { + emitter->SetColorRange( + ignition::msgs::Convert(_emitter.color_start()), + ignition::msgs::Convert(_emitter.color_end())); + } + + // Scale rate. + emitter->SetScaleRate(_emitter.scale_rate()); + + // pose + if (_emitter.has_pose()) + emitter->SetLocalPose(msgs::Convert(_emitter.pose())); + + return emitter; +} + ///////////////////////////////////////////////// bool SceneManager::AddSensor(Entity _gazeboId, const std::string &_sensorName, Entity _parentGazeboId) @@ -1010,6 +1160,8 @@ bool SceneManager::HasEntity(Entity _id) const return this->dataPtr->visuals.find(_id) != this->dataPtr->visuals.end() || this->dataPtr->actors.find(_id) != this->dataPtr->actors.end() || this->dataPtr->lights.find(_id) != this->dataPtr->lights.end() || + this->dataPtr->particleEmitters.find(_id) != + this->dataPtr->particleEmitters.end() || this->dataPtr->sensors.find(_id) != this->dataPtr->sensors.end(); } @@ -1021,22 +1173,22 @@ rendering::NodePtr SceneManager::NodeById(Entity _id) const { return vIt->second; } - else + auto lIt = this->dataPtr->lights.find(_id); + if (lIt != this->dataPtr->lights.end()) { - auto lIt = this->dataPtr->lights.find(_id); - if (lIt != this->dataPtr->lights.end()) - { - return lIt->second; - } - else - { - auto sIt = this->dataPtr->sensors.find(_id); - if (sIt != this->dataPtr->sensors.end()) - { - return sIt->second; - } - } + return lIt->second; } + auto sIt = this->dataPtr->sensors.find(_id); + if (sIt != this->dataPtr->sensors.end()) + { + return sIt->second; + } + auto pIt = this->dataPtr->particleEmitters.find(_id); + if (pIt != this->dataPtr->particleEmitters.end()) + { + return pIt->second; + } + return rendering::NodePtr(); } @@ -1258,6 +1410,16 @@ void SceneManager::RemoveEntity(Entity _id) } } + { + auto it = this->dataPtr->particleEmitters.find(_id); + if (it != this->dataPtr->particleEmitters.end()) + { + this->dataPtr->scene->DestroyVisual(it->second); + this->dataPtr->particleEmitters.erase(it); + return; + } + } + { auto it = this->dataPtr->sensors.find(_id); if (it != this->dataPtr->sensors.end()) diff --git a/src/systems/CMakeLists.txt b/src/systems/CMakeLists.txt index 07b88dfba4..ff95341dac 100644 --- a/src/systems/CMakeLists.txt +++ b/src/systems/CMakeLists.txt @@ -97,6 +97,7 @@ add_subdirectory(magnetometer) add_subdirectory(multicopter_motor_model) add_subdirectory(multicopter_control) add_subdirectory(optical_tactile_plugin) +add_subdirectory(particle_emitter) add_subdirectory(performer_detector) add_subdirectory(physics) add_subdirectory(pose_publisher) diff --git a/src/systems/particle_emitter/CMakeLists.txt b/src/systems/particle_emitter/CMakeLists.txt new file mode 100644 index 0000000000..9e75a90abf --- /dev/null +++ b/src/systems/particle_emitter/CMakeLists.txt @@ -0,0 +1,9 @@ +gz_add_system(particle-emitter + SOURCES + ParticleEmitter.cc + PUBLIC_LINK_LIBS + ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} + ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER} + ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER} + ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER} +) diff --git a/src/systems/particle_emitter/ParticleEmitter.cc b/src/systems/particle_emitter/ParticleEmitter.cc new file mode 100644 index 0000000000..072bd50dd2 --- /dev/null +++ b/src/systems/particle_emitter/ParticleEmitter.cc @@ -0,0 +1,335 @@ +/* + * 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 + +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "ParticleEmitter.hh" + +using namespace ignition; +using namespace gazebo; +using namespace systems; + +// Private data class. +class ignition::gazebo::systems::ParticleEmitterPrivate +{ + /// \brief Callback for receiving particle emitter commands. + /// \param[in] _msg Particle emitter message. + public: void OnCmd(const ignition::msgs::ParticleEmitter &_msg); + + /// \brief The particle emitter parsed from SDF. + public: ignition::msgs::ParticleEmitter emitter; + + /// \brief The transport node. + public: ignition::transport::Node node; + + /// \brief Particle emitter entity. + public: Entity emitterEntity{kNullEntity}; + + /// \brief The particle emitter command requested externally. + public: ignition::msgs::ParticleEmitter userCmd; + + public: bool newDataReceived = false; + + /// \brief A mutex to protect the user command. + public: std::mutex mutex; +}; + +////////////////////////////////////////////////// +void ParticleEmitterPrivate::OnCmd(const msgs::ParticleEmitter &_msg) +{ + std::lock_guard lock(this->mutex); + this->userCmd = _msg; + this->newDataReceived = true; +} + +////////////////////////////////////////////////// +ParticleEmitter::ParticleEmitter() + : System(), dataPtr(std::make_unique()) +{ +} + +////////////////////////////////////////////////// +void ParticleEmitter::Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &_eventMgr) +{ + Model model = Model(_entity); + + if (!model.Valid(_ecm)) + { + ignerr << "ParticleEmitter plugin should be attached to a model entity. " + << "Failed to initialize." << std::endl; + return; + } + + // Create a particle emitter entity. + this->dataPtr->emitterEntity = _ecm.CreateEntity(); + if (this->dataPtr->emitterEntity == kNullEntity) + { + ignerr << "Failed to create a particle emitter entity" << std::endl; + return; + } + + // allow_renaming + bool allowRenaming = false; + if (_sdf->HasElement("allow_renaming")) + allowRenaming = _sdf->Get("allow_renaming"); + + // Name. + std::string name = "particle_emitter_entity_" + + std::to_string(this->dataPtr->emitterEntity); + if (_sdf->HasElement("emitter_name")) + { + std::set emitterNames; + std::string emitterName = _sdf->Get("emitter_name"); + + // check to see if name is already taken + _ecm.Each( + [&emitterNames](const Entity &, const components::Name *_name, + const components::ParticleEmitter *) + { + emitterNames.insert(_name->Data()); + return true; + }); + + name = emitterName; + + // rename emitter if needed + if (emitterNames.find(emitterName) != emitterNames.end()) + { + if (!allowRenaming) + { + ignwarn << "Entity named [" << name + << "] already exists and " + << "[allow_renaming] is false. Entity not spawned." + << std::endl; + return; + } + int counter = 0; + while (emitterNames.find(name) != emitterNames.end()) + { + name = emitterName + "_" + std::to_string(++counter); + } + ignmsg << "Entity named [" << emitterName + << "] already exists. Renaming it to " << name << std::endl; + } + } + this->dataPtr->emitter.set_name(name); + + // Type. The default type is point. + this->dataPtr->emitter.set_type( + ignition::msgs::ParticleEmitter_EmitterType_POINT); + std::string type = _sdf->Get("type", "point").first; + if (type == "box") + { + this->dataPtr->emitter.set_type( + ignition::msgs::ParticleEmitter_EmitterType_BOX); + } + else if (type == "cylinder") + { + this->dataPtr->emitter.set_type( + ignition::msgs::ParticleEmitter_EmitterType_CYLINDER); + } + else if (type == "ellipsoid") + { + this->dataPtr->emitter.set_type( + ignition::msgs::ParticleEmitter_EmitterType_ELLIPSOID); + } + else if (type != "point") + { + ignerr << "Unknown emitter type [" << type << "]. Using [point] instead" + << std::endl; + } + + // Pose. + ignition::math::Pose3d pose = + _sdf->Get("pose"); + ignition::msgs::Set(this->dataPtr->emitter.mutable_pose(), pose); + + // Size. + ignition::math::Vector3d size = ignition::math::Vector3d::One; + if (_sdf->HasElement("size")) + size = _sdf->Get("size"); + ignition::msgs::Set(this->dataPtr->emitter.mutable_size(), size); + + // Rate. + this->dataPtr->emitter.set_rate(_sdf->Get("rate", 10).first); + + // Duration. + this->dataPtr->emitter.set_duration(_sdf->Get("duration", 0).first); + + // Emitting. + this->dataPtr->emitter.set_emitting(_sdf->Get("emitting", false).first); + + // Particle size. + size = ignition::math::Vector3d::One; + if (_sdf->HasElement("particle_size")) + size = _sdf->Get("particle_size"); + ignition::msgs::Set(this->dataPtr->emitter.mutable_particle_size(), size); + + // Lifetime. + this->dataPtr->emitter.set_lifetime(_sdf->Get("lifetime", 5).first); + + // Material. + if (_sdf->HasElement("material")) + { + auto materialElem = _sdf->GetElementImpl("material"); + sdf::Material material; + material.Load(materialElem); + ignition::msgs::Material materialMsg = convert(material); + this->dataPtr->emitter.mutable_material()->CopyFrom(materialMsg); + } + + // Min velocity. + this->dataPtr->emitter.set_min_velocity( + _sdf->Get("min_velocity", 1).first); + + // Max velocity. + this->dataPtr->emitter.set_max_velocity( + _sdf->Get("max_velocity", 1).first); + + // Color start. + ignition::math::Color color = ignition::math::Color::White; + if (_sdf->HasElement("color_start")) + color = _sdf->Get("color_start"); + ignition::msgs::Set(this->dataPtr->emitter.mutable_color_start(), color); + + // Color end. + color = ignition::math::Color::White; + if (_sdf->HasElement("color_end")) + color = _sdf->Get("color_end"); + ignition::msgs::Set(this->dataPtr->emitter.mutable_color_end(), color); + + // Scale rate. + this->dataPtr->emitter.set_scale_rate( + _sdf->Get("scale_rate", 1).first); + + // Color range image. + if (_sdf->HasElement("color_range_image")) + { + auto modelPath = _ecm.ComponentData(_entity); + auto colorRangeImagePath = _sdf->Get("color_range_image"); + auto path = asFullPath(colorRangeImagePath, modelPath.value()); + + common::SystemPaths systemPaths; + systemPaths.SetFilePathEnv(kResourcePathEnv); + auto absolutePath = systemPaths.FindFile(path); + + this->dataPtr->emitter.set_color_range_image(absolutePath); + } + + igndbg << "Loading particle emitter:" << std::endl + << this->dataPtr->emitter.DebugString() << std::endl; + + // Create components. + SdfEntityCreator sdfEntityCreator(_ecm, _eventMgr); + sdfEntityCreator.SetParent(this->dataPtr->emitterEntity, _entity); + + _ecm.CreateComponent(this->dataPtr->emitterEntity, + components::Name(this->dataPtr->emitter.name())); + + _ecm.CreateComponent(this->dataPtr->emitterEntity, + components::ParticleEmitter(this->dataPtr->emitter)); + + _ecm.CreateComponent(this->dataPtr->emitterEntity, components::Pose(pose)); + + // Advertise the topic to receive particle emitter commands. + const std::string kDefaultTopic = + "/model/" + model.Name(_ecm) + "/particle_emitter/" + name; + std::string topic = _sdf->Get("topic", kDefaultTopic).first; + if (!this->dataPtr->node.Subscribe( + topic, &ParticleEmitterPrivate::OnCmd, this->dataPtr.get())) + { + ignerr << "Error subscribing to topic [" << topic << "]. " + << "Particle emitter will not receive updates." << std::endl; + return; + } + igndbg << "Subscribed to " << topic << " for receiving particle emitter " + << "updates" << std::endl; +} + +////////////////////////////////////////////////// +void ParticleEmitter::PreUpdate(const ignition::gazebo::UpdateInfo &_info, + ignition::gazebo::EntityComponentManager &_ecm) +{ + IGN_PROFILE("ParticleEmitter::PreUpdate"); + + std::lock_guard lock(this->dataPtr->mutex); + + if (!this->dataPtr->newDataReceived) + return; + + // Nothing left to do if paused. + if (_info.paused) + return; + + this->dataPtr->newDataReceived = false; + + // Create component. + auto emitterComp = _ecm.Component( + this->dataPtr->emitterEntity); + if (!emitterComp) + { + _ecm.CreateComponent( + this->dataPtr->emitterEntity, + components::ParticleEmitterCmd(this->dataPtr->userCmd)); + } + else + { + emitterComp->Data() = this->dataPtr->userCmd; + + // Note: we process the cmd component in RenderUtil but if there is only + // rendering on the gui side, it will not be able to remove the cmd + // component from the ECM. It seems like adding OneTimeChange here will make + // sure the cmd component is found again in Each call on GUI side. + // todo(anyone) find a better way to process this cmd component in + // RenderUtil.cc + _ecm.SetChanged(this->dataPtr->emitterEntity, + components::ParticleEmitterCmd::typeId, + ComponentState::OneTimeChange); + } + + igndbg << "New ParticleEmitterCmd component created" << std::endl; +} + +IGNITION_ADD_PLUGIN(ParticleEmitter, + ignition::gazebo::System, + ParticleEmitter::ISystemConfigure, + ParticleEmitter::ISystemPreUpdate) + +IGNITION_ADD_PLUGIN_ALIAS(ParticleEmitter, + "ignition::gazebo::systems::ParticleEmitter") diff --git a/src/systems/particle_emitter/ParticleEmitter.hh b/src/systems/particle_emitter/ParticleEmitter.hh new file mode 100644 index 0000000000..5b3df5e476 --- /dev/null +++ b/src/systems/particle_emitter/ParticleEmitter.hh @@ -0,0 +1,141 @@ +/* + * 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. + * + */ +#ifndef IGNITION_GAZEBO_SYSTEMS_PARTICLE_EMITTER_HH_ +#define IGNITION_GAZEBO_SYSTEMS_PARTICLE_EMITTER_HH_ + +#include + +#include + +namespace ignition +{ +namespace gazebo +{ +// Inline bracket to help doxygen filtering. +inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { +namespace systems +{ + class ParticleEmitterPrivate; + + /// \brief A system for creating a particle emitter. + /// + /// System parameters + /// + /// ``: Unique name for the particle emitter. The name will be + /// automatically generated if this parameter is not set. + /// ``: Rename the particle emitter if one with the same name + /// already exists. Default is false. + /// ``: The emitter type (point, box, cylinder, ellipsoid). + /// Default value is point. + /// ``: The pose of the emitter. Default value is {0, 0, 0, 0, 0, 0}. + /// ``: The size of the emitter where the particles are sampled. + /// Default value is (1, 1, 1). + /// Note that the interpretation of the emitter area varies + /// depending on the emmiter type: + /// - point: The area is ignored. + /// - box: The area is interpreted as width X height X depth. + /// - cylinder: The area is interpreted as the bounding box of the + /// cilinder. The cylinder is oriented along the + /// Z-axis. + /// - ellipsoid: The area is interpreted as the bounding box of an + /// ellipsoid shaped area, i.e. a sphere or + /// squashed-sphere area. The parameters are again + /// identical to EM_BOX, except that the dimensions + /// describe the widest points along each of the + /// axes. + /// ``: How many particles per second should be emitted. + /// Default value is 10. + /// `: The number of seconds the emitter is active. A value of 0 + /// means infinite duration. Default value is 0. + /// ``: This is used to turn on or off particle emission. + /// Default value is false. + /// ``: Set the particle dimensions (width, height, depth). + /// Default value is {1, 1, 1}. + /// ``: Set the number of seconds each particle will ’live’ for + /// before being destroyed. Default value is 5. + /// ``: Sets the material which all particles in the emitter will + /// use. + /// ``: Sets a minimum velocity for each particle (m/s). + /// Default value is 1. + /// ``: Sets a maximum velocity for each particle (m/s). + /// Default value is 1. + /// ``: Sets the starting color for all particle emitted. + /// The actual color will be interpolated between this color + /// and the one set under . + /// Color::White is the default color for the particles + /// unless a specific function is used. + /// To specify a color, RGB values should be passed in. + /// For example, to specify red, a user should enter: + /// 1 0 0 + /// Note that this function overrides the particle colors set + /// with . + /// ``: Sets the end color for all particle emitted. + /// The actual color will be interpolated between this color + /// and the one set under . + /// Color::White is the default color for the particles + /// unless a specific function is used (see color_start for + /// more information about defining custom colors with RGB + /// values). + /// Note that this function overrides the particle colors set + /// with . + /// ``: Sets the amount by which to scale the particles in both x + /// and y direction per second. Default value is 1. + /// ``: Sets the path to the color image used as an + /// affector. This affector modifies the color of + /// particles in flight. The colors are taken from a + /// specified image file. The range of color values + /// begins from the left side of the image and move to + /// the right over the lifetime of the particle, + /// therefore only the horizontal dimension of the + /// image is used. + /// Note that this function overrides the particle + /// colors set with and . + /// ``: Topic used to update particle emitter properties at runtime. + /// The default topic is + /// /model//particle_emitter/ + /// Note that the emitter id and name may not be changed. + /// See the examples/worlds/particle_emitter.sdf example world for + /// example usage. + class IGNITION_GAZEBO_VISIBLE ParticleEmitter + : public System, + public ISystemConfigure, + public ISystemPreUpdate + { + /// \brief Constructor + public: ParticleEmitter(); + + // Documentation inherited + public: void Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &_eventMgr) override; + + // Documentation inherited + public: void PreUpdate( + const ignition::gazebo::UpdateInfo &_info, + ignition::gazebo::EntityComponentManager &_ecm) override; + + /// \brief Private data pointer + private: std::unique_ptr dataPtr; + }; + } +} +} +} + +#endif + diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index c306ec83bc..7250621ca8 100644 --- a/test/integration/CMakeLists.txt +++ b/test/integration/CMakeLists.txt @@ -35,6 +35,7 @@ set(tests multicopter.cc multiple_servers.cc network_handshake.cc + particle_emitter.cc performer_detector.cc physics_system.cc play_pause.cc diff --git a/test/integration/components.cc b/test/integration/components.cc index c48b60ddef..28b1053329 100644 --- a/test/integration/components.cc +++ b/test/integration/components.cc @@ -1580,3 +1580,24 @@ TEST_F(ComponentsTest, ParticleEmitter) comp3.Deserialize(istr); EXPECT_EQ(comp1.Data().id(), comp3.Data().id()); } + +////////////////////////////////////////////////// +TEST_F(ComponentsTest, ParticleEmitterCmd) +{ + msgs::ParticleEmitter emitter1; + emitter1.set_name("emitter1"); + emitter1.set_emitting(true); + + // Create components. + auto comp1 = components::ParticleEmitterCmd(emitter1); + + // Stream operators. + std::ostringstream ostr; + comp1.Serialize(ostr); + + std::istringstream istr(ostr.str()); + components::ParticleEmitter comp3; + comp3.Deserialize(istr); + EXPECT_EQ(comp1.Data().emitting(), comp3.Data().emitting()); + EXPECT_EQ(comp1.Data().name(), comp3.Data().name()); +} diff --git a/test/integration/particle_emitter.cc b/test/integration/particle_emitter.cc new file mode 100644 index 0000000000..4e26133118 --- /dev/null +++ b/test/integration/particle_emitter.cc @@ -0,0 +1,170 @@ +/* + * 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 + +#include + +#include +#include + +#include "ignition/gazebo/Entity.hh" +#include "ignition/gazebo/Server.hh" +#include "ignition/gazebo/SystemLoader.hh" +#include "ignition/gazebo/components/Name.hh" +#include "ignition/gazebo/components/ParticleEmitter.hh" +#include "ignition/gazebo/components/Pose.hh" +#include "ignition/gazebo/test_config.hh" + +#include "helpers/Relay.hh" + +using namespace ignition; +using namespace gazebo; + +class ParticleEmitterTest : public ::testing::Test +{ + // Documentation inherited + protected: void SetUp() override + { + ignition::common::Console::SetVerbosity(4); + setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", + (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1); + } + public: void LoadWorld(const std::string &_path, bool _useLevels = false) + { + this->serverConfig.SetSdfFile( + common::joinPaths(PROJECT_SOURCE_PATH, _path)); + this->serverConfig.SetUseLevels(_useLevels); + + this->server = std::make_unique(this->serverConfig); + EXPECT_FALSE(this->server->Running()); + EXPECT_FALSE(*this->server->Running(0)); + using namespace std::chrono_literals; + this->server->SetUpdatePeriod(1ns); + } + + public: ServerConfig serverConfig; + public: std::unique_ptr server; +}; + +///////////////////////////////////////////////// +// Load an SDF with a particle emitter and verify its properties. +TEST_F(ParticleEmitterTest, SDFLoad) +{ + bool updateCustomChecked{false}; + bool updateDefaultChecked{false}; + + this->LoadWorld("test/worlds/particle_emitter.sdf"); + + // Create a system that checks a particle emitter. + test::Relay testSystem; + testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &, + const gazebo::EntityComponentManager &_ecm) + { + _ecm.Each( + [&](const ignition::gazebo::Entity &_entity, + const components::ParticleEmitter *_emitter, + const components::Name *_name, + const components::Pose *_pose) -> bool + { + + if (_name->Data() == "smoke_emitter") + { + updateCustomChecked = true; + + EXPECT_EQ("smoke_emitter", _name->Data()); + EXPECT_EQ(_name->Data(), _emitter->Data().name()); + EXPECT_EQ(msgs::ParticleEmitter_EmitterType_BOX, + _emitter->Data().type()); + EXPECT_EQ(math::Pose3d(0, 1, 0, 0, 0, 0), _pose->Data()); + EXPECT_EQ(_pose->Data(), + msgs::Convert(_emitter->Data().pose())); + EXPECT_EQ(math::Vector3d(2, 2, 2), + msgs::Convert(_emitter->Data().size())); + EXPECT_DOUBLE_EQ(5.0, _emitter->Data().rate()); + EXPECT_DOUBLE_EQ(1.0, _emitter->Data().duration()); + EXPECT_TRUE(_emitter->Data().emitting()); + EXPECT_EQ(math::Vector3d(3, 3, 3), + msgs::Convert(_emitter->Data().particle_size())); + EXPECT_DOUBLE_EQ(2.0, _emitter->Data().lifetime()); + // TODO(anyone) add material check here + EXPECT_DOUBLE_EQ(10.0, _emitter->Data().min_velocity()); + EXPECT_DOUBLE_EQ(20.0, _emitter->Data().max_velocity()); + EXPECT_EQ(math::Color::Blue, + msgs::Convert(_emitter->Data().color_start())); + EXPECT_EQ(math::Color::Green, + msgs::Convert(_emitter->Data().color_end())); + EXPECT_DOUBLE_EQ(10.0, _emitter->Data().scale_rate()); + + // color range image is empty because the emitter system + // will not be able to find a file that does not exist + // TODO(anyone) this should return "/path/to/dummy_image.png" + // and let rendering do the findFile instead + EXPECT_EQ(std::string(), + _emitter->Data().color_range_image()); + } + else + { + updateDefaultChecked = true; + + EXPECT_TRUE(_name->Data().find(std::to_string(_entity)) + != std::string::npos); + EXPECT_EQ(_name->Data(), _emitter->Data().name()); + EXPECT_EQ(msgs::ParticleEmitter_EmitterType_POINT, + _emitter->Data().type()); + EXPECT_EQ(math::Pose3d(0, 0, 0, 0, 0, 0), _pose->Data()); + EXPECT_EQ(_pose->Data(), + msgs::Convert(_emitter->Data().pose())); + EXPECT_EQ(math::Vector3d(1, 1, 1), + msgs::Convert(_emitter->Data().size())); + EXPECT_DOUBLE_EQ(10.0, _emitter->Data().rate()); + EXPECT_DOUBLE_EQ(0.0, _emitter->Data().duration()); + EXPECT_FALSE(_emitter->Data().emitting()); + EXPECT_EQ(math::Vector3d(1, 1, 1), + msgs::Convert(_emitter->Data().particle_size())); + EXPECT_DOUBLE_EQ(5.0, _emitter->Data().lifetime()); + // TODO(anyone) add material check here + EXPECT_DOUBLE_EQ(1.0, _emitter->Data().min_velocity()); + EXPECT_DOUBLE_EQ(1.0, _emitter->Data().max_velocity()); + EXPECT_EQ(math::Color::White, + msgs::Convert(_emitter->Data().color_start())); + EXPECT_EQ(math::Color::White, + msgs::Convert(_emitter->Data().color_end())); + EXPECT_DOUBLE_EQ(1.0, _emitter->Data().scale_rate()); + EXPECT_EQ("", _emitter->Data().color_range_image()); + } + + return true; + }); + }); + + this->server->AddSystem(testSystem.systemPtr); + this->server->Run(true, 1, false); + + EXPECT_TRUE(updateCustomChecked); + EXPECT_TRUE(updateDefaultChecked); +} + +///////////////////////////////////////////////// +/// Main +int main(int _argc, char **_argv) +{ + ::testing::InitGoogleTest(&_argc, _argv); + return RUN_ALL_TESTS(); +} diff --git a/test/worlds/particle_emitter.sdf b/test/worlds/particle_emitter.sdf new file mode 100644 index 0000000000..1da40a4919 --- /dev/null +++ b/test/worlds/particle_emitter.sdf @@ -0,0 +1,148 @@ + + + + + + 0.001 + 1.0 + + + + + + + + 3D View + false + false + 0 + + + + + + + ogre + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + -1 0 1 0 0.5 0 + + + + + + World control + false + false + 72 + 121 + 1 + + + + + true + true + true + + + + + + true + 0 0 10 0 0 0 + 1 1 1 1 + 0.5 0.5 0.5 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + + 0 0 0 0 0 0 + true + + + + + 1 1 1 + + + + + + + smoke_emitter + box + 0 1 0 0 0 0 + 2 2 2 + 5 + 1 + true + 3 3 3 + 2 + + 10 + 20 + 0 0 1 + 0 1 0 + 10 + /path/to/dummy_image.png + + + + + + 5 5 0 0 0 0 + true + + + + + 1 1 1 + + + + + + + + + + + + From 7f122de9f141d781e263c2349e4b76e9de8bd0b1 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Wed, 17 Feb 2021 18:28:35 -0800 Subject: [PATCH 42/55] bump msgs version to 6.3.0 Signed-off-by: Ian Chen --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index b616eadfec..0d77e1feeb 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -53,7 +53,7 @@ set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR}) #-------------------------------------- # Find ignition-msgs -ign_find_package(ignition-msgs6 REQUIRED VERSION 6.2) +ign_find_package(ignition-msgs6 REQUIRED VERSION 6.3) set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR}) #-------------------------------------- From 8a1db3d3012bfdcfb673c266c998952d77475716 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Wed, 17 Feb 2021 21:00:15 -0800 Subject: [PATCH 43/55] Remove extra main Signed-off-by: Nate Koenig --- test/integration/particle_emitter.cc | 8 -------- 1 file changed, 8 deletions(-) diff --git a/test/integration/particle_emitter.cc b/test/integration/particle_emitter.cc index 4e26133118..29dd17fa0c 100644 --- a/test/integration/particle_emitter.cc +++ b/test/integration/particle_emitter.cc @@ -160,11 +160,3 @@ TEST_F(ParticleEmitterTest, SDFLoad) EXPECT_TRUE(updateCustomChecked); EXPECT_TRUE(updateDefaultChecked); } - -///////////////////////////////////////////////// -/// Main -int main(int _argc, char **_argv) -{ - ::testing::InitGoogleTest(&_argc, _argv); - return RUN_ALL_TESTS(); -} From 494a11ee37ad9e573cdbe65a190048a30543c129 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Wed, 17 Feb 2021 21:07:56 -0800 Subject: [PATCH 44/55] Added missing Signed-off-by: Nate Koenig --- src/systems/particle_emitter/ParticleEmitter.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/src/systems/particle_emitter/ParticleEmitter.cc b/src/systems/particle_emitter/ParticleEmitter.cc index 072bd50dd2..697b260544 100644 --- a/src/systems/particle_emitter/ParticleEmitter.cc +++ b/src/systems/particle_emitter/ParticleEmitter.cc @@ -18,6 +18,7 @@ #include #include +#include #include #include From 04721d33ad4f711f99a9dae093c892eeb6bd3655 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Wed, 17 Feb 2021 21:48:41 -0800 Subject: [PATCH 45/55] 4.5.0 Signed-off-by: Nate Koenig --- CMakeLists.txt | 2 +- Changelog.md | 20 ++++++++++++++++++++ 2 files changed, 21 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 0d77e1feeb..95585b11f1 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(ignition-gazebo4 VERSION 4.4.0) +project(ignition-gazebo4 VERSION 4.5.0) #============================================================================ # Find ignition-cmake diff --git a/Changelog.md b/Changelog.md index 5e7fc77a9b..6e030ad5e1 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,5 +1,25 @@ ## Ignition Gazebo 4.x +### Ignition Gazebo 4.5.0 (2020-02-17) + +1. Added particle system. + * [Pull Request 516](https://github.com/ignitionrobotics/ign-gazebo/pull/516) + +1. Add Light Usercommand and include Light parameters in the componentInspector + * [Pull Request 482](https://github.com/ignitionrobotics/ign-gazebo/pull/482) + +1. Added link to HW-accelerated video recording. + * [Pull Request 627](https://github.com/ignitionrobotics/ign-gazebo/pull/627) + +1. Fix EntityComponentManager race condition. + * [Pull Request 601](https://github.com/ignitionrobotics/ign-gazebo/pull/601) + +1. Add SDF topic validity check. + * [Pull Request 632](https://github.com/ignitionrobotics/ign-gazebo/pull/632) + +1. Add JointTrajectoryController system plugin. + * [Pull Request 473](https://github.com/ignitionrobotics/ign-gazebo/pull/473) + ### Ignition Gazebo 4.4.0 (2020-02-10) 1. Added issue and PR templates From 4c2f498344b0316aca689271015951a23ad6cf9e Mon Sep 17 00:00:00 2001 From: Atharva Pusalkar Date: Fri, 19 Feb 2021 23:55:48 +0530 Subject: [PATCH 46/55] Validity check for user defined topics in JointPositionController (#639) Signed-off-by: Atharva Pusalkar --- src/systems/joint_controller/JointController.cc | 4 ++-- .../JointPositionController.cc | 11 ++++++++++- 2 files changed, 12 insertions(+), 3 deletions(-) diff --git a/src/systems/joint_controller/JointController.cc b/src/systems/joint_controller/JointController.cc index 9e78162403..dce17b55c3 100644 --- a/src/systems/joint_controller/JointController.cc +++ b/src/systems/joint_controller/JointController.cc @@ -147,8 +147,8 @@ void JointController::Configure(const Entity &_entity, if (topic.empty()) { - ignerr << "Failed to create topic [" << this->dataPtr->jointName - << "]" << " for joint [" << _sdf->Get("topic") + ignerr << "Failed to create topic [" << _sdf->Get("topic") + << "]" << " for joint [" << this->dataPtr->jointName << "]" << std::endl; return; } diff --git a/src/systems/joint_position_controller/JointPositionController.cc b/src/systems/joint_position_controller/JointPositionController.cc index ccb3644705..5c14e0f082 100644 --- a/src/systems/joint_position_controller/JointPositionController.cc +++ b/src/systems/joint_position_controller/JointPositionController.cc @@ -158,7 +158,16 @@ void JointPositionController::Configure(const Entity &_entity, } if (_sdf->HasElement("topic")) { - topic = _sdf->Get("topic"); + topic = transport::TopicUtils::AsValidTopic( + _sdf->Get("topic")); + + if (topic.empty()) + { + ignerr << "Failed to create topic [" << _sdf->Get("topic") + << "]" << " for joint [" << this->dataPtr->jointName + << "]" << std::endl; + return; + } } this->dataPtr->node.Subscribe( topic, &JointPositionControllerPrivate::OnCmdPos, this->dataPtr.get()); From f8c9050878bff0832a280bc47546d65819a7dd33 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Fri, 19 Feb 2021 18:21:12 -0800 Subject: [PATCH 47/55] =?UTF-8?q?=F0=9F=91=A9=E2=80=8D=F0=9F=8C=BE=20Impro?= =?UTF-8?q?ve=20velocity=20control=20test=20(#642)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Louise Poubel --- test/integration/velocity_control_system.cc | 36 ++++++++------------- 1 file changed, 13 insertions(+), 23 deletions(-) diff --git a/test/integration/velocity_control_system.cc b/test/integration/velocity_control_system.cc index 02b230c844..3d50d57451 100644 --- a/test/integration/velocity_control_system.cc +++ b/test/integration/velocity_control_system.cc @@ -96,43 +96,33 @@ class VelocityControlTest : public ::testing::TestWithParam // and max velocity (0.5 m/s). // See parameters // in "/test/worlds/velocity_control.sdf". - test::Relay velocityRamp; const double desiredLinVel = 10.5; const double desiredAngVel = 0.2; - velocityRamp.OnPreUpdate( - [&](const gazebo::UpdateInfo &/*_info*/, - const gazebo::EntityComponentManager &) - { - msgs::Set(msg.mutable_linear(), - math::Vector3d(desiredLinVel, 0, 0)); - msgs::Set(msg.mutable_angular(), - math::Vector3d(0.0, 0, desiredAngVel)); - pub.Publish(msg); - }); - - server.AddSystem(velocityRamp.systemPtr); + msgs::Set(msg.mutable_linear(), + math::Vector3d(desiredLinVel, 0, 0)); + msgs::Set(msg.mutable_angular(), + math::Vector3d(0.0, 0, desiredAngVel)); + pub.Publish(msg); + + // Give some time for message to be received + std::this_thread::sleep_for(std::chrono::milliseconds(100)); server.Run(true, 3000, false); // Poses for 4s ASSERT_EQ(4000u, poses.size()); - int sleep = 0; - int maxSleep = 30; - - ASSERT_NE(maxSleep, sleep); - // verify that the vehicle is moving in +x and rotating towards +y for (unsigned int i = 1001; i < poses.size(); ++i) { - EXPECT_GT(poses[i].Pos().X(), poses[i-1].Pos().X()); - EXPECT_GT(poses[i].Pos().Y(), poses[i-1].Pos().Y()); + EXPECT_GT(poses[i].Pos().X(), poses[i-1].Pos().X()) << i; + EXPECT_GT(poses[i].Pos().Y(), poses[i-1].Pos().Y()) << i; EXPECT_NEAR(poses[i].Pos().Z(), poses[i-1].Pos().Z(), 1e-5); EXPECT_NEAR(poses[i].Rot().Euler().X(), - poses[i-1].Rot().Euler().X(), 1e-5); + poses[i-1].Rot().Euler().X(), 1e-5) << i; EXPECT_NEAR(poses[i].Rot().Euler().Y(), - poses[i-1].Rot().Euler().Y(), 1e-5); - EXPECT_GT(poses[i].Rot().Euler().Z(), poses[i-1].Rot().Euler().Z()); + poses[i-1].Rot().Euler().Y(), 1e-5) << i; + EXPECT_GT(poses[i].Rot().Euler().Z(), poses[i-1].Rot().Euler().Z()) << i; } } }; From 7b4b258e869a6d5bbb7ae0e2de609df534faff79 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Mon, 22 Feb 2021 14:19:19 -0800 Subject: [PATCH 48/55] =?UTF-8?q?=F0=9F=91=A9=E2=80=8D=F0=9F=8C=BE=20Relax?= =?UTF-8?q?=20performance=20test=20(#640)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Louise Poubel Co-authored-by: Michael Carroll --- test/performance/each.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/test/performance/each.cc b/test/performance/each.cc index 272d04bff9..d67f343ac1 100644 --- a/test/performance/each.cc +++ b/test/performance/each.cc @@ -54,10 +54,10 @@ TEST(EntityComponentManagerPerfrormance, Each) // Initial allocation of resources can throw off calculations. warmstart(); - for (int matchingEntityCount = 1; matchingEntityCount < maxEntityCount; + for (int matchingEntityCount = 10; matchingEntityCount < maxEntityCount; matchingEntityCount += step) { - for (int nonmatchingEntityCount = 1; + for (int nonmatchingEntityCount = 10; nonmatchingEntityCount < maxEntityCount; nonmatchingEntityCount += step) { From 60d9eb87464f4d410d1927101f437f952a9bf934 Mon Sep 17 00:00:00 2001 From: "G.Doisy" Date: Tue, 23 Feb 2021 01:17:38 +0100 Subject: [PATCH 49/55] Add TF/Pose_V publisher in DiffDrive (#548) Signed-off-by: Guillaume Doisy --- src/systems/diff_drive/DiffDrive.cc | 20 +- src/systems/diff_drive/DiffDrive.hh | 16 ++ test/integration/diff_drive_system.cc | 184 ++++++++++++++++ test/worlds/diff_drive_custom_tf_topic.sdf | 244 +++++++++++++++++++++ 4 files changed, 463 insertions(+), 1 deletion(-) create mode 100644 test/worlds/diff_drive_custom_tf_topic.sdf diff --git a/src/systems/diff_drive/DiffDrive.cc b/src/systems/diff_drive/DiffDrive.cc index 496b6cd50f..e8a49f4356 100644 --- a/src/systems/diff_drive/DiffDrive.cc +++ b/src/systems/diff_drive/DiffDrive.cc @@ -119,6 +119,9 @@ class ignition::gazebo::systems::DiffDrivePrivate /// \brief Diff drive odometry message publisher. public: transport::Node::Publisher odomPub; + /// \brief Diff drive tf message publisher. + public: transport::Node::Publisher tfPub; + /// \brief Linear velocity limiter. public: std::unique_ptr limiterLin; @@ -271,6 +274,13 @@ void DiffDrive::Configure(const Entity &_entity, this->dataPtr->odomPub = this->dataPtr->node.Advertise( odomTopic); + std::string tfTopic{"/model/" + this->dataPtr->model.Name(_ecm) + + "/tf"}; + if (_sdf->HasElement("tf_topic")) + tfTopic = _sdf->Get("tf_topic"); + this->dataPtr->tfPub = this->dataPtr->node.Advertise( + tfTopic); + if (_sdf->HasElement("frame_id")) this->dataPtr->sdfFrameId = _sdf->Get("frame_id"); @@ -465,9 +475,17 @@ void DiffDrivePrivate::UpdateOdometry(const ignition::gazebo::UpdateInfo &_info, childFrame->add_value(this->sdfChildFrameId); } + // Construct the Pose_V/tf message and publish it. + msgs::Pose_V tfMsg; + ignition::msgs::Pose *tfMsgPose = nullptr; + tfMsgPose = tfMsg.add_pose(); + tfMsgPose->mutable_header()->CopyFrom(*msg.mutable_header()); + tfMsgPose->mutable_position()->CopyFrom(msg.mutable_pose()->position()); + tfMsgPose->mutable_orientation()->CopyFrom(msg.mutable_pose()->orientation()); - // Publish the message + // Publish the messages this->odomPub.Publish(msg); + this->tfPub.Publish(tfMsg); } ////////////////////////////////////////////////// diff --git a/src/systems/diff_drive/DiffDrive.hh b/src/systems/diff_drive/DiffDrive.hh index adedf7b002..d2905a23ca 100644 --- a/src/systems/diff_drive/DiffDrive.hh +++ b/src/systems/diff_drive/DiffDrive.hh @@ -61,6 +61,22 @@ namespace systems /// ``: Custom topic on which this system will publish odometry /// messages. This element if optional, and the default value is /// `/model/{name_of_model}/odometry`. + /// + /// ``: Custom topic on which this system will publish the + /// transform from `frame_id` to `child_frame_id`. This element if optional, + /// and the default value is `/model/{name_of_model}/tf`. + /// + /// ``: Custom `frame_id` field that this system will use as the + /// origin of the odometry transform in both the `` + /// `ignition.msgs.Pose_V` message and the `` + /// `ignition.msgs.Odometry` message. This element if optional, and the + /// default value is `{name_of_model}/odom`. + /// + /// ``: Custom `child_frame_id` that this system will use as + /// the target of the odometry trasnform in both the `` + /// `ignition.msgs.Pose_V` message and the `` + /// `ignition.msgs.Odometry` message. This element if optional, + /// and the default value is `{name_of_model}/{name_of_link}`. class IGNITION_GAZEBO_VISIBLE DiffDrive : public System, public ISystemConfigure, diff --git a/test/integration/diff_drive_system.cc b/test/integration/diff_drive_system.cc index 1d55d2b576..d1c6f86d32 100644 --- a/test/integration/diff_drive_system.cc +++ b/test/integration/diff_drive_system.cc @@ -404,6 +404,190 @@ TEST_P(DiffDriveTest, OdomCustomFrameId) auto pub = node.Advertise("/model/vehicle/cmd_vel"); node.Subscribe("/model/vehicle/odometry", odomCb); + msgs::Twist msg; + msgs::Set(msg.mutable_linear(), math::Vector3d(0.5, 0, 0)); + msgs::Set(msg.mutable_angular(), math::Vector3d(0.0, 0, 0.2)); + + pub.Publish(msg); + + server.Run(true, 100, false); + + int sleep = 0; + int maxSleep = 30; + for (; odomPosesCount < 5 && sleep < maxSleep; ++sleep) + { + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + } + ASSERT_NE(maxSleep, sleep); + + EXPECT_EQ(5u, odomPosesCount); +} + +///////////////////////////////////////////////// +TEST_P(DiffDriveTest, Pose_VFrameId) +{ + // Start server + ServerConfig serverConfig; + serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + + "/test/worlds/diff_drive.sdf"); + + Server server(serverConfig); + EXPECT_FALSE(server.Running()); + EXPECT_FALSE(*server.Running(0)); + + server.SetUpdatePeriod(0ns); + + unsigned int odomPosesCount = 0; + std::function pose_VCb = + [&odomPosesCount](const msgs::Pose_V &_msg) + { + ASSERT_TRUE(_msg.pose(0).has_header()); + ASSERT_TRUE(_msg.pose(0).header().has_stamp()); + + ASSERT_GT(_msg.pose(0).header().data_size(), 1); + + EXPECT_STREQ(_msg.pose(0).header().data(0).key().c_str(), + "frame_id"); + EXPECT_STREQ(_msg.pose(0).header().data(0).value().Get(0).c_str(), + "vehicle/odom"); + + EXPECT_STREQ(_msg.pose(0).header().data(1).key().c_str(), + "child_frame_id"); + EXPECT_STREQ(_msg.pose(0).header().data(1).value().Get(0).c_str(), + "vehicle/chassis"); + + odomPosesCount++; + }; + + transport::Node node; + auto pub = node.Advertise("/model/vehicle/cmd_vel"); + node.Subscribe("/model/vehicle/tf", pose_VCb); + + msgs::Twist msg; + msgs::Set(msg.mutable_linear(), math::Vector3d(0.5, 0, 0)); + msgs::Set(msg.mutable_angular(), math::Vector3d(0.0, 0, 0.2)); + + pub.Publish(msg); + + server.Run(true, 100, false); + + int sleep = 0; + int maxSleep = 30; + for (; odomPosesCount < 5 && sleep < maxSleep; ++sleep) + { + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + } + ASSERT_NE(maxSleep, sleep); + + EXPECT_EQ(5u, odomPosesCount); +} + +///////////////////////////////////////////////// +TEST_P(DiffDriveTest, Pose_VCustomFrameId) +{ + // Start server + ServerConfig serverConfig; + serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + + "/test/worlds/diff_drive_custom_frame_id.sdf"); + + Server server(serverConfig); + EXPECT_FALSE(server.Running()); + EXPECT_FALSE(*server.Running(0)); + + server.SetUpdatePeriod(0ns); + + unsigned int odomPosesCount = 0; + std::function Pose_VCb = + [&odomPosesCount](const msgs::Pose_V &_msg) + { + ASSERT_TRUE(_msg.pose(0).has_header()); + ASSERT_TRUE(_msg.pose(0).header().has_stamp()); + + ASSERT_GT(_msg.pose(0).header().data_size(), 1); + + EXPECT_STREQ(_msg.pose(0).header().data(0).key().c_str(), + "frame_id"); + EXPECT_STREQ(_msg.pose(0).header().data(0).value().Get(0).c_str(), + "odom"); + + EXPECT_STREQ(_msg.pose(0).header().data(1).key().c_str(), + "child_frame_id"); + EXPECT_STREQ(_msg.pose(0).header().data(1).value().Get(0).c_str(), + "base_footprint"); + + odomPosesCount++; + }; + + transport::Node node; + auto pub = node.Advertise("/model/vehicle/cmd_vel"); + node.Subscribe("/model/vehicle/tf", Pose_VCb); + + msgs::Twist msg; + msgs::Set(msg.mutable_linear(), math::Vector3d(0.5, 0, 0)); + msgs::Set(msg.mutable_angular(), math::Vector3d(0.0, 0, 0.2)); + + pub.Publish(msg); + + server.Run(true, 100, false); + + int sleep = 0; + int maxSleep = 30; + for (; odomPosesCount < 5 && sleep < maxSleep; ++sleep) + { + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + } + ASSERT_NE(maxSleep, sleep); + + EXPECT_EQ(5u, odomPosesCount); +} + +///////////////////////////////////////////////// +TEST_P(DiffDriveTest, Pose_VCustomTfTopic) +{ + // Start server + ServerConfig serverConfig; + serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + + "/test/worlds/diff_drive_custom_tf_topic.sdf"); + + Server server(serverConfig); + EXPECT_FALSE(server.Running()); + EXPECT_FALSE(*server.Running(0)); + + server.SetUpdatePeriod(0ns); + + unsigned int odomPosesCount = 0; + std::function pose_VCb = + [&odomPosesCount](const msgs::Pose_V &_msg) + { + ASSERT_TRUE(_msg.pose(0).has_header()); + ASSERT_TRUE(_msg.pose(0).header().has_stamp()); + + ASSERT_GT(_msg.pose(0).header().data_size(), 1); + + EXPECT_STREQ(_msg.pose(0).header().data(0).key().c_str(), "frame_id"); + EXPECT_STREQ( + _msg.pose(0).header().data(0).value().Get(0).c_str(), + "vehicle/odom"); + + EXPECT_STREQ( + _msg.pose(0).header().data(1).key().c_str(), "child_frame_id"); + EXPECT_STREQ( + _msg.pose(0).header().data(1).value().Get(0).c_str(), + "vehicle/chassis"); + + odomPosesCount++; + }; + + transport::Node node; + auto pub = node.Advertise("/model/vehicle/cmd_vel"); + node.Subscribe("/tf_foo", pose_VCb); + + msgs::Twist msg; + msgs::Set(msg.mutable_linear(), math::Vector3d(0.5, 0, 0)); + msgs::Set(msg.mutable_angular(), math::Vector3d(0.0, 0, 0.2)); + + pub.Publish(msg); + server.Run(true, 100, false); int sleep = 0; diff --git a/test/worlds/diff_drive_custom_tf_topic.sdf b/test/worlds/diff_drive_custom_tf_topic.sdf new file mode 100644 index 0000000000..131207f3ef --- /dev/null +++ b/test/worlds/diff_drive_custom_tf_topic.sdf @@ -0,0 +1,244 @@ + + + + + + 0.001 + 1.0 + + + + + + true + 0 0 10 0 0 0 + 1 1 1 1 + 0.5 0.5 0.5 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 0 0 0.325 0 -0 0 + + + -0.151427 -0 0.175 0 -0 0 + + 1.14395 + + 0.126164 + 0 + 0 + 0.416519 + 0 + 0.481014 + + + + + + 2.01142 1 0.568726 + + + + 0.5 0.5 1.0 1 + 0.5 0.5 1.0 1 + 0.0 0.0 1.0 1 + + + + + + 2.01142 1 0.568726 + + + + + + + 0.554283 0.625029 -0.025 -1.5707 0 0 + + 2 + + 0.145833 + 0 + 0 + 0.145833 + 0 + 0.125 + + + + + + 0.3 + + + + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + + + + + + 0.3 + + + + + + + 0.554282 -0.625029 -0.025 -1.5707 0 0 + + 2 + + 0.145833 + 0 + 0 + 0.145833 + 0 + 0.125 + + + + + + 0.3 + + + + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + + + + + + 0.3 + + + + + + + -0.957138 -0 -0.125 0 -0 0 + + 1 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + + + 0.2 + + + + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + 0.2 0.2 0.2 1 + + + + + + 0.2 + + + + + + + chassis + left_wheel + + 0 0 1 + + -1.79769e+308 + 1.79769e+308 + + + + + + chassis + right_wheel + + 0 0 1 + + -1.79769e+308 + 1.79769e+308 + + + + + + chassis + caster + + + + left_wheel_joint + right_wheel_joint + 1.25 + 0.3 + 1 + 0.5 + tf_foo + + + + + + + + + + + From 20b6a9da65a98fccebf247346fd4e83c08da5a1d Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Mon, 22 Feb 2021 16:19:52 -0800 Subject: [PATCH 50/55] Add console message to show computed temp range (#643) Signed-off-by: Ian Chen --- src/systems/sensors/Sensors.cc | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc index 93d14fb354..a20b5c3280 100644 --- a/src/systems/sensors/Sensors.cc +++ b/src/systems/sensors/Sensors.cc @@ -596,6 +596,12 @@ std::string Sensors::CreateSensor(const Entity &_entity, double tempRange = std::fabs(this->dataPtr->ambientTemperatureGradient * height); thermalSensor->SetAmbientTemperatureRange(tempRange); + + ignmsg << "Setting ambient temperature to " + << this->dataPtr->ambientTemperature << " Kelvin and gradient to " + << this->dataPtr->ambientTemperatureGradient << " K/m. " + << "The resulting temperature range is: " << tempRange + << " Kelvin." << std::endl; } return sensor->Name(); From 159f6202af80a480e8820318aa0b84d0c67ccfef Mon Sep 17 00:00:00 2001 From: Martin Pecka Date: Tue, 23 Feb 2021 19:46:06 +0100 Subject: [PATCH 51/55] Add a convenience function for getting possibly non-existing components. (#629) Signed-off-by: Martin Pecka --- .../ignition/gazebo/EntityComponentManager.hh | 13 ++++++++++ .../gazebo/detail/EntityComponentManager.hh | 14 +++++++++++ src/EntityComponentManager_TEST.cc | 25 +++++++++++++++++++ 3 files changed, 52 insertions(+) diff --git a/include/ignition/gazebo/EntityComponentManager.hh b/include/ignition/gazebo/EntityComponentManager.hh index da70f606ea..768432498d 100644 --- a/include/ignition/gazebo/EntityComponentManager.hh +++ b/include/ignition/gazebo/EntityComponentManager.hh @@ -214,6 +214,19 @@ namespace ignition public: template ComponentTypeT *Component(const ComponentKey &_key); + /// \brief Get a mutable component assigned to an entity based on a + /// component type. If the component doesn't exist, create it and + /// initialize with the given default value. + /// \param[in] _entity The entity. + /// \param[in] _default The value that should be used to construct + /// the component in case the component doesn't exist. + /// \return The component of the specified type assigned to the specified + /// entity. + public: template + ComponentTypeT *ComponentDefault(Entity _entity, + const typename ComponentTypeT::Type &_default = + typename ComponentTypeT::Type()); + /// \brief Get the data from a component. /// * If the component type doesn't hold any data, this won't compile. /// * If the entity doesn't have that component, it will return nullopt. diff --git a/include/ignition/gazebo/detail/EntityComponentManager.hh b/include/ignition/gazebo/detail/EntityComponentManager.hh index 880dba745c..dcdb37324b 100644 --- a/include/ignition/gazebo/detail/EntityComponentManager.hh +++ b/include/ignition/gazebo/detail/EntityComponentManager.hh @@ -127,6 +127,20 @@ ComponentTypeT *EntityComponentManager::Component(const ComponentKey &_key) this->ComponentImplementation(_key)); } +////////////////////////////////////////////////// +template +ComponentTypeT *EntityComponentManager::ComponentDefault(Entity _entity, + const typename ComponentTypeT::Type &_default) +{ + auto comp = this->Component(_entity); + if (!comp) + { + this->CreateComponent(_entity, ComponentTypeT(_default)); + comp = this->Component(_entity); + } + return comp; +} + ////////////////////////////////////////////////// template std::optional diff --git a/src/EntityComponentManager_TEST.cc b/src/EntityComponentManager_TEST.cc index b29fb53aef..cf42727bdd 100644 --- a/src/EntityComponentManager_TEST.cc +++ b/src/EntityComponentManager_TEST.cc @@ -437,6 +437,31 @@ TEST_P(EntityComponentManagerFixture, EntitiesAndComponents) EXPECT_FALSE(manager.EntityHasComponentType(entity, DoubleComponent::typeId)); EXPECT_FALSE(manager.EntityHasComponentType(entity2, IntComponent::typeId)); + // Query non-existing component, the default value is default-constructed + BoolComponent *boolComp = manager.ComponentDefault(entity); + ASSERT_NE(nullptr, boolComp); + EXPECT_TRUE(manager.HasComponentType(BoolComponent::typeId)); + EXPECT_TRUE(manager.EntityHasComponentType(entity, BoolComponent::typeId)); + EXPECT_EQ(false, boolComp->Data()); + + // Query non-existing component, the default value is used + DoubleComponent *doubleComp = + manager.ComponentDefault(entity, 1.0); + ASSERT_NE(nullptr, doubleComp); + EXPECT_TRUE(manager.HasComponentType(DoubleComponent::typeId)); + EXPECT_TRUE(manager.EntityHasComponentType(entity, IntComponent::typeId)); + EXPECT_TRUE(manager.EntityHasComponentType(entity, DoubleComponent::typeId)); + EXPECT_FALSE( + manager.EntityHasComponentType(entity2, DoubleComponent::typeId)); + EXPECT_FLOAT_EQ(1.0, doubleComp->Data()); + + // Query existing component, the default value is not used + IntComponent *intComp = manager.ComponentDefault(entity, 124); + ASSERT_NE(nullptr, intComp); + EXPECT_TRUE(manager.HasComponentType(IntComponent::typeId)); + EXPECT_TRUE(manager.EntityHasComponentType(entity, IntComponent::typeId)); + EXPECT_EQ(123, intComp->Data()); + // Remove all entities manager.RequestRemoveEntities(); EXPECT_EQ(3u, manager.EntityCount()); From 4a4951e838a98f3c94352887583213f417971243 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Tue, 23 Feb 2021 15:23:10 -0800 Subject: [PATCH 52/55] Fix flaky SceneBoradcaster test (#641) Signed-off-by: Louise Poubel Co-authored-by: Michael Carroll --- test/integration/scene_broadcaster_system.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/test/integration/scene_broadcaster_system.cc b/test/integration/scene_broadcaster_system.cc index b5ae9c0f9c..bee470ef2e 100644 --- a/test/integration/scene_broadcaster_system.cc +++ b/test/integration/scene_broadcaster_system.cc @@ -438,6 +438,7 @@ TEST_P(SceneBroadcasterTest, State) while (!received && sleep++ < maxSleep) IGN_SLEEP_MS(100); EXPECT_TRUE(received); + EXPECT_TRUE(node.Unsubscribe("/world/default/state")); // test async state request received = false; From 3702dc84c9bf0a390b20f0133256a5e5af9fc6ec Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Thu, 25 Feb 2021 10:12:18 -0800 Subject: [PATCH 53/55] =?UTF-8?q?=F0=9F=91=A9=E2=80=8D=F0=9F=8C=BE=20Set?= =?UTF-8?q?=20LD=5FLIBRARY=5FPATH=20on=20Actions=20CI=20(fix=20user=5Fcomm?= =?UTF-8?q?ands=20test)=20(#650)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Louise Poubel --- .github/ci/after_make.sh | 1 + CMakeLists.txt | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/ci/after_make.sh b/.github/ci/after_make.sh index eb81ef7985..8e619ed869 100644 --- a/.github/ci/after_make.sh +++ b/.github/ci/after_make.sh @@ -5,6 +5,7 @@ set -e # Install (needed for some tests) make install +export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib # For ign-tools export IGN_CONFIG_PATH=/usr/local/share/ignition diff --git a/CMakeLists.txt b/CMakeLists.txt index 95585b11f1..abc409f202 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -38,7 +38,7 @@ endif() # Search for project-specific dependencies #============================================================================ -ign_find_package(sdformat10 REQUIRED) +ign_find_package(sdformat10 REQUIRED VERSION 10.3) set(SDF_VER ${sdformat10_VERSION_MAJOR}) #-------------------------------------- From 8e29cda909adb529b9cbd0acba9b56f257520d51 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Fri, 26 Feb 2021 14:06:21 -0800 Subject: [PATCH 54/55] codecheck Signed-off-by: Louise Poubel --- src/systems/physics/Physics.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc index 84b5276e31..2a4a05cbbd 100644 --- a/src/systems/physics/Physics.cc +++ b/src/systems/physics/Physics.cc @@ -27,6 +27,7 @@ #include #include #include +#include #include #include From dc60a3aeb76784c891bbd19f63b5d5728c147792 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Mon, 1 Mar 2021 13:22:43 -0800 Subject: [PATCH 55/55] Fix Windows compilation (#622) Signed-off-by: Louise Poubel --- src/Conversions.cc | 2 ++ src/gui/AboutDialogHandler.hh | 2 +- src/gui/plugins/plotting/Plotting.cc | 6 ++++-- src/systems/collada_world_exporter/ColladaWorldExporter.hh | 2 +- .../JointTrajectoryController.hh | 4 ++-- src/systems/particle_emitter/ParticleEmitter.hh | 2 +- src/systems/thermal/ThermalSensor.hh | 2 +- test/integration/fuel_cached_server.cc | 3 ++- test/integration/joint_trajectory_controller_system.cc | 7 +++++-- test/integration/particle_emitter.cc | 6 ++++-- test/integration/thermal_sensor_system.cc | 5 +++-- test/integration/user_commands.cc | 1 + 12 files changed, 27 insertions(+), 15 deletions(-) diff --git a/src/Conversions.cc b/src/Conversions.cc index 9765e88011..d7fb552857 100644 --- a/src/Conversions.cc +++ b/src/Conversions.cc @@ -841,6 +841,7 @@ void ignition::gazebo::set(msgs::WorldStatistics *_msg, ////////////////////////////////////////////////// template<> +IGNITION_GAZEBO_VISIBLE msgs::Physics ignition::gazebo::convert(const sdf::Physics &_in) { msgs::Physics out; @@ -851,6 +852,7 @@ msgs::Physics ignition::gazebo::convert(const sdf::Physics &_in) ////////////////////////////////////////////////// template<> +IGNITION_GAZEBO_VISIBLE sdf::Physics ignition::gazebo::convert(const msgs::Physics &_in) { sdf::Physics out; diff --git a/src/gui/AboutDialogHandler.hh b/src/gui/AboutDialogHandler.hh index b5f71b543d..14f1bbd20c 100644 --- a/src/gui/AboutDialogHandler.hh +++ b/src/gui/AboutDialogHandler.hh @@ -33,7 +33,7 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { namespace gui { /// \brief Class for handling about dialog -class IGNITION_GAZEBO_VISIBLE AboutDialogHandler : public QObject +class AboutDialogHandler : public QObject { Q_OBJECT diff --git a/src/gui/plugins/plotting/Plotting.cc b/src/gui/plugins/plotting/Plotting.cc index 864eebb1c9..9a78d4de15 100644 --- a/src/gui/plugins/plotting/Plotting.cc +++ b/src/gui/plugins/plotting/Plotting.cc @@ -18,6 +18,7 @@ #include "Plotting.hh" #include + #include "ignition/gazebo/components/AngularAcceleration.hh" #include "ignition/gazebo/components/AngularVelocity.hh" #include "ignition/gazebo/components/CastShadows.hh" @@ -232,7 +233,7 @@ void Plotting::SetData(std::string _Id, const ignition::math::Vector3d &_vector) this->dataPtr->components[_Id]->SetAttributeValue("z", _vector.Z()); } -void Plotting::SetData(std::string _Id, const msgs::Light &_light) +void Plotting::SetData(std::string _Id, const ignition::msgs::Light &_light) { if (_light.has_specular()) { @@ -482,7 +483,8 @@ void Plotting ::Update(const ignition::gazebo::UpdateInfo &_info, auto comp = _ecm.Component(entity); if (comp) { - msgs::Light lightMsgs = convert(comp->Data()); + ignition::msgs::Light lightMsgs = + convert(comp->Data()); this->SetData(component.first, lightMsgs); } } diff --git a/src/systems/collada_world_exporter/ColladaWorldExporter.hh b/src/systems/collada_world_exporter/ColladaWorldExporter.hh index c31a175b0a..731c9ec2ee 100644 --- a/src/systems/collada_world_exporter/ColladaWorldExporter.hh +++ b/src/systems/collada_world_exporter/ColladaWorldExporter.hh @@ -35,7 +35,7 @@ namespace systems /// \brief A plugin that exports a world to a mesh. /// When loaded the plugin will dump a mesh containing all the models in /// the world to the current directory. - class IGNITION_GAZEBO_VISIBLE ColladaWorldExporter: + class ColladaWorldExporter: public System, public ISystemPostUpdate { diff --git a/src/systems/joint_trajectory_controller/JointTrajectoryController.hh b/src/systems/joint_trajectory_controller/JointTrajectoryController.hh index 8f895b77e0..fb60279d1d 100644 --- a/src/systems/joint_trajectory_controller/JointTrajectoryController.hh +++ b/src/systems/joint_trajectory_controller/JointTrajectoryController.hh @@ -30,7 +30,7 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { namespace systems { // Forward declaration - class IGNITION_GAZEBO_HIDDEN JointTrajectoryControllerPrivate; + class JointTrajectoryControllerPrivate; /// \brief Joint trajectory controller, which can be attached to a model with /// reference to one or more 1-axis joints in order to follow a trajectory. @@ -131,7 +131,7 @@ namespace systems /// This parameter can be specified multiple times. Follows joint_name order. /// Optional parameter. /// The default value is 0 (no offset). - class IGNITION_GAZEBO_VISIBLE JointTrajectoryController + class JointTrajectoryController : public System, public ISystemConfigure, public ISystemPreUpdate diff --git a/src/systems/particle_emitter/ParticleEmitter.hh b/src/systems/particle_emitter/ParticleEmitter.hh index 5b3df5e476..7a9ab1e278 100644 --- a/src/systems/particle_emitter/ParticleEmitter.hh +++ b/src/systems/particle_emitter/ParticleEmitter.hh @@ -110,7 +110,7 @@ namespace systems /// Note that the emitter id and name may not be changed. /// See the examples/worlds/particle_emitter.sdf example world for /// example usage. - class IGNITION_GAZEBO_VISIBLE ParticleEmitter + class ParticleEmitter : public System, public ISystemConfigure, public ISystemPreUpdate diff --git a/src/systems/thermal/ThermalSensor.hh b/src/systems/thermal/ThermalSensor.hh index ed2fb431f2..c0a27306d3 100644 --- a/src/systems/thermal/ThermalSensor.hh +++ b/src/systems/thermal/ThermalSensor.hh @@ -34,7 +34,7 @@ namespace systems class ThermalSensorPrivate; /// \brief A thermal sensor plugin for configuring thermal sensor properties - class IGNITION_GAZEBO_VISIBLE ThermalSensor: + class ThermalSensor: public System, public ISystemConfigure { diff --git a/test/integration/fuel_cached_server.cc b/test/integration/fuel_cached_server.cc index 7003459ff7..a0182cc5d2 100644 --- a/test/integration/fuel_cached_server.cc +++ b/test/integration/fuel_cached_server.cc @@ -16,6 +16,7 @@ */ #include +#include #include "ignition/gazebo/Server.hh" #include "ignition/gazebo/ServerConfig.hh" @@ -31,7 +32,7 @@ TEST_P(ServerFixture, CachedFuelWorld) { auto cachedWorldPath = common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds"); - setenv("IGN_FUEL_CACHE_PATH", cachedWorldPath.c_str(), 1); + common::setenv("IGN_FUEL_CACHE_PATH", cachedWorldPath.c_str()); ServerConfig serverConfig; auto fuelWorldURL = diff --git a/test/integration/joint_trajectory_controller_system.cc b/test/integration/joint_trajectory_controller_system.cc index 70ca0aad3f..7e8bc21a09 100644 --- a/test/integration/joint_trajectory_controller_system.cc +++ b/test/integration/joint_trajectory_controller_system.cc @@ -20,7 +20,10 @@ #include #include +#include + #include +#include #include #include "ignition/gazebo/components/Joint.hh" @@ -47,8 +50,8 @@ class JointTrajectoryControllerTestFixture : public ::testing::Test void SetUp() override { ignition::common::Console::SetVerbosity(4); - setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", - (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1); + ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", + (std::string(PROJECT_BINARY_PATH) + "/lib").c_str()); } }; diff --git a/test/integration/particle_emitter.cc b/test/integration/particle_emitter.cc index 29dd17fa0c..f2527b8357 100644 --- a/test/integration/particle_emitter.cc +++ b/test/integration/particle_emitter.cc @@ -19,6 +19,8 @@ #include +#include + #include #include @@ -41,8 +43,8 @@ class ParticleEmitterTest : public ::testing::Test protected: void SetUp() override { ignition::common::Console::SetVerbosity(4); - setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", - (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1); + ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", + (std::string(PROJECT_BINARY_PATH) + "/lib").c_str()); } public: void LoadWorld(const std::string &_path, bool _useLevels = false) { diff --git a/test/integration/thermal_sensor_system.cc b/test/integration/thermal_sensor_system.cc index 472a8a60ff..be34ca4a8b 100644 --- a/test/integration/thermal_sensor_system.cc +++ b/test/integration/thermal_sensor_system.cc @@ -151,7 +151,7 @@ TEST_F(ThermalSensorTest, // Run server server.Run(true, 1, false); - // verify camera properties from sdf + // verify camera properties from sdf unsigned int width = 320u; unsigned int height = 240u; EXPECT_EQ("thermal_camera_invalid", name); @@ -180,7 +180,7 @@ TEST_F(ThermalSensorTest, EXPECT_DOUBLE_EQ(800.0, entityTemp[cylinderVisual].Kelvin()); // Run server - server.Run(true, 10, false); + server.Run(true, 35, false); // wait for image bool received = false; @@ -195,6 +195,7 @@ TEST_F(ThermalSensorTest, std::this_thread::sleep_for(std::chrono::milliseconds(100)); } EXPECT_TRUE(received); + ASSERT_NE(nullptr, g_image); // check temperature in actual image output { diff --git a/test/integration/user_commands.cc b/test/integration/user_commands.cc index aceaaafaff..d9d398d154 100644 --- a/test/integration/user_commands.cc +++ b/test/integration/user_commands.cc @@ -19,6 +19,7 @@ #include #include +#include #include #include