Support particle modification

[nkoenig]

Signed-off-by: Nate Koenig [email protected]

🦟 Bug fix

Attempting to modify a particle emitter using a particle_emitter message would cause a segfault. This fixes the segfault and also allows the modification to take place.

This will allow a TriggeredPublisher to start/stop fog.

Requires: gazebosim/gz-msgs#137

To test

1. Save the following to fog.sdf

<?xml version="1.0" ?>
<sdf version="1.6">
<world name="fog">
  <plugin
    filename="ignition-gazebo-physics-system"
    name="ignition::gazebo::systems::Physics">
  </plugin>
  <plugin
    filename="ignition-gazebo-user-commands-system"
    name="ignition::gazebo::systems::UserCommands">
  </plugin>

  <plugin
    filename="ignition-gazebo-scene-broadcaster-system"
    name="ignition::gazebo::systems::SceneBroadcaster">
  </plugin>

  <include>
    <uri>
      https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/fog emitter
    </uri>
  </include>
</world>
</sdf>

2. Run the world

ign gazebo -v 4 -r fog.sdf

3. You should see no fog.
4. Start the fog using

ign topic -t "/model/fog_generator/particle_emitter/fog_generator" -m ignition.msgs.ParticleEmitter -p "emitting: {data: 1}"

5. You should see fog.
6. Stop the fog using

ign topic -t "/model/fog_generator/particle_emitter/fog_generator" -m ignition.msgs.ParticleEmitter -p "emitting: {data: 0}"

Checklist

• Signed all commits for DCO
• Updated tests
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

[iche033]

looks good to me. Just need to wait for gazebosim/gz-msgs#137 and a ign-msgs6 release

[nkoenig]

@osrf-jenkins run tests please

[codecov]

Codecov Report

Merging #651 (dcdb837) into ign-gazebo4 (302f5ed) will decrease coverage by 12.59%.
The diff coverage is 57.12%.

@@               Coverage Diff                @@
##           ign-gazebo4     #651       +/-   ##
================================================
- Coverage        77.37%   64.77%   -12.60%     
================================================
  Files              217      232       +15     
  Lines            12217    16590     +4373     
================================================
+ Hits              9453    10747     +1294     
- Misses            2764     5843     +3079     

Impacted Files	Coverage Δ
include/ignition/gazebo/EntityComponentManager.hh	100.00% <ø> (ø)
include/ignition/gazebo/rendering/SceneManager.hh	100.00% <ø> (ø)
.../plugins/component_inspector/ComponentInspector.cc	6.11% <0.00%> (-2.50%)	⬇️
.../plugins/component_inspector/ComponentInspector.hh	28.57% <ø> (ø)
src/gui/plugins/scene3d/Scene3D.cc	8.72% <0.00%> (ø)
src/systems/diff_drive/DiffDrive.hh	100.00% <ø> (ø)
src/systems/physics/Physics.cc	71.44% <ø> (ø)
src/systems/sensors/Sensors.cc	74.75% <0.00%> (ø)
src/rendering/SceneManager.cc	22.69% <8.08%> (ø)
src/systems/joint_controller/JointController.cc	77.17% <12.50%> (-6.16%)	⬇️
... and 37 more

---

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