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Fix crash in the follow_actor example #958

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merged 9 commits into from
Aug 12, 2021
Merged

Fix crash in the follow_actor example #958

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fb5964f
Fix crash in the follow_actor example
luca-della-vedova Aug 6, 2021
a6c4e75
add test
iche033 Aug 6, 2021
26d8f7f
add test
iche033 Aug 6, 2021
0dd0970
Added new parameter documentation
luca-della-vedova Aug 10, 2021
f939015
Codecheck
luca-della-vedova Aug 10, 2021
5d83f64
Disable rendering test on Mac
luca-della-vedova Aug 12, 2021
4f1a726
Merge branch 'ign-gazebo4' into fix/follow_actor_crash
luca-della-vedova Aug 12, 2021
d6b4f43
Add missing header for test
luca-della-vedova Aug 12, 2021
0e24087
TEST_F -> TEST_P
luca-della-vedova Aug 12, 2021
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26 changes: 18 additions & 8 deletions src/rendering/RenderUtil.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -356,9 +356,14 @@ class ignition::gazebo::RenderUtilPrivate
/// RenderUtil::Update.
/// \param[in] _actorAnimationData A map of entities to their animation update
/// data.
/// \param[in] _entityPoses A map of entity ids and pose updates.
/// \param[in] _trajectoryPoses A map of entity ids and trajectory
/// pose updates.
/// \sa actorManualSkeletonUpdate
public: void UpdateAnimation(const std::unordered_map<Entity,
AnimationUpdateData> &_actorAnimationData);
AnimationUpdateData> &_actorAnimationData,
const std::unordered_map<Entity, math::Pose3d> &_entityPoses,
const std::unordered_map<Entity, math::Pose3d> &_trajectoryPoses);
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};

//////////////////////////////////////////////////
Expand Down Expand Up @@ -804,7 +809,8 @@ void RenderUtil::Update()
}
else
{
this->dataPtr->UpdateAnimation(actorAnimationData);
this->dataPtr->UpdateAnimation(actorAnimationData, entityPoses,
trajectoryPoses);
}
}

Expand Down Expand Up @@ -2028,8 +2034,10 @@ void RenderUtilPrivate::UpdateThermalCamera(const std::unordered_map<Entity,
}

/////////////////////////////////////////////////
void RenderUtilPrivate::UpdateAnimation(
const std::unordered_map<Entity, AnimationUpdateData> &_actorAnimationData)
void RenderUtilPrivate::UpdateAnimation(const std::unordered_map<Entity,
AnimationUpdateData> &_actorAnimationData,
const std::unordered_map<Entity, math::Pose3d> &_entityPoses,
const std::unordered_map<Entity, math::Pose3d> &_trajectoryPoses)
{
for (auto &it : _actorAnimationData)
{
Expand Down Expand Up @@ -2098,16 +2106,18 @@ void RenderUtilPrivate::UpdateAnimation(

// update actor trajectory animation
math::Pose3d globalPose;
if (entityPoses.find(it.first) != entityPoses.end())
auto entityPosesIt = _entityPoses.find(it.first);
if (entityPosesIt != _entityPoses.end())
{
globalPose = entityPoses[it.first];
globalPose = entityPosesIt->second;
}

math::Pose3d trajPose;
// Trajectory from the ECS
if (trajectoryPoses.find(it.first) != trajectoryPoses.end())
auto trajectoryPosesIt = _trajectoryPoses.find(it.first);
if (trajectoryPosesIt != _trajectoryPoses.end())
{
trajPose = trajectoryPoses[it.first];
trajPose = trajectoryPosesIt->second;
}
else
{
Expand Down
3 changes: 2 additions & 1 deletion test/integration/follow_actor_system.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
#include <gtest/gtest.h>
#include <ignition/common/Console.hh>
#include <ignition/math/Pose3.hh>
#include <ignition/utilities/ExtraTestMacros.hh>

#include "ignition/gazebo/components/Actor.hh"
#include "ignition/gazebo/components/Name.hh"
Expand Down Expand Up @@ -88,7 +89,7 @@ class Relay


/////////////////////////////////////////////////
TEST_P(FollowActorTest, PublishCmd)
TEST_P(FollowActorTest, IGN_UTILS_TEST_DISABLED_ON_MAC(PublishCmd))
{
// Start server
ServerConfig serverConfig;
Expand Down
40 changes: 40 additions & 0 deletions test/worlds/follow_actor.sdf
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Original file line number Diff line number Diff line change
@@ -1,6 +1,46 @@
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="actors">

<!-- add sensors system and camera so that the rendering code is also tested
-->
<plugin
filename="ignition-gazebo-sensors-system"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<model name="camera">
<static>true</static>
<pose>0 0 0 0 0 0</pose>
<link name="link">
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="camera">
<pose>1 0 1.3 0 0 0</pose>
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>camera</topic>
</sensor>
</link>
</model>

<model name="box">
<static>true</static>
<pose>1 -2 0.5 0 0 0</pose>
Expand Down