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Add 'export world files ready for dae importing' cmake step, add utility to generate dae #53

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Add 'export world files ready for dae importing' cmake step, add utility to generate dae #53

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ad7635a
add ign_generate_dae to generate dae from preprepped world file
ddengster Jun 3, 2021
f7587f3
add processing step to prep .world file for dae export
ddengster Jun 3, 2021
fb65137
Merge branch 'main' into dae_export
ddengster Jun 16, 2021
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31 changes: 31 additions & 0 deletions rmf_demos/launch/ign_generate_dae.launch.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,31 @@
<?xml version='1.0' ?>

<!--
Converts one of our ignition .world files to dae format.
The output dae will be found in ./sim_world/sim_world.dae
Usage: ros2 launch rmf_demos ign_generate_dae.launch.xml map_name:=office/clinic/airport/etc/...
-->
<launch>
<arg name="map_package" default="rmf_demos_maps" description="Name of the map package" />
<arg name="map_name" description="Name of the rmf_demos map to generate the dae from" />

<!-- Ignition only -->
<group>
<let name="world_path" value="$(find-pkg-share $(var map_package))/maps_dae_export/$(var map_name).world" />
<let name="model_path" value="$(find-pkg-share $(var map_package))/maps/$(var map_name)_ign/models:$(find-pkg-share rmf_demos_assets)/models:$(env HOME)/.gazebo/models" />
<let name="plugin_path" value="$(find-pkg-prefix rmf_robot_sim_ignition_plugins)/lib:$(find-pkg-prefix rmf_building_sim_ignition_plugins)/lib" />

<!-- TODO: headless in ignitition -->
<executable cmd="ign gazebo --iterations 1 -r -v 4 -s $(var world_path)" output="both">
<env name="IGN_GAZEBO_RESOURCE_PATH" value="$(var model_path):$(var world_path)" />
<env name="IGN_GAZEBO_SYSTEM_PLUGIN_PATH" value="$(var plugin_path)"/>
<env name="IGN_GUI_PLUGIN_PATH" value="$(var plugin_path)"/>
</executable>

<!-- ros_ign bridge for simulation clock -->
<node pkg="ros_ign_bridge" exec="parameter_bridge"
args="/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"
/>
</group>

</launch>
19 changes: 19 additions & 0 deletions rmf_demos_maps/CMakeLists.txt
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Expand Up @@ -76,6 +76,25 @@ foreach(path ${traffic_editor_paths})
DEPENDS ${map_path}
)

##############################################################################
# Generate worlds with the export dae plugin
##############################################################################
set(dae_ign_output_dir ${CMAKE_CURRENT_BINARY_DIR}/maps_dae_export/${output_world_name}_ign)
set(dae_ign_output_world_path ${dae_ign_output_dir}/${output_world_name}.world)
set(dae_ign_output_model_dir ${dae_ign_output_dir}/models)

add_custom_command(
OUTPUT ${dae_ign_output_world_path}
COMMAND ros2 run rmf_building_map_tools building_map_generator ignition_dae_export ${map_path} ${dae_ign_output_world_path} ${dae_ign_output_model_dir}
DEPENDS ${map_path}
)
add_custom_target(generate_${world_name}_dae ALL
DEPENDS ${dae_ign_output_world_path}
)
install(
DIRECTORY ${dae_ign_output_world_path}
DESTINATION share/${PROJECT_NAME}/maps_dae_export
)

##############################################################################
# generate the navmesh and required files for crowd simulation for ign
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