Modelpropshop gazebo plugin port #1331

marcoag · 2022-02-10T11:48:02Z

This is still work in progress.

Opening a PR here to track progress instead of marcoag/ign-modelphotoshoot#1.

This is the current progress on the different steps needed to achieve a functional plugin:

Currently working on: Make the model joints move to random positions.

🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸

🎉 New feature

As part of the work towards EricCousineau-TRI/repro#73.

Summary

Porting of the gazebo modelpropshop plugin.

Test it

Compile an run ign gazebo -s ./install/share/ignition/ignition-gazebo5/worlds/model_photo_shoot.sdf.

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
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 and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

Signed-off-by: Marco A. Gutierrez <[email protected]>

azeey

It's great to see the PropShop plugin ported to ignition! I have a high level comment about how models are loaded.

azeey · 2022-02-10T16:18:50Z

src/systems/model_photoshoot/ModelPhotoShoot.cc

+    return;
+  }
+
+  if (!sdf::readFile(this->modelLocation, modelSdf)) {


I would think it would be easier and more consistent with the rest of Gazebo for Gazebo itself to load the model directly and then this plugin can just be attached to the model. This would eliminate the whole model loading logic here.

So instead of

<plugin filename="ignition-gazebo-model-photo-shoot-system" name="ignition::gazebo::systems::ModelPhotoShoot"> <model_uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/barcs_qav500_sensor_config_1</model_uri> <translation_data_file>poses.txt</translation_data_file> </plugin>

It could be

<include> <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/barcs_qav500_sensor_config_1</uri> <plugin filename="ignition-gazebo-model-photo-shoot-system" name="ignition::gazebo::systems::ModelPhotoShoot"> <translation_data_file>poses.txt</translation_data_file> </plugin> </include>

The previous plugin would allow the user to specify the model location from the command line, I couldn't find any example on how to parse the arguments from the plugin side. Do we really want to add the command line loading option or is it enough with using the sdf file for that matter?

I don't think we have a way for plugins to parse arguments from the command line in ign-gazebo, so we'll have to leave that as a TODO for future work.

Signed-off-by: Marco A. Gutierrez <[email protected]>

codecov · 2022-03-01T13:16:20Z

Codecov Report

Merging #1331 (a9dee08) into ign-gazebo5 (adeb304) will increase coverage by 0.33%.
The diff coverage is 91.33%.

@@               Coverage Diff               @@
##           ign-gazebo5    #1331      +/-   ##
===============================================
+ Coverage        66.95%   67.28%   +0.33%     
===============================================
  Files              279      281       +2     
  Lines            21302    21429     +127     
===============================================
+ Hits             14262    14419     +157     
+ Misses            7040     7010      -30

Impacted Files	Coverage Δ
src/systems/model_photo_shoot/ModelPhotoShoot.cc	`91.26% <91.26%> (ø)`
src/systems/model_photo_shoot/ModelPhotoShoot.hh	`100.00% <100.00%> (ø)`
src/SdfEntityCreator.cc	`85.93% <0.00%> (+0.52%)`	⬆️
src/rendering/RenderUtil.cc	`46.21% <0.00%> (+0.73%)`	⬆️
src/rendering/SceneManager.cc	`37.12% <0.00%> (+2.47%)`	⬆️
src/systems/sensors/Sensors.cc	`78.19% <0.00%> (+4.26%)`	⬆️

Continue to review full report at Codecov.

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src/systems/model_photo_shoot/ModelPhotoShoot.cc

src/systems/model_photo_shoot/ModelPhotoShoot.hh

marcoag · 2022-03-03T11:57:04Z

It seems like accepting the change proposal through the gihub gui created a commit without signing it off making the DCO fail now. Shall I fix it and force push?

src/systems/model_photo_shoot/ModelPhotoShoot.cc

src/systems/model_photo_shoot/ModelPhotoShoot.hh

azeey · 2022-03-03T22:51:20Z

Yes, I don't know if there's something I haven't configured or what, but yeah, github doesn't sign the DCO when accepting suggested changes. Go ahead and force push with the fix.

marcoag · 2022-03-04T05:53:31Z

I wanted to add links to the demo world on the tutorial but the sdf file is neither part of the ignition-edifice nor the main branch yet. Shall I add (temporarily broken) links to where I assume they will be or is it better to wait and add them later?

Co-authored-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Marco A. Gutierrez <[email protected]>

Signed-off-by: Marco A. Gutierrez <[email protected]>

Co-authored-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Marco A. Gutierrez <[email protected]>

Signed-off-by: Marco A. Gutierrez <[email protected]>

azeey · 2022-03-04T17:06:33Z

I think either is fine. My preference would be to just put the path: examples/worlds/model_photo_shoot.sdf. Links to github are okay, but they can get outdated.

azeey · 2022-03-04T16:38:38Z

src/systems/model_photo_shoot/ModelPhotoShoot.cc

+        }
+        else
+        {
+          igndbg << "No jointAxisComp found, ignoring joint: " <<


hmm, that reminds me about fixed joints. We should probably check the joint type and ignore it if it's fixed. It would also be good to emit an error if the joint type is not Revolute or Prismatic.

azeey · 2022-03-04T16:45:26Z

tutorials/model_photo_shoot.md

+
+A `camera sensor` must be added as it will be used by the plugin to take the
+pictures. This allows plugin users to set the different parameters of the
+camera to their desired values.


Awesome tutorial! Thanks.

azeey · 2022-03-04T17:09:08Z

src/systems/model_photo_shoot/ModelPhotoShoot.cc

+        {
+          std::uniform_real_distribution<double> distribution(
+              jointAxisComp->Data().Lower(), jointAxisComp->Data().Upper());
+          float jointPose = distribution(generator);


This should be a double.

examples/worlds/model_photo_shoot.sdf

Co-authored-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Marco A. Gutierrez <[email protected]>

Signed-off-by: Marco A. Gutierrez <[email protected]>

chapulina · 2022-03-25T02:10:41Z

@marcoag @azeey , heads up that Edifice (ign-gazebo5) will EOL next week. Do you think this will get merged before then?

test/integration/model_photo_shoot.cc

marcoag · 2022-03-29T17:43:40Z

@marcoag @azeey , heads up that Edifice (ign-gazebo5) will EOL next week. Do you think this will get merged before then?

The PR should be ready between today and tomorrow, so hopefully we can squeeze it in.

Signed-off-by: Marco A. Gutierrez <[email protected]>

test/integration/ModelPhotoShootTest.hh

Signed-off-by: Marco A. Gutierrez <[email protected]>

Signed-off-by: Addisu Z. Taddese <[email protected]>

azeey

LGTM! I made some small changes:

Enable only on Linux because I don't think rendering tests work on macOS and Windows yet.
Add include guard
Add unique directory for test so it doesn't interfere with other tests.

* GzSceneManager: Prevent crash 💥 when inserted from menu (#1371) Signed-off-by: Louise Poubel <[email protected]> Signed-off-by: ahcorde <[email protected]> Co-authored-by: ahcorde <[email protected]> * Prepare version 6.7.0 (#1373) * Prepare version 6.7.0 Signed-off-by: Jose Luis Rivero <[email protected]> * Populate GUI plugins that are empty (#1375) Signed-off-by: Louise Poubel <[email protected]> * Fix visualization python tutorial (#1377) Signed-off-by: ahcorde <[email protected]> * Add xyz and rpy offset to published odometry pose (#1341) * Added xyz and rpy offset to published pose Signed-off-by: Aditya <[email protected]> * Added headless rendering tutorial (#1386) * Added headless rendering tutorial Signed-off-by: Nate Koenig <[email protected]> * Update tutorials/headless_rendering.md Co-authored-by: Louise Poubel <[email protected]> Signed-off-by: Nate Koenig <[email protected]> * Update tutorials/headless_rendering.md Co-authored-by: Louise Poubel <[email protected]> Signed-off-by: Nate Koenig <[email protected]> * Mention ogre2 Signed-off-by: Nate Koenig <[email protected]> * Added note about software rendering Signed-off-by: Nate Koenig <[email protected]> * add 'on linux systems' Signed-off-by: Nate Koenig <[email protected]> * Add xyz and rpy offset to published odometry pose (#1341) * Added xyz and rpy offset to published pose Signed-off-by: Aditya <[email protected]> Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Louise Poubel <[email protected]> Co-authored-by: Aditya Pande <[email protected]> * Allow to turn on/off lights (#1343) Signed-off-by: ahcorde <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Add gazebo Entity id to rendering sensor's user data (#1381) Adds the gazebo::Entity id to a rendering::Sensor's UserData object. The main use case is so that we can get back the corresponding gazebo Entity in the rendering thread when processing sensors. Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> * Don't mark entities with a ComponentState::NoChange component as modified (#1391) Signed-off-by: Ashton Larkin <[email protected]> * Disable ModelCommandAPI_TEST.RgbdCameraSensor on macOS (#1397) Disabling test since it's very flaky. Signed-off-by: Addisu Z. Taddese <[email protected]> * Disable PeerTracker.PeerTrackerStale on macOS (#1398) Signed-off-by: Addisu Z. Taddese <[email protected]> * Toggle Light visuals (#1387) Signed-off-by: ahcorde <[email protected]> * Prevent hanging when world has only non-world plugins (#1383) Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> * Component inspector: refactor Pose3d C++ code into a separate class (#1400) Signed-off-by: Louise Poubel <[email protected]> * add initial_position param to joint controller system (#1406) Similar to the <initial_position> parameter in the JointTrajectoryController system, this PR adds an <initial_position> parameter to the JointPositionController to let users specifies the initial target pos for a joint. Signed-off-by: Ian Chen <[email protected]> * Fix JointStatePublisher topic name for nested models (#1405) The joint-state-publisher system currently assumes it's always attached to the top level model and hence generates an incorrect topic name for nested models. This PR updates it to generate the correct topic name. Signed-off-by: Ian Chen <[email protected]> * Added user command to set multiple entities (#1394) Signed-off-by: ahcorde <[email protected]> Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Disable tests that are expected to fail on Windows (#1408) Signed-off-by: Louise Poubel <[email protected]> * Fortress: Install Ogre 2.2, simplify docker (#1395) Signed-off-by: Louise Poubel <[email protected]> * SceneBroadcaster: only send changed state information for change events (#1392) Signed-off-by: Ashton Larkin <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Add wheel slip user command (#1241) Signed-off-by: Ivan Santiago Paunovic <[email protected]> * Distortion camera integration test (#1374) Signed-off-by: William Lew <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Add the Model Photo Shoot system, port of Modelpropshop plugin from Gazebo classic (#1331) This system can be used to generate thumbnails of models. In comparison to the Modelpropshop plugin in Gazebo classic, this adds the ability to generate thumbnails after randomizing the joint positions of the model. Signed-off-by: Marco A. Gutierrez <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> * Referring to Fuel assets within a heightmap (#1419) Signed-off-by: Louise Poubel <[email protected]> * Disable sensors in sensors system when battery is drained (#1385) Added a new parameter <disable_on_drained_battery> to the sensors system. If set to true, sensors will be disabled if the model is out of battery. It listens to the battery state of charge from the battery plugin, and if the charge reaches zero, all child sensors and nested sensors are set to be inactive. Signed-off-by: Ian Chen <[email protected]> * 🏁🎈 5.4.0 (#1420) Signed-off-by: Louise Poubel <[email protected]> * ServerConfig accepts an sdf::Root DOM object (#1333) Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> * Preparing 6.8.0 release (#1425) * Prepareing 6.8.0 release Signed-off-by: Jose Luis Rivero <[email protected]> * Update changelog after merging forward port Signed-off-by: Jose Luis Rivero <[email protected]> * Add Gaussian noise to Odometry Publisher (#1393) * Added gaussian noise and odometry with covariance publisher Signed-off-by: Aditya <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Fix deprecation warnings for ModelPhotoShoot (#1437) Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: ahcorde <[email protected]> Co-authored-by: Jose Luis Rivero <[email protected]> Co-authored-by: Aditya Pande <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Ashton Larkin <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Ivan Santiago Paunovic <[email protected]> Co-authored-by: William Lew <[email protected]> Co-authored-by: Marco A. Gutiérrez <[email protected]> Co-authored-by: Michael Carroll <[email protected]>

osrf-triage · 2022-04-13T21:29:43Z

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1

first working version of modelpropshop plugin

387aaa7

Signed-off-by: Marco A. Gutierrez <[email protected]>

marcoag requested a review from chapulina as a code owner February 10, 2022 11:48

github-actions bot added the 🏢 edifice Ignition Edifice label Feb 10, 2022

marcoag mentioned this pull request Feb 10, 2022

Development Tracking of the Ignition ModelPhotoShot plugin marcoag/ign-modelphotoshoot#1

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background, random joints and some refactoring

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Signed-off-by: Marco A. Gutierrez <[email protected]>

moving camera to center object in image

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Update src/systems/model_photo_shoot/ModelPhotoShoot.cc

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Co-authored-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Marco A. Gutierrez <[email protected]>

several fixes to address PR suggestions

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Signed-off-by: Marco A. Gutierrez <[email protected]>

marcoag force-pushed the marcoag/model_propshop branch from 0e6691b to d16f688 Compare March 4, 2022 06:26

Marco A. Gutierrez and others added 3 commits March 4, 2022 08:31

adding tutorials and fixes to PR comments

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Signed-off-by: Marco A. Gutierrez <[email protected]>

Update src/systems/model_photo_shoot/ModelPhotoShoot.cc

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Co-authored-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Marco A. Gutierrez <[email protected]>

Update src/systems/model_photo_shoot/ModelPhotoShoot.cc

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Co-authored-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Marco A. Gutierrez <[email protected]>

marcoag force-pushed the marcoag/model_propshop branch from a4e7621 to 00dbb5c Compare March 4, 2022 08:34

marcoag and others added 2 commits March 4, 2022 16:53

Merge branch 'ign-gazebo5' into marcoag/model_propshop

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fixes to github commits

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Signed-off-by: Marco A. Gutierrez <[email protected]>

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Update examples/worlds/model_photo_shoot.sdf

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Co-authored-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Marco A. Gutierrez <[email protected]>

marcoag force-pushed the marcoag/model_propshop branch from 1d25e1f to cd6f7c6 Compare March 7, 2022 03:39

Marco A. Gutierrez and others added 5 commits March 7, 2022 07:22

adding jointType checks

a712a0e

Signed-off-by: Marco A. Gutierrez <[email protected]>

lint fixes

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adding exmple world location

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Signed-off-by: Marco A. Gutierrez <[email protected]>

adding model photo shoot test

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Merge branch 'ign-gazebo5' into marcoag/model_propshop

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marcoag requested a review from azeey March 23, 2022 10:34

azeey mentioned this pull request Mar 24, 2022

Rendering engines are not unloaded or cleaned up when Server is destroyed #1410

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adding random joints test

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Marco A. Gutierrez and others added 6 commits March 30, 2022 09:33

adding copyright message

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plugin adds JointPosition component with position

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Signed-off-by: Marco A. Gutierrez <[email protected]>

fixed comment

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Merge branch 'ign-gazebo5' into marcoag/model_propshop

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Enable test only on Linux

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Create unique directory for test

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azeey merged commit 3458318 into ign-gazebo5 Mar 31, 2022

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chapulina mentioned this pull request Apr 4, 2022

Support creating thumbnails #100

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Modelpropshop gazebo plugin port #1331

Modelpropshop gazebo plugin port #1331

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Modelpropshop gazebo plugin port #1331

Modelpropshop gazebo plugin port #1331

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marcoag commented Feb 10, 2022 • edited Loading

🎉 New feature

Summary

Test it

Checklist

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