Merged in gazebo_2.0 (pull request #733)

Merge gazebo_2.0 to default
gazebosim · Oct 2, 2013 · ce60bf6 · ce60bf6
2 parents 48c7baa + 225d016
commit ce60bf6
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Showing 7 changed files with 192 additions and 32 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -10,12 +10,12 @@ string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
 string (TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER)
 
 set (GAZEBO_VERSION_NAME "lithium")
-set (GAZEBO_MAJOR_VERSION 1)
-set (GAZEBO_MINOR_VERSION 9)
+set (GAZEBO_MAJOR_VERSION 2)
+set (GAZEBO_MINOR_VERSION 0)
 # The patch version may have been bumped for prerelease purposes; be sure to
 # check gazebo-release/ubuntu/debian/changelog@default to determine what the
 # next patch version should be for a regular release.
-set (GAZEBO_PATCH_VERSION 1)
+set (GAZEBO_PATCH_VERSION 0)
 
 set (GAZEBO_VERSION ${GAZEBO_MAJOR_VERSION}.${GAZEBO_MINOR_VERSION})
 set (GAZEBO_VERSION_FULL ${GAZEBO_MAJOR_VERSION}.${GAZEBO_MINOR_VERSION}.${GAZEBO_PATCH_VERSION})
@@ -303,6 +303,7 @@ else (build_errors)
   # Make the cmake config files
   set(PKG_NAME ${PROJECT_NAME_UPPER})
   set(PKG_LIBRARIES
+    gazebo
     gazebo_ccd
     gazebo_common
     gazebo_gimpact

diff --git a/gazebo/common/ModelDatabase.cc b/gazebo/common/ModelDatabase.cc
@@ -135,9 +135,13 @@ bool ModelDatabase::HasModel(const std::string &_modelURI)
 
   // Make sure there is a URI separator
   if (uriSeparator == std::string::npos)
+  {
+    gzerr << "No URI separator \"://\" in [" << _modelURI << "]\n";
     return false;
+  }
 
   boost::replace_first(uri, "model://", ModelDatabase::GetURI());
+  uri = uri.substr(0, uri.find("/", ModelDatabase::GetURI().size()));
 
   std::map<std::string, std::string> models = ModelDatabase::GetModels();
 
@@ -147,6 +151,7 @@ bool ModelDatabase::HasModel(const std::string &_modelURI)
     if (iter->first == uri)
       return true;
   }
+
   return false;
 }
 
@@ -423,9 +428,10 @@ std::string ModelDatabase::GetModelPath(const std::string &_uri,
     size_t modelNameLen = endIndex == std::string::npos ? std::string::npos :
       endIndex - startIndex;
 
-    modelName = modelName.substr(startIndex, modelNameLen);
     if (endIndex != std::string::npos)
-      suffix = _uri.substr(endIndex, std::string::npos);
+      suffix = modelName.substr(endIndex, std::string::npos);
+
+    modelName = modelName.substr(startIndex, modelNameLen);
 
     // Store downloaded .tar.gz and intermediate .tar files in temp location
     boost::filesystem::path tmppath = boost::filesystem::temp_directory_path();

diff --git a/gazebo/gui/GuiIface.cc b/gazebo/gui/GuiIface.cc
@@ -20,6 +20,7 @@
 #include "gazebo/gui/qt.h"
 #include "gazebo/gazebo.hh"
 
+#include "gazebo/common/ModelDatabase.hh"
 #include "gazebo/common/Console.hh"
 #include "gazebo/common/Plugin.hh"
 #include "gazebo/common/CommonTypes.hh"
@@ -136,6 +137,9 @@ namespace gazebo
     /////////////////////////////////////////////////
     void fini()
     {
+      // Cleanup model database.
+      common::ModelDatabase::Instance()->Fini();
+
       gui::clear_active_camera();
       rendering::fini();
       fflush(stdout);
@@ -186,6 +190,9 @@ bool gui::run(int _argc, char **_argv)
   // Initialize the informational logger. This will log warnings, and errors.
   gazebo::common::Console::Instance()->Init("gzclient.log");
 
+  // Make sure the model database has started
+  gazebo::common::ModelDatabase::Instance()->Start();
+
   if (!parse_args(_argc, _argv))
     return false;
 

diff --git a/gazebo/physics/Model.hh b/gazebo/physics/Model.hh
@@ -292,6 +292,19 @@ namespace gazebo
       /// \return Number of sensors.
       public: unsigned int GetSensorCount() const;
 
+      /// \brief Get a handle to the Controller for the joints in this model.
+      /// \return A handle to the Controller for the joints in this model.
+      public: JointControllerPtr GetJointController();
+
+      /// \brief Get a gripper based on an index.
+      /// \return A pointer to a Gripper. Null if the _index is invalid.
+      public: GripperPtr GetGripper(size_t _index) const;
+
+      /// \brief Get the number of grippers in this model.
+      /// \return Size of this->grippers array.
+      /// \sa Model::GetGripper()
+      public: size_t GetGripperCount() const;
+
       /// \brief Callback when the pose of the model has been changed.
       protected: virtual void OnPoseChange();
 
@@ -315,19 +328,6 @@ namespace gazebo
       /// \param[in] _name Name of the link to remove.
       private: void RemoveLink(const std::string &_name);
 
-      /// \brief Get a handle to the Controller for the joints in this model.
-      /// \return A handle to the Controller for the joints in this model.
-      public: JointControllerPtr GetJointController();
-
-      /// \brief Get a gripper based on an index.
-      /// \return A pointer to a Gripper. Null if the _index is invalid.
-      public: GripperPtr GetGripper(size_t _index) const;
-
-      /// \brief Get the number of grippers in this model.
-      /// \return Size of this->grippers array.
-      /// \sa Model::GetGripper()
-      public: size_t GetGripperCount() const;
-
       /// used by Model::AttachStaticModel
       protected: std::vector<ModelPtr> attachedModels;
 

diff --git a/gazebo/rendering/Heightmap.cc b/gazebo/rendering/Heightmap.cc
@@ -254,6 +254,7 @@ void Heightmap::Load()
   {
     nTerrains = this->NumTerrainSubdivisions;
   }
+  double sqrtN = sqrt(nTerrains);
 
   // Create terrain group, which holds all the individual terrain instances.
   // Param 1: Pointer to the scene manager
@@ -264,17 +265,17 @@ void Heightmap::Load()
 
   this->terrainGroup = new Ogre::TerrainGroup(
       this->scene->GetManager(), Ogre::Terrain::ALIGN_X_Y,
-      1 + ((this->dataSize - 1) / sqrt(nTerrains)),
-      this->terrainSize.x / (sqrt(nTerrains)));
+      1 + ((this->dataSize - 1) / sqrtN),
+      this->terrainSize.x / (sqrtN));
 
   boost::filesystem::path prefix = this->pagingPath / "gazebo_terrain";
   this->terrainGroup->setFilenameConvention(
     Ogre::String(prefix.string()), Ogre::String("dat"));
 
   Ogre::Vector3 orig = Conversions::Convert(this->terrainOrigin);
   math::Vector3 origin(
-      -0.5 * this->terrainSize.x + 0.5 * this->terrainSize.x / sqrt(nTerrains),
-      -0.5 * this->terrainSize.x + 0.5 * this->terrainSize.x / sqrt(nTerrains),
+      orig.x -0.5 * this->terrainSize.x + 0.5 * this->terrainSize.x / sqrtN,
+      orig.y -0.5 * this->terrainSize.x + 0.5 * this->terrainSize.x / sqrtN,
       orig.z);
 
   this->terrainGroup->setOrigin(Conversions::Convert(origin));
@@ -305,11 +306,11 @@ void Heightmap::Load()
     this->terrainPaging->createWorldSection(world, this->terrainGroup,
         this->LoadRadiusFactor * this->terrainSize.x,
         this->HoldRadiusFactor * this->terrainSize.x,
-        0, 0, sqrt(nTerrains) - 1, sqrt(nTerrains) - 1);
+        0, 0, sqrtN - 1, sqrtN - 1);
   }
 
-  for (int y = 0; y <= sqrt(nTerrains) - 1; ++y)
-    for (int x = 0; x <= sqrt(nTerrains) - 1; ++x)
+  for (int y = 0; y <= sqrtN - 1; ++y)
+    for (int x = 0; x <= sqrtN - 1; ++x)
       this->DefineTerrain(x, y);
 
   // sync load since we want everything in place when we start

diff --git a/gazebo/rendering/LaserVisual.cc b/gazebo/rendering/LaserVisual.cc
@@ -40,24 +40,27 @@ LaserVisual::LaserVisual(const std::string &_name, VisualPtr _vis,
   this->node = transport::NodePtr(new transport::Node());
   this->node->Init(this->scene->GetName());
 
-  this->laserScanSub = this->node->Subscribe(_topicName,
-      &LaserVisual::OnScan, this);
-
   this->rayFan = this->CreateDynamicLine(rendering::RENDERING_TRIANGLE_FAN);
 
   this->rayFan->setMaterial("Gazebo/BlueLaser");
   this->rayFan->AddPoint(math::Vector3(0, 0, 0));
   this->SetVisibilityFlags(GZ_VISIBILITY_GUI);
 
+  this->laserScanSub = this->node->Subscribe(_topicName,
+      &LaserVisual::OnScan, this);
+
   this->connection = event::Events::ConnectPreRender(
         boost::bind(&LaserVisual::Update, this));
 }
 
 /////////////////////////////////////////////////
 LaserVisual::~LaserVisual()
 {
-  delete this->rayFan;
-  this->rayFan = NULL;
+  if (this->rayFan)
+  {
+    this->DeleteDynamicLine(this->rayFan);
+    this->rayFan = NULL;
+  }
 }
 
 /////////////////////////////////////////////////
@@ -74,9 +77,9 @@ void LaserVisual::Update()
   boost::mutex::scoped_lock lock(this->mutex);
 
   // Skip the update if the user is moving the laser.
-  if (this->GetScene()->GetSelectedVisual() &&
+  if (!this->rayFan || (this->GetScene()->GetSelectedVisual() &&
       this->GetRootVisual()->GetName() ==
-      this->GetScene()->GetSelectedVisual()->GetName())
+      this->GetScene()->GetSelectedVisual()->GetName()))
   {
     return;
   }

diff --git a/sdf/worlds/everything.world b/sdf/worlds/everything.world
@@ -0,0 +1,142 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://pr2</uri>
+      <pose>0 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://house_1</uri>
+      <pose>10 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://house_2</uri>
+      <pose>20 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://house_3</uri>
+      <pose>30 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://jersey_barrier</uri>
+      <pose>40 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://bookshelf</uri>
+      <pose>50 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://turtlebot</uri>
+      <pose>60 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://table</uri>
+      <pose>70 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://willowgarage</uri>
+      <pose>100 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://youbot</uri>
+      <pose>-10 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://utility_cart</uri>
+      <pose>-20 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://stop_sign</uri>
+      <pose>-30 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://starting_pen</uri>
+      <pose>-40 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://speed_limit_sign</uri>
+      <pose>-50 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://powerplant</uri>
+      <pose>-80 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://polaris_ranger_ev</uri>
+      <pose>0 10 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://pioneer2dx</uri>
+      <pose>0 20 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://monkey_wrench</uri>
+      <pose>0 30 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://mailbox</uri>
+      <pose>0 40 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://lamp_post</uri>
+      <pose>0 50 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://hammer</uri>
+      <pose>0 60 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://grey_wall</uri>
+      <pose>0 70 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://gas_station</uri>
+      <pose>0 80 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://fast_food</uri>
+      <pose>0 90 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://dumpster</uri>
+      <pose>0 100 0 0 0 0</pose>
+    </include>
+
+  </world>
+</sdf>
+