[Gazebo 11] Allow gazebo to download models from Fuel in the sdf files #2822

ahcorde · 2020-08-12T10:50:17Z

Some of the bullet point from the related issue: #2406

remove the need to set GAZEBO_MODEL_PATH

Models are recorded in ~/.ignition/fuel I don't need to set up this environment variable.

support Fuel URIs specified in SDF

This PR allows to load/download models from Fuel in the sdf files

I create this world to test these features:

Model
Files (just the mesh, for example dae files)

make sure both server and client is able to download from fuel

I used gzserver and the model are being downloaded

test saving world with models from fuel and opening the saved world

I saved the world with some fuel models. I reopenned the file again and models are shown properly. Some of the URIs are hardcoded to absolute path in my computer

test logging and verify playback on new machine

If I record a log and then I remove the fuel models from ~/.ignition/fuel some of the models are not visualize properly (meshes and textures are not being shown). I think It's because how the world is saved, it's using absolute paths.

support downloading models that contain references to other models

@chapulina can you give some examples of these worlds?

Signed-off-by: ahcorde ahcorde@gmail.com

Signed-off-by: Louise Poubel <louise@openrobotics.org>

Signed-off-by: ahcorde <ahcorde@gmail.com>

chapulina · 2020-08-12T20:09:14Z

It's because how the world is saved, it's using absolute paths.

That should have been fixed in gazebosim/gz-fuel-tools#85. We just need an ign-fuel-tools4 release to be able to use that on Gazebo 11. I'll work on that soon.

support downloading models that contain references to other models

After the discussion on gazebosim/gz-fuel-tools#77 (comment), the recommended pattern is using full URLs. And ign-fuel-tools should also be handling the model:// case referring to other assets as discussed here: gazebosim/gz-fuel-tools#85 (comment)

ahcorde · 2020-08-13T07:40:29Z

I compiled from sources ign-fuel-tools4, right now these three points are working too.

test saving world with models from fuel and opening the saved world
test logging and verify playback on new machine
support downloading models that contain references to other models

Signed-off-by: ahcorde <ahcorde@gmail.com>

ahcorde · 2020-08-13T08:27:23Z

With the last commit we can load worlds from URL using the command line:

gazebo --verbose https://staging-fuel.ignitionrobotics.org/1.0/chapulina/worlds/Shapes

are worlds fully compatible between Gazebo and Ignition ? I don't know if there any plan to move worlds to fuel too

chapulina · 2020-08-13T22:36:47Z

are worlds fully compatible between Gazebo and Ignition ?

We're working on it.

The main pending item now is that Ignition requires a few world plugins to be defined for simulation to work, while classic doesn't need that. This is being addressed by gazebosim/gz-sim#281.

After that, the only difference will be some SDF tags here and there, but the worlds should be largely compatible.

Signed-off-by: Louise Poubel <louise@openrobotics.org>

…hcorde/fuel/world

ahcorde · 2020-08-26T08:03:48Z

friendly ping @chapulina

chapulina

Great work, all the use cases are working for me! Do you think you could add a few tests to make sure we don't break the functionality?

I create this world to test these features:

Mind committing that world to this repo? I could be called fuel.world.

I think that with this PR, we can remove the need for the USE_IGNITION_FUEL environment variable:

https://github.com/osrf/gazebo/blob/a9f093f2fc7fa7fc49efa73719f6536ad28f8af7/gazebo/gui/InsertModelWidget.cc#L52-L57

gazebo/Server.cc

gazebo/common/CommonIface.cc

Signed-off-by: ahcorde <ahcorde@gmail.com>

ahcorde · 2020-08-28T11:43:07Z

Added two tests

check that the model are downloaded and included in the world
check world from a URI

Signed-off-by: ahcorde <ahcorde@gmail.com>

Signed-off-by: Louise Poubel <louise@openrobotics.org>

gazebo/Server.cc

gazebo/common/FuelModelDatabase.cc

test/integration/factory.cc

Signed-off-by: ahcorde <ahcorde@gmail.com>

…nto ahcorde/fuel/world

ahcorde · 2020-09-03T18:21:28Z

@osrf-jenkins run tests again

gazebo/Server.cc

gazebo/common/CommonIface.cc

chapulina · 2020-09-03T20:36:11Z

gazebo/common/FuelModelDatabase.cc

-  {
-    gzerr << "Unable to download model[" << _uri << "]" << std::endl;
-    return std::string();
+  if (path.empty()) {


Suggested change

if (path.empty()) {

if (path.empty())

{

gazebo/common/FuelModelDatabase.cc

Signed-off-by: ahcorde <ahcorde@gmail.com>

chapulina

@osrf-jenkins run tests please?

This looks good to me, now we just need to check CI.

chapulina · 2020-09-05T00:54:36Z

@osrf-jenkins run tests maybe?

ahcorde · 2020-09-14T10:51:58Z

@osrf-jenkins run tests please

chapulina · 2020-09-17T22:07:31Z

It looks like this breaks the Windows build:

C:\Jenkins\workspace\gazebo-ci-pr_any-windows7-amd64\ws\install\include\ignition\fuel_tools4\ignition/fuel_tools/Result.hh(48): error C2143: syntax error: missing '}' before '('

ahcorde · 2020-09-21T07:25:12Z

@osrf-jenkins run tests please

chapulina · 2020-09-21T15:19:18Z

@ahcorde , the latest Windows build had the same issue. I vaguely remember seeing issues with fuel-tools enums on Windows. I see that the offending line on CI is this one, which has the DELETE enum.

Signed-off-by: ahcorde <ahcorde@gmail.com>

ahcorde · 2020-09-21T19:33:22Z

@osrf-jenkins run tests please

Signed-off-by: ahcorde <ahcorde@gmail.com>

ahcorde · 2020-09-22T06:47:17Z

@chapulina, Fixed windows build, there are some tests failing. The tests that I have edited INTEGRATION_factory it's working.

chapulina

Functionality works, the new tests pass and it looks like there are no regressions 👍

chapulina and others added 3 commits June 25, 2020 20:14

Accept relative paths in SDF files

0c4337d

Signed-off-by: Louise Poubel <louise@openrobotics.org>

convertToFullPaths unit test

6e2bb54

Signed-off-by: Louise Poubel <louise@openrobotics.org>

Allow gazebo to download models from Fuel in the sdf files

d96cfab

Signed-off-by: ahcorde <ahcorde@gmail.com>

ahcorde added the 11 Gazebo 11 label Aug 12, 2020

ahcorde requested a review from chapulina August 12, 2020 10:50

ahcorde self-assigned this Aug 12, 2020

Load worlds using URL from command line

d3ab719

Signed-off-by: ahcorde <ahcorde@gmail.com>

chapulina added the migration Helps with migration from Gazebo classic to Ignition label Aug 13, 2020

chapulina mentioned this pull request Aug 13, 2020

3 ➡️ 4 gazebosim/gz-fuel-tools#102

Merged

chapulina and others added 4 commits August 13, 2020 16:41

Merge branch 'gazebo11' into chapulina/relative_paths

7088874

adapt to ModelMaker updates

38fe3c4

Signed-off-by: Louise Poubel <louise@openrobotics.org>

actor, factory, tests

737037f

Signed-off-by: Louise Poubel <louise@openrobotics.org>

Merge remote-tracking branch 'origin/chapulina/relative_paths' into a…

4aeb041

…hcorde/fuel/world

chapulina reviewed Aug 28, 2020

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Added feedback

f5dbf5f

Signed-off-by: ahcorde <ahcorde@gmail.com>

Used common::FuelModelDatabase to get the modelpath

350ab80

Signed-off-by: ahcorde <ahcorde@gmail.com>

ahcorde requested a review from chapulina September 1, 2020 15:06

merged from gazebo11

a9a16d3

Signed-off-by: Louise Poubel <louise@openrobotics.org>

chapulina reviewed Sep 3, 2020

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ahcorde added 3 commits September 3, 2020 15:52

Merge remote-tracking branch 'origin/gazebo11' into ahcorde/fuel/world

09f1d6c

Added feedback

34026fd

Signed-off-by: ahcorde <ahcorde@gmail.com>

Merge branch 'ahcorde/fuel/world' of https://github.com/osrf/gazebo i…

c6362eb

…nto ahcorde/fuel/world

chapulina suggested changes Sep 3, 2020

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ahcorde added 3 commits September 4, 2020 10:31

Added WorldPath method to FuelModelDatabase

ff11383

Signed-off-by: ahcorde <ahcorde@gmail.com>

Updated logic to load worlds from URLs

9bad120

Signed-off-by: ahcorde <ahcorde@gmail.com>

find_file functions behave the same way

176b2df

Signed-off-by: ahcorde <ahcorde@gmail.com>

ahcorde requested a review from chapulina September 4, 2020 09:24

chapulina reviewed Sep 4, 2020

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Merge remote-tracking branch 'origin/gazebo11' into ahcorde/fuel/world

610d51b

ahcorde requested a review from chapulina September 16, 2020 07:09

Fixed windows build

1528320

Signed-off-by: ahcorde <ahcorde@gmail.com>

Fixed windows build

be691e4

Signed-off-by: ahcorde <ahcorde@gmail.com>

chapulina approved these changes Sep 22, 2020

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chapulina merged commit 1aea1b3 into gazebo11 Sep 22, 2020

chapulina deleted the ahcorde/fuel/world branch September 22, 2020 17:49

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[Gazebo 11] Allow gazebo to download models from Fuel in the sdf files #2822

[Gazebo 11] Allow gazebo to download models from Fuel in the sdf files #2822

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[Gazebo 11] Allow gazebo to download models from Fuel in the sdf files #2822

[Gazebo 11] Allow gazebo to download models from Fuel in the sdf files #2822

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