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Contacts visualization (#234)
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Signed-off-by: Martiño Crespo <marticres@gmail.com>
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@mcres
mcres authored May 5, 2021
1 parent 064b3ec commit d3738cb
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366 changes: 366 additions & 0 deletions examples/worlds/visualize_contacts.sdf
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<?xml version="1.0" ?>
<!--
This is an example demonstrating the use of the Visualize Contacts GUI plugin.
The plugin requires that the Contact system be loaded and contact sensors be placed in
the links whose contacts need to be visualized.
Use the checkbox to turn visualization on or off and spin boxes to change the
the size of the markers.
Contacts will be visualized as blue spheres and green cylinders.
-->

<sdf version="1.6">
<world name="visualize_contacts">
<plugin
filename="libignition-gazebo-physics-system.so"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="libignition-gazebo-contact-system.so"
name="ignition::gazebo::systems::Contact">
</plugin>
<plugin
filename="libignition-gazebo-scene-broadcaster-system.so"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>
<plugin
filename="libignition-gazebo-user-commands-system.so"
name="ignition::gazebo::systems::UserCommands">
</plugin>

<gui fullscreen="0">
<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/visualize_contacts/control</service>
<stats_topic>/world/visualize_contacts/stats</stats_topic>

</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/visualize_contacts/stats</topic>

</plugin>

<!-- Transform Control -->
<plugin filename="TransformControl" name="Transform Control">
<ignition-gui>
<property key="x" type="double">0</property>
<property key="y" type="double">0</property>
<property key="width" type="double">263</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#03a9f4</property>
</ignition-gui>
</plugin>

<!-- Visualize Contacts -->
<plugin filename="VisualizeContacts" name="Visualize Contacts">
<ignition-gui>
<property key="state" type="string">docked</property>
</ignition-gui>
</plugin>
</gui>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name="cylinder">
<pose>-0.3 0 1.15 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.8</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.8</length>
</cylinder>
</geometry>
<material>
<ambient>0.5 0.5 0.5 1</ambient>
<diffuse>0.5 0.5 0.5 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
</material>
</visual>
<sensor name="contact_sensor" type="contact">
<contact>
<collision>collision</collision>
</contact>
</sensor>
</link>
</model>

<model name='vehicle'>
<pose>0 0 0.325 0 0 0</pose>
<link name='chassis'>
<pose>-0.151427 -0 0.175 0 -0 0</pose>
<inertial>
<mass>1.14395</mass>
<inertia>
<ixx>0.126164</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.416519</iyy>
<iyz>0</iyz>
<izz>0.481014</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<box>
<size>2.01142 1 0.568726</size>
</box>
</geometry>
<material>
<ambient>0.5 1.0 0.5 1</ambient>
<diffuse>0.5 1.0 0.5 1</diffuse>
<specular>0.5 1.0 0.5 1</specular>
</material>
</visual>
<collision name='collision'>
<geometry>
<box>
<size>2.01142 1 0.568726</size>
</box>
</geometry>
</collision>
</link>

<link name='left_wheel'>
<pose>0.554283 0.625029 -0.025 -1.5707 0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.145833</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.145833</iyy>
<iyz>0</iyz>
<izz>0.125</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
</material>
</visual>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
</geometry>
</collision>
<sensor name="contact_sensor" type="contact">
<contact>
<collision>collision</collision>
</contact>
</sensor>
</link>

<link name='right_wheel'>
<pose>0.554282 -0.625029 -0.025 -1.5707 0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.145833</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.145833</iyy>
<iyz>0</iyz>
<izz>0.125</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
</material>
</visual>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
</geometry>
</collision>
</link>

<link name='caster'>
<pose>-0.957138 -0 -0.125 0 -0 0</pose>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
</material>
</visual>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
</collision>
</link>

<joint name='left_wheel_joint' type='revolute'>
<parent>chassis</parent>
<child>left_wheel</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
</limit>
</axis>
</joint>

<joint name='right_wheel_joint' type='revolute'>
<parent>chassis</parent>
<child>right_wheel</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
</limit>
</axis>
</joint>

<joint name='caster_wheel' type='ball'>
<parent>chassis</parent>
<child>caster</child>
</joint>

</model>

</world>
</sdf>
7 changes: 0 additions & 7 deletions src/EntityComponentManager.cc
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Expand Up @@ -1318,13 +1318,6 @@ void EntityComponentManager::SetState(
{
const auto &compMsg = compIter.second;

// Skip if component not set. Note that this will also skip components
// setting an empty value.
if (compMsg.component().empty())
{
continue;
}

uint64_t type = compMsg.type();

// Components which haven't been registered in this process, such as 3rd
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1 change: 1 addition & 0 deletions src/gui/plugins/CMakeLists.txt
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Expand Up @@ -119,4 +119,5 @@ add_subdirectory(tape_measure)
add_subdirectory(transform_control)
add_subdirectory(video_recorder)
add_subdirectory(view_angle)
add_subdirectory(visualize_contacts)
add_subdirectory(visualize_lidar)
8 changes: 8 additions & 0 deletions src/gui/plugins/visualize_contacts/CMakeLists.txt
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gz_add_gui_plugin(VisualizeContacts
SOURCES
VisualizeContacts.cc
QT_HEADERS
VisualizeContacts.hh
PUBLIC_LINK_LIBS
${IGNITION-RENDERING_LIBRARIES}
)
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