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Signed-off-by: Louise Poubel <louise@openrobotics.org>
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| cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) | ||
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| find_package(ignition-gazebo5 REQUIRED) | ||
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| add_executable(external_ecm external_ecm.cc) | ||
| target_link_libraries(external_ecm | ||
| ignition-gazebo5::core) |
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| # External ECM | ||
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| Example showing how to get a snapshot of all entities and components in a | ||
| running simulation from an external program using the state message. | ||
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| ## Build | ||
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| From the root of the `ign-gazebo` repository, do the following to build the example: | ||
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| ~~~ | ||
| cd ign-gazebo/examples/standalone/external_ecm | ||
| mkdir build | ||
| cd build | ||
| cmake .. | ||
| make | ||
| ~~~ | ||
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| This will generate the `external_ecm` executable under `build`. | ||
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| ## Run | ||
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| Start a simulation, for example: | ||
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| ign gazebo shapes.sdf | ||
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| On another terminal, run the `external_ecm` executable, passing the name of the | ||
| running world you want to inspect: | ||
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| cd ign-gazebo/examples/standalone/external_ecm | ||
| ./external_ecm shapes | ||
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| You should see something like this: | ||
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| ``` | ||
| $ ./external_ecm shapes | ||
| Requesting state for world [shapes] on service [/world/shapes/state]... | ||
| Entity [1] | ||
| - Name: shapes | ||
| - Parent: | ||
| Entity [4] | ||
| - Name: ground_plane | ||
| - Parent: shapes [1] | ||
| Entity [5] | ||
| - Name: link | ||
| - Parent: ground_plane [4] | ||
| Entity [6] | ||
| - Name: visual | ||
| - Parent: link [5] | ||
| Entity [7] | ||
| - Name: collision | ||
| - Parent: link [5] | ||
| Entity [8] | ||
| - Name: box | ||
| - Parent: shapes [1] | ||
| Entity [9] | ||
| - Name: box_link | ||
| - Parent: box [8] | ||
| Entity [10] | ||
| - Name: box_visual | ||
| - Parent: box_link [9] | ||
| Entity [11] | ||
| - Name: box_collision | ||
| - Parent: box_link [9] | ||
| Entity [12] | ||
| - Name: cylinder | ||
| - Parent: shapes [1] | ||
| Entity [13] | ||
| - Name: cylinder_link | ||
| - Parent: cylinder [12] | ||
| Entity [14] | ||
| - Name: cylinder_visual | ||
| - Parent: cylinder_link [13] | ||
| Entity [15] | ||
| - Name: cylinder_collision | ||
| - Parent: cylinder_link [13] | ||
| Entity [16] | ||
| - Name: sphere | ||
| - Parent: shapes [1] | ||
| Entity [17] | ||
| - Name: sphere_link | ||
| - Parent: sphere [16] | ||
| Entity [18] | ||
| - Name: sphere_visual | ||
| - Parent: sphere_link [17] | ||
| Entity [19] | ||
| - Name: sphere_collision | ||
| - Parent: sphere_link [17] | ||
| Entity [20] | ||
| - Name: sun | ||
| - Parent: shapes [1] | ||
| ``` |
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| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
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| #include <iostream> | ||
| #include <ignition/gazebo/EntityComponentManager.hh> | ||
| #include <ignition/gazebo/components/Name.hh> | ||
| #include <ignition/gazebo/components/ParentEntity.hh> | ||
| #include <ignition/msgs/serialized.pb.h> | ||
| #include <ignition/transport/Node.hh> | ||
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| ////////////////////////////////////////////////// | ||
| int main(int argc, char **argv) | ||
| { | ||
| if (argc < 2) | ||
| { | ||
| std::cout << "Usage: `./external_ecm <world name>`" << std::endl; | ||
| return -1; | ||
| } | ||
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| // Get arguments | ||
| std::string world = argv[1]; | ||
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| // Create a transport node. | ||
| ignition::transport::Node node; | ||
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| bool executed{false}; | ||
| bool result{false}; | ||
| unsigned int timeout{5000}; | ||
| std::string service{"/world/" + world + "/state"}; | ||
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| std::cout << std::endl << "Requesting state for world [" << world | ||
| << "] on service [" << service << "]..." << std::endl << std::endl; | ||
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| // Request and block | ||
| ignition::msgs::SerializedStepMap res; | ||
| executed = node.Request(service, timeout, res, result); | ||
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| if (!executed) | ||
| { | ||
| std::cerr << std::endl << "Service call to [" << service << "] timed out" | ||
| << std::endl; | ||
| return -1; | ||
| } | ||
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| if (!result) | ||
| { | ||
| std::cerr << std::endl << "Service call to [" << service << "] failed" | ||
| << std::endl; | ||
| return -1; | ||
| } | ||
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| // Instantiate an ECM and populate with data from message | ||
| ignition::gazebo::EntityComponentManager ecm; | ||
| ecm.SetState(res.state()); | ||
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| // Print some information | ||
| ecm.Each<ignition::gazebo::components::Name>( | ||
| [&](const ignition::gazebo::Entity &_entity, | ||
| const ignition::gazebo::components::Name *_name) -> bool | ||
| { | ||
| auto parentComp = | ||
| ecm.Component<ignition::gazebo::components::ParentEntity>(_entity); | ||
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| std::string parentInfo; | ||
| if (parentComp) | ||
| { | ||
| auto parentNameComp = | ||
| ecm.Component<ignition::gazebo::components::Name>( | ||
| parentComp->Data()); | ||
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| if (parentNameComp) | ||
| { | ||
| parentInfo += parentNameComp->Data() + " "; | ||
| } | ||
| parentInfo += "[" + std::to_string(parentComp->Data()) + "]"; | ||
| } | ||
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| std::cout << "Entity [" << _entity << "]" << std::endl | ||
| << " - Name: " << _name->Data() << std::endl | ||
| << " - Parent: " << parentInfo << std::endl; | ||
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| return true; | ||
| }); | ||
| } |
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