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Visualize ContactSensorData #234

Merged
merged 17 commits into from
May 5, 2021
Merged

Visualize ContactSensorData #234

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1817a9a
Initial fix: visualize ContactSensorData
mcres Jul 7, 2020
a7677cb
Add services for enabling and disabling collision components
mcres Jul 27, 2020
1898b18
PR Feedback 1
mcres Jul 27, 2020
f3012de
Merge branch 'master' into issue_112
mcres Aug 20, 2020
87bd92b
Minor refactoring for improving readability
mcres Aug 20, 2020
d4ff151
Fix qml
mcres Aug 20, 2020
85aa810
Merge branch 'master' into issue_112
chapulina Sep 1, 2020
dc76a4a
Merge branch 'master' into issue_112
chapulina Sep 5, 2020
c86bd7f
Merge branch 'master' into issue_112
chapulina Sep 10, 2020
1030417
PR Feedback 2
mcres Sep 23, 2020
675e1ad
merge master
mcres Nov 4, 2020
30cc3ae
Merge branch 'ign-gazebo4' into issue_112
mcres Nov 4, 2020
d2828cc
Merge branch 'ign-gazebo4' into issue_112
azeey Nov 17, 2020
1e42e2e
Don't skip of if component is not set
azeey Dec 7, 2020
3c116d8
Merge branch 'ign-gazebo4' into issue_112
chapulina Dec 28, 2020
5c416f0
merged from ign-gazebo4
chapulina May 3, 2021
c28fc20
Remove forces, use valid topic
chapulina May 3, 2021
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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
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// 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
Expand Down
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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