Plugin to spawn lights #587

ahcorde · 2021-01-27T19:35:31Z

I created a plugin to spawn lights in ignition-gazebo.

I have some questions and issues:

Do you want to see the visual in the component inspector ? the same way we are visualizing link, collisions or lights for models ?
I'm getting sometimes this error:

terminate called after throwing an instance of 'Ogre::RenderingAPIException'
 what():  OGRE EXCEPTION(3:RenderingAPIException): Fragment Program 537068800PixelShader_ps failed to compile. See compile log above for details. in GLSLShader::compile at /var/lib/jenkins/workspace/ogre-2.1-debbuilder/repo/RenderSystems/GL3Plus/src/GLSL/OgreGLSLShader.cpp (line 305)

Where and how is the best place to create the LightVisual ? Right now it's in the RenderUtil.cc but when I remove the light from Gazebo in the component inspector the visual it's still there. Probably I should attach the Visual to the Light. Is this possible ?
https://github.com/ignitionrobotics/ign-gazebo/blob/139e552a2fa2869794020313bea975143c7f273c/src/rendering/RenderUtil.cc#L404-L417

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

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

iche033 · 2021-01-28T00:22:08Z

Do you want to see the visual in the component inspector ? the same way we are visualizing link, collisions or lights for models ?

you mean the light visuals? I think it's fine to leave them out

I'm getting sometimes this error:

I see this when spawning a directional light. It could be that we can't have more than one directional lights in the scene. If that's the case, we can print a warning that only 1 directional light is supported for now

Where and how is the best place to create the LightVisual ? Right now it's in the RenderUtil.cc but when I remove the light from Gazebo in the component inspector the visual it's still there. Probably I should attach the Visual to the Light. Is this possible ?

yes you can attach LightVisual to Light. Since the they are all ign-rendering nodes, you can just do light->AddChild(lightVisual)

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

ahcorde · 2021-01-28T18:33:02Z

@iche033 I improved the implementation.

The issue with the lights is the following: When point lights and directionals are mixed the segfault appears

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

iche033 · 2021-01-29T01:18:42Z

ok narrowed the the point vs directional light issue a bit more. Disabling the point light shadows makes them work now:

--- a/src/gui/plugins/lights/Lights.cc
+++ b/src/gui/plugins/lights/Lights.cc
@@ -86,7 +86,7 @@ void Lights::OnMode(const QString &_mode)
                                  "<sdf version=\"1.6\">"
                                  "<light type='point' name='pointlight'>"
                                    "<pose>0 0 2 0 0 0</pose>"
-                                   "<cast_shadows>true</cast_shadows>"
+                                   "<cast_shadows>false</cast_shadows>"
                                    "<diffuse>0.5 0.5 0.5 1</diffuse>"
                                    "<specular>0.5 0.5 0.5 1</specular>"
                                    "<attenuation>"

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

ahcorde · 2021-01-29T07:24:46Z

@iche033 It's ready for a review, thank you for the catch with the lights.

Related with the PR Added LightVisual gz-rendering#202

include/ignition/gazebo/components/LightType.hh

chapulina · 2021-01-30T00:19:16Z

src/SdfEntityCreator.cc

+  else if (_light->Type() == sdf::LightType::SPOT)
+  {
+    this->dataPtr->ecm->CreateComponent(lightEntity,
+        components::LightType(std::string("Spot")));


How about creating a convert function from sdf::LightType to std::string in Conversions.hh? It would be better to reuse the same logic in many places. I'm concerned that different plugins may use different strings (i.e. spot, SPOT...).

I can even see this function living in libSDFormat.

Also, I think that we should store the types as lowercase. The GUI can capitalize them as needed.

src/SdfEntityCreator.cc

src/gui/plugins/component_inspector/ComponentInspector.cc

src/gui/plugins/lights/Lights.cc

src/gui/plugins/lights/Lights.hh

src/rendering/SceneManager.cc

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

include/ignition/gazebo/components/LightType.hh

src/rendering/RenderUtil.cc

src/rendering/SceneManager.cc

* light visual as child of light Signed-off-by: Ian Chen <ichen@osrfoundation.org> * remove comment Signed-off-by: Ian Chen <ichen@osrfoundation.org>

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

ahcorde · 2021-02-05T11:11:56Z

@iche033, I addressed the comment from @chapulina 2a79677

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

…otics/ign-gazebo into ahcorde/spawn/ligths

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

chapulina

Works great with the event change we talked about.

Besides the comment below, I have 2 requests:

We should add the Lights plugin to the top toolbar next to the shapes in gui.config.
Now that the lights have a visual, most example worlds will have a green square near the origin for the sun. This may confuse users. On Gazebo classic, I've seen many users confused about the floating green square, imagine if it's on the ground 😅 I suggest we move all suns in the examples to z=10, so it's in a more "sun-like" position. I think it's ok if this comes in a future PR though.

include/ignition/gazebo/components/LightType.hh

src/gui/plugins/lights/Lights.cc

chapulina · 2021-02-09T20:08:10Z

src/rendering/RenderUtil.cc

+
+      // create a new id for the light visual
+      auto timeout = 100000u;
+      for (auto i = 0u; i < timeout; ++i)


I don't think it's a good idea to block the render thread. If this may take time to be completed, I suggest we queue it and process it when possible.

the right name for this variable is attempts, this loop has no relation with time or sleep. It's looking for an available entity ID.

Ohh ok understood! I wonder if there's a chance of entity ID collision when new entities are inserted into the simulation from the backend. I didn't notice problems in my manual testing earlier.

In this method I can't access the ECM to call CreateEntity. Is there any other way to get an empty ID ?

For the entity preview when spawning, there's this method in the Scene3D plugin:

https://github.com/ignitionrobotics/ign-gazebo/blob/766bb23eaca85ff60941e2ef852c4f286356fbcc/src/gui/plugins/scene3d/Scene3D.cc#L927-L937

That plugin isn't accessible from RenderUtil. But I think it could make sense to move the light visual logic from RenderUtil to Scene3d. The light visuals are only supposed to show on the client scene, not on the server. But RenderUtil is used by both scenes. I think this would be a big change and it may take longer to merge this PR though 😬

I can open an issue and merge this PR. Waht do you think @chapulina ?

friendly ping @chapulina

An issue sounds good, thanks!

issue created #633

src/rendering/SceneManager.cc

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

ahcorde · 2021-02-09T21:34:29Z

Now that the lights have a visual, most example worlds will have a green square near the origin for the sun. This may confuse users. On Gazebo classic, I've seen many users confused about the floating green square, imagine if it's on the ground sweat_smile I suggest we move all suns in the examples to z=10, so it's in a more "sun-like" position. I think it's ok if this comes in a future PR though

@chapulina I made a quick review in the example folder. The suns' poses are already z=10

   <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>

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

chapulina

It's working for me! One last thing I noticed is that the directional light is spawned higher than the others, which may confuse users depending on their zoom level:

I think this is good to merge when the last 2 details are addressed, and if CI is happy.

src/gui/gui.config

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

ahcorde · 2021-02-17T21:15:04Z

@chapulina I fixed the two suggestions:

Feel free to squash and merge it

ahcorde · 2021-02-18T07:08:57Z

Failing tests are unrelated:

INTEGRATION_touch_plugin.test_ran
INTEGRATION_depth_camera.test_ran

Merging!

Plugin to spawn lights

139e552

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

ahcorde requested review from iche033 and chapulina January 27, 2021 19:35

ahcorde self-assigned this Jan 27, 2021

github-actions bot added the 🏢 edifice Ignition Edifice label Jan 27, 2021

chapulina added close the gap Features from Gazebo-classic GUI Gazebo's graphical interface (not pure Ignition GUI) labels Jan 28, 2021

chapulina mentioned this pull request Jan 28, 2021

Insert lights from the GUI #119

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Improved implementation

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make linters happy

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ahcorde added 3 commits January 29, 2021 07:51

quick fix

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clean code

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Merge branch 'main' into ahcorde/spawn/ligths

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ahcorde marked this pull request as ready for review January 29, 2021 06:56

ahcorde added the needs upstream release Blocked by a release of an upstream library label Jan 29, 2021

chapulina suggested changes Jan 30, 2021

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ahcorde added 3 commits February 1, 2021 13:48

updated light enum names

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Added feedback

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make linters happy

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iche033 mentioned this pull request Feb 3, 2021

Create light visual as child of light #608

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iche033 and others added 3 commits February 3, 2021 08:12

Create light visual as child of light (#608)

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* light visual as child of light Signed-off-by: Ian Chen <ichen@osrfoundation.org> * remove comment Signed-off-by: Ian Chen <ichen@osrfoundation.org>

Added feedback

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Merge branch 'main' into ahcorde/spawn/ligths

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Light types as lower case

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chapulina and others added 6 commits February 8, 2021 13:13

Merge branch 'main' into ahcorde/spawn/ligths

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Removed macos warning

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Merge branch 'ahcorde/spawn/ligths' of https://github.com/ignitionrob…

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…otics/ign-gazebo into ahcorde/spawn/ligths

Merge branch 'main' into ahcorde/spawn/ligths

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Merge branch 'main' into ahcorde/spawn/ligths

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Removed warning

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chapulina reviewed Feb 9, 2021

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Removed lights visuals, added light spawner to gui.config

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ahcorde requested a review from chapulina February 9, 2021 21:34

ahcorde added 3 commits February 11, 2021 08:44

Merge branch 'main' into ahcorde/spawn/ligths

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Merge branch 'main' into ahcorde/spawn/ligths

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make linters happy

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

chapulina removed the needs upstream release Blocked by a release of an upstream library label Feb 17, 2021

ahcorde mentioned this pull request Feb 17, 2021

Move the light visual logic from RenderUtil to Scene3d. #633

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ahcorde added 2 commits February 17, 2021 22:13

spawn directional light at the same height as the other light types

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Fix gui.config

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ahcorde merged commit 6b39bc2 into main Feb 18, 2021

ahcorde deleted the ahcorde/spawn/ligths branch February 18, 2021 07:09

iche033 mentioned this pull request Jul 27, 2021

[Ogre1.x] Point and spot lights don't cast shadows gazebosim/gz-rendering#32

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Add ML tool for datasets generation gazebosim/gz-sensors#149

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Plugin to spawn lights #587

Plugin to spawn lights #587

ahcorde commented Jan 27, 2021

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iche033 commented Jan 29, 2021

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Plugin to spawn lights #587

Plugin to spawn lights #587

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ahcorde commented Jan 27, 2021

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