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Scenebroadcaster sensors #698

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merged 3 commits into from
Mar 22, 2021
Merged

Scenebroadcaster sensors #698

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7866b9f
Add sensors to scene broadcaster
Mar 19, 2021
7fada50
Update src/systems/scene_broadcaster/SceneBroadcaster.cc
nkoenig Mar 22, 2021
1d6a415
Fix codecheck
Mar 22, 2021
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51 changes: 51 additions & 0 deletions src/systems/scene_broadcaster/SceneBroadcaster.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@
#include "ignition/gazebo/components/Name.hh"
#include "ignition/gazebo/components/ParentEntity.hh"
#include "ignition/gazebo/components/Pose.hh"
#include "ignition/gazebo/components/Sensor.hh"
#include "ignition/gazebo/components/Static.hh"
#include "ignition/gazebo/components/Visual.hh"
#include "ignition/gazebo/components/World.hh"
Expand Down Expand Up @@ -124,6 +125,15 @@ class ignition::gazebo::systems::SceneBroadcasterPrivate
public: static void AddVisuals(msgs::Link *_msg, const Entity _entity,
const SceneGraphType &_graph);

/// \brief Adds sensors to a msgs::Link object based on the contents of
/// the scene graph
/// \param[inout] _msg Pointer to msg object to which the sensors will be
/// added.
/// \param[in] _entity Parent entity in the graph
/// \param[in] _graph Scene graph
public: static void AddSensors(msgs::Link *_msg, const Entity _entity,
const SceneGraphType &_graph);

/// \brief Recursively remove entities from the graph
/// \param[in] _entity Entity
/// \param[in/out] _graph Scene graph
Expand Down Expand Up @@ -734,6 +744,26 @@ void SceneBroadcasterPrivate::SceneGraphAddEntities(
return true;
});

// Sensors
_manager.EachNew<components::Sensor, components::Name,
components::ParentEntity, components::Pose>(
[&](const Entity &_entity, const components::Sensor *,
const components::Name *_nameComp,
const components::ParentEntity *_parentComp,
const components::Pose *_poseComp) -> bool
{
auto sensorMsg = std::make_shared<msgs::Sensor>();
sensorMsg->set_id(_entity);
sensorMsg->set_parent_id(_parentComp->Data());
sensorMsg->set_name(_nameComp->Data());
sensorMsg->mutable_pose()->CopyFrom(msgs::Convert(_poseComp->Data()));

// Add to graph
newGraph.AddVertex(_nameComp->Data(), sensorMsg, _entity);
newGraph.AddEdge({_parentComp->Data(), _entity}, true);
newEntity = true;
return true;
});

// Update the whole scene graph from the new graph
{
Expand Down Expand Up @@ -878,6 +908,24 @@ void SceneBroadcasterPrivate::AddVisuals(msgs::Link *_msg, const Entity _entity,
}
}

//////////////////////////////////////////////////
void SceneBroadcasterPrivate::AddSensors(msgs::Link *_msg, const Entity _entity,
const SceneGraphType &_graph)
{
if (!_msg)
return;

for (const auto &vertex : _graph.AdjacentsFrom(_entity))
{
auto sensorMsg = std::dynamic_pointer_cast<msgs::Sensor>(
vertex.second.get().Data());
if (!sensorMsg)
continue;

_msg->add_sensor()->CopyFrom(*sensorMsg);
}
}

//////////////////////////////////////////////////
void SceneBroadcasterPrivate::AddLinks(msgs::Model *_msg, const Entity _entity,
const SceneGraphType &_graph)
Expand All @@ -900,6 +948,9 @@ void SceneBroadcasterPrivate::AddLinks(msgs::Model *_msg, const Entity _entity,

// Lights
AddLights(msgOut, vertex.second.get().Id(), _graph);

// Sensors
AddSensors(msgOut, vertex.second.get().Id(), _graph);
}
}

Expand Down
51 changes: 51 additions & 0 deletions test/integration/scene_broadcaster_system.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -220,6 +220,57 @@ TEST_P(SceneBroadcasterTest, SceneTopic)
EXPECT_TRUE(google::protobuf::util::MessageDifferencer::Equals(msg, scene));
}

/////////////////////////////////////////////////
/// Test whether the scene topic is published only when new entities are added
TEST_P(SceneBroadcasterTest, SceneTopicSensors)
{
// Start server
ignition::gazebo::ServerConfig serverConfig;
serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/altimeter_with_pose.sdf");

gazebo::Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));
EXPECT_EQ(12u, *server.EntityCount());

// Create requester
transport::Node node;

std::vector<msgs::Scene> sceneMsgs;
std::function<void(const msgs::Scene &)> collectMsgs =
[&sceneMsgs](const msgs::Scene &_msg)
{
sceneMsgs.push_back(_msg);
};

node.Subscribe("/world/altimeter_sensor/scene/info", collectMsgs);

// Run server
server.Run(true, 10, false);

// Should only have one scene even though the simulation ran multiple times
ASSERT_EQ(1u, sceneMsgs.size());

// Compare this scene with one from a service request
msgs::Scene &scene = sceneMsgs.front();

bool result{false};
unsigned int timeout{5000};
ignition::msgs::Scene msg;

EXPECT_TRUE(node.Request("/world/altimeter_sensor/scene/info",
timeout, msg, result));
EXPECT_TRUE(result);
EXPECT_TRUE(google::protobuf::util::MessageDifferencer::Equals(msg, scene));

EXPECT_EQ(1, msg.model(1).link(0).sensor_size());
EXPECT_EQ("altimeter_sensor", msg.model(1).link(0).sensor(0).name());
EXPECT_DOUBLE_EQ(0.1, msg.model(1).link(0).sensor(0).pose().position().x());
EXPECT_DOUBLE_EQ(0.2, msg.model(1).link(0).sensor(0).pose().position().y());
EXPECT_DOUBLE_EQ(0.3, msg.model(1).link(0).sensor(0).pose().position().z());
}

/////////////////////////////////////////////////
/// Test whether the scene topic is published only when new entities are added
TEST_P(SceneBroadcasterTest, DeletedTopic)
Expand Down
91 changes: 91 additions & 0 deletions test/worlds/altimeter_with_pose.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,91 @@
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="altimeter_sensor">
<physics name="1ms" type="ode">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="ignition-gazebo-physics-system"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="ignition-gazebo-altimeter-system"
name="ignition::gazebo::systems::Altimeter">
</plugin>
<plugin
filename="libignition-gazebo-scene-broadcaster-system.so"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</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="altimeter_model">
<pose>4 0 3.0 0 0.0 3.14</pose>
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="altimeter_sensor" type="altimeter">
<pose>0.1 0.2 0.3 0 0 0</pose>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
</sensor>
</link>

<plugin
filename="ignition-gazebo-kinetic-energy-monitor-system"
name="ignition::gazebo::systems::KineticEnergyMonitor">
<link_name>link</link_name>
<kinetic_energy_threshold>2</kinetic_energy_threshold>
</plugin>
</model>

</world>
</sdf>