LEDStrip plugin to Gazebo #391
Conversation
WalkthroughThe recent updates to the Changes
Sequence Diagram(s)sequenceDiagram
participant User
participant Gazebo
participant LEDStrip
participant ImageSource
User->>Gazebo: Start simulation
Gazebo->>LEDStrip: Initialize with parameters
LEDStrip->>ImageSource: Subscribe to image topic
ImageSource->>LEDStrip: Send images
LEDStrip->>LEDStrip: Process images (CalculateMeanColor)
LEDStrip->>Gazebo: Update LED state
Gazebo->>User: Display updated simulation
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Files selected for processing (11)
- panther_description/urdf/gazebo.urdf.xacro (1 hunks)
- panther_description/urdf/panther_macro.urdf.xacro (1 hunks)
- panther_gazebo/CMakeLists.txt (3 hunks)
- panther_gazebo/README.md (1 hunks)
- panther_gazebo/config/gz_bridge.yaml (1 hunks)
- panther_gazebo/hooks/panther_gazebo.sh.in (1 hunks)
- panther_gazebo/include/panther_gazebo/e_stop.hpp (2 hunks)
- panther_gazebo/include/panther_gazebo/led_strip.hpp (1 hunks)
- panther_gazebo/launch/simulate_robot.launch.py (2 hunks)
- panther_gazebo/src/e_stop/e_stop.cpp (1 hunks)
- panther_gazebo/src/led_strip.cpp (1 hunks)
Files skipped from review due to trivial changes (4)
- panther_gazebo/README.md
- panther_gazebo/include/panther_gazebo/e_stop.hpp
- panther_gazebo/launch/simulate_robot.launch.py
- panther_gazebo/src/e_stop/e_stop.cpp
Additional comments not posted (16)
panther_gazebo/hooks/panther_gazebo.sh.in (1)
2-2: LGTM! Addition ofIGN_GAZEBO_SYSTEM_PLUGIN_PATH.The addition of the
IGN_GAZEBO_SYSTEM_PLUGIN_PATHenvironment variable setup is consistent with the existing pattern and enhances the configuration for Gazebo system plugins.panther_gazebo/config/gz_bridge.yaml (1)
20-27: LGTM! Improved topic naming and organization.Renaming
topic_nametoros_topic_nameand addinggz_topic_nameenhances clarity and supports namespacing, improving the integration between ROS and Gazebo.panther_gazebo/CMakeLists.txt (3)
47-48: LGTM! UpdatedEStoplibrary paths.The updated paths for the
EStoplibrary reflect a reorganization of the project's directory structure, enhancing maintainability.
54-58: LGTM! Addition ofLEDStriplibrary target.The addition of the
LEDStriplibrary aligns with the PR's objective to introduce LED strip functionality, improving the simulation capabilities.
72-76: Verify removal ofgz_led_strip_manager.Ensure that the removal of the
gz_led_strip_managertarget does not affect other parts of the codebase or documentation.Verification successful
Removal of
gz_led_strip_managerVerified: Thegz_led_strip_managertarget has been successfully removed from the codebase. No references were found in CMake, C++, Python, or documentation files.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the removal of `gz_led_strip_manager` target. # Test: Search for any remaining references to `gz_led_strip_manager`. rg --type cmake 'gz_led_strip_manager'Length of output: 38
Script:
#!/bin/bash # Search for any remaining references to `gz_led_strip_manager` in source code files. rg 'gz_led_strip_manager' --type cpp --type hpp --type python # Search for any remaining references to `gz_led_strip_manager` in documentation files. rg 'gz_led_strip_manager' --type md --type rst --type txtLength of output: 147
Script:
#!/bin/bash # Correct the search for any remaining references to `gz_led_strip_manager` in header files. rg 'gz_led_strip_manager' --type h --type cpp --type pythonLength of output: 90
Script:
#!/bin/bash # Correct the search for any remaining references to `gz_led_strip_manager` in Python files. rg 'gz_led_strip_manager' --type pyLength of output: 35
panther_gazebo/include/panther_gazebo/led_strip.hpp (1)
1-76: LGTM! Introduction ofLEDStripclass.The
LEDStripclass is well-structured, aligning with the PR's objectives to enhance Gazebo simulation capabilities with LED strip functionality. The use of mutexes and message handling indicates attention to thread safety and communication.panther_description/urdf/gazebo.urdf.xacro (1)
120-129: LGTM! Enhancedlightmacro withLEDStripplugin.The addition of a
topicparameter and the inclusion of theLEDStripplugin enhance the macro's capability to interface with the simulation's lighting system, improving flexibility and control.panther_description/urdf/panther_macro.urdf.xacro (1)
193-194: Verify topic names for consistency and correctness.The addition of the
topicattribute enhances control over the light elements. Ensure that the topic names (lights/channel_1_frameandlights/channel_2_frame) are consistent with the rest of the system and are correctly referenced in the simulation environment.Verification successful
Topic names are consistent and correctly referenced.
The topic names
lights/channel_1_frameandlights/channel_2_frameare consistently used in both the source and test files, indicating correct integration within the codebase.
panther_lights/src/lights_driver_node.cpppanther_lights/test/test_lights_driver_node.cppScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify that the topic names are correctly referenced in the codebase. # Test: Search for the topic names in the codebase. Expect: Consistent and correct references. rg --type xml --type cpp 'lights/channel_1_frame|lights/channel_2_frame'Length of output: 582
panther_gazebo/src/led_strip.cpp (8)
26-26: Constructor implementation is correct.The constructor correctly initializes the base class
gz::sim::System.
209-214: ImageCallback implementation is correct.The function correctly updates image data with proper synchronization using a mutex.
216-246: CalculateMeanColor implementation is correct.The function accurately calculates the mean color of an image, handling both RGB and RGBA formats.
282-304: CreateMarker implementation is correct.The function correctly sets marker properties and sends a request for visualization.
308-310: Plugin registration is correct.The
IGNITION_ADD_PLUGINmacro correctly registers theLEDStripplugin with the required interfaces.
30-60: Ensure all required parameters are provided in SDF files.The
Configurefunction checks for essential parameters likelight_name,namespace, andtopic. Verify that these parameters are correctly specified in the SDF files used in the simulation.
154-206: Ensure efficient image processing and correct synchronization.The
PreUpdatefunction processes image data to update light colors. Ensure that the image processing logic is efficient and that the mutex correctly synchronizes access to shared resources.Verification successful
Consider optimizing image processing in
CalculateMeanColor.The
CalculateMeanColorfunction processes each pixel individually, which might be inefficient for large images. Consider optimizing this logic if performance becomes an issue. The mutex usage inPreUpdateappears correct.
- File:
panther_gazebo/src/led_strip.cpp- Function:
LEDStrip::CalculateMeanColorScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify efficient image processing and correct synchronization. # Test: Check for potential bottlenecks or synchronization issues in the codebase. Expect: Efficient and correct implementation. rg --type cpp 'std::lock_guard|image processing'Length of output: 3594
Script:
#!/bin/bash # Description: Locate the implementation of the CalculateMeanColor function to verify image processing efficiency. # Search for the definition of the CalculateMeanColor function in the codebase. ast-grep --lang cpp --pattern 'ignition::msgs::Color CalculateMeanColor(gz::msgs::Image & $_)'Length of output: 96
Script:
#!/bin/bash # Description: Broadly search for the CalculateMeanColor function definition in the codebase. # Search for any definition of the CalculateMeanColor function. rg --type cpp 'CalculateMeanColor'Length of output: 370
Script:
#!/bin/bash # Description: Retrieve the implementation of the CalculateMeanColor function for analysis. # Extract the implementation of the CalculateMeanColor function from the source file. ast-grep --lang cpp --pattern 'ignition::msgs::Color LEDStrip::CalculateMeanColor(const gz::msgs::Image & $_) { $$$ }'Length of output: 120
Script:
#!/bin/bash # Description: Extract lines around the CalculateMeanColor function definition for manual inspection. # Use ripgrep to extract lines around the CalculateMeanColor function definition. rg --type cpp --context 10 'ignition::msgs::Color LEDStrip::CalculateMeanColor' panther_gazebo/src/led_strip.cppLength of output: 723
248-280: Ensure efficient marker creation.The
VisualizeMarkersfunction creates markers based on image data. Ensure that the marker creation logic is efficient and does not introduce performance bottlenecks.
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Files selected for processing (2)
- panther_gazebo/include/panther_gazebo/led_strip.hpp (1 hunks)
- panther_gazebo/src/led_strip.cpp (1 hunks)
Files skipped from review as they are similar to previous changes (2)
- panther_gazebo/include/panther_gazebo/led_strip.hpp
- panther_gazebo/src/led_strip.cpp
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Outside diff range, codebase verification and nitpick comments (2)
panther_gazebo/README.md (2)
Line range hint
12-12: Clarify the removal ofled_strips.yaml.The removal of the
led_strips.yamlentry from the configuration files section might confuse users familiar with the previous setup. Consider adding a note explaining why it was removed or where its functionality has been integrated.Tools
LanguageTool
[uncategorized] ~14-~14: Loose punctuation mark.
Context: ...l`](./config/battery_plugin_config.yaml): Simulated LinearBatteryPlugin configura...(UNLIKELY_OPENING_PUNCTUATION)
[uncategorized] ~15-~15: Loose punctuation mark.
Context: ...z_bridge.yaml`](./config/gz_bridge.yaml): Specify data to exchange between ROS an...(UNLIKELY_OPENING_PUNCTUATION)
[uncategorized] ~16-~16: Loose punctuation mark.
Context: ...fig`](./config/teleop_with_estop.config): Gazebo layout configuration file, which...(UNLIKELY_OPENING_PUNCTUATION)
51-75: Ensure consistency and clarity in theLEDStripplugin documentation.The new
LEDStripplugin documentation is well-structured. Ensure that the descriptions of topics and parameters are consistent with the style used in other sections. For example, consider using similar phrasing for parameters as seen in theGzPantherSystemsection to maintain uniformity.
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Files selected for processing (4)
- panther_battery/README.md (1 hunks)
- panther_gazebo/README.md (2 hunks)
- panther_gazebo/include/panther_gazebo/led_strip.hpp (1 hunks)
- panther_gazebo/src/led_strip.cpp (1 hunks)
Files skipped from review due to trivial changes (2)
- panther_battery/README.md
- panther_gazebo/src/led_strip.cpp
Files skipped from review as they are similar to previous changes (1)
- panther_gazebo/include/panther_gazebo/led_strip.hpp
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Files selected for processing (2)
- panther_gazebo/include/panther_gazebo/led_strip.hpp (1 hunks)
- panther_gazebo/src/led_strip.cpp (1 hunks)
Files skipped from review as they are similar to previous changes (2)
- panther_gazebo/include/panther_gazebo/led_strip.hpp
- panther_gazebo/src/led_strip.cpp
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Files selected for processing (3)
- panther_gazebo/CMakeLists.txt (3 hunks)
- panther_gazebo/include/panther_gazebo/gui/e_stop.hpp (2 hunks)
- panther_gazebo/src/gui/e_stop.cpp (1 hunks)
Files skipped from review due to trivial changes (2)
- panther_gazebo/include/panther_gazebo/gui/e_stop.hpp
- panther_gazebo/src/gui/e_stop.cpp
Additional comments not posted (4)
panther_gazebo/CMakeLists.txt (4)
72-76: Installation ofLEDStriplibrary.The
LEDStriplibrary is set to be installed in the specified destinations. Ensure that the installation paths are correct and consistent with the project's structure.
45-45: Update resource file path.The resource file path for
EStophas been updated tosrc/gui/EStop.qrc. Ensure that this new path is correct and that the resource file exists in the specified location.Verification successful
Resource file path is correct.
The
EStop.qrcfile is correctly located atpanther_gazebo/src/gui/EStop.qrc. The path specified in theCMakeLists.txtfile is accurate.
- The file exists at the expected location:
panther_gazebo/src/gui/EStop.qrc.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the existence of the `EStop.qrc` file in the new location. # Test: Check if the file exists at the specified path. fd 'EStop.qrc' src/guiLength of output: 117
Script:
#!/bin/bash # Description: Search for the `EStop.qrc` file in the entire repository to find its correct location. # Test: Find the file `EStop.qrc` in the repository. fd 'EStop.qrc'Length of output: 47
47-48: Path update forEStoplibrary.The header and source file paths for the
EStoplibrary have been updated. Ensure that these files exist in the new locations and that the paths are correct.Verification successful
Files are correctly located for the
EStoplibrary.The
e_stop.hppande_stop.cppfiles exist in the expected directories within thepanther_gazebomodule. The paths in theCMakeLists.txtfile for theEStoplibrary are correct.
e_stop.hpp:panther_gazebo/include/panther_gazebo/gui/e_stop.hppe_stop.cpp:panther_gazebo/src/gui/e_stop.cppScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the existence of the `e_stop.hpp` and `e_stop.cpp` files in the new locations. # Test: Check if the files exist at the specified paths. fd 'e_stop.hpp' include/panther_gazebo/gui fd 'e_stop.cpp' src/guiLength of output: 275
Script:
#!/bin/bash # Description: Search for `e_stop.hpp` and `e_stop.cpp` files in the entire repository. # Search for the header file. fd 'e_stop.hpp' # Search for the source file. fd 'e_stop.cpp'Length of output: 266
54-58: Addition ofLEDStriplibrary.The
LEDStriplibrary has been added, linking againstignition-plugin1andignition-gazebo6. Verify that the source filesrc/led_strip.cppexists and that the dependencies are correctly specified.Verification successful
Verification Successful:
LEDStriplibrary addition is correct.The
led_strip.cppsource file exists, and the dependencies onignition-plugin1andignition-gazebo6are properly specified in theCMakeLists.txt. No further action is needed.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the existence of the `led_strip.cpp` file and the correctness of dependencies. # Test: Check if the file exists at the specified path. fd 'led_strip.cpp' src # Test: Ensure the required ignition libraries are available. pkg-config --exists ignition-plugin1 pkg-config --exists ignition-gazebo6Length of output: 347
Script:
#!/bin/bash # Description: Re-verify the existence of the `led_strip.cpp` file and check for ignition library mentions in CMakeLists.txt. # Test: Search for the `led_strip.cpp` file in the repository. fd 'led_strip.cpp' # Test: Check for mentions of ignition libraries in CMakeLists.txt files. rg 'ignition-plugin1|ignition-gazebo6' --glob '**/CMakeLists.txt'Length of output: 661
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Actionable comments posted: 2
Outside diff range, codebase verification and nitpick comments (2)
panther_gazebo/src/led_strip.cpp (2)
50-69: Optimize conditional checks inPreUpdate.The
PreUpdatemethod checks fornew_image_availableand time interval. Consider combining these checks to reduce nesting and improve readability.- if (new_image_available && current_time - last_update_time >= period) { + if (!new_image_available || current_time - last_update_time < period) { + return; + }
115-173: ImproveConfigureLightEntityPropertylogic.The method finds and configures a light entity. Consider adding logging for cases where the light entity is not found to aid debugging.
if (light_entity == gz::sim::kNullEntity) { ignerr << "Error: Light entity not found." << std::endl; return; }
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Files selected for processing (4)
- panther_gazebo/CMakeLists.txt (4 hunks)
- panther_gazebo/include/panther_gazebo/led_strip.hpp (1 hunks)
- panther_gazebo/package.xml (2 hunks)
- panther_gazebo/src/led_strip.cpp (1 hunks)
Files skipped from review as they are similar to previous changes (1)
- panther_gazebo/include/panther_gazebo/led_strip.hpp
Additional comments not posted (12)
panther_gazebo/CMakeLists.txt (4)
67-71: InstallLEDStriptarget.The
LEDStriptarget is now included in the installation process. Confirm that the installation paths are correct and match the project's structure.
19-19: Ensure all dependencies are available.The addition of
std_srvsto the dependencies list is noted. Verify that this dependency is correctly integrated into the rest of the codebase.Verification successful
Dependency
std_srvsis correctly integrated.The
std_srvspackage is extensively used across various components in the codebase, including service and client creation. This confirms its correct integration. No further action is required.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the usage of `std_srvs` in the codebase. # Test: Search for `std_srvs` usage. Expect: Occurrences in the codebase. rg --type cpp 'std_srvs'Length of output: 7983
44-47: UpdateEStoplibrary paths.The paths for the
EStoplibrary have been updated to reflect a new directory structure. Ensure that any references to these paths in the codebase are also updated.
51-53: AddLEDStriplibrary.The
LEDStriplibrary has been added. Ensure that it is correctly integrated and utilized within the project.Verification successful
LEDStrip library is correctly integrated and utilized.
The
LEDStriplibrary is built and linked in theCMakeLists.txt, documented in theREADME.md, and utilized as a plugin in the URDF filegazebo.urdf.xacro. This confirms its integration and usage within the project.
panther_gazebo/CMakeLists.txt: Library is added and linked.panther_gazebo/README.md: Describes theLEDStripfunctionality.panther_description/urdf/gazebo.urdf.xacro: Used as a plugin.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the usage of `LEDStrip` in the codebase. # Test: Search for `LEDStrip` usage. Expect: Occurrences in the codebase. rg --type cpp 'LEDStrip'Length of output: 1860
Script:
#!/bin/bash # Description: Verify the integration of `LEDStrip` in the codebase by searching for its usage in other files. # Test: Search for `LEDStrip` usage in the entire codebase. Expect: References in other parts of the project. rg 'LEDStrip' --glob '!panther_gazebo/src/led_strip.cpp' --glob '!panther_gazebo/include/panther_gazebo/led_strip.hpp'Length of output: 682
panther_gazebo/package.xml (2)
25-25: Replacesensor_msgswithros_gz_sim.The dependency on
sensor_msgshas been replaced withros_gz_sim. Ensure that this change is reflected in the codebase and does not introduce any compatibility issues.Verification successful
The change from
sensor_msgstoros_gz_simis reflected in the codebase.The
ros_gz_simpackage is used in thespawn_robot.launch.pyfile and is listed as a dependency in thepackage.xml. There are no compatibility issues found related to this change.
panther_gazebo/launch/spawn_robot.launch.py: Usage ofros_gz_sim.panther_gazebo/package.xml: Dependency declaration forros_gz_sim.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the usage of `ros_gz_sim` in the codebase. # Test: Search for `ros_gz_sim` usage. Expect: Occurrences in the codebase. rg --type cpp 'ros_gz_sim'Length of output: 26
Script:
#!/bin/bash # Description: Verify the usage of `ros_gz_sim` in the codebase across various file types. # Search for `ros_gz_sim` in CMakeLists.txt files. rg 'ros_gz_sim' --glob '**/CMakeLists.txt' # Search for `ros_gz_sim` in Python files. rg 'ros_gz_sim' --type py # Search for `ros_gz_sim` in XML files, which might include other package.xml files. rg 'ros_gz_sim' --type xmlLength of output: 450
39-39: Movepanther_utilsto<exec_depend>.The
panther_utilsdependency has been moved to<exec_depend>, indicating it is now required at runtime. Verify that this change aligns with the usage ofpanther_utilsin the codebase.Verification successful
The change to move
panther_utilsto<exec_depend>is appropriate.The
panther_utilslibrary is used in runtime contexts, as evidenced by its inclusion in various source files across the codebase. This supports the decision to list it as an execution dependency.
- Source Files with Runtime Usage:
panther_lights/src/led_segment.cpppanther_lights/src/lights_controller_node.cpppanther_hardware_interfaces/src/roboteq_data_converters.cpppanther_hardware_interfaces/src/panther_system.cpppanther_manager/src/lights_manager_node.cppScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the runtime usage of `panther_utils`. # Test: Search for `panther_utils` usage. Expect: Occurrences in runtime context. rg --type cpp 'panther_utils'Length of output: 30553
panther_gazebo/src/led_strip.cpp (6)
72-82: Ensure thread safety inImageCallback.The
ImageCallbackmethod uses a mutex for thread safety. Verify that all access to shared resources is protected by the mutex.
175-182: Validate image encoding inMsgValidation.The
MsgValidationmethod checks image encoding. Ensure that this validation aligns with the supported formats in the rest of the application.
214-234: Ensure light command updates inVisualizeLights.The
VisualizeLightsmethod updates light commands. Verify that these updates are reflected in the simulation as expected.
269-292: Ensure correct marker creation inCreateMarker.The
CreateMarkermethod constructs marker messages. Confirm that the marker creation logic aligns with the intended visualization requirements.
31-48: Check exception handling inConfigure.The
Configuremethod throws a runtime error if the model is invalid. Ensure that this exception is handled appropriately in the calling code to prevent crashes.
84-113: Validate SDF parameters inParseParameters.The
ParseParametersmethod throws exceptions for missing parameters. Ensure that the SDF files provide all required parameters to avoid runtime errors.
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- panther_gazebo/include/panther_gazebo/led_strip.hpp (1 hunks)
Files skipped from review as they are similar to previous changes (1)
- panther_gazebo/include/panther_gazebo/led_strip.hpp
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Additionally I don't know if this PR generates this warning but you @rafal-gorecki know the simulation best.
|
What about tests for this plugin? |
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- panther_gazebo/include/panther_gazebo/gui/e_stop.hpp (2 hunks)
- panther_gazebo/include/panther_gazebo/led_strip.hpp (1 hunks)
- panther_gazebo/src/led_strip.cpp (1 hunks)
Files skipped from review due to trivial changes (1)
- panther_gazebo/include/panther_gazebo/gui/e_stop.hpp
Files skipped from review as they are similar to previous changes (2)
- panther_gazebo/include/panther_gazebo/led_strip.hpp
- panther_gazebo/src/led_strip.cpp
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Files selected for processing (2)
- panther_gazebo/include/panther_gazebo/led_strip.hpp (1 hunks)
- panther_gazebo/src/led_strip.cpp (1 hunks)
Files skipped from review due to trivial changes (1)
- panther_gazebo/src/led_strip.cpp
Files skipped from review as they are similar to previous changes (1)
- panther_gazebo/include/panther_gazebo/led_strip.hpp
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- panther_gazebo/include/panther_gazebo/led_strip.hpp (1 hunks)
- panther_gazebo/launch/simulation.launch.py (1 hunks)
- panther_gazebo/src/led_strip.cpp (1 hunks)
Files skipped from review as they are similar to previous changes (2)
- panther_gazebo/include/panther_gazebo/led_strip.hpp
- panther_gazebo/src/led_strip.cpp
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panther_gazebo/launch/simulation.launch.py (1)
59-59: LGTM!The addition of the
gz_log_levelargument enhances the control over the Gazebo log level during simulation launches.The code changes are approved.
rafal-gorecki
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- panther_gazebo/include/panther_gazebo/led_strip.hpp (1 hunks)
- panther_gazebo/launch/simulation.launch.py (1 hunks)
Files skipped from review as they are similar to previous changes (2)
- panther_gazebo/include/panther_gazebo/led_strip.hpp
- panther_gazebo/launch/simulation.launch.py
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- panther_description/urdf/gazebo.urdf.xacro (1 hunks)
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- panther_description/urdf/gazebo.urdf.xacro
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@rafal-gorecki |
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Actionable comments posted: 2
Outside diff range, codebase verification and nitpick comments (6)
panther_gazebo/src/led_strip.cpp (6)
48-66: Consider adding comments for clarity.The
PreUpdatefunction is correctly implemented but could benefit from additional comments to explain the logic.Apply this diff to add comments:
+ // Get the current simulation time and update period auto current_time = info.simTime; auto period = std::chrono::milliseconds(static_cast<int>(1000 / frequency_)); + // Check if a new image is available and if the update period has elapsed if (new_image_available_ && current_time - last_update_time_ >= period) { gz::msgs::Image image; { last_image_.get(image); new_image_available_ = false; } + // Visualize the lights and markers based on the new image VisualizeLights(ecm, image); auto light_pose = ecm.Component<gz::sim::components::Pose>(light_entity_)->Data(); VisualizeMarkers(image, light_pose); + // Update the last update time last_update_time_ = current_time; }
89-109: Consider adding comments for clarity.The
SetupLightCmdfunction is correctly implemented but could benefit from additional comments to explain the logic.Apply this diff to add comments:
+ // Initialize the light command message gz::msgs::Light light_cmd; + // Search for the light entity by name ecm.Each<gz::sim::components::Name, gz::sim::components::Light>( [&]( const gz::sim::Entity & entity, const gz::sim::components::Name * name, const gz::sim::components::Light * light_component) -> bool { if (name->Data() != light_name_) { return true; // Continue searching } light_entity_ = entity; igndbg << "Light entity found: " << light_entity_ << std::endl; light_cmd = CreateLightMsgFromSdf(light_component->Data()); return false; // Stop searching }); + // Throw an error if the light entity is not found if (light_entity_ == gz::sim::kNullEntity) { throw std::runtime_error("Error: Light entity not found."); } return light_cmd;
112-148: Consider adding comments for clarity.The
CreateLightMsgFromSdffunction is correctly implemented but could benefit from additional comments to explain the logic.Apply this diff to add comments:
+ // Initialize the light command message gz::msgs::Light light_cmd; + // Set the light properties from the SDF data light_cmd.set_name(light_sdf.Name()); light_cmd.set_range(light_sdf.AttenuationRange()); light_cmd.set_cast_shadows(light_sdf.CastShadows()); light_cmd.set_spot_inner_angle(light_sdf.SpotInnerAngle().Radian()); light_cmd.set_spot_outer_angle(light_sdf.SpotOuterAngle().Radian()); light_cmd.set_spot_falloff(light_sdf.SpotFalloff()); light_cmd.set_attenuation_constant(light_sdf.ConstantAttenuationFactor()); light_cmd.set_attenuation_linear(light_sdf.LinearAttenuationFactor()); light_cmd.set_attenuation_quadratic(light_sdf.QuadraticAttenuationFactor()); light_cmd.set_intensity(light_sdf.Intensity()); gz::msgs::Set(light_cmd.mutable_diffuse(), light_sdf.Diffuse()); gz::msgs::Set(light_cmd.mutable_specular(), light_sdf.Specular()); gz::msgs::Set(light_cmd.mutable_direction(), light_sdf.Direction()); + // Set the light type switch (light_sdf.Type()) { case sdf::LightType::POINT: light_cmd.set_type(gz::msgs::Light::POINT); break; case sdf::LightType::SPOT: light_cmd.set_type(gz::msgs::Light::SPOT); break; case sdf::LightType::DIRECTIONAL: light_cmd.set_type(gz::msgs::Light::DIRECTIONAL); break; default: light_cmd.set_type(gz::msgs::Light::POINT); break; } return light_cmd;
150-159: Consider adding comments for clarity.The
ImageCallbackfunction is correctly implemented but could benefit from additional comments to explain the logic.Apply this diff to add comments:
+ // Validate the image encoding if (!IsEncodingValid(msg)) { ignerr << "Error: Incorrect image encoding." << std::endl; return; } + // Store the image and mark it as new last_image_.set(msg); new_image_available_ = true;
167-195: Consider adding comments for clarity.The
CalculateMeanColorfunction is correctly implemented but could benefit from additional comments to explain the logic.Apply this diff to add comments:
+ // Initialize color component sums and pixel count size_t sum_r = 0, sum_g = 0, sum_b = 0, sum_a = 0; size_t pixel_count = msg.width() * msg.height(); + // Get the image data and determine the step size const std::string & data = msg.data(); bool is_rgba = (msg.pixel_format_type() == gz::msgs::PixelFormatType::RGBA_INT8); int step = is_rgba ? 4 : 3; + // Sum the color components for (size_t i = 0; i < pixel_count * step; i += step) { sum_r += static_cast<uint8_t>(data[i]); sum_g += static_cast<uint8_t>(data[i + 1]); sum_b += static_cast<uint8_t>(data[i + 2]); if (is_rgba) { sum_a += static_cast<uint8_t>(data[i + 3]); } } + // Normalize the color components float max_value = std::numeric_limits<uint8_t>::max(); float norm_factor = max_value * pixel_count; float norm_mean_r = sum_r / norm_factor; float norm_mean_g = sum_g / norm_factor; float norm_mean_b = sum_b / norm_factor; float norm_mean_a = is_rgba ? sum_a / norm_factor : 1.0f; + // Create and return the mean color auto mean_color = gz::math::Color(norm_mean_r, norm_mean_g, norm_mean_b, norm_mean_a); return mean_color;
198-217: Consider adding comments for clarity.The
VisualizeLightsfunction is correctly implemented but could benefit from additional comments to explain the logic.Apply this diff to add comments:
+ // Calculate the mean color of the image gz::math::Color mean_color = CalculateMeanColor(image); + // Set the light properties to the mean color gz::msgs::Set(light_cmd_.mutable_diffuse(), mean_color); gz::msgs::Set(light_cmd_.mutable_specular(), mean_color); + // Set the light on and visualize flags auto light_on = light_cmd_.mutable_header()->add_data(); light_on->set_key("isLightOn"); light_on->add_value()->assign("1"); auto visualize = light_cmd_.mutable_header()->add_data(); visualize->set_key("visualizeVisual"); visualize->add_value()->assign("0"); + // Update the light command in the entity component manager ecm.SetComponentData<gz::sim::components::LightCmd>(light_entity_, light_cmd_); + // Mark the light command as changed ecm.SetChanged( light_entity_, gz::sim::components::LightCmd::typeId, gz::sim::ComponentState::PeriodicChange);
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Files selected for processing (4)
- panther_gazebo/CMakeLists.txt (4 hunks)
- panther_gazebo/include/panther_gazebo/led_strip.hpp (1 hunks)
- panther_gazebo/package.xml (2 hunks)
- panther_gazebo/src/led_strip.cpp (1 hunks)
Files skipped from review as they are similar to previous changes (2)
- panther_gazebo/include/panther_gazebo/led_strip.hpp
- panther_gazebo/package.xml
Additional comments not posted (7)
panther_gazebo/CMakeLists.txt (5)
18-20: LGTM!The addition of
realtime_toolsandstd_msgstoPACKAGE_DEPENDENCIESis appropriate for the newLEDStripfunctionality.The code changes are approved.
43-43: LGTM!The update to the resource file path for the
EStoplibrary reflects a reorganization of the project's directory structure.The code changes are approved.
45-46: LGTM!The update to the
EStoplibrary paths reflects a reorganization of the project's directory structure.The code changes are approved.
57-60: LGTM!The addition of the
LEDStriplibrary target is essential for the new functionality.The code changes are approved.
74-78: LGTM!The update to the installation commands ensures that the new
LEDStriptarget is correctly installed.The code changes are approved.
panther_gazebo/src/led_strip.cpp (2)
161-165: LGTM!The
IsEncodingValidfunction is correctly implemented.The code changes are approved.
219-253: Consider adding comments for clarity.The
VisualizeMarkers
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Actionable comments posted: 2
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Files selected for processing (2)
- panther_gazebo/include/panther_gazebo/led_strip.hpp (1 hunks)
- panther_gazebo/src/led_strip.cpp (1 hunks)
Files skipped from review as they are similar to previous changes (1)
- panther_gazebo/include/panther_gazebo/led_strip.hpp
Additional comments not posted (8)
panther_gazebo/src/led_strip.cpp (8)
48-67: Well-structured pre-update logic.The
PreUpdatefunction is well-implemented, with clear checks for image availability and update intervals, ensuring efficient updates.
89-110: Effective error handling in light setup.The
SetupLightCmdfunction correctly handles the scenario where the light entity is not found by throwing an appropriate exception.
112-148: Correct implementation of light message creation.The
CreateLightMsgFromSdffunction is well-implemented, correctly setting light properties based on SDF data.
150-159: Proper handling of image callbacks.The
ImageCallbackfunction effectively checks for valid image encodings and handles errors appropriately.
161-165: Valid encoding check is appropriate.The
IsEncodingValidfunction correctly ensures that only supported image encodings are processed.
167-196: Accurate color calculation.The
CalculateMeanColorfunction accurately calculates the mean color of images, correctly handling different image formats.
198-217: Effective light visualization update.The
VisualizeLightsfunction correctly updates the light properties based on the image data, ensuring accurate visual representation in the simulation.
219-278: Accurate marker visualization.The
VisualizeMarkersfunction effectively calculates marker positions and sets their properties based on the image data and light pose, ensuring accurate visualization.
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Actionable comments posted: 4
Outside diff range, codebase verification and nitpick comments (1)
panther_gazebo/src/led_strip.cpp (1)
91-107: Improve error handling and logging inSetupLightCmd.The
SetupLightCmdmethod searches for a light entity and configures it. The method currently throws an exception if the light entity is not found, which is appropriate. However, additional logging could be helpful for debugging purposes.
- Consider adding more detailed logging before throwing the exception to help with diagnosing issues in the configuration.
Enhance logging for better diagnostics:
if (light_entity_ == gz::sim::kNullEntity) { + igndbg << "Error: Light entity with name '" << light_name_ << "' not found." << std::endl; throw std::runtime_error("Error: Light entity not found."); }
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Files selected for processing (2)
- panther_gazebo/include/panther_gazebo/led_strip.hpp (1 hunks)
- panther_gazebo/src/led_strip.cpp (1 hunks)
Files skipped from review as they are similar to previous changes (1)
- panther_gazebo/include/panther_gazebo/led_strip.hpp
Additional comments not posted (1)
panther_gazebo/src/led_strip.cpp (1)
148-157: Validate image encoding inImageCallback.The
ImageCallbackmethod correctly checks for image encoding validity before processing the image. This is a good practice as it ensures that the image data can be safely used without causing errors.The implementation of encoding validation is robust and follows best practices.
Description
Create led strip plugin to gazebo simulation.
Modifications
Summary by CodeRabbit
New Features
LEDStripclass for enhanced control of LED strips within the Gazebo simulation.Bug Fixes
Documentation
LEDStripplugin.Chores