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Fix gzclient starting with black screen #3121
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Add test for /scene_info service with empty.world Signed-off-by: Steve Peters <scpeters@openrobotics.org>
This should be more reliable than the ~/request topic over gazebo::transport, but if it fails then fall back on the current method. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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There is a small merge conflict but other than that, the changes seem to be working! |
I just merged with |
WilliamLewww
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Oct 15, 2021
scpeters
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Oct 15, 2021
gazebo/rendering/Scene.cc
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| this->dataPtr->requestPub->Publish(*this->dataPtr->requestMsg); | ||
| // Get scene info from physics::World with ignition transport service | ||
| ignition::transport::Node node; | ||
| ignition::msgs::Scene sceneInfo; |
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I just realized this variable is unused. I'll wait for the current CI run to finish, then make this change and merge without CI
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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Since gazebosim#3121 was merged, some problems have been observed with loading model plugins if a model contains sensor plugins that are slow to load. This introduces two test plugins and a test world to demonstrate the problem. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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Oct 25, 2021
As noted in #3125, loading a model may timeout when loading model plugins if the model contains sensor plugins that are slow to load. Since this timeout seems more likely to occur since #3121 was merged, the default timeout is increased from 5 seconds to 30 seconds, and an SDFormat world parameter <ignition:model_plugin_loading_timeout> is added to make the timeout configurable. A regression test using a test world and two test plugins is added to demonstrate the problem and confirm the fix. * Fix typos in World.hh doc-strings * Add IGN_PROFILE to World::ProcessFactoryMsgs * Disable shadow caster test on macOS Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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There is a longstanding issue (#681) in which
gzclientoccasionally starts with a black screen, failing to ever display the scene. Opening a secondgzclientinstance often works properly, suggesting a race condition in initialization. I highly suspect much of the non-determinism comes from the use of the~/requesttopic with gazebo-transport to communicatescene_infofromgazebo::physics::Worldtogazebo::rendering::Scene. It is more reliable to use an ignition-transport service, so I have added a/scene_infoignition-transport service toWorldand changedSceneto prefer calling this service instead of using the~/requesttopic. If the ignition service is unavailable or fails, it will fall back to the current method using~/request, which should preserve backwards compatibility between old and new instances ofgzserverandgzclient.I've added a test for the new service to
INTEGRATION_info_services. I've also fixed a few compiler warnings in ab57017.