Resolve Fuel resources when included in models and worlds (#309)

Co-authored-by: FirefoxMetzger <sebastian@wallkoetter.net>
robotology-legacy · Mar 31, 2021 · f375db8 · f375db8
1 parent def00f7
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diff --git a/README.md b/README.md
@@ -37,7 +37,7 @@
                 <a href="https://github.com/robotology/gym-ignition/actions">
                 <img src="https://github.com/robotology/gym-ignition/workflows/Docker%20Images/badge.svg" alt="Docker Images" />
                 </a>
-                <a href="ttps://www.codacy.com/gh/robotology/gym-ignition/dashboard?utm_source=github.com&amp;utm_medium=referral&amp;utm_content=robotology/gym-ignition&amp;utm_campaign=Badge_Grade">
+                <a href="https://www.codacy.com/gh/robotology/gym-ignition/dashboard?utm_source=github.com&amp;utm_medium=referral&amp;utm_content=robotology/gym-ignition&amp;utm_campaign=Badge_Grade">
                 <img src="https://api.codacy.com/project/badge/Grade/5536b05f8be94483b64ee883e7170a39" alt="Codacy Badge" />
                 </a>
             </td>
@@ -101,9 +101,12 @@ our simulations, visit the _Motivations_ section of the [website](https://roboto
 
 ## Setup
 
-1. Install the Ignition suite following the [official instructions](https://ignitionrobotics.org/docs/dome).
+1. Install the latest Ignition suite following the [official instructions](https://ignitionrobotics.org/docs/dome).
 1. Execute `pip install gym-ignition`, preferably in a virtual environment.
 
+**Note**: `gym-ignition` currently only supports the latest version of the ignition suite. For more information on supported versions please refer to the [Support Policy](https://robotology.github.io/gym-ignition/master/installation/support_policy.html).
+
+
 Then, for some simple examples, visit the _Getting Started_ section of the [website](https://robotology.github.io/gym-ignition).
 
 You can decide to install only the C++ resources if you are not interested in using Python.

diff --git a/cmake/ImportTargetsDome.cmake b/cmake/ImportTargetsDome.cmake
@@ -71,3 +71,13 @@ alias_imported_target(
     NAMESPACE_DEST ignition-physics
     REQUIRED TRUE
     )
+
+    alias_imported_target(
+    PACKAGE_ORIG ignition-fuel_tools5
+    PACKAGE_DEST ignition-fuel_tools
+    TARGETS_ORIG ignition-fuel_tools5
+    TARGETS_DEST ignition-fuel_tools
+    NAMESPACE_ORIG ignition-fuel_tools5
+    NAMESPACE_DEST ignition-fuel_tools
+    REQUIRED TRUE
+    )
diff --git a/cpp/scenario/gazebo/CMakeLists.txt b/cpp/scenario/gazebo/CMakeLists.txt
@@ -99,7 +99,8 @@ target_link_libraries(ScenarioGazebo
     ${ignition-common.ignition-common}
     PRIVATE
     ScenarioCore::CoreUtils
-    ScenarioGazebo::ExtraComponents)
+    ScenarioGazebo::ExtraComponents
+    ${ignition-fuel_tools.ignition-fuel_tools})
 
 set_target_properties(ScenarioGazebo PROPERTIES
     PUBLIC_HEADER "${SCENARIO_GAZEBO_PUBLIC_HDRS}")
@@ -126,7 +127,8 @@ target_link_libraries(GazeboSimulator
     ScenarioCore::CoreUtils
     ScenarioGazebo::ScenarioGazebo
     ScenarioGazebo::ExtraComponents
-    ScenarioGazeboPlugins::ECMSingleton)
+    ScenarioGazeboPlugins::ECMSingleton
+    ${ignition-fuel_tools.ignition-fuel_tools})
 
 set_target_properties(GazeboSimulator PROPERTIES
     PUBLIC_HEADER include/scenario/gazebo/GazeboSimulator.h)

diff --git a/cpp/scenario/gazebo/include/scenario/gazebo/GazeboSimulator.h b/cpp/scenario/gazebo/include/scenario/gazebo/GazeboSimulator.h
@@ -146,6 +146,9 @@ class scenario::gazebo::GazeboSimulator
      * inserted. The default empty world does not have the ground plane nor
      * any physics. Both can be added by operating on the ``World`` object.
      *
+     * @note This function can only be used while the simulator object is
+     * uninitialized.
+     *
      * @param worldFile The path to the SDF world file.
      * @param worldName Optionally override the name of the world defined in the
      * SDF world file.

diff --git a/cpp/scenario/gazebo/src/GazeboSimulator.cpp b/cpp/scenario/gazebo/src/GazeboSimulator.cpp
@@ -35,16 +35,14 @@
 #include "scenario/gazebo/utils.h"
 #include "scenario/plugins/gazebo/ECMSingleton.h"
 
+#include <ignition/fuel_tools.hh>
 #include <ignition/gazebo/Server.hh>
 #include <ignition/gazebo/ServerConfig.hh>
 #include <ignition/gazebo/components/Name.hh>
 #include <ignition/gazebo/components/World.hh>
 #include <ignition/transport/Node.hh>
 #include <ignition/transport/Publisher.hh>
-#include <sdf/Element.hh>
-#include <sdf/Physics.hh>
-#include <sdf/Root.hh>
-#include <sdf/World.hh>
+#include <sdf/sdf.hh>
 
 #include <algorithm>
 #include <cassert>
@@ -96,7 +94,7 @@ struct detail::PhysicsData
 
 class GazeboSimulator::Impl
 {
-public:
+public: // attributes
     sdf::ElementPtr sdfElement = nullptr;
 
     struct
@@ -107,16 +105,17 @@ class GazeboSimulator::Impl
         std::shared_ptr<ignition::gazebo::Server> server;
     } gazebo;
 
+    using WorldName = std::string;
+    using GazeboWorldPtr = std::shared_ptr<scenario::gazebo::World>;
+    std::unordered_map<WorldName, GazeboWorldPtr> worlds;
+
+public: // methods
     bool insertSDFWorld(const sdf::World& world);
     std::shared_ptr<ignition::gazebo::Server> getServer();
 
     static std::shared_ptr<World>
     CreateGazeboWorld(const std::string& worldName);
 
-    using WorldName = std::string;
-    using GazeboWorldPtr = std::shared_ptr<scenario::gazebo::World>;
-    std::unordered_map<WorldName, GazeboWorldPtr> worlds;
-
     static detail::PhysicsData getPhysicsData(const sdf::Root& root,
                                               const size_t worldIndex);
     bool sceneBroadcasterActive(const std::string& worldName);
@@ -137,6 +136,14 @@ GazeboSimulator::GazeboSimulator(const double stepSize,
     // Configure the physics profile
     pImpl->gazebo.physics.rtf = rtf;
     pImpl->gazebo.physics.maxStepSize = stepSize;
+
+    // Configure Fuel Callback
+    sdf::setFindCallback([](const std::string& uri) -> std::string {
+        auto fuelClient = ignition::fuel_tools::FuelClient();
+        const auto path =
+            ignition::fuel_tools::fetchResourceWithClient(uri, fuelClient);
+        return path;
+    });
 }
 
 GazeboSimulator::~GazeboSimulator()
@@ -384,8 +391,8 @@ bool GazeboSimulator::insertWorldFromSDF(const std::string& worldFile,
                                          const std::string& worldName)
 {
     if (this->initialized()) {
-        sMessage << "Worlds must be inserted before the initialization"
-                 << std::endl;
+        sError << "Worlds must be inserted before the initialization"
+               << std::endl;
         return false;
     }
 

diff --git a/tests/assets/worlds/fuel_support.sdf b/tests/assets/worlds/fuel_support.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <world name="default">
+    <include>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Ground Plane</uri>
+    </include>
+    <include>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Sun</uri>
+    </include>
+    <model name="box">
+      <pose>0 0 0.5 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+  </world>
+</sdf>
diff --git a/tests/test_scenario/test_ignition_fuel.py b/tests/test_scenario/test_ignition_fuel.py
@@ -3,21 +3,23 @@
 # GNU Lesser General Public License v2.1 or any later version.
 
 import pytest
+
 pytestmark = pytest.mark.scenario
 
 from ..common import utils
 from scenario import core
 from scenario import gazebo as scenario
 from ..common.utils import gazebo_fixture as gazebo
 
+from pathlib import Path
+
 # Set the verbosity
 scenario.set_verbosity(scenario.Verbosity_debug)
 
 
-@pytest.mark.parametrize("gazebo",
-                         [(0.001, 1.0, 1)],
-                         indirect=True,
-                         ids=utils.id_gazebo_fn)
+@pytest.mark.parametrize(
+    "gazebo", [(0.001, 1.0, 1)], indirect=True, ids=utils.id_gazebo_fn
+)
 def test_download_model_from_fuel(gazebo: scenario.GazeboSimulator):
 
     assert gazebo.initialize()
@@ -28,7 +30,8 @@ def test_download_model_from_fuel(gazebo: scenario.GazeboSimulator):
     # Download a model from Fuel (testing a name with spaces)
     model_name = "Electrical Box"
     model_sdf = scenario.get_model_file_from_fuel(
-        f"https://fuel.ignitionrobotics.org/openrobotics/models/{model_name}", False)
+        f"https://fuel.ignitionrobotics.org/openrobotics/models/{model_name}", False
+    )
     assert model_sdf
 
     assert world.insert_model(model_sdf, core.Pose_identity())
@@ -41,3 +44,18 @@ def test_download_model_from_fuel(gazebo: scenario.GazeboSimulator):
     assert other_model_name in world.model_names()
 
     assert gazebo.run()
+
+
+@pytest.mark.parametrize(
+    "gazebo", [(0.001, 1.0, 1)], indirect=True, ids=utils.id_gazebo_fn
+)
+def test_fuel_world(gazebo):
+    # (setup) load a world that includes a fuel model
+    worlds_folder = Path(__file__) / ".." / ".." / "assets" / "worlds"
+    world_file = worlds_folder / "fuel_support.sdf"
+    assert gazebo.insert_world_from_sdf(str(world_file.resolve()))
+    assert gazebo.initialize()
+    assert gazebo.run(paused=True)
+
+    # the actual test
+    assert "ground_plane" in gazebo.get_world().model_names()