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Fix gazebo scene viewer build #289

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merged 3 commits into from
Apr 5, 2021
Merged

Fix gazebo scene viewer build #289

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45e1468
fixing demo
iche033 Mar 30, 2021
44efdba
cleanup
iche033 Mar 30, 2021
01b1e81
Merge branch 'main' into gazebo_scene_viewer_fix
ahcorde Mar 31, 2021
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5 changes: 3 additions & 2 deletions examples/gazebo_scene_viewer/CameraWindow.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,6 @@
* limitations under the License.
*
*/
#include "CameraWindow.hh"

#if __APPLE__
#include <OpenGL/gl.h>
Expand All @@ -28,6 +27,7 @@

#if !defined(__APPLE__) && !defined(_WIN32)
#include <GL/glx.h>
#undef Status
#endif

#include <gazebo/common/Console.hh>
Expand All @@ -37,6 +37,7 @@
#include <ignition/rendering/Image.hh>
#include <ignition/rendering/Scene.hh>

#include "CameraWindow.hh"
#include "SceneManager.hh"

#define KEY_ESC 27
Expand Down Expand Up @@ -166,7 +167,7 @@ void GlutKeyboard(unsigned char _key, int, int)
{
// stop transport
gazebo::transport::stop();
gazebo::transport::fini();
gazebo::transport::fini();
exit(0);
}
else if (_key == KEY_TAB)
Expand Down
23 changes: 13 additions & 10 deletions examples/gazebo_scene_viewer/SceneManager.cc
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Expand Up @@ -22,6 +22,7 @@
#include <ignition/math/Helpers.hh>

#include <ignition/rendering/Camera.hh>
#include <ignition/rendering/Capsule.hh>
#include <ignition/rendering/Scene.hh>
#include <ignition/rendering/Visual.hh>

Expand Down Expand Up @@ -1509,13 +1510,14 @@ void SubSceneManager::ProcessCone(
void SubSceneManager::ProcessCapsule(
const gazebo::msgs::Geometry & _geometryMsg, VisualPtr _parent)
{
GeometryPtr capsule = this->activeScene->CreateCapsule();
const gazebo::msgs::CapsuleGeom &capsuleMsg = _geometryMsg.capsule();
double x = 2 * capsuleMsg.radius();
double y = 2 * capsuleMsg.radius();
double z = capsuleMsg.length();
_parent->SetLocalScale(x, y, z);
_parent->AddGeometry(capsule);
// \todo(anyone) needs gazebo capsule msg
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This package should use ign-msgs7 and the message it's there https://github.com/ignitionrobotics/ign-msgs/blob/main/proto/ignition/msgs/geometry.proto

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the errors are actually related to gazebo::msgs (we have these msgs in ignition but not in gazebo). I think we would need to add the cone and capsule msgs in gazebo: https://github.com/osrf/gazebo/tree/gazebo11/gazebo/msgs

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I created an issue #293

CapsulePtr capsule = this->activeScene->CreateCapsule();
// Const gazebo::msgs::CapsuleGeom &capsuleMsg = _geometryMsg.capsule();
// Double x = 2 * capsuleMsg.radius();
// Double y = 2 * capsuleMsg.radius();
// Double z = capsuleMsg.length();
// _parent->SetLocalScale(x, y, z);
_parent->AddGeometry(std::dynamic_pointer_cast<Geometry>(capsule));
}

//////////////////////////////////////////////////
Expand Down Expand Up @@ -1833,12 +1835,13 @@ void SubSceneManager::CreateGeometryFunctionMap()
this->geomFunctions[gazebo::msgs::Geometry::BOX] =
&SubSceneManager::ProcessBox;

// TODO(anyone): enable when cone protobuf msg created
// todo(anyone): enable when cone protobuf msg is created
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The Cone msg is there too https://github.com/ignitionrobotics/ign-msgs/blob/main/proto/ignition/msgs/geometry.proto#L74

// this->geomFunctions[gazebo::msgs::Geometry::CONE] =
// &SubSceneManager::ProcessCone;

this->geomFunctions[gazebo::msgs::Geometry::CAPSULE] =
&SubSceneManager::ProcessSphere;
// todo(anyone): enable when capsule protobuf msg is created
// this->geomFunctions[gazebo::msgs::Geometry::CAPSULE] =
// &SubSceneManager::ProcessSphere;

this->geomFunctions[gazebo::msgs::Geometry::CYLINDER] =
&SubSceneManager::ProcessCylinder;
Expand Down