Together

[nkoenig]

This is part of the ModelEditor work, where I'm trying to get the recreation functionality to work. Mostly looking for some assistance.

Here is how I'm currently testing:

1. ign gazebo -v 4 sensors.sdf
2. Add a new link to the sensors_box model using the GUI.
3. Click Step on the GUI.
4. You will see the following console output

Adding entity for recreation[8]
[Wrn] [Physics.cc:1102] Collision's parent entity [1073741824] not found on link map.
[Err] [Physics.cc:2365] Internal error: entity [1073741824] not in entity map
[Dbg] [EntityComponentManager.cc:1540] Updated state thread iterators: 16 threads processing around 2 entities each.
Cloning entity[8] Name[sensors_box]
Cloning entity[9] Name[link]
Cloning entity[10] Name[visual]
Cloning entity[11] Name[collision]
Cloning entity[12] Name[altimeter]
Cloning entity[13] Name[air_pressure]
Cloning entity[14] Name[imu]
Cloning entity[15] Name[magnetometer]
Cloning entity[1073741824] Name[link_1]
Cloning entity[1073741825] Name[visual]
Cloning entity[1073741826] Name[collision]
Removing recreate component from entity[17]
Adding entity for recreation[17]

5. I'm ignoring the Physics system error for right now. I'm trying to understand why removing the Recreate component from the newly create entity (17 in this case) still causes the View in SimulationRunner::ProcessRecreateEntitiesRemove to think the Recreate component exists.

There are some debug statements that need to be removed once the issues are resolved.

Note to maintainers: Remember to use Squash-Merge

[codecov]

Codecov Report

Merging #1187 (e312919) into recreate_entities (370ffd2) will decrease coverage by 0.00%.
The diff coverage is 60.00%.

❗ Current head e312919 differs from pull request most recent head 10b85e1. Consider uploading reports for the commit 10b85e1 to get more accurate results

@@                  Coverage Diff                  @@
##           recreate_entities    #1187      +/-   ##
=====================================================
- Coverage              61.36%   61.35%   -0.01%     
=====================================================
  Files                    262      262              
  Lines                  20870    20900      +30     
=====================================================
+ Hits                   12807    12824      +17     
- Misses                  8063     8076      +13     

Impacted Files	Coverage Δ
src/SimulationRunner.hh	100.00% <ø> (ø)
src/gui/plugins/component_inspector/ModelEditor.cc	7.40% <0.00%> (-0.06%)	⬇️
src/systems/physics/Physics.cc	70.61% <50.00%> (-0.22%)	⬇️
src/SimulationRunner.cc	92.90% <57.14%> (-0.94%)	⬇️
include/ignition/gazebo/detail/View.hh	100.00% <100.00%> (ø)
src/EntityComponentManager.cc	87.39% <100.00%> (+0.04%)	⬆️

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[iche033]

I can reproduce the issue that the recreate component is not removed. Looking into it.

[nkoenig]

I believe the issue is that the cloned entity is added to the view's toAddEntities list, and is not removed from this list by the View::NotifyComponentRemoval function.

[iche033]

I pushed a change that works around the issue mainly by using EachNoCache here when looping through entities with Recreate component. Ign-gazebo still crash in the physics system when it is stepped though. I'll continue looking at how to properly remove components from views first

[iche033]

I'll continue looking at how to properly remove components from views first

e312919 should do it. Also updated test to verify that the Recreate components are removed

The physics system crash still exists.

[nkoenig]

Thanks. I'm getting closer on the physics crash.

[nkoenig]

I believe physics is fixed in 199dafe

[nkoenig]

This also behaves well when adding links to models with sensors.

[nkoenig]

I'll go ahead and merge this in the recreate_entities branch.