agent_info_display plugin using ignition-gui3 #386
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It almost works * The floating text moves, but the cars stop moving * The plugin will seg-fault if you toggle visibility at the wrong time. There is a data race somewhere.
scpeters
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I wonder if this seg-fault is caused by the same at #384 (comment) EDITED: It is interesting because I used the same approach to toggle the mesh layers and it works properly but now when using text geometries(for the labels) I reach a seg fault as you. |
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I think my problem with rendering is related to threads. Looking at the VisualizeLidar plugin in ign-gazebo, it seems that they make rendering calls from an I will try putting all my rendering calls in this type of callback |
This fixes the rendering and the seg-faults by moving all ignition::rendering API calls to the eventFilter function during the ignition::gui::Render event.
scpeters
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this is now working and ready for review |
| ///////////////////////////////////////////////// | ||
| void AgentInfoDisplay::UpdateAgentLabel(const ignition::msgs::AgentState& _agent, const std::string& _agentName, | ||
| std::shared_ptr<AgentInfoText> _agentInfoText) { | ||
| double x = 0.0; |
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Can we use a pose to hold all these variables?
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it's not so convenient to put them in a Pose3 because ignition::msgs::AgentState uses its own RPYAngles representation for orientation so there isn't an easy way to convert to ignition::math::Pose3
I did store the position and linear_velocity in Vector3 objects in 04490de since it was convenient to do so
| } | ||
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| std::stringstream ss; | ||
| ss << _agentName << ":\n pos:(x:" << std::setprecision(2) << x << ",y:" << y << ",z:" << z << ",yaw:" << yaw << ")" |
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Does ignition::math::Pose3d has an operator<< overload? If so, can we use it?
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I used the << operator from the Vector3 class for position and linear_velocity. I didn't use it for the orientation because the text label only includes the yaw currently
Use an ignition::math::Vector3d for position and linear velocity when serializing to string since there is an easy conversion method from ignition::msgs.
scpeters
dismissed stale reviews from francocipollone and agalbachicar
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This migrates the
agent_info_display0plugin fromignition-gui0to useignition-gui3. I started by copying a bit of the approach fromOriginDisplayadded in #375 but ran into some rendering problems. Copying theeventFilterfrom the Screenshot plugin and moving allignition::renderingcalls into that plugin fixed things for me. I was also able to get rid of thetimerEventby using theeventFilter.