Adds a validity check for Sessions created using the TimeVaryingVolumetricGrid
#551
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
`TimeVaryingVolumetricGrid` This is needed to resolve a bug in gazebosim/gz-sim#1842 (review). In particular part of the issue is poor API design. Ideally `CreateSession` would return an `Option<Session>`, however it returns a `Session` even if it is not possible to create the session (for instance if it is too far ahead in time or an empty grid). Hence downstream users need a way to verify session validity. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
arjo129
added a commit
to gazebosim/gz-sim
that referenced
this pull request
Aug 28, 2023
However fix depends on gazebosim/gz-math#551 Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Codecov Report
@@ Coverage Diff @@
## gz-math7 #551 +/- ##
=========================================
Coverage 94.16% 94.16%
=========================================
Files 145 145
Lines 9768 9774 +6
=========================================
+ Hits 9198 9204 +6
Misses 570 570
|
9 tasks
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
iche033
reviewed
Aug 28, 2023
iche033
approved these changes
Aug 28, 2023
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
arjo129
added a commit
to gazebosim/gz-sim
that referenced
this pull request
Oct 3, 2023
* Fix enviroment system loading mechanism Currently, there is an issue with the way the Environment loader plugin loads data. In particular it directly writes to the ECM. While this makes sense intuitively, it does not work in practice as the GUI runs on a client process while systems that use it run on the server. This PR fixes this issue by introducing a topic through which the GUI may load Environment Data on the server. Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org> * small changes Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org> * Working on porting the visuals Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org> * Actually send message for loading from ui to environment preload plugin. Visuallization still goes 💥 Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Rewrite EnvironmentVisualization Widget to be simpler. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * fix crashes. Vis still not working Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Get a different 💥 Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Works some times. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Fixed synchronization issues. Now left with one more crash that needs debugging when "play" is hit. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * No more 💥s 🎉 Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * style Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Sprinkled with healthy dose of Doxygen Also refactored the visualization tool out. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Style Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * More style fixes Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Fix Typo with unit map Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Address PR feedback Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Style fixes Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Fix incorrect use of path. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Fix example loading issues. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * style Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Update src/systems/environment_preload/VisualizationTool.cc Co-authored-by: Mabel Zhang <mabel@openrobotics.org> Signed-off-by: Arjo Chakravarty <arjo129@gmail.com> * Adds a warning regarding loading plugins. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Automatically loads plugin if missing This commit automatically loads the environment preload plugin if it is missing. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Address some feedback I missed Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Address some feedback Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Fixes issue described by @iche033. However fix depends on gazebosim/gz-math#551 Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * style Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Fixed failing tests Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> --------- Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org> Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> Signed-off-by: Arjo Chakravarty <arjo129@gmail.com> Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai> Co-authored-by: Mabel Zhang <mabel@openrobotics.org> Co-authored-by: Ian Chen <ichen@openrobotics.org>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
🦟 Bug fix
Fixes #
Summary
This looks like a feature... and it is but it is needed to resolve a bug in gazebosim/gz-sim#1842 (review). In particular part of the issue is poor API design. Ideally
CreateSessionwould return anOption<Session>, however it returns aSessioneven if it is not possible to create the session (for instance if it is too far ahead in time or an empty grid). Hence downstream users need a way to verify session validity.Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸