Light visuals do not honor SDF <visualize> tag value at startup with ogre renderer

[sea-bass]

Environment

• OS Version: Ubuntu 22.04
• Source or binary build? Binary build of Fortress v6.14.0

Description

Building on #1387, when you create a world in SDF format, there is the option of not visualizing the light frames by setting the <visualize> tags to false.
However, these options do not take effect at startup when using the ogre renderer. The default of ogre2 is fine.
You have to toggle them in the GUI to get the setting correct.

Steps to reproduce

• Create an SDF world with a light which has the <visualize>false</visualize> tag on it.
• Launch Gazebo with that world, using the ogre render engine
• You will find that the "View gizmo" option is off, but the gizmo still visualizes. If you turn it on and off again from the GUI, it will go away properly.

Output

Notice the "View gizmo" option is off but the visuals for the lights are still there:

[ahcorde]

Hi @sea-bass, I tried the examples/worlds/lights.sdf file provided and it's working for me.

The point visual is not visualized.

gz-sim/examples/worlds/lights.sdf

Line 55 in b559eb6

<visualize>false</visualize>

Can you check this?

[sea-bass]

@ahcorde we were using spot lights in our case -- does that work for you?

[ahcorde]

I tried this world and it's working. Can you try this world? Point and spot gizmos are deactivated.

light.sdf

0.001 1.0

<scene>
  <ambient>0.4 0.4 0.4</ambient>
  <background>0.8 0.8 0.8</background>
  <grid>true</grid>
</scene>

<light type="directional" name="directional">
  <cast_shadows>true</cast_shadows>
  <pose>0 0 10 0 0 0</pose>
  <diffuse>0.8 0.8 0.8 1</diffuse>
  <specular>0.2 0.2 0.2 1</specular>
  <attenuation>
    <range>100</range>
    <constant>0.9</constant>
    <linear>0.01</linear>
    <quadratic>0.001</quadratic>
  </attenuation>
  <direction>0.5 0.2 -0.9</direction>
</light>

<light type="point" name="point">
  <pose>0 -1.5 3 0 0 0</pose>
  <diffuse>1 0 0 1</diffuse>
  <specular>.1 .1 .1 1</specular>
  <attenuation>
    <range>4</range>
    <linear>0.5</linear>
    <constant>0.2</constant>
    <quadratic>0.01</quadratic>
  </attenuation>
  <cast_shadows>false</cast_shadows>
  <visualize>false</visualize>
</light>

<light type="spot" name="spot">
  <pose>0 0.0 3 0 0 0</pose>
  <diffuse>0 1 0 1</diffuse>
  <specular>.2 .2 .2 1</specular>
  <attenuation>
    <range>4</range>
    <linear>0.5</linear>
    <constant>0.2</constant>
    <quadratic>0.01</quadratic>
  </attenuation>
  <direction>0 0 -1</direction>
  <spot>
    <inner_angle>0.1</inner_angle>
    <outer_angle>0.5</outer_angle>
    <falloff>0.8</falloff>
  </spot>
  <visualize>false</visualize>
  <cast_shadows>false</cast_shadows>
</light>

<model name="ground_plane">
  <static>true</static>
  <pose>0 0 0 0 0.02 0</pose>
  <link name="link">
    <collision name="collision">
      <geometry>
        <plane>
          <normal>0.0 0.0 1</normal>
          <size>100 100</size>
        </plane>
      </geometry>
    </collision>
    <visual name="visual">
      <geometry>
        <plane>
          <normal>0.0 0.0 1</normal>
          <size>100 100</size>
        </plane>
      </geometry>
      <material>
        <ambient>0.8 0.8 0.8 1</ambient>
        <diffuse>0.8 0.8 0.8 1</diffuse>
        <specular>0.8 0.8 0.8 1</specular>
      </material>
    </visual>
  </link>
</model>

<model name="box">
  <pose>0 0 0.5 0 0 0</pose>
  <link name="box_link">
    <inertial>
      <inertia>
        <ixx>1</ixx>
        <ixy>0</ixy>
        <ixz>0</ixz>
        <iyy>1</iyy>
        <iyz>0</iyz>
        <izz>1</izz>
      </inertia>
      <mass>1.0</mass>
    </inertial>
    <collision name="box_collision">
      <geometry>
        <box>
          <size>1 1 1</size>
        </box>
      </geometry>
    </collision>

    <visual name="box_visual">
      <geometry>
        <box>
          <size>1 1 1</size>
        </box>
      </geometry>
      <material>
        <ambient>0.3 0.3 0.3 1</ambient>
        <diffuse>0.3 0.3 0.3 1</diffuse>
        <specular>0.3 0.5 0.3 1</specular>
      </material>
    </visual>

  </link>
</model>

<model name="cylinder">
  <pose>0 -1.5 0.5 0 0 0</pose>
  <link name="cylinder_link">
    <inertial>
      <inertia>
        <ixx>2</ixx>
        <ixy>0</ixy>
        <ixz>0</ixz>
        <iyy>2</iyy>
        <iyz>0</iyz>
        <izz>2</izz>
      </inertia>
      <mass>2.0</mass>
    </inertial>
    <collision name="cylinder_collision">
      <geometry>
        <cylinder>
          <radius>0.5</radius>
          <length>1.0</length>
        </cylinder>
      </geometry>
    </collision>

    <visual name="cylinder_visual">
      <geometry>
        <cylinder>
          <radius>0.5</radius>
          <length>1.0</length>
        </cylinder>
      </geometry>
      <material>
        <ambient>0.3 0.3 0.3 1</ambient>
        <diffuse>0.3 0.3 0.3 1</diffuse>
        <specular>0.3 0.3 0.3 1</specular>
      </material>
    </visual>
  </link>
</model>

<model name="sphere">
  <pose>0 1.5 0.5 0 0 0</pose>
  <link name="sphere_link">
    <inertial>
      <inertia>
        <ixx>3</ixx>
        <ixy>0</ixy>
        <ixz>0</ixz>
        <iyy>3</iyy>
        <iyz>0</iyz>
        <izz>3</izz>
      </inertia>
      <mass>3.0</mass>
    </inertial>
    <collision name="sphere_collision">
      <geometry>
        <sphere>
          <radius>0.5</radius>
        </sphere>
      </geometry>
    </collision>

    <visual name="sphere_visual">
      <geometry>
        <sphere>
          <radius>0.5</radius>
        </sphere>
      </geometry>
      <material>
        <ambient>0.3 0.3 0.3 1</ambient>
        <diffuse>0.3 0.3 0.3 1</diffuse>
        <specular>0.3 0.3 0.3 1</specular>
      </material>
    </visual>

    <light type="point" name="link_light_point">
      <pose>0 0 0.8 0 0 0</pose>
      <diffuse>0 0 1 1</diffuse>
      <specular>.1 .1 .1 1</specular>
      <attenuation>
        <range>2</range>
        <linear>0.02</linear>
        <constant>0.05</constant>
        <quadratic>0.01</quadratic>
      </attenuation>
      <cast_shadows>false</cast_shadows>
    </light>
  </link>
</model>

[sea-bass]

Apologies for the delay here -- I somehow missed this.

I just did some investigating and it turns out the gizmos don't show up with the default render engine (ogre2), but when you switch to ogre, which is what my project was using, it is not hidden:

If you do gz sim your_world.sdf --render-engine ogre you'll see something like this:

Tested on both Fortress and Garden and this happens.

[ahcorde]

Hi @sea-bass,

can you try this gazebosim/gz-rendering#862 ?

[sea-bass]

Hi @sea-bass,

can you try this gazebosim/gz-rendering#862 ?

Haha -- always the subtle things. PR LGTM, though I see it already was merged.

Thank you!