ServerConfig accepts an sdf::Root DOM object #1333

nkoenig · 2022-02-11T05:08:15Z

Signed-off-by: Nate Koenig nate@openrobotics.org

🎉 New feature

Summary

I have a downstream program that is using Gazebo as a library. This program runs a world with a number of models. Each model can have different starting conditions, which is mostly just pose information for now but can be expanded to joint positions and forces.

A key aspect is consistent and reproducible behavior. To meet this goal, I would like to start Gazebo with all models at their specified locations, and not rely on asynchronous spawning. This goal can be accomplished by sending the Server a complete SDF DOM.

I have modified the ServerConfig to accept an sdf::Root object as an alternative to the file and string options.

Checklist

Signed all commits for DCO
Added tests
Updated documentation (as needed)
codecheck passed (See contributing)
All tests passed (See test coverage)
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Signed-off-by: Nate Koenig <nate@openrobotics.org>

nkoenig · 2022-02-16T16:48:28Z

The findFuelResourceSdf function in Util.cc is a direct copy from Server.cc, and the new resolveSdfWorldFile function is a copy of the code removed from Server.cc's constructor.

mjcarroll · 2022-02-16T16:54:16Z

Since we are expanding the number of ways that sdf can be injected into the server config, do you think it would make sense to introduce an enum like:

enum class SdfSource {
  kSdfString,
  kSdfFile,
  kSdfRoot
}

To make it easier to check and make switch statements around the branching logic?

mjcarroll · 2022-02-16T16:57:14Z

Also, not for gazebo6, since it would screw up API, but for main I think we could remove the "SdfString" and "SdfFile" accessors/mutators and make ServerConfig users always parse the Sdf into a root before construction the server config.

mjcarroll

Two nits and a question

src/Util_TEST.cc

include/ignition/gazebo/Util.hh

include/ignition/gazebo/ServerConfig.hh

Signed-off-by: Nate Koenig <nate@openrobotics.org>

nkoenig · 2022-02-16T21:36:18Z

Since we are expanding the number of ways that sdf can be injected into the server config, do you think it would make sense to introduce an enum like:
enum class SdfSource {
  kSdfString,
  kSdfFile,
  kSdfRoot
}
To make it easier to check and make switch statements around the branching logic?

Added the enum in f32555b

include/ignition/gazebo/ServerConfig.hh

src/ServerConfig_TEST.cc

src/Util.cc

Signed-off-by: Nate Koenig <nate@openrobotics.org>

…ign-gazebo into server-config-root-dom

nkoenig · 2022-02-16T22:36:25Z

Needs a release of sdformat12.

ahcorde · 2022-03-16T09:06:47Z

@osrf-jenkins retest this please

Signed-off-by: Nate Koenig <nate@openrobotics.org>

nkoenig · 2022-03-16T16:50:08Z

@osrf-jenkins retest this please

nkoenig · 2022-03-16T16:51:56Z

@osrf-jenkins rerun tests please

chapulina · 2022-03-16T16:56:51Z

@osrf-jenkins run tests ⬅️ I believe that's the magic incantation

nkoenig · 2022-03-16T16:57:23Z

I love magic

chapulina · 2022-03-16T16:57:57Z

humm no, that didn't work. It could be because GitHub is having webhook issues right now:

https://www.githubstatus.com/

nkoenig · 2022-03-16T16:58:58Z

That also explains why github actions didn't start when I triggered a rerun.

chapulina · 2022-03-16T17:00:56Z

I manually clicked retry on the Jenkins builds. GitHub Actions seems to be down too.

Here's where the incantation is documented, for future reference:

https://ignitionrobotics.org/docs/all/ci#triggering-ci

nkoenig · 2022-03-17T12:16:17Z

@osrf-jenkins run tests

codecov · 2022-03-17T13:37:23Z

Codecov Report

Merging #1333 (72958cb) into ign-gazebo6 (4121a5c) will increase coverage by 0.05%.
The diff coverage is 86.41%.

@@               Coverage Diff               @@
##           ign-gazebo6    #1333      +/-   ##
===============================================
+ Coverage        63.04%   63.10%   +0.05%     
===============================================
  Files              303      303              
  Lines            24385    24419      +34     
===============================================
+ Hits             15374    15410      +36     
+ Misses            9011     9009       -2

Impacted Files	Coverage Δ
include/ignition/gazebo/ServerConfig.hh	`100.00% <ø> (ø)`
include/ignition/gazebo/Util.hh	`100.00% <ø> (ø)`
src/Server.cc	`89.72% <81.48%> (+3.58%)`	⬆️
src/Util.cc	`92.16% <83.33%> (-1.38%)`	⬇️
src/ServerConfig.cc	`90.79% <100.00%> (+0.43%)`	⬆️

Continue to review full report at Codecov.

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chapulina

LGTM, just some small nits about documentation

chapulina · 2022-03-30T18:57:49Z

include/ignition/gazebo/Util.hh

+    /// The provided SDF filename may be a Fuel URI, relative path, name
+    /// of an installed Gazebo world filename, or an absolute path.
+    /// \param[in] _sdfFile An SDF world filename such as:
+    ///    1. "shapes.sdf" - This is referencing an installed world file.


It could also be a relative path to a file in the current directory.

chapulina · 2022-03-30T18:58:51Z

include/ignition/gazebo/Util.hh

+    /// of an installed Gazebo world filename, or an absolute path.
+    /// \param[in] _sdfFile An SDF world filename such as:
+    ///    1. "shapes.sdf" - This is referencing an installed world file.
+    ///    2. "../shapes.sdf" - This is referencing a relative world file.


It's worth mentioning what it's relative to. It could be either the running directory or any path in IGN_GAZEBO_RESOURCE_PATH

chapulina · 2022-04-01T20:02:54Z

Merging it with my documentation comments not addressed, they're minor.

* GzSceneManager: Prevent crash 💥 when inserted from menu (#1371) Signed-off-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: ahcorde <ahcorde@gmail.com> Co-authored-by: ahcorde <ahcorde@gmail.com> * Prepare version 6.7.0 (#1373) * Prepare version 6.7.0 Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org> * Populate GUI plugins that are empty (#1375) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Fix visualization python tutorial (#1377) Signed-off-by: ahcorde <ahcorde@gmail.com> * Add xyz and rpy offset to published odometry pose (#1341) * Added xyz and rpy offset to published pose Signed-off-by: Aditya <aditya050995@gmail.com> * Added headless rendering tutorial (#1386) * Added headless rendering tutorial Signed-off-by: Nate Koenig <nate@openrobotics.org> * Update tutorials/headless_rendering.md Co-authored-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Nate Koenig <nate@openrobotics.org> * Update tutorials/headless_rendering.md Co-authored-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Nate Koenig <nate@openrobotics.org> * Mention ogre2 Signed-off-by: Nate Koenig <nate@openrobotics.org> * Added note about software rendering Signed-off-by: Nate Koenig <nate@openrobotics.org> * add 'on linux systems' Signed-off-by: Nate Koenig <nate@openrobotics.org> * Add xyz and rpy offset to published odometry pose (#1341) * Added xyz and rpy offset to published pose Signed-off-by: Aditya <aditya050995@gmail.com> Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Aditya Pande <aditya050995@gmail.com> * Allow to turn on/off lights (#1343) Signed-off-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Add gazebo Entity id to rendering sensor's user data (#1381) Adds the gazebo::Entity id to a rendering::Sensor's UserData object. The main use case is so that we can get back the corresponding gazebo Entity in the rendering thread when processing sensors. Signed-off-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Nate Koenig <nkoenig@users.noreply.github.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Don't mark entities with a ComponentState::NoChange component as modified (#1391) Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> * Disable ModelCommandAPI_TEST.RgbdCameraSensor on macOS (#1397) Disabling test since it's very flaky. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Disable PeerTracker.PeerTrackerStale on macOS (#1398) Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Toggle Light visuals (#1387) Signed-off-by: ahcorde <ahcorde@gmail.com> * Prevent hanging when world has only non-world plugins (#1383) Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Component inspector: refactor Pose3d C++ code into a separate class (#1400) Signed-off-by: Louise Poubel <louise@openrobotics.org> * add initial_position param to joint controller system (#1406) Similar to the <initial_position> parameter in the JointTrajectoryController system, this PR adds an <initial_position> parameter to the JointPositionController to let users specifies the initial target pos for a joint. Signed-off-by: Ian Chen <ichen@osrfoundation.org> * Fix JointStatePublisher topic name for nested models (#1405) The joint-state-publisher system currently assumes it's always attached to the top level model and hence generates an incorrect topic name for nested models. This PR updates it to generate the correct topic name. Signed-off-by: Ian Chen <ichen@osrfoundation.org> * Added user command to set multiple entities (#1394) Signed-off-by: ahcorde <ahcorde@gmail.com> Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Disable tests that are expected to fail on Windows (#1408) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Fortress: Install Ogre 2.2, simplify docker (#1395) Signed-off-by: Louise Poubel <louise@openrobotics.org> * SceneBroadcaster: only send changed state information for change events (#1392) Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Add wheel slip user command (#1241) Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> * Distortion camera integration test (#1374) Signed-off-by: William Lew <WilliamMilesLew@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Add the Model Photo Shoot system, port of Modelpropshop plugin from Gazebo classic (#1331) This system can be used to generate thumbnails of models. In comparison to the Modelpropshop plugin in Gazebo classic, this adds the ability to generate thumbnails after randomizing the joint positions of the model. Signed-off-by: Marco A. Gutierrez <marco@openrobotics.org> Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Referring to Fuel assets within a heightmap (#1419) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Disable sensors in sensors system when battery is drained (#1385) Added a new parameter <disable_on_drained_battery> to the sensors system. If set to true, sensors will be disabled if the model is out of battery. It listens to the battery state of charge from the battery plugin, and if the charge reaches zero, all child sensors and nested sensors are set to be inactive. Signed-off-by: Ian Chen <ichen@osrfoundation.org> * 🏁🎈 5.4.0 (#1420) Signed-off-by: Louise Poubel <louise@openrobotics.org> * ServerConfig accepts an sdf::Root DOM object (#1333) Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Michael Carroll <michael@openrobotics.org> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Preparing 6.8.0 release (#1425) * Prepareing 6.8.0 release Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org> * Update changelog after merging forward port Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org> * Add Gaussian noise to Odometry Publisher (#1393) * Added gaussian noise and odometry with covariance publisher Signed-off-by: Aditya <aditya050995@gmail.com> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Fix deprecation warnings for ModelPhotoShoot (#1437) Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Jose Luis Rivero <jrivero@osrfoundation.org> Co-authored-by: Aditya Pande <aditya050995@gmail.com> Co-authored-by: Nate Koenig <nkoenig@users.noreply.github.com> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: William Lew <WilliamMilesLew@gmail.com> Co-authored-by: Marco A. Gutiérrez <marcogg@marcogg.com> Co-authored-by: Michael Carroll <michael@openrobotics.org>

osrf-triage · 2022-04-13T21:29:41Z

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1

Added more tests

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Signed-off-by: Nate Koenig <nate@openrobotics.org>

nkoenig requested a review from chapulina as a code owner February 11, 2022 05:08

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Enable preleases on ign-gazebo6 gazebo-tooling/gzdev#55

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ServerConfig accepts an sdf::Root DOM object #1333

ServerConfig accepts an sdf::Root DOM object #1333

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ServerConfig accepts an sdf::Root DOM object #1333

ServerConfig accepts an sdf::Root DOM object #1333

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nkoenig commented Feb 11, 2022 • edited

🎉 New feature

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