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Adds a tool for environment data visualization #1748

Merged
merged 32 commits into from
Nov 16, 2022
Merged

Adds a tool for environment data visualization #1748

merged 32 commits into from
Nov 16, 2022

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arjo129
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@arjo129 arjo129 commented Oct 5, 2022 •
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🎉 New feature

Depends on:

Summary

This PR adds a tool to visualize Scalar Environmental Data.

pointcloud_viz

Test it

To use it is currently a bit cumbersome, but the following steps apply. I'll probably add a tutorial for this soon:

  1. Open the Environment Loader plugin. Load the environment in.
  2. Open the Environment Visuallization panel to enable visuallization
  3. Load the Pointcloud Plugin to see the actual data.

Checklist

  • Signed all commits for DCO
  • Added tests
  • Added example and/or tutorial
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • Consider updating Python bindings (if the library has them)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

@arjo129 arjo129 changed the base branch from mbari/gz-sim7 to arjo/feat/environmental_sensors October 5, 2022 09:16
@arjo129 arjo129 changed the base branch from arjo/feat/environmental_sensors to mbari/gz-sim7 October 5, 2022 09:16
@arjo129 arjo129 changed the base branch from mbari/gz-sim7 to arjo/feat/environmental_sensors October 6, 2022 08:06
@arjo129 arjo129 changed the base branch from arjo/feat/environmental_sensors to mbari/gz-sim7 October 6, 2022 08:07
@arjo129 arjo129 marked this pull request as ready for review October 6, 2022 23:47
@arjo129 arjo129 mentioned this pull request Oct 10, 2022
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@mjcarroll mjcarroll changed the title Adds a tool for environment data visuallization. Adds a tool for environment data visualization Oct 17, 2022
@arjo129 arjo129 mentioned this pull request Oct 26, 2022
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hidmic
hidmic reviewed Oct 26, 2022
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First pass. Haven't tested locally just yet.

examples/worlds/environmental_sensor.sdf Show resolved Hide resolved
src/Util.cc Outdated Show resolved Hide resolved
src/gui/plugins/environment_visualization/EnvironmentVisualization.cc Outdated Show resolved Hide resolved
src/gui/plugins/environment_visualization/EnvironmentVisualization.cc Outdated Show resolved Hide resolved
src/gui/plugins/environment_visualization/EnvironmentVisualization.cc Outdated Show resolved Hide resolved
src/systems/environmental_sensor_system/EnvironmentalSensorSystem.cc Outdated Show resolved Hide resolved
src/systems/environmental_sensor_system/EnvironmentalSensorSystem.cc Outdated Show resolved Hide resolved
src/systems/environmental_sensor_system/EnvironmentalSensorSystem.cc Show resolved Hide resolved
src/systems/environmental_sensor_system/EnvironmentalSensorSystem.cc Show resolved Hide resolved
test/integration/environmental_sensor_system.cc Outdated Show resolved Hide resolved
adityapande-1995 and others added 16 commits November 1, 2022 16:54
@adityapande-1995 @arjo129
Acoustic comms plugin (#1608)
b39163b 
* Added acoustic comms plugin

Signed-off-by: Aditya <aditya050995@gmail.com>
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@hidmic @arjo129
Add spatial reference to EnvironmentData
e1bb763 
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@hidmic @arjo129
Fix environmental data preload
c794563 
- Resolve paths relative to SDF parent path
- Avoid template instantiation in plugins

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Adds environtmental sensors.
a9d6dae 
Adds basic environmental sensors with code and example.

Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Got MVP and example running.
ecc2afa 
TODO: Add tests and rebase on @hidmic's changes.
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Adds a test and cleans up bugs. Also adds support for spherical coord…
56ca4ee 
…inates.

Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
style
8e481f9 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Address Some Knits
343e7b9 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Common StartsWith
e498b74 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Docs + Feedback
ad6292d 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Style.
6a78227 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Adds support for degrees when using lattitude and longitude.
f4967a9 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Fixes potential crash.
f647e6a 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Adds support for static data.
831c57c 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Remove unnessecary logging
41fa359 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Add acoustic environment vis scaffolding
e100475 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Address PR feedback,
a89954c 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Adds a tool for environment visuallization.
94017ce 
Depends on:
* gazebosim/gz-math#508
* gazebosim/gz-common#446
Work in progress.

Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Make visuallization limits more reasonable
5413b8c 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Adds slider interactivity
b51a160 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Address PR feedback
9079d58 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Address more nits
86c21df 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Address more knits
fba95e7 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Address more feedback
1c6f50c 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129 arjo129 force-pushed the arjo/feat/environment_visuals branch from 195a060 to 1c6f50c Compare November 1, 2022 08:56
@arjo129
Merge branch 'mbari/gz-sim7' of github.com:gazebosim/gz-sim into arjo…
3d2feb9 
…/feat/environment_visuals
@arjo129
style
3b6f682 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Update ocs string
74633fb
hidmic
hidmic reviewed Nov 9, 2022
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Last pass. Pretty solid.

include/gz/sim/Util.hh Outdated Show resolved Hide resolved
src/Util.cc Outdated Show resolved Hide resolved
src/Util.cc Outdated Show resolved Hide resolved
src/gui/plugins/environment_loader/EnvironmentLoader.qml Outdated Show resolved Hide resolved
src/gui/plugins/environment_visualization/EnvironmentVisualization.cc Outdated Show resolved Hide resolved
src/gui/plugins/environment_visualization/EnvironmentVisualization.cc Outdated Show resolved Hide resolved
src/gui/plugins/environment_visualization/EnvironmentVisualization.cc Outdated Show resolved Hide resolved
src/gui/plugins/environment_visualization/EnvironmentVisualization.cc Show resolved Hide resolved
src/systems/environmental_sensor_system/EnvironmentalSensorSystem.hh Outdated Show resolved Hide resolved
@arjo129
Address feedback
92b4ac7 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129
Rename and refactor getGridFieldCoordinates add unit test.
c32a8e3 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129 arjo129 added MBARI-LRAUV Sponsored by MBARI-LRAUV project: https://github.com/osrf/lrauv needs upstream release Blocked by a release of an upstream library labels Nov 15, 2022
hidmic
hidmic approved these changes Nov 15, 2022
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LGTM with (mostly) green CI

src/systems/environmental_sensor_system/EnvironmentalSensorSystem.cc Outdated Show resolved Hide resolved
src/Util.cc
Comment on lines +689 to +700
// If the reference frame is spherical, we must have some world reference
// coordinates.
gzerr << "World has no spherical coordinates,"
<< " but data was loaded with spherical reference plane"
<< std::endl;
return std::nullopt;
}
else
{
// No need to transform
return _worldPosition;
}
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@arjo129 we could still use default constructed spherical coordinates, sitting at the null island, if none are found.

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I don't know. Personally, I'd rather an error be thrown so that we don't end up with a user trying to figure out "where has my data gone?".

@nkoenig nkoenig mentioned this pull request Nov 15, 2022
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hidmic commented Nov 15, 2022

Thanks to @nkoenig, gz-math7 is released.

@arjo129
Remove coordinates
e8555e6 
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129 arjo129 merged commit f7f237f into mbari/gz-sim7 Nov 16, 2022
@arjo129 arjo129 deleted the arjo/feat/environment_visuals branch November 16, 2022 00:24
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Is mbari/gz-sim7 supposed to land back on gz-sim7 next?

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arjo129 commented Nov 16, 2022 •
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Yep! I'm cherry picking and back porting. It was an intermediary branch created during the freeze so we could continue our rapid development. We will be moving back to gz-sim7 now that the freeze is over.

arjo129 added a commit that referenced this pull request Nov 16, 2022
@arjo129
Backport #1748: Adds a tool for environment data visualization and cu…
772409e 
…stom environmental sensors

This PR adds a tool to visualize Scalar Environmental Data. It also adds custom sensors.

Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
@arjo129 arjo129 mentioned this pull request Nov 16, 2022
Merged
9 tasks
arjo129 added a commit that referenced this pull request Nov 21, 2022
@arjo129
Backport #1748: Adds a tool for environment data visualization and cu…
4fa1f26 
…stom environmental sensors (#1798)

This PR adds a tool to visualize Scalar Environmental Data. It also adds custom sensors.

Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
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@hidmic hidmic hidmic approved these changes

@adityapande-1995 adityapande-1995 Awaiting requested review from adityapande-1995

@caguero caguero Awaiting requested review from caguero

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