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Floor information for floor toggling plugin in Ignition #428

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Floor information for floor toggling plugin in Ignition #428

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df24d7e
Support toggle_floors for ign.
chianfern Feb 25, 2022
055a34b
Merge branch 'main' into feature/ignition_toggle_floors
chianfern Mar 10, 2022
12b44f6
Style
chianfern Mar 10, 2022
b2e5969
Merge branch 'main' into feature/ignition_toggle_floors
luca-della-vedova Mar 18, 2022
7ef5c1a
Style
chianfern Mar 29, 2022
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70 changes: 38 additions & 32 deletions rmf_building_map_tools/building_map/building.py
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Original file line number Diff line number Diff line change
Expand Up @@ -468,6 +468,7 @@ def generate_sdf_world(self, options):
{c[1]-20 - self.global_transform.y} 10 0 0.6 1.57'
else:
camera_pose = f'{c[0]} {c[1]-20} 10 0 0.6 1.57'

# add floor-toggle GUI plugin parameters
if 'gazebo' in options:
camera_pose_ele = gui_ele.find('camera').find('pose')
Expand All @@ -479,47 +480,52 @@ def generate_sdf_world(self, options):
{'name': 'toggle_charging',
'filename': 'libtoggle_charging.so'})

toggle_ele = SubElement(
toggle_floors_ele = SubElement(
gui_ele,
'plugin',
{'name': 'toggle_floors', 'filename': 'libtoggle_floors.so'})

for level_name, level in self.levels.items():
floor_ele = SubElement(
toggle_ele,
'floor',
{
'name': level_name,
'model_name': f'{self.name}_{level_name}'})

for model in level.models:
if model.static:
model_ele = SubElement(
floor_ele,
'model',
{'name': model.name})

for door in level.doors:
model_ele = SubElement(
floor_ele,
'model',
{'name': door.params['name'].value})

for lift_name, lift in self.lifts.items():
if level_name in lift.level_doors:
for door in lift.doors:
if door.name in lift.level_doors[level_name]:
model_ele = SubElement(
floor_ele,
'model',
{'name': (f'ShaftDoor_{lift_name}_' +
f'{level_name}_{door.name}')})

elif 'ignition' in options:
plugin_ele = gui_ele.find('.//plugin[@filename="GzScene3D"]')
camera_pose_ele = plugin_ele.find('camera_pose')
camera_pose_ele.text = camera_pose

toggle_floors_ele = SubElement(
gui_ele,
'plugin',
{'name': 'toggle_floors', 'filename': 'toggle_floors'})

for level_name, level in self.levels.items():
floor_ele = SubElement(
toggle_floors_ele,
'floor',
{
'name': level_name,
'model_name': f'{self.name}_{level_name}'})

for model in level.models:
if model.static:
model_ele = SubElement(
floor_ele,
'model',
{'name': model.name})

for door in level.doors:
model_ele = SubElement(
floor_ele,
'model',
{'name': door.params['name'].value})

for lift_name, lift in self.lifts.items():
if level_name in lift.level_doors:
for door in lift.doors:
if door.name in lift.level_doors[level_name]:
model_ele = SubElement(
floor_ele,
'model',
{'name': (f'ShaftDoor_{lift_name}_' +
f'{level_name}_{door.name}')})

return sdf

def generate_sdf_models(self, models_path):
Expand Down