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Path tracer colors #599

Merged
merged 7 commits into from
Sep 21, 2020
Merged

Path tracer colors #599

merged 7 commits into from
Sep 21, 2020

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nkoenig
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@nkoenig nkoenig commented Sep 9, 2020

Add support for a YAML configuration file, which has the form:

rtf: 4.0
incorrect_report_color:
  ambient:
    r: 1.0
    g: 0.0
    b: 0.0
    a: 0.5
  diffuse:
    r: 1.0
    g: 0.0
    b: 0.0
    a: 0.5
  emissive:
    r: 0.2
    g: 0.0
    b: 0.0
    a: 0.1
correct_report_color:
  ambient:
    r: 0.0
    g: 1.0
    b: 0.0
    a: 1.0
  diffuse:
    r: 0.0
    g: 1.0
    b: 0.0
    a: 1.0
  emissive:
    r: 0.0
    g: 1.0
    b: 0.0
    a: 1.0
artifact_location_color:
  ambient:
    r: 0.0
    g: 1.0
    b: 1.0
    a: 0.5
  diffuse:
    r: 0.0
    g: 1.0
    b: 1.0
    a: 0.5
  emissive:
    r: 0.0
    g: 0.2
    b: 0.2
    a: 0.5
robot_colors:
  - color:
    ambient:
      r: 0.6
      g: 0.0
      b: 1.0
      a: 1.0
    diffuse:
      r: 0.6
      g: 0.0
      b: 1.0
      a: 1.0
    emissive:
      r: 0.6
      g: 0.0
      b: 1.0
      a: 1.0
  - color:
    ambient:
      r: 0.678
      g: 0.2
      b: 1.0
      a: 1.0
    diffuse:
      r: 0.678
      g: 0.2
      b: 1.0
      a: 1.0
    emissive:
      r: 0.678
      g: 0.2
      b: 1.0
      a: 1.0
  - color:
    ambient:
      r: 0.761
      g: 0.4
      b: 1.0
      a: 1.0
    diffuse:
      r: 0.761
      g: 0.4
      b: 1.0
      a: 1.0
    emissive:
      r: 0.761
      g: 0.4
      b: 1.0
      a: 1.0

Nate Koenig added 4 commits September 8, 2020 15:17
Modify path tracer to use an RTF value
41dc846 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
Start of path tracer color yaml configuration
adb1f29 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
Support yaml configuration for colors and rtf
b2804cd 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
merged with citadel
d3af590 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
@nkoenig nkoenig changed the base branch from path_tracer_rtf to citadel September 16, 2020 22:15
@mjcarroll
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Small enhancement: path_tracer_colors...path_tracer_colors_dry

@nkoenig nkoenig removed the request for review from caguero September 21, 2020 16:18
Nate Koenig added 2 commits September 21, 2020 09:31
Update to use DRY suggestion
46a6489 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
Merge branch 'path_tracer_colors' of github.com:osrf/subt into path_t…
2811db9 
…racer_colors
@nkoenig
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nkoenig commented Sep 21, 2020

Small enhancement: path_tracer_colors...path_tracer_colors_dry

I think your branch may have disappeared, but I recreated the change in 46a6489

@mjcarroll
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I think your branch may have disappeared, but I recreated the change in 46a6489

Whoops, for some reason I thought it was already merged, and cleaned it up.

mjcarroll
mjcarroll approved these changes Sep 21, 2020
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Just one additional suggestion to help debug yaml issues, otherwise LGTM

@nkoenig @mjcarroll
Update subt_ign/src/path_tracer.cc
d79dccc 
Co-authored-by: Michael Carroll <michael@openrobotics.org>
@nkoenig nkoenig merged commit afa207d into citadel Sep 21, 2020
@nkoenig nkoenig deleted the path_tracer_colors branch December 10, 2020 22:30
nkoenig added a commit that referenced this pull request Dec 17, 2020
@nkoenig @iche033
@azeey @acschang @caguero @mjcarroll
Dome (#726)
b73ab3f 
* bump to citadel, update comms visualization

* Adding breadcrumbs to x1 config 7 & 8

* Added additional breadcrumbs

* Update to citadel

* Prevent breadcrumb topics

* Added breadcrumb handling to more launch files

* Apply patch

* Adjust spawn location of the breadcrumbs

* Update cave_circuit.ign to call the corect spawner method (#409)

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

* Add disable_physics_time param to breadcrumb plugin to auto disable them

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* Adding team base

* One team base only

* Cleanup after move from bitbucket

* Cleanup

* Remove extra whitespace

* Use https for git

* Cave Qual release

* Update Citadel and Urban Circuit

* Update Citadel and Urban Circuit

* bump to citadel, update comms visualization

* Update to citadel

* bump to citadel, update comms visualization

* Cleanup after rebase

* Updates based on review

* Missed one pose publisher

* one more RawPose

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* Minor cmake tweaks

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

* Change colors for comms visualization.

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

* Fix docs

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

* Azeey/marsupial (#424)

* Add marsupial robots for cave_circuit

* Update example command

* Apply spawnWorldYaw to marsupial offsets

* Add marsupial vehicle support to cloudsim

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

* Update cloudsim_bridge and json2docker

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

* Suppress DetachableJoint missing child warning

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

* Added platform

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

* Fix platform position

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

* Combined spawn

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

* Update submitted models

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

* Merge cave_circuit.ign to urban_circuit.ign, tunnel_circuit_practice.ign, and competition.ign

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

Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
Co-authored-by: Nate Koenig <nate@openrobotics.org>

* Add missing changes from PRs #402 and #403

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

* Adjust platform height

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

* Fix deprecation

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

* Fix build

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

* Update to visibility RF model (#440)

* Testing.

* Remove debug code.

* Update to visibility RF model to account for radio characteristics and message size.

* Updated the static number of bytes in a message for communication visualization from 5 to 100.

Co-authored-by: Carlos Aguero <caguero@openrobotics.org>
Co-authored-by: Nate Koenig <nate@openrobotics.org>

* citadel dockerfiles

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

* Merged with master

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

* Fix dependencies

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

* Download models

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

* Path tracer (#545)

* Added a path tracer program that visualizes robot paths, artifacts, and artifact reports.

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

* Added path tracer files

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

* Cleanup build and address comments

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

Co-authored-by: Nate Koenig <nate@openrobotics.org>

* Break out model download into separate docker image.

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

* Cleanup

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

* Update docker image name

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

* Updating docker

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

* Fixed merge

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

* Handle log files with no events.yml file, and also handle an error case in events.yml (#565)

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

Co-authored-by: Nate Koenig <nate@openrobotics.org>

* Path tracer rtf (#596)

* Modify path tracer to use an RTF value

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

* Added more output

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

* Account for time required to process the step

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

Co-authored-by: Nate Koenig <nate@openrobotics.org>

* Path tracer colors (#599)

* Modify path tracer to use an RTF value

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

* Start of path tracer color yaml configuration

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

* Support yaml configuration for colors and rtf

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

* Update to use DRY suggestion

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

* Update subt_ign/src/path_tracer.cc

Co-authored-by: Michael Carroll <michael@openrobotics.org>

Co-authored-by: Nate Koenig <nate@openrobotics.org>
Co-authored-by: Michael Carroll <michael@openrobotics.org>

* Merge from master (#621)

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>

* Missing include

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

* Merged with master

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

* Disable truth_controller

* Update to use Ignition Dome

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

* Updating dockerfiles

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

* Updating subt_sim_entry dockerfile

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

* Updating model download

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

* Update dockerfile

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

* Update dockefile

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

* Update subt_sim_entry

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

* Update docker

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

* Fixing docker

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

* Improve git clone

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

* Add back in ros_ign bridge to cloudsim_sim dockerfile

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

* Update all urban .dat files. (#721)

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>

* Update all tunnel .dat files. (#723)

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>

* Update dockerfiles

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

Co-authored-by: Ian Chen <ichen@osrfoundation.org>
Co-authored-by: Nate Koenig <nate@openrobotics.org>
Co-authored-by: Addisu Taddese <addisu@openrobotics.org>
Co-authored-by: acschang <61025344+acschang@users.noreply.github.com>
Co-authored-by: Carlos Aguero <caguero@openrobotics.org>
Co-authored-by: Michael Carroll <michael@openrobotics.org>
Co-authored-by: Carlos Agüero <caguero@osrfoundation.org>
nkoenig added a commit that referenced this pull request Jan 5, 2021
@nkoenig @iche033
@azeey @acschang @caguero @mjcarroll
Tunnel connection points (#720)
2f5dd1c 
* bump to citadel, update comms visualization

* Adding breadcrumbs to x1 config 7 & 8

* Added additional breadcrumbs

* Update to citadel

* Prevent breadcrumb topics

* Added breadcrumb handling to more launch files

* Apply patch

* Adjust spawn location of the breadcrumbs

* Update cave_circuit.ign to call the corect spawner method (#409)

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

* Add disable_physics_time param to breadcrumb plugin to auto disable them

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* Adding team base

* One team base only

* Cleanup after move from bitbucket

* Cleanup

* Remove extra whitespace

* Use https for git

* Cave Qual release

* Update Citadel and Urban Circuit

* Update Citadel and Urban Circuit

* bump to citadel, update comms visualization

* Update to citadel

* bump to citadel, update comms visualization

* Cleanup after rebase

* Updates based on review

* Missed one pose publisher

* one more RawPose

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* Minor cmake tweaks

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

* Change colors for comms visualization.

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

* Fix docs

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

* Azeey/marsupial (#424)

* Add marsupial robots for cave_circuit

* Update example command

* Apply spawnWorldYaw to marsupial offsets

* Add marsupial vehicle support to cloudsim

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

* Update cloudsim_bridge and json2docker

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

* Suppress DetachableJoint missing child warning

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

* Added platform

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

* Fix platform position

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

* Combined spawn

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

* Update submitted models

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

* Merge cave_circuit.ign to urban_circuit.ign, tunnel_circuit_practice.ign, and competition.ign

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

Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
Co-authored-by: Nate Koenig <nate@openrobotics.org>

* Add missing changes from PRs #402 and #403

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

* Adjust platform height

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

* Fix deprecation

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

* Fix build

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

* Update to visibility RF model (#440)

* Testing.

* Remove debug code.

* Update to visibility RF model to account for radio characteristics and message size.

* Updated the static number of bytes in a message for communication visualization from 5 to 100.

Co-authored-by: Carlos Aguero <caguero@openrobotics.org>
Co-authored-by: Nate Koenig <nate@openrobotics.org>

* citadel dockerfiles

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

* Merged with master

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

* Fix dependencies

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

* Download models

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

* Path tracer (#545)

* Added a path tracer program that visualizes robot paths, artifacts, and artifact reports.

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

* Added path tracer files

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

* Cleanup build and address comments

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

Co-authored-by: Nate Koenig <nate@openrobotics.org>

* Break out model download into separate docker image.

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

* Cleanup

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

* Update docker image name

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

* Updating docker

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

* Fixed merge

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

* Handle log files with no events.yml file, and also handle an error case in events.yml (#565)

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

Co-authored-by: Nate Koenig <nate@openrobotics.org>

* Path tracer rtf (#596)

* Modify path tracer to use an RTF value

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

* Added more output

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

* Account for time required to process the step

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

Co-authored-by: Nate Koenig <nate@openrobotics.org>

* Path tracer colors (#599)

* Modify path tracer to use an RTF value

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

* Start of path tracer color yaml configuration

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

* Support yaml configuration for colors and rtf

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

* Update to use DRY suggestion

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

* Update subt_ign/src/path_tracer.cc

Co-authored-by: Michael Carroll <michael@openrobotics.org>

Co-authored-by: Nate Koenig <nate@openrobotics.org>
Co-authored-by: Michael Carroll <michael@openrobotics.org>

* Merge from master (#621)

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>

* Missing include

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

* Merged with master

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

* Disable truth_controller

* Update to use Ignition Dome

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

* Updating dockerfiles

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

* Updating subt_sim_entry dockerfile

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

* Updating model download

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

* Update dockerfile

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

* Update dockefile

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

* Update subt_sim_entry

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

* Update docker

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

* Fixing docker

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

* Improve git clone

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

* Add back in ros_ign bridge to cloudsim_sim dockerfile

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

* Tunnel connection points

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

* added subt_tunnel_staging_area

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

* Fixed connection points

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

Co-authored-by: Ian Chen <ichen@osrfoundation.org>
Co-authored-by: Nate Koenig <nate@openrobotics.org>
Co-authored-by: Addisu Taddese <addisu@openrobotics.org>
Co-authored-by: acschang <61025344+acschang@users.noreply.github.com>
Co-authored-by: Carlos Aguero <caguero@openrobotics.org>
Co-authored-by: Michael Carroll <michael@openrobotics.org>
Co-authored-by: Carlos Agüero <caguero@osrfoundation.org>
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