From 635ec7820df3b598bf9b9f03582ca1008cff8805 Mon Sep 17 00:00:00 2001
From: Nate Koenig <natekoenig@gmail.com>
Date: Fri, 12 Apr 2024 13:24:12 -0700
Subject: [PATCH] Support loading resources from Fuel

Signed-off-by: Nate Koenig <natekoenig@gmail.com>
---
 rviz_rendering/CMakeLists.txt                     |  4 ++++
 rviz_rendering/package.xml                        |  3 +++
 rviz_rendering/src/rviz_rendering/mesh_loader.cpp | 15 +++++++++++++--
 3 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/rviz_rendering/CMakeLists.txt b/rviz_rendering/CMakeLists.txt
index fee1258b8..3e58982eb 100644
--- a/rviz_rendering/CMakeLists.txt
+++ b/rviz_rendering/CMakeLists.txt
@@ -39,6 +39,7 @@ find_package(ament_index_cpp REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(resource_retriever REQUIRED)
+find_package(gz-fuel_tools8 REQUIRED)
 
 # TODO(wjwwood): this block is to setup the windeployqt tool, could be removed later.
 if(Qt5_FOUND AND WIN32 AND TARGET Qt5::qmake AND NOT TARGET Qt5::windeployqt)
@@ -103,6 +104,7 @@ target_link_libraries(rviz_rendering PUBLIC
   Qt5::Widgets
   rviz_ogre_vendor::OgreMain
   rviz_ogre_vendor::OgreOverlay
+  gz-fuel_tools8::gz-fuel_tools8
 )
 if(TARGET Eigen3::Eigen)
   # TODO(sloretz) require target to exist when https://github.com/ros2/choco-packages/issues/19 is addressed
@@ -130,6 +132,7 @@ ament_export_dependencies(
   Eigen3
   Qt5
   rviz_ogre_vendor
+  gz-fuel_tools8
 )
 
 # Export old-style CMake variables
@@ -179,6 +182,7 @@ if(BUILD_TESTING)
     PUBLIC
     rviz_ogre_vendor::OgreMain
     rviz_rendering
+    gz-fuel_tools8::gz-fuel_tools8
   )
 
   ament_add_gmock(string_helper_test test/rviz_rendering/string_helper_test.cpp)
diff --git a/rviz_rendering/package.xml b/rviz_rendering/package.xml
index 3cda5cf12..ae158253c 100644
--- a/rviz_rendering/package.xml
+++ b/rviz_rendering/package.xml
@@ -35,6 +35,7 @@
   <build_depend>resource_retriever</build_depend>
   <build_depend>rviz_assimp_vendor</build_depend>
   <build_depend>rviz_ogre_vendor</build_depend>
+  <build_depend>gz-fuel_tools8</build_depend>
 
   <build_export_depend>eigen</build_export_depend>
   <build_export_depend>qtbase5-dev</build_export_depend>
@@ -48,6 +49,7 @@
   <exec_depend>resource_retriever</exec_depend>
   <exec_depend>rviz_assimp_vendor</exec_depend>
   <exec_depend>rviz_ogre_vendor</exec_depend>
+  <exec_depend>gz-fuel_tools8</exec_depend>
 
   <!-- TODO(jacobperron): Replace with ament_lint_common when ament_copyright is working -->
   <test_depend>ament_cmake_cppcheck</test_depend>
@@ -59,6 +61,7 @@
   <test_depend>ament_cmake_xmllint</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>rviz_assimp_vendor</test_depend>
+  <test_depend>gz-fuel_tool8</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/rviz_rendering/src/rviz_rendering/mesh_loader.cpp b/rviz_rendering/src/rviz_rendering/mesh_loader.cpp
index 3ebe8eb46..ea5c7749c 100644
--- a/rviz_rendering/src/rviz_rendering/mesh_loader.cpp
+++ b/rviz_rendering/src/rviz_rendering/mesh_loader.cpp
@@ -47,6 +47,8 @@
 #include <QFileInfo>  // NOLINT cpplint cannot handle include order here
 #include <QString>  // NOLINT cpplint cannot handle include order here
 
+#include <gz/fuel_tools/Interface.hh>
+
 #define ASSIMP_UNIFIED_HEADER_NAMES 1
 #if defined(ASSIMP_UNIFIED_HEADER_NAMES)
 #include "assimp/Importer.hpp"
@@ -108,11 +110,20 @@ Ogre::MeshPtr loadMeshFromResource(const std::string & resource_path)
       return mesh;
     } else {
       AssimpLoader assimp_loader;
+      std::string file_resource_path = resource_path;
+
+      // Check to see if the resource is referencing a Fuel resource.
+      // If so, then use fuel_tools to resolve the path. This will
+      // also download the resource if it doesn't exist on disk.
+      if (resource_path.find("https://fuel") == 0) {
+        file_resource_path = "file://" +
+          gz::fuel_tools::fetchResource(resource_path);
+      }
 
-      const aiScene * scene = assimp_loader.getScene(resource_path);
+      const aiScene * scene = assimp_loader.getScene(file_resource_path);
       if (!scene) {
         RVIZ_RENDERING_LOG_ERROR_STREAM(
-          "Could not load resource [" << resource_path.c_str() << "]: " <<
+          "Could not load resource [" << file_resource_path.c_str() << "]: " <<
             assimp_loader.getErrorMessage());
         return Ogre::MeshPtr();
       }