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Support loading resources from Fuel #1186

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Support loading resources from Fuel #1186

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4 changes: 4 additions & 0 deletions rviz_rendering/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -130,6 +132,7 @@ ament_export_dependencies(
Eigen3
Qt5
rviz_ogre_vendor
gz-fuel_tools8
)

# Export old-style CMake variables
Expand Down Expand Up @@ -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)
Expand Down
3 changes: 3 additions & 0 deletions rviz_rendering/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
Expand All @@ -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>
Expand All @@ -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>
Expand Down
15 changes: 13 additions & 2 deletions rviz_rendering/src/rviz_rendering/mesh_loader.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
Expand Down Expand Up @@ -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();
}
Expand Down