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Signed-off-by: Louise Poubel <[email protected]>
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| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>100 100</size> | ||
| </plane> | ||
| </geometry> | ||
| </collision> | ||
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| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>100 100</size> | ||
| </plane> | ||
| </geometry> | ||
| </collision> | ||
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| cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) | ||
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| find_package(ignition-transport10 QUIET REQUIRED OPTIONAL_COMPONENTS log) | ||
| set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR}) | ||
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| add_executable(entity_creation entity_creation.cc) | ||
| target_link_libraries(entity_creation | ||
| ignition-transport${IGN_TRANSPORT_VER}::core) |
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| # Examples using the create service | ||
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| ## Build | ||
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| ``` | ||
| mkdir build | ||
| cd build | ||
| cmake .. | ||
| make | ||
| ``` | ||
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| ## Run | ||
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| This example only works if the world is called `empty`. Start an empty world with: | ||
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| ``` | ||
| ign gazebo empty.sdf | ||
| ``` | ||
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| Then run the create program to spawn entities into the world: | ||
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| ``` | ||
| cd build | ||
| ./entity_creation | ||
| ``` |
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| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
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| #include <ignition/msgs/entity_factory.pb.h> | ||
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| #include <iostream> | ||
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| #include <ignition/transport/Node.hh> | ||
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| // Create a transport node. | ||
| ignition::transport::Node node; | ||
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| // timeout used for services | ||
| constexpr unsigned int timeout = 5000; | ||
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| void createLight() | ||
| { | ||
| bool result; | ||
| ignition::msgs::Boolean rep; | ||
| //! [create light] | ||
| ignition::msgs::EntityFactory entityFactoryRequest; | ||
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| entityFactoryRequest.mutable_light()->set_name("point"); | ||
| entityFactoryRequest.mutable_light()->set_range(4); | ||
| entityFactoryRequest.mutable_light()->set_attenuation_linear(0.5); | ||
| entityFactoryRequest.mutable_light()->set_attenuation_constant(0.2); | ||
| entityFactoryRequest.mutable_light()->set_attenuation_quadratic(0.01); | ||
| entityFactoryRequest.mutable_light()->set_cast_shadows(false); | ||
| entityFactoryRequest.mutable_light()->set_type(ignition::msgs::Light::POINT); | ||
| ignition::msgs::Set( | ||
| entityFactoryRequest.mutable_light()->mutable_direction(), | ||
| ignition::math::Vector3d(0.5, 0.2, -0.9)); | ||
| ignition::msgs::Set(entityFactoryRequest.mutable_light()->mutable_pose(), | ||
| ignition::math::Pose3d(0.0, 0, 3.0, 0.0, 0.0, 0.0)); | ||
| //! [create light] | ||
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| //! [call service create] | ||
| bool executedEntityFactory = node.Request("/world/empty/create", | ||
| entityFactoryRequest, timeout, rep, result); | ||
| if (executedEntityFactory) | ||
| { | ||
| if (result) | ||
| std::cout << "Light was created : [" << rep.data() << "]" << std::endl; | ||
| else | ||
| { | ||
| std::cout << "Service call failed" << std::endl; | ||
| return; | ||
| } | ||
| } | ||
| else | ||
| std::cerr << "Service call timed out" << std::endl; | ||
| //! [call service create] | ||
| } | ||
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| void createEntityFromStr(const std::string modelStr) | ||
| { | ||
| //! [call service create sphere] | ||
| bool result; | ||
| ignition::msgs::EntityFactory req; | ||
| ignition::msgs::Boolean res; | ||
| req.set_sdf(modelStr); | ||
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| bool executed = node.Request("/world/empty/create", | ||
| req, timeout, res, result); | ||
| if (executed) | ||
| { | ||
| if (result) | ||
| std::cout << "Sphere was created : [" << res.data() << "]" << std::endl; | ||
| else | ||
| { | ||
| std::cout << "Service call failed" << std::endl; | ||
| return; | ||
| } | ||
| } | ||
| else | ||
| std::cerr << "Service call timed out" << std::endl; | ||
| //! [call service create sphere] | ||
| } | ||
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| ////////////////////////////////////////////////// | ||
| std::string generateLightStr( | ||
| const std::string light_type, const std::string name, | ||
| const bool cast_shadows, const ignition::math::Pose3d pose, | ||
| const ignition::math::Color diffuse, | ||
| const ignition::math::Color specular, | ||
| const double attRange, const double attConstant, | ||
| const double attLinear, const double attQuadratic, | ||
| const ignition::math::Vector3d direction, | ||
| const double spot_inner_angle, | ||
| const double spot_outer_angle, | ||
| const double spot_falloff | ||
| ) | ||
| { | ||
| //! [create light str] | ||
| std::string lightStr = std::string("<sdf version='1.7'>") + | ||
| "<light type='" + light_type + "' name='" + name + "'> " + | ||
| "<cast_shadows>" + std::to_string(cast_shadows) + "</cast_shadows>" + | ||
| "<pose>" + | ||
| std::to_string(pose.Pos().X()) + " " + | ||
| std::to_string(pose.Pos().Y()) + " " + | ||
| std::to_string(pose.Pos().Z()) + " " + | ||
| std::to_string(pose.Rot().Roll()) + " " + | ||
| std::to_string(pose.Rot().Pitch()) + " " + | ||
| std::to_string(pose.Rot().Yaw()) + | ||
| "</pose>" + | ||
| "<diffuse>" + | ||
| std::to_string(diffuse.R()) + " " + | ||
| std::to_string(diffuse.G()) + " " + | ||
| std::to_string(diffuse.B()) + " " + | ||
| std::to_string(diffuse.A()) + | ||
| "</diffuse>" + | ||
| "<specular>" + | ||
| std::to_string(specular.R()) + " " + | ||
| std::to_string(specular.G()) + " " + | ||
| std::to_string(specular.B()) + " " + | ||
| std::to_string(specular.A()) + | ||
| "</specular>" + | ||
| "<attenuation>" + | ||
| "<range>" + std::to_string(attRange) + "</range>" + | ||
| "<constant>" + std::to_string(attConstant) + "</constant>" + | ||
| "<linear>" + std::to_string(attLinear) + "</linear>" + | ||
| "<quadratic>" + std::to_string(attQuadratic) + "</quadratic>" + | ||
| "</attenuation>" + | ||
| "<direction>" + | ||
| std::to_string(direction.X()) + " " + | ||
| std::to_string(direction.Y()) + " " + | ||
| std::to_string(direction.Z()) + | ||
| "</direction>" + | ||
| "<spot>" + | ||
| "<inner_angle>" + std::to_string(spot_inner_angle) + "</inner_angle>" + | ||
| "<outer_angle>" + std::to_string(spot_outer_angle) + "</outer_angle>" + | ||
| "<falloff>" + std::to_string(spot_falloff) + "</falloff>" + | ||
| "</spot>" + | ||
| "</light></sdf>"; | ||
| //! [create light str] | ||
| return lightStr; | ||
| } | ||
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| ////////////////////////////////////////////////// | ||
| int main(int argc, char **argv) | ||
| { | ||
| //! [create sphere] | ||
| auto sphereStr = R"( | ||
| <?xml version="1.0" ?> | ||
| <sdf version='1.7'> | ||
| <model name='sphere'> | ||
| <link name='link'> | ||
| <pose>0 0 0.5 0 0 0</pose> | ||
| <visual name='visual'> | ||
| <geometry><sphere><radius>1</radius></sphere></geometry> | ||
| </visual> | ||
| <collision name='collision'> | ||
| <geometry><sphere><radius>1</radius></sphere></geometry> | ||
| </collision> | ||
| </link> | ||
| </model> | ||
| </sdf>)"; | ||
| //! [create sphere] | ||
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| createEntityFromStr(sphereStr); | ||
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| createEntityFromStr( | ||
| generateLightStr("spot", "spot_light", false, | ||
| ignition::math::Pose3d(0, 0, 4, 0, 0, 0), | ||
| ignition::math::Color(0, 0, 1.0, 1.0), | ||
| ignition::math::Color(0, 0, 1.0, 1.0), | ||
| 1.0, 0.2, 0.2, 0.001, | ||
| ignition::math::Vector3d(0.5, 0.2, -0.9), | ||
| 0.15, 0.45, 1.0)); | ||
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| createLight(); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) | ||
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| find_package(ignition-transport10 QUIET REQUIRED OPTIONAL_COMPONENTS log) | ||
| set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR}) | ||
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| find_package(ignition-gazebo5 REQUIRED) | ||
| set(IGN_GAZEBO_VER ${ignition-gazebo5_VERSION_MAJOR}) | ||
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| add_executable(light_control light_control.cc) | ||
| target_link_libraries(light_control | ||
| ignition-transport${IGN_TRANSPORT_VER}::core | ||
| ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER}) |
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