World exporter (#474)

* Added world exporter Signed-off-by: Gonzalo de Pedro <[email protected]> * Fixed CMake Signed-off-by: Gonzalo de Pedro <[email protected]> * Changes based on review Signed-off-by: Gonzalo de Pedro <[email protected]> * Added example world Signed-off-by: Nate Koenig <[email protected]> * bump required ign-common version Signed-off-by: Louise Poubel <[email protected]> * PR updates Signed-off-by: Nate Koenig <[email protected]> * Update documentation to have simulation self terminate Signed-off-by: Nate Koenig <[email protected]> * Rename world_export to collada_world_exporter Signed-off-by: Nate Koenig <[email protected]> * Finish world exporter renaming Signed-off-by: Nate Koenig <[email protected]> * Revert change Signed-off-by: Nate Koenig <[email protected]> * Added a tutorial Signed-off-by: Nate Koenig <[email protected]> * Update transform Signed-off-by: Nate Koenig <[email protected]> * Added message Signed-off-by: Nate Koenig <[email protected]> * Added a test Signed-off-by: Nate Koenig <[email protected]> * Added more shapes Signed-off-by: Nate Koenig <[email protected]> * Cleanup in two locations Signed-off-by: Nate Koenig <[email protected]> * Fix build Signed-off-by: Nate Koenig <[email protected]> * Apply scale, and fix codecheck Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Louise Poubel <[email protected]> Co-authored-by: Nate Koenig <[email protected]>
gazebosim · Jan 29, 2021 · f6a7329 · f6a7329
1 parent 59ea1c6
commit f6a7329
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Showing 13 changed files with 777 additions and 4 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -59,7 +59,7 @@ set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR})
 #--------------------------------------
 # Find ignition-common
 # Always use the profiler component to get the headers, regardless of status.
-ign_find_package(ignition-common3 VERSION 3.5
+ign_find_package(ignition-common3 VERSION 3.8
  COMPONENTS
  profiler
  events

diff --git a/examples/worlds/collada_world_exporter.sdf b/examples/worlds/collada_world_exporter.sdf
@@ -0,0 +1,180 @@
+<?xml version="1.0" ?>
+<!--
+
+This world will load the ColladaWorldExporter plugin, which is designed to
+convert a world to a single Collada file. When this world is run, a subdirectory
+named after the world is created. Within this subdirectory is the mesh and
+materials for the world. 
+
+This example just exports simple shapes into a Collada file. To run use:
+
+ ign gazebo -v 4 -s -r --iterations 1 collada_world_exporter.sdf
+
+-->
+<sdf version="1.6">
+ <world name="shapes">
+
+ <plugin
+ filename="ignition-gazebo-collada-world-exporter-system"
+ name="ignition::gazebo::systems::ColladaWorldExporter">
+ </plugin>
+
+ <scene>
+ <ambient>1.0 1.0 1.0</ambient>
+ <background>0.8 0.8 0.8</background>
+ </scene>
+
+ <light type="directional" name="sun">
+ <cast_shadows>true</cast_shadows>
+ <pose>0 0 10 0 0 0</pose>
+ <diffuse>0.8 0.8 0.8 1</diffuse>
+ <specular>0.8 0.8 0.8 1</specular>
+ <attenuation>
+ <range>1000</range>
+ <constant>0.9</constant>
+ <linear>0.01</linear>
+ <quadratic>0.001</quadratic>
+ </attenuation>
+ <direction>-0.5 0.1 -0.9</direction>
+ </light>
+
+ <model name="ground_plane">
+ <static>true</static>
+ <link name="link">
+ <collision name="collision">
+ <geometry>
+ <plane>
+ <normal>0 0 1</normal>
+ </plane>
+ </geometry>
+ </collision>
+ <visual name="visual">
+ <geometry>
+ <plane>
+ <normal>0 0 1</normal>
+ <size>100 100</size>
+ </plane>
+ </geometry>
+ <material>
+ <ambient>0.8 0.8 0.8 1</ambient>
+ <diffuse>0.8 0.8 0.8 1</diffuse>
+ <specular>0.8 0.8 0.8 1</specular>
+ </material>
+ </visual>
+ </link>
+ </model>
+
+ <model name="box">
+ <pose>0 0 0.5 0 0 0</pose>
+ <link name="box_link">
+ <inertial>
+ <inertia>
+ <ixx>1</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>1</iyy>
+ <iyz>0</iyz>
+ <izz>1</izz>
+ </inertia>
+ <mass>1.0</mass>
+ </inertial>
+ <collision name="box_collision">
+ <geometry>
+ <box>
+ <size>1 1 1</size>
+ </box>
+ </geometry>
+ </collision>
+
+ <visual name="box_visual">
+ <geometry>
+ <box>
+ <size>1 1 1</size>
+ </box>
+ </geometry>
+ <material>
+ <ambient>1 0 0 1</ambient>
+ <diffuse>1 0 0 1</diffuse>
+ <specular>1 0 0 1</specular>
+ </material>
+ </visual>
+ </link>
+ </model>
+
+ <model name="cylinder">
+ <pose>0 -1.5 0.5 0 0 0</pose>
+ <link name="cylinder_link">
+ <inertial>
+ <inertia>
+ <ixx>2</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>2</iyy>
+ <iyz>0</iyz>
+ <izz>2</izz>
+ </inertia>
+ <mass>2.0</mass>
+ </inertial>
+ <collision name="cylinder_collision">
+ <geometry>
+ <cylinder>
+ <radius>0.5</radius>
+ <length>1.0</length>
+ </cylinder>
+ </geometry>
+ </collision>
+
+ <visual name="cylinder_visual">
+ <geometry>
+ <cylinder>
+ <radius>0.5</radius>
+ <length>1.0</length>
+ </cylinder>
+ </geometry>
+ <material>
+ <ambient>0 1 0 1</ambient>
+ <diffuse>0 1 0 1</diffuse>
+ <specular>0 1 0 1</specular>
+ </material>
+ </visual>
+ </link>
+ </model>
+
+ <model name="sphere">
+ <pose>0 1.5 0.5 0 0 0</pose>
+ <link name="sphere_link">
+ <inertial>
+ <inertia>
+ <ixx>3</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>3</iyy>
+ <iyz>0</iyz>
+ <izz>3</izz>
+ </inertia>
+ <mass>3.0</mass>
+ </inertial>
+ <collision name="sphere_collision">
+ <geometry>
+ <sphere>
+ <radius>0.5</radius>
+ </sphere>
+ </geometry>
+ </collision>
+
+ <visual name="sphere_visual">
+ <geometry>
+ <sphere>
+ <radius>0.5</radius>
+ </sphere>
+ </geometry>
+ <material>
+ <ambient>0 0 1 1</ambient>
+ <diffuse>0 0 1 1</diffuse>
+ <specular>0 0 1 1</specular>
+ </material>
+ </visual>
+ </link>
+ </model>
+ </world>
+</sdf>
diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc
@@ -227,15 +227,15 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config)
  bool sdfUseLogRecord = (recordPluginElem != nullptr);
 
  bool hasRecordResources {false};
- bool hasCompress {false};
  bool hasRecordTopics {false};
 
  bool sdfRecordResources;
- bool sdfCompress;
  std::vector<std::string> sdfRecordTopics;
 
  if (sdfUseLogRecord)
  {
+ bool hasCompress {false};
+ bool sdfCompress;
  std::tie(sdfRecordResources, hasRecordResources) =
  recordPluginElem->Get<bool>("record_resources", false);
  std::tie(sdfCompress, hasCompress) =

diff --git a/src/systems/CMakeLists.txt b/src/systems/CMakeLists.txt
@@ -76,6 +76,7 @@ add_subdirectory(apply_joint_force)
 add_subdirectory(battery_plugin)
 add_subdirectory(breadcrumbs)
 add_subdirectory(buoyancy)
+add_subdirectory(collada_world_exporter)
 add_subdirectory(contact)
 add_subdirectory(camera_video_recorder)
 add_subdirectory(detachable_joint)

diff --git a/src/systems/collada_world_exporter/CMakeLists.txt b/src/systems/collada_world_exporter/CMakeLists.txt
@@ -0,0 +1,4 @@
+gz_add_system(collada-world-exporter
+ SOURCES
+ ColladaWorldExporter.cc
+)