gazebosim · chapulina · Jan 12, 2022 · Dec 29, 2020 · Dec 29, 2020 · Dec 30, 2020
diff --git a/.gitignore b/.gitignore
@@ -12,3 +12,4 @@ build_*
 
 .ycm_extra_conf.py
 *.orig
+.vscode
@@ -65,7 +65,7 @@ set(IGN_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-msgs
-ign_find_package(ignition-msgs8 REQUIRED)
+ign_find_package(ignition-msgs8 REQUIRED VERSION 8.2)
 set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})
 
 #--------------------------------------
@@ -87,7 +87,7 @@ set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools7_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-gui
-ign_find_package(ignition-gui6 REQUIRED VERSION 6.1)
+ign_find_package(ignition-gui6 REQUIRED VERSION 6.3)
 set(IGN_GUI_VER ${ignition-gui6_VERSION_MAJOR})
 ign_find_package (Qt5
  COMPONENTS
@@ -110,7 +110,7 @@ set(IGN_PHYSICS_VER ${ignition-physics5_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-sensors
-ign_find_package(ignition-sensors6 REQUIRED VERSION 6.0.1
+ign_find_package(ignition-sensors6 REQUIRED VERSION 6.1
  # component order is important
  COMPONENTS
  # non-rendering
@@ -120,6 +120,7 @@ ign_find_package(ignition-sensors6 REQUIRED VERSION 6.0.1
  force_torque
  logical_camera
  magnetometer
+ navsat
 
  # rendering
  rendering

diff --git a/examples/worlds/sensors.sdf b/examples/worlds/sensors.sdf
@@ -160,6 +160,7 @@
  <topic>imu</topic>
  <enable_metrics>true</enable_metrics>
  </sensor>
+
  <sensor name="magnetometer" type="magnetometer">
  <always_on>1</always_on>
  <update_rate>100</update_rate>

@@ -5,6 +5,9 @@
  The world origin's spherical coordinates can be inspected using the Component
  Inspector GUI plugin.
 
+ It has a model with a NavSat (GPS) sensor, whose reading is displayed on a
+ NavSatMap plugin.
+
  Try changing the world origin coordinates with:
 
 ign service \
@@ -46,7 +49,19 @@ ign service -s /world/spherical_coordinates/set_spherical_coordinates \
 
 -->
 <sdf version="1.6">
- <world name="spherical coordinates">
+ <world name="spherical_coordinates">
+
+ <!-- Processes the NavSat sensor -->
+ <plugin
+ filename="ignition-gazebo-navsat-system"
+ name="ignition::gazebo::systems::NavSat">
+ </plugin>
+
+ <!-- Processes pose commands -->
+ <plugin
+ filename="ignition-gazebo-physics-system"
+ name="ignition::gazebo::systems::Physics">
+ </plugin>
 
  <!-- Handles requests to update the spherical coordinates -->
  <plugin
@@ -60,21 +75,237 @@ ign service -s /world/spherical_coordinates/set_spherical_coordinates \
  name="ignition::gazebo::systems::SceneBroadcaster">
  </plugin>
 
- <!-- Processes pose commands -->
- <plugin
- filename="ignition-gazebo-physics-system"
- name="ignition::gazebo::systems::Physics">
- </plugin>
-
  <!-- Set the coordinates for the world origin -->
  <spherical_coordinates>
  <surface_model>EARTH_WGS84</surface_model>
  <world_frame_orientation>ENU</world_frame_orientation>
- <latitude_deg>-22.9</latitude_deg>
- <longitude_deg>-43.2</longitude_deg>
+ <latitude_deg>-22.986687</latitude_deg>
+ <longitude_deg>-43.202501</longitude_deg>
  <elevation>0</elevation>
  <heading_deg>0</heading_deg>
  </spherical_coordinates>
 
+ <gui fullscreen="0">
+
+ <!-- 3D scene -->
+ <plugin filename="MinimalScene" name="3D View">
+ <ignition-gui>
+ <title>3D View</title>
+ <property type="bool" key="showTitleBar">false</property>
+ <property type="string" key="state">docked</property>
+ </ignition-gui>
+
+ <engine>ogre2</engine>
+ <scene>scene</scene>
+ <ambient_light>0.4 0.4 0.4</ambient_light>
+ <background_color>0.8 0.8 0.8</background_color>
+ <camera_pose>0 -6 8 0 0.8 1.56</camera_pose>
+ </plugin>
+
+ <!-- Plugins that add functionality to the scene -->
+ <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+ <ignition-gui>
+ <property key="state" type="string">floating</property>
+ <property key="width" type="double">5</property>
+ <property key="height" type="double">5</property>
+ <property key="showTitleBar" type="bool">false</property>
+ </ignition-gui>
+ </plugin>
+ <plugin filename="GzSceneManager" name="Scene Manager">
+ <ignition-gui>
+ <property key="resizable" type="bool">false</property>
+ <property key="width" type="double">5</property>
+ <property key="height" type="double">5</property>
+ <property key="state" type="string">floating</property>
+ <property key="showTitleBar" type="bool">false</property>
+ </ignition-gui>
+ </plugin>
+ <plugin filename="InteractiveViewControl" name="Interactive view control">
+ <ignition-gui>
+ <property key="resizable" type="bool">false</property>
+ <property key="width" type="double">5</property>
+ <property key="height" type="double">5</property>
+ <property key="state" type="string">floating</property>
+ <property key="showTitleBar" type="bool">false</property>
+ </ignition-gui>
+ </plugin>
+ <plugin filename="CameraTracking" name="Camera Tracking">
+ <ignition-gui>
+ <property key="resizable" type="bool">false</property>
+ <property key="width" type="double">5</property>
+ <property key="height" type="double">5</property>
+ <property key="state" type="string">floating</property>
+ <property key="showTitleBar" type="bool">false</property>
+ </ignition-gui>
+ </plugin>
+ <plugin filename="SelectEntities" name="Select Entities">
+ <ignition-gui>
+ <property key="resizable" type="bool">false</property>
+ <property key="width" type="double">5</property>
+ <property key="height" type="double">5</property>
+ <property key="state" type="string">floating</property>
+ <property key="showTitleBar" type="bool">false</property>
+ </ignition-gui>
+ </plugin>
+ <plugin filename="Spawn" name="Spawn Entities">
+ <ignition-gui>
+ <property key="resizable" type="bool">false</property>
+ <property key="width" type="double">5</property>
+ <property key="height" type="double">5</property>
+ <property key="state" type="string">floating</property>
+ <property key="showTitleBar" type="bool">false</property>
+ </ignition-gui>
+ </plugin>
+ <!-- World control -->
+ <plugin filename="WorldControl" name="World control">
+ <ignition-gui>
+ <title>World control</title>
+ <property type="bool" key="showTitleBar">false</property>
+ <property type="bool" key="resizable">false</property>
+ <property type="double" key="height">72</property>
+ <property type="double" key="width">121</property>
+ <property type="double" key="z">1</property>
+
+ <property type="string" key="state">floating</property>
+ <anchors target="3D View">
+ <line own="left" target="left"/>
+ <line own="bottom" target="bottom"/>
+ </anchors>
+ </ignition-gui>
+
+ <play_pause>true</play_pause>
+ <step>true</step>
+ <start_paused>true</start_paused>
+ <use_event>true</use_event>
+
+ </plugin>
+
+ <!-- World statistics -->
+ <plugin filename="WorldStats" name="World stats">
+ <ignition-gui>
+ <title>World stats</title>
+ <property type="bool" key="showTitleBar">false</property>
+ <property type="bool" key="resizable">false</property>
+ <property type="double" key="height">110</property>
+ <property type="double" key="width">290</property>
+ <property type="double" key="z">1</property>
+
+ <property type="string" key="state">floating</property>
+ <anchors target="3D View">
+ <line own="right" target="right"/>
+ <line own="bottom" target="bottom"/>
+ </anchors>
+ </ignition-gui>
+
+ <sim_time>true</sim_time>
+ <real_time>true</real_time>
+ <real_time_factor>true</real_time_factor>
+ <iterations>true</iterations>
+ </plugin>
+
+ <!-- Translate / rotate -->
+ <plugin filename="TransformControl" name="Transform control">
+ <ignition-gui>
+ <property key="resizable" type="bool">false</property>
+ <property key="width" type="double">250</property>
+ <property key="height" type="double">50</property>
+ <property key="state" type="string">floating</property>
+ <property key="showTitleBar" type="bool">false</property>
+ <property key="cardBackground" type="string">#777777</property>
+ </ignition-gui>
+
+ <!-- disable legacy features used to connect this plugin to GzScene3D -->
+ <legacy>false</legacy>
+ </plugin>
+
+ <!-- Entity tree -->
+ <plugin filename="EntityTree" name="Entity tree">
+ <ignition-gui>
+ <property type="string" key="state">docked_collapsed</property>
+ </ignition-gui>
+ </plugin>
+
+ <!-- Inspector -->
+ <plugin filename="ComponentInspector" name="Component inspector">
+ <ignition-gui>
+ <property type="string" key="state">docked</property>
+ </ignition-gui>
+ </plugin>
+
+ <!-- Map -->
+ <plugin filename="NavSatMap" name="NavSat Map">
+ <ignition-gui>
+ <title>NavSat Map</title>
+ <property key="state" type="string">docked</property>
+ </ignition-gui>
+ <topic>/navsat</topic>
+ <topic_picker>true</topic_picker>
+ </plugin>
+ </gui>
+
+ <light type="directional" name="sun">
+ </light>
+
+ <model name="ground_plane">
+ <static>true</static>
+ <link name="link">
+ <collision name="collision">
+ <geometry>
+ <plane>
+ <normal>0 0 1</normal>
+ <size>100 100</size>
+ </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="NavSat">
+ <pose>0 0 0.05 0 0.0 0</pose>
+ <link name="link">
+ <inertial>
+ <mass>0.1</mass>
+ <inertia>
+ <ixx>0.000166667</ixx>
+ <iyy>0.000166667</iyy>
+ <izz>0.000166667</izz>
+ </inertia>
+ </inertial>
+ <collision name="collision">
+ <geometry>
+ <box>
+ <size>0.1 0.1 0.1</size>
+ </box>
+ </geometry>
+ </collision>
+ <visual name="visual">
+ <geometry>
+ <box>
+ <size>0.1 0.1 0.1</size>
+ </box>
+ </geometry>
+ </visual>
+
+ <sensor name="navsat" type="navsat">
+ <always_on>1</always_on>
+ <update_rate>1</update_rate>
+ <topic>navsat</topic>
+ </sensor>
+ </link>
+ </model>
+
  </world>
 </sdf>
@@ -0,0 +1,46 @@
+/*
+ * 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.
+ *
+*/
+#ifndef IGNITION_GAZEBO_COMPONENTS_NAVSAT_HH_
+#define IGNITION_GAZEBO_COMPONENTS_NAVSAT_HH_
+
+#include <sdf/Sensor.hh>
+
+#include <ignition/gazebo/config.hh>
+#include <ignition/gazebo/Export.hh>
+
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/components/Serialization.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace components
+{
+ /// \brief A component type that contains an NavSat sensor,
+ /// sdf::NavSat, information.
+ using NavSat = Component<sdf::Sensor, class NavSatTag,
+ serializers::SensorSerializer>;
+ IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.NavSat", NavSat)
+}
+}
+}
+}
+#endif