Added origin axes config plugin #150

ahcorde · 2020-05-21T08:53:14Z

I have been playing a little bit around ignition-gazebo. I have created a config plugin to add and configure the origin axes. I was trying to do something similar as the grid. This is created in ignition-rendering using the method showGrid(). I was planning to add a new method called showOriginAxes(). but arrows are build based on two visuals: a cone and a cylinder. I was not able to get the arrows in the config plugins based only in the ID. is there any way to get the arrows based on the name?

Signed-off-by: ahcorde [email protected]

Signed-off-by: ahcorde <[email protected]>

codecov · 2020-05-21T09:26:08Z

Codecov Report

Merging #150 (fd1b4e7) into ign-gazebo4 (302f5ed) will decrease coverage by 0.06%.
The diff coverage is 76.64%.

@@               Coverage Diff               @@
##           ign-gazebo4     #150      +/-   ##
===============================================
- Coverage        77.37%   77.31%   -0.07%     
===============================================
  Files              217      219       +2     
  Lines            12217    12567     +350     
===============================================
+ Hits              9453     9716     +263     
- Misses            2764     2851      +87

Impacted Files	Coverage Δ
src/systems/joint_controller/JointController.cc	`77.17% <12.50%> (-6.16%)`	⬇️
...int_position_controller/JointPositionController.cc	`75.49% <50.00%> (-0.51%)`	⬇️
src/gui/AboutDialogHandler.cc	`66.66% <66.66%> (ø)`
...trajectory_controller/JointTrajectoryController.cc	`78.20% <78.20%> (ø)`
src/gui/GuiRunner.cc	`55.93% <83.33%> (+1.38%)`	⬆️
src/gui/Gui.cc	`65.90% <100.00%> (ø)`
...trajectory_controller/JointTrajectoryController.hh	`100.00% <100.00%> (ø)`
.../plugins/component_inspector/ComponentInspector.cc	`7.22% <0.00%> (-1.39%)`	⬇️
src/EntityComponentManager.cc	`85.86% <0.00%> (-0.18%)`	⬇️
... and 3 more

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chapulina

Thanks for the new feature 😄 I'm not sure why, but it failed to create the arrows for me, printed these and then crashed when I tried to change the size:

[GUI] [Wrn] [OriginAxesConfig.cc:161] Creating origin axes                                                                             
[GUI] [Err] [OriginAxesConfig.cc:169] Failed to create origin axes, origin axes config plugin won't work.

/home/chapulina/dome_ws/install/lib/ign-gazebo-4/plugins/gui/libOriginAxesConfig.so(_ZN8ignition6gazebo16OriginAxesConfig10UpdateSizeEi+0x31) [0x7f9128df05e1] /home/chapulina/dome_ws/src/ign-gazebo/src/gui/plugins/origin_axes/OriginAxesConfig.cc:198
/home/chapulina/dome_ws/install/lib/ign-gazebo-4/plugins/gui/libOriginAxesConfig.so(_ZN8ignition6gazebo16OriginAxesConfig11qt_metacallEN11QMetaObject4CallEiPPv+0x63) [0x7f9128df4563] /home/chapulina/dome_ws/build/ignition-gazebo4/src/gui/plugins/origin_axes/moc_OriginAxesConfig.cpp:110

I was not able to get the arrows in the config plugins based only in the ID. is there any way to get the arrows based on the name?

Looking at the implementation, it looks like each arrow is a visual composed of 2 child visuals (cone and cylinder). So I think you should be able to give it a name when you create it, and access it later using Scene::VisualByName. Just be careful with overlapping names in case the user instantiates more than one origin axis.

Going forward, we should target plugins like this which don't* have any Gazebo-specific code to ign-gui. This way they're available to a wider user base. No need to change this PR, just something to keep in mind.

* I know that right now we only have the render event on this repo, but we should move that to ign-gui soon.

src/gui/plugins/origin_axes/OriginAxesConfig.cc

chapulina · 2020-05-21T18:25:18Z

src/gui/plugins/origin_axes/OriginAxesConfig.cc

+ auto root = scene->RootVisual();
+ this->dataPtr->x_axis = scene->CreateArrowVisual();
+ this->dataPtr->y_axis = scene->CreateArrowVisual();
+ this->dataPtr->z_axis = scene->CreateArrowVisual();


On Gazebo-classic the origin axes were implemented using dynamic lines instead of arrows. Most of the time users need the origin to be long and without arrows, see this comment. @iche033 can correct me if I'm wrong, but I believe the lines should be less expensive to render, since we don't have the arrow head and the extra triangles from the cylinders. I'm not advocating for a change, I just think it should be pointed out.

Having said all that, I think it's totally valid to add support for custom axes like RViz's axes displays, which ties into the work @Sarath18 will be doing 😄 To that end, here are some suggestions to make the current plugin more flexible:

Add an option to set the pose

Add an option to set the radius

Add an option to change the arrows into lines

This is definitely feature creep for this PR, but I'll just mention it as an idea for the future:

Let the user attach an axis to any entity that has a pose component

yes lines are less expensive to render. I think a generic axes plugin would be useful, e.g. for visualizing frames. That could be done by changing the name of this plugin to just AxesPlugin and adding a pose widget.

src/gui/plugins/origin_axes/OriginAxesConfig.qml

Signed-off-by: ahcorde <[email protected]>

ahcorde · 2020-05-22T10:47:44Z

Thank you for the review @chapulina.

I forgot to mention that this PR builds on top of this other PR gazebosim/gz-rendering#87.

I created this other PR gazebosim/gz-rendering#88 to scale the BaseAxisVisual properly.

I can also modify the current implementation of BaseAxisVisual to allow to choose between: arrows or lines

Signed-off-by: ahcorde <[email protected]>

ahcorde · 2020-06-03T15:40:34Z

Select the origin of the different entities
Add an option to set the pose
Add an option to change the arrows into lines

ahcorde · 2020-06-03T15:41:36Z

src/gui/plugins/axes/AxesConfig.cc

+ LoadAxesbyName(name_entity);
+}
+
+void AxesConfig::EntitiesInScene()


@chapulina, Is there other way to get the entitie names from a plugin?

If you change the plugin to inherit from gazebo::GuiSystem, then you could use an Each call to get for example the names of all visuals, links, collisions, models, etc. The downside is that this plugin would become Gazebo-specific so we can't port it to ign-gui later.

…ginAxesConfig

src/gui/plugins/CMakeLists.txt

chapulina · 2020-06-03T18:21:54Z

src/gui/plugins/axes/AxesConfig.cc

+ LoadAxesbyName(name_entity);
+}
+
+void AxesConfig::EntitiesInScene()


If you change the plugin to inherit from gazebo::GuiSystem, then you could use an Each call to get for example the names of all visuals, links, collisions, models, etc. The downside is that this plugin would become Gazebo-specific so we can't port it to ign-gui later.

src/gui/plugins/axes/AxesConfig.cc

Signed-off-by: ahcorde <[email protected]>

src/gui/plugins/axes/AxesConfig.cc

src/rendering/RenderUtil.cc

…ginAxesConfig

Signed-off-by: ahcorde <[email protected]>

…/ignitionrobotics/ign-gazebo into ahcorde/feature/OriginAxesConfig

Signed-off-by: ahcorde <[email protected]>

chapulina

I'm still a bit confused about the use case for this plugin. Is it meant to show the world origin, or the origins of entities?

For entities, I think it would be good to also allow attaching to links, collisions, visuals, lights, etc. Basically anything that has a pose component. If we want to keep it not gazebo-specific, then maybe attach to any visual in the scene?

chapulina · 2020-08-28T00:12:30Z

src/gui/plugins/axes/AxesConfig.qml

+ pitch.value = AxesConfig.axesPitch
+ yaw.value = AxesConfig.axesYaw
+ }
+ onAccepted: {


Each time I choose a new model, a new visual is created. Is that intentional? I end up with many of them

@chapulina, yes, this is intentional. The GUI allows you to check or uncheck the Show Axes option that enables the axes for the selected entity. I did it like this because you may want to visualize more than one axes on the scene.

Do you expect a different behaviour ?

I see. The usage is still a bit not intuitive to me. For example, if multiple models have axes showing, and I hide the axes for one of them. When I change to another entity, that entity's axes disappear:

I'd expect that when I select the "sphere" from the dropdown, the sphere keeps its axes showing, and the "Show Axes" box checks itself. That is, the widget updates itself to match the currently model on the dropdown.

src/gui/plugins/axes/AxesConfig.qml

src/gui/plugins/axes/AxesConfig.cc

Signed-off-by: ahcorde <[email protected]>

ahcorde · 2020-09-02T15:23:36Z

This plugin will create an axes for each entity in the world. I can extend the plugin to accept other types of objects in the scene.

chapulina · 2020-09-23T00:46:00Z

Removing the beta label, this can go in a minor release.

…e/OriginAxesConfig

Signed-off-by: ahcorde <[email protected]>

chapulina

Since this PR doesn't need anything from ign-gazebo, what do you think of moving it to ign-gui, so other applications can also use it? Now that ign-gazebo can use ignition::gui::events::Render, this plugin doesn't need to be here.

chapulina · 2021-02-16T23:11:47Z

src/gui/plugins/axes/AxesConfig.qml

+ Layout.fillWidth: true
+ }
+
+ ComboBox {


All the information on the plugin applies to the entity that's selected on the combo box. So I think it makes sense to put the dropdown on the top of the plugin, above the checkboxes.

ahcorde · 2021-02-17T08:26:48Z

Closing this PR in favour of this other PR in ign-gui gazebosim/gz-gui#182

Added Origin axes

b77818a

Signed-off-by: ahcorde <[email protected]>

ahcorde added the enhancement New feature or request label May 21, 2020

ahcorde requested a review from chapulina as a code owner May 21, 2020 08:53

ahcorde self-assigned this May 21, 2020

github-actions bot added the 🔮 dome Ignition Dome label May 21, 2020

chapulina suggested changes May 21, 2020

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Signed-off-by: ahcorde <[email protected]>

ahcorde requested a review from iche033 as a code owner May 22, 2020 10:44

chapulina mentioned this pull request May 30, 2020

World origin visual gazebosim/gz-rendering#73

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ahcorde mentioned this pull request Jun 3, 2020

Added a method to show the head on arrows and axis gazebosim/gz-rendering#95

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Allow to choose a entity in the scene and show the axes

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Signed-off-by: ahcorde <[email protected]>

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Merge remote-tracking branch 'origin/master' into ahcorde/feature/Ori…

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…ginAxesConfig

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Signed-off-by: ahcorde <[email protected]>

Merge branch 'master' into ahcorde/feature/OriginAxesConfig

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ahcorde added 3 commits August 13, 2020 16:37

Merge remote-tracking branch 'origin/master' into ahcorde/feature/Ori…

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…ginAxesConfig

Added feedback

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Signed-off-by: ahcorde <[email protected]>

Updated GUI for each entity

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Signed-off-by: ahcorde <[email protected]>

ahcorde requested a review from chapulina August 14, 2020 14:05

ahcorde and others added 4 commits August 27, 2020 11:37

make linters happy

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Signed-off-by: ahcorde <[email protected]>

Merge branch 'ahcorde/feature/OriginAxesConfig' of https:…

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…/ignitionrobotics/ign-gazebo into ahcorde/feature/OriginAxesConfig

make linters happy

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Signed-off-by: ahcorde <[email protected]>

Merge branch 'master' into ahcorde/feature/OriginAxesConfig

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chapulina reviewed Aug 28, 2020

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chapulina added the beta Targeting beta release of upcoming collection label Sep 8, 2020

chapulina removed the beta Targeting beta release of upcoming collection label Sep 23, 2020

chapulina changed the base branch from master to ign-gazebo4 October 3, 2020 01:30

ahcorde and others added 7 commits November 2, 2020 15:51

Merge remote-tracking branch 'origin/ign-gazebo4' into ahcorde/featur…

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…e/OriginAxesConfig

Merge branch 'ign-gazebo4' into ahcorde/feature/OriginAxesConfig

c67df83

make linters happy

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Signed-off-by: ahcorde <[email protected]>

Merge branch 'ign-gazebo4' into ahcorde/feature/OriginAxesConfig

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Merge branch 'ign-gazebo4' into ahcorde/feature/OriginAxesConfig

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Merge branch 'ign-gazebo4' into ahcorde/feature/OriginAxesConfig

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Merge branch 'ign-gazebo4' into ahcorde/feature/OriginAxesConfig

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ahcorde requested a review from chapulina February 15, 2021 09:21

Merge branch 'ign-gazebo4' into ahcorde/feature/OriginAxesConfig

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ahcorde mentioned this pull request Feb 17, 2021

Added origin axes config plugin gazebosim/gz-gui#182

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nkoenig deleted the ahcorde/feature/OriginAxesConfig branch March 19, 2021 22:40

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Added origin axes config plugin #150

Added origin axes config plugin #150

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Added origin axes config plugin #150

Added origin axes config plugin #150

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