Added additional pose offset for the performer detector

[nkoenig]

It's currently not possible to set the pose of an <include>ed performer detector relative to the parent model.

For example, consider this parent model:

<sdf version="1.6">
    <model name="cave_starting_area">
        <static>true</static>
        <include>
          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Staging Exit Detector</uri>
        </include>
....
  </model>
</sdf>

And the included Cave Staging Exit Detector.

<sdf version="1.6">
    <model name="cave_staging_exit_detector">
        <static>true</static>
        <pose>13.5 0 0 0 0 0</pose>
       <plugin filename="libignition-gazebo-performer-detector-system.so" name="ignition::gazebo::systems::PerformerDetector">
            <topic>/subt_performer_detector</topic>
            <geometry>
                <box>
                    <size>4 30 20</size>
                </box>
            </geometry>
        </plugin>
    </model>

The <pose> in Cave Staging Exit Detector is not used by the plugin, because of the <include> process. You also cannot set the <pose> in the <include> statement for the same reason.

This means the plugin is always located at 0 0 0 0 0 0 in the parent model.

This PR adds an optional <pose> to the plugin to address this situation.

Signed-off-by: Nate Koenig [email protected]

[codecov]

Codecov Report

Merging #236 into ign-gazebo2 will increase coverage by 0.19%.
The diff coverage is n/a.

@@               Coverage Diff               @@
##           ign-gazebo2     #236      +/-   ##
===============================================
+ Coverage        62.14%   62.34%   +0.19%     
===============================================
  Files              123      123              
  Lines             6102     6102              
===============================================
+ Hits              3792     3804      +12     
+ Misses            2310     2298      -12     

Impacted Files	Coverage Δ
src/SimulationRunner.cc	88.77% <0.00%> (+2.40%)	⬆️

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[azeey]

LGTM! My only concern with this PR is that the nesting example you gave, even with this PR, leads to unexpected results. i.e, with parent model:

<sdf version="1.6">
    <model name="cave_starting_area">
        <static>true</static>
        <include>
          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Staging Exit Detector</uri>
           <pose>0 0 10 0 0 0</pose>
        </include>
....
  </model>
</sdf>

And the included Cave Staging Exit Detector.

<sdf version="1.6">
    <model name="cave_staging_exit_detector">
        <static>true</static>
        <pose>13.5 0 0 0 0 0</pose>
       <plugin filename="libignition-gazebo-performer-detector-system.so" name="ignition::gazebo::systems::PerformerDetector">
            <topic>/subt_performer_detector</topic>
            <geometry>
                <box>
                    <size>4 30 20</size>
                </box>
            </geometry>
        </plugin>
    </model>

The expected pose of the detector's box in world frame is 13.5 0 10 0 0 0, but the result will still be 0 0 0 0 0 0.

[nkoenig]

LGTM! My only concern with this PR is that the nesting example you gave, even with this PR, leads to unexpected results. i.e, with parent model:

<sdf version="1.6">
    <model name="cave_starting_area">
        <static>true</static>
        <include>
          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Staging Exit Detector</uri>
           <pose>0 0 10 0 0 0</pose>
        </include>
....
  </model>
</sdf>

And the included Cave Staging Exit Detector.

<sdf version="1.6">
    <model name="cave_staging_exit_detector">
        <static>true</static>
        <pose>13.5 0 0 0 0 0</pose>
       <plugin filename="libignition-gazebo-performer-detector-system.so" name="ignition::gazebo::systems::PerformerDetector">
            <topic>/subt_performer_detector</topic>
            <geometry>
                <box>
                    <size>4 30 20</size>
                </box>
            </geometry>
        </plugin>
    </model>

The expected pose of the detector's box in world frame is 13.5 0 10 0 0 0, but the result will still be 0 0 0 0 0 0.

Yup, thi

LGTM! My only concern with this PR is that the nesting example you gave, even with this PR, leads to unexpected results. i.e, with parent model:

<sdf version="1.6">
    <model name="cave_starting_area">
        <static>true</static>
        <include>
          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Staging Exit Detector</uri>
           <pose>0 0 10 0 0 0</pose>
        </include>
....
  </model>
</sdf>

And the included Cave Staging Exit Detector.

<sdf version="1.6">
    <model name="cave_staging_exit_detector">
        <static>true</static>
        <pose>13.5 0 0 0 0 0</pose>
       <plugin filename="libignition-gazebo-performer-detector-system.so" name="ignition::gazebo::systems::PerformerDetector">
            <topic>/subt_performer_detector</topic>
            <geometry>
                <box>
                    <size>4 30 20</size>
                </box>
            </geometry>
        </plugin>
    </model>

The expected pose of the detector's box in world frame is 13.5 0 10 0 0 0, but the result will still be 0 0 0 0 0 0.

Yup, that is not intuitive, but I don't know how to fix that right now.