Add sensors to a link via the GUI

[nkoenig]

🎉 New feature

Summary

This is targeting the model_editor work, and adds menu options to the ComponentInspector for adding sensors.

Test it

Load a world, select a link the entity tree and try adding a new sensor.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

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[iche033]

do we want to hide menu items for sensors that are not yet supported / available in ignition, e.g. gps, multicamera, and cpu_ray

[nkoenig]

@iche033 , I'm running into a problem when adding links. Here is the test case:

1. Add a link to a model.
2. Step
3. Add another link to the same model as in Weird sphere movement #1.
4. Step
5. Physics.cc produces a lot of errors.

I think the issue is the the view associated with the following each in SimulationRunner::ProcessRecreateEntitiesRemove()

this->entityCompMgr.Each<components::Model,
                           components::Recreate>(

Does not get the Model when the second link is added.

I have the debug statement right at the top of View.hh::NotifyComponentAddition that highlights the problem:

  // make sure that _typeId is a type required by the view and that _entity is
  // already a part of the view
  if (!this->RequiresComponent(_typeId) ||
      !this->HasCachedComponentData(_entity))
  {
    if (_typeId == components::Recreate::typeId)
    {
      if (this->RequiresComponent(_typeId))
      {
        if (!this->HasCachedComponentData(_entity))
        {
          std::cout << " Skipping - no entity\n";
        }
      }
    }

    return false;
  }

My current working theory is that the EntityComponentManager::SetState function needs to add the entity to the view before components are created.

[iche033]

I'm trying to reproduce the issue. I followed the steps and added one link after another in sensors.sdf world but I don't see the physics errors. Maybe I'm doing something different?

[nkoenig]

I'm trying to reproduce the issue. I followed the steps and added one link after another in sensors.sdf world but I don't see the physics errors. Maybe I'm doing something different?

Indeed. I couldn't reproduce this after a clean build.

[codecov]

Codecov Report

❗ No coverage uploaded for pull request base (model_editor@e427bed). Click here to learn what that means.
The diff coverage is n/a.

@@               Coverage Diff               @@
##             model_editor    #1188   +/-   ##
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  Coverage                ?   60.41%           
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  Files                   ?      285           
  Lines                   ?    23646           
  Branches                ?        0           
===============================================
  Hits                    ?    14285           
  Misses                  ?     9361           
  Partials                ?        0           

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