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Migrate to Garden #92

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Migrate to Garden #92

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a1beebc
Garden
ahcorde Nov 14, 2022
3cdb812
Merge branch 'main' into ahcorde/garden
ahcorde Nov 14, 2022
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70 changes: 35 additions & 35 deletions rmf_building_sim_gz_plugins/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -21,25 +21,25 @@ endif()
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)

find_package(ignition-cmake2 REQUIRED)

ign_find_package(ignition-gazebo6 REQUIRED)
set(IGN_GAZEBO_VER 6)
ign_find_package(ignition-plugin1 REQUIRED COMPONENTS register)
set(IGN_PLUGIN_VER 1)
ign_find_package(ignition-common4 REQUIRED)
set(IGN_COMMON_VER 4)
ign_find_package(ignition-math6 REQUIRED)
set(IGN_MATH_VER 6)
ign_find_package(ignition-gui6 REQUIRED)
set(IGN_GUI_VER 6)
ign_find_package(ignition-msgs8 REQUIRED)
set(IGN_MSGS_VER 8)
ign_find_package(ignition-transport11 REQUIRED)
set(IGN_TRANSPORT_VER 11)
ign_find_package(ignition-rendering6 REQUIRED)
set(IGN_RENDERING_VER 6)
ign_find_package(sdformat12 REQUIRED)
find_package(gz-cmake3 REQUIRED)

gz_find_package(gz-sim7 REQUIRED)
set(GZ_SIM_VER 7)
gz_find_package(gz-plugin2 REQUIRED COMPONENTS register)
set(GZ_PLUGIN_VER 2)
gz_find_package(gz-common5 REQUIRED)
set(GZ_COMMON_VER 5)
gz_find_package(gz-math7 REQUIRED)
set(GZ_MATH_VER 7)
gz_find_package(gz-gui7 REQUIRED)
set(GZ_GUI_VER 7)
gz_find_package(gz-msgs9 REQUIRED)
set(GZ_MSGS_VER 9)
gz_find_package(gz-transport12 REQUIRED)
set(GZ_TRANSPORT_VER 12)
gz_find_package(gz-rendering7 REQUIRED)
set(GZ_RENDERING_VER 7)
gz_find_package(sdformat13 REQUIRED)


find_package(rmf_building_sim_common REQUIRED)
Expand Down Expand Up @@ -71,8 +71,8 @@ target_include_directories(door
ament_target_dependencies(door
PUBLIC
rclcpp
ignition-gazebo${IGN_GAZEBO_VER}
ignition-plugin${IGN_PLUGIN_VER}
gz-sim${GZ_SIM_VER}
gz-plugin${GZ_PLUGIN_VER}
rmf_building_sim_common
)

Expand All @@ -91,8 +91,8 @@ target_include_directories(lift
ament_target_dependencies(lift
PUBLIC
rclcpp
ignition-gazebo${IGN_GAZEBO_VER}
ignition-plugin${IGN_PLUGIN_VER}
gz-sim${GZ_SIM_VER}
gz-plugin${GZ_PLUGIN_VER}
rmf_building_sim_common
)

Expand All @@ -110,12 +110,12 @@ target_include_directories(crowd_simulator
${rmf_building_sim_common_INCLUDE_DIRS}
${rclcpp_INCLUDE_DIRS}
${menge_vendor_INCLUDE_DIRS}
${IGNITION-COMMON_INCLUDE_DIRS}
${gz-COMMON_INCLUDE_DIRS}
)

ament_target_dependencies(crowd_simulator
ignition-gazebo${IGN_GAZEBO_VER}
ignition-plugin${IGN_PLUGIN_VER}
gz-sim${GZ_SIM_VER}
gz-plugin${GZ_PLUGIN_VER}
rclcpp
rmf_building_sim_common
menge_vendor
Expand All @@ -133,9 +133,9 @@ add_library(toggle_charging SHARED ${headers_MOC}
)

ament_target_dependencies(toggle_charging
ignition-gui${IGN_GUI_VER}
ignition-msgs${IGN_MSGS_VER}
ignition-transport${IGN_TRANSPORT_VER}
gz-gui${GZ_GUI_VER}
gz-msgs${GZ_MSGS_VER}
gz-transport${GZ_TRANSPORT_VER}
Qt5Core
Qt5Qml
Qt5Quick
Expand All @@ -161,12 +161,12 @@ add_library(toggle_floors SHARED ${headers_MOC}
)

ament_target_dependencies(toggle_floors
ignition-gazebo${IGN_GAZEBO_VER}
ignition-gui${IGN_GUI_VER}
ignition-msgs${IGN_MSGS_VER}
ignition-plugin${IGN_PLUGIN_VER}
ignition-rendering${IGN_RENDERING_VER}
ignition-transport${IGN_TRANSPORT_VER}
gz-sim${GZ_SIM_VER}
gz-gui${GZ_GUI_VER}
gz-msgs${GZ_MSGS_VER}
gz-plugin${GZ_PLUGIN_VER}
gz-rendering${GZ_RENDERING_VER}
gz-transport${GZ_TRANSPORT_VER}
Qt5Core
Qt5Qml
Qt5Quick
Expand Down
36 changes: 18 additions & 18 deletions rmf_building_sim_gz_plugins/src/crowd_simulator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,16 +22,16 @@

#include <ignition/math/Pose3.hh>

#include <ignition/gazebo/Util.hh>
#include <ignition/gazebo/components/Name.hh>
#include <ignition/gazebo/components/Model.hh>
#include <ignition/gazebo/components/Actor.hh>
#include <ignition/gazebo/components/Pose.hh>
#include <ignition/gazebo/components/Static.hh>
#include <gz/sim/Util.hh>
#include <gz/sim/components/Name.hh>
#include <gz/sim/components/Model.hh>
#include <gz/sim/components/Actor.hh>
#include <gz/sim/components/Pose.hh>
#include <gz/sim/components/Static.hh>

#include "crowd_simulator.hpp"

using namespace ignition::gazebo;
using namespace gz::sim;

namespace crowd_simulation_ign {

Expand Down Expand Up @@ -228,12 +228,12 @@ bool CrowdSimulatorPlugin::_create_entity(
// check the service available
assert(model_type_ptr);
std::string service = "/world/" + this->_world_name + "/create";
ignition::msgs::EntityFactory request;
gz::msgs::EntityFactory request;
request.set_sdf_filename(model_type_ptr->file_name);
request.set_name(model_name);
ignition::math::Pose3d pose(0, 0, 0, 0, 0, 0);
gz::math::Pose3d pose(0, 0, 0, 0, 0, 0);

ignition::msgs::Boolean response;
gz::msgs::Boolean response;
bool result;
uint32_t timeout = 5000;
bool executed = this->_transport_node_ptr->Request(service, request, timeout,
Expand Down Expand Up @@ -275,7 +275,7 @@ void CrowdSimulatorPlugin::_config_spawned_agents(
auto model_type = _crowd_sim_interface->_model_type_db_ptr->get(
obj_ptr->type_name);
// different from gazebo plugin, the pose component is the origin of the trajPose
ignition::math::Pose3d actor_pose(
gz::math::Pose3d actor_pose(
static_cast<double>(agent_ptr->_pos.x()),
static_cast<double>(agent_ptr->_pos.y()), 0.0,
0, 0, 0
Expand Down Expand Up @@ -353,11 +353,11 @@ void CrowdSimulatorPlugin::_update_internal_object(
{
double animation_speed = _crowd_sim_interface->_model_type_db_ptr->get(
obj_ptr->type_name)->animation_speed;
ignition::math::Pose3d initial_pose =
gz::math::Pose3d initial_pose =
_crowd_sim_interface->_model_type_db_ptr->get(obj_ptr->type_name)->pose.
convert_to_ign_math_pose_3d<ignition::math::Pose3d>();
ignition::math::Pose3d agent_pose =
_crowd_sim_interface->get_agent_pose<ignition::math::Pose3d>(
convert_to_ign_math_pose_3d<gz::math::Pose3d>();
gz::math::Pose3d agent_pose =
_crowd_sim_interface->get_agent_pose<gz::math::Pose3d>(
obj_ptr->agent_ptr, delta_sim_time);
agent_pose += initial_pose;

Expand All @@ -368,7 +368,7 @@ void CrowdSimulatorPlugin::_update_internal_object(
ecm.Component<components::AnimationName>(entity);
auto anim_time_comp =
ecm.Component<components::AnimationTime>(entity);
ignition::math::Pose3d current_pose = traj_pose_comp->Data();
gz::math::Pose3d current_pose = traj_pose_comp->Data();
auto distance_traveled_vector = agent_pose.Pos() - current_pose.Pos();
// might need future work on 3D case
// the center of human has a z_elevation, which will make the human keep walking even if he reached the target
Expand Down Expand Up @@ -415,13 +415,13 @@ void CrowdSimulatorPlugin::_update_internal_object(
ComponentState::PeriodicChange);
}

IGNITION_ADD_PLUGIN(
GZ_ADD_PLUGIN(
CrowdSimulatorPlugin,
System,
CrowdSimulatorPlugin::ISystemConfigure,
CrowdSimulatorPlugin::ISystemPreUpdate)

IGNITION_ADD_PLUGIN_ALIAS(CrowdSimulatorPlugin,
GZ_ADD_PLUGIN_ALIAS(CrowdSimulatorPlugin,
"crowd_simulation")

} //namespace crowd_simulation_ign
44 changes: 22 additions & 22 deletions rmf_building_sim_gz_plugins/src/crowd_simulator.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,9 +19,9 @@

#include <rclcpp/rclcpp.hpp>

#include <ignition/plugin/Register.hh>
#include <ignition/gazebo/System.hh>
#include <ignition/gazebo/Model.hh>
#include <gz/plugin/Register.hh>
#include <gz/sim/System.hh>
#include <gz/sim/Model.hh>

#include <ignition/transport/Node.hh>

Expand All @@ -30,60 +30,60 @@

namespace crowd_simulation_ign {

class IGNITION_GAZEBO_VISIBLE CrowdSimulatorPlugin
: public ignition::gazebo::System,
public ignition::gazebo::ISystemConfigure,
public ignition::gazebo::ISystemPreUpdate
class GZ_SIM_VISIBLE CrowdSimulatorPlugin
: public gz::sim::System,
public gz::sim::ISystemConfigure,
public gz::sim::ISystemPreUpdate
{
using AnimState = crowd_simulator::CrowdSimInterface::AnimState;
public:
CrowdSimulatorPlugin()
: _transport_node_ptr(std::make_shared<ignition::transport::Node>()),
: _transport_node_ptr(std::make_shared<gz::transport::Node>()),
_crowd_sim_interface(std::make_shared<crowd_simulator::CrowdSimInterface>()),
_initialized(false)
{}

// inherit from ISystemConfigure
void Configure(const ignition::gazebo::Entity& entity,
void Configure(const gz::sim::Entity& entity,
const std::shared_ptr<const sdf::Element>& sdf,
ignition::gazebo::EntityComponentManager& ecm,
ignition::gazebo::EventManager& event_mgr) override;
gz::sim::EntityComponentManager& ecm,
gz::sim::EventManager& event_mgr) override;

// inherit from ISystemPreUpdate
void PreUpdate(const ignition::gazebo::UpdateInfo& info,
ignition::gazebo::EntityComponentManager& ecm) override;
void PreUpdate(const gz::sim::UpdateInfo& info,
gz::sim::EntityComponentManager& ecm) override;

private:
std::shared_ptr<ignition::transport::Node> _transport_node_ptr;
std::shared_ptr<gz::transport::Node> _transport_node_ptr;
std::shared_ptr<crowd_simulator::CrowdSimInterface> _crowd_sim_interface;
bool _initialized;
std::chrono::steady_clock::duration _last_sim_time{0};

std::shared_ptr<ignition::gazebo::Model> _world;
std::shared_ptr<gz::sim::Model> _world;
std::string _world_name;

// map for <model_name, object_id>, contains both external (models) and internal agents (actors)
std::unordered_map<std::string, size_t> _object_dic;
// map for <model_name, entity_id> contains external and internal agents
std::unordered_map<std::string, ignition::gazebo::Entity> _entity_dic;
std::unordered_map<std::string, gz::sim::Entity> _entity_dic;

bool _spawn_agents_in_world();
void _init_spawned_agents(ignition::gazebo::EntityComponentManager& ecm);
void _init_spawned_agents(gz::sim::EntityComponentManager& ecm);
void _config_spawned_agents(
const crowd_simulator::CrowdSimInterface::ObjectPtr obj_ptr,
const ignition::gazebo::Entity& enity,
ignition::gazebo::EntityComponentManager& ecm) const;
const gz::sim::Entity& enity,
gz::sim::EntityComponentManager& ecm) const;
bool _create_entity(
const std::string& model_name,
const crowd_simulator::ModelTypeDatabase::RecordPtr model_type_ptr) const;
void _update_all_objects(
double delta_sim_time,
ignition::gazebo::EntityComponentManager& ecm) const;
gz::sim::EntityComponentManager& ecm) const;
void _update_internal_object(
double delta_sim_time,
const crowd_simulator::CrowdSimInterface::ObjectPtr obj_ptr,
const ignition::gazebo::Entity& enity,
ignition::gazebo::EntityComponentManager& ecm) const;
const gz::sim::Entity& enity,
gz::sim::EntityComponentManager& ecm) const;
};

} //namespace crowd_simulation_ign
24 changes: 12 additions & 12 deletions rmf_building_sim_gz_plugins/src/door.cpp
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Original file line number Diff line number Diff line change
@@ -1,27 +1,27 @@
#include <ignition/plugin/Register.hh>
#include <gz/plugin/Register.hh>

#include <ignition/gazebo/System.hh>
#include <ignition/gazebo/Model.hh>
#include <ignition/gazebo/Util.hh>
#include <ignition/gazebo/components/JointAxis.hh>
#include <ignition/gazebo/components/JointPosition.hh>
#include <ignition/gazebo/components/JointVelocity.hh>
#include <ignition/gazebo/components/JointVelocityCmd.hh>
#include <gz/sim/System.hh>
#include <gz/sim/Model.hh>
#include <gz/sim/Util.hh>
#include <gz/sim/components/JointAxis.hh>
#include <gz/sim/components/JointPosition.hh>
#include <gz/sim/components/JointVelocity.hh>
#include <gz/sim/components/JointVelocityCmd.hh>

#include <rclcpp/rclcpp.hpp>

#include <rmf_building_sim_common/utils.hpp>
#include <rmf_building_sim_common/door_common.hpp>

using namespace ignition::gazebo;
using namespace gz::sim;

using namespace rmf_building_sim_common;

namespace rmf_building_sim_gz_plugins {

//==============================================================================

class IGNITION_GAZEBO_VISIBLE DoorPlugin
class GZ_SIM_VISIBLE DoorPlugin
: public System,
public ISystemConfigure,
public ISystemPreUpdate
Expand Down Expand Up @@ -235,12 +235,12 @@ class IGNITION_GAZEBO_VISIBLE DoorPlugin

};

IGNITION_ADD_PLUGIN(
GZ_ADD_PLUGIN(
DoorPlugin,
System,
DoorPlugin::ISystemConfigure,
DoorPlugin::ISystemPreUpdate)

IGNITION_ADD_PLUGIN_ALIAS(DoorPlugin, "door")
GZ_ADD_PLUGIN_ALIAS(DoorPlugin, "door")

} // namespace rmf_building_sim_gz_plugins
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