From f70f9aeddcba2044b7224542c385b9e79b252bc5 Mon Sep 17 00:00:00 2001 From: Mateusz Szczygielski <112629916+msz-rai@users.noreply.github.com> Date: Tue, 7 Jan 2025 15:15:51 +0100 Subject: [PATCH] Update RGL and bump version of the Plugin (#56) * Update RGL to version 0.20.0 * Update pre-built libraries docs * Update docs * Add note to pattern presets update rate * Bump RGLGazeboPlugin version (0.1.2 -> 0.2.0) --- README.md | 43 +++++++++++-------- .../include/RGLServerPluginManager.hh | 2 +- RGLServerPlugin/src/RGLServerPluginManager.cc | 2 +- RGLServerPlugin/src/Scene.cc | 6 +-- external/CMakeLists.txt | 2 +- package.xml | 2 +- 6 files changed, 31 insertions(+), 26 deletions(-) diff --git a/README.md b/README.md index 3de0e61..aeddf04 100644 --- a/README.md +++ b/README.md @@ -25,7 +25,7 @@ Key features: - GPU: CUDA-enabled -- Nvidia Driver: [See RGL requirements](https://github.com/RobotecAI/RobotecGPULidar/tree/v0.17.0#runtime-requirements) +- Nvidia Driver: [See RGL requirements](https://github.com/RobotecAI/RobotecGPULidar/tree/v0.20.0#runtime-requirements) ## Installation: @@ -33,21 +33,26 @@ Key features: 1. Download libraries from [release](https://github.com/RobotecAI/RGLGazeboPlugin/releases). 2. Make RGL plugins visible to Gazebo: - Move libraries to the plugin's directories. - ```shell - # If Gazebo installed from apt: - cp libRobotecGPULidar.so /usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/ - cp libRGLServerPluginInstance.so /usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/ - cp libRGLServerPluginManager.so /usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/ - cp libRGLVisualize.so /usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/ - ``` + - If Gazebo installed from apt: + ```shell + cp libRobotecGPULidar.so /usr/lib/x86_64-linux-gnu/gz-sim-8/plugins + cp libRGLServerPluginInstance.so /usr/lib/x86_64-linux-gnu/gz-sim-8/plugins + cp libRGLServerPluginManager.so /usr/lib/x86_64-linux-gnu/gz-sim-8/plugins + cp libRGLVisualize.so /usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui + ``` + - If Gazebo installed from the ROS repository ([see](https://gazebosim.org/docs/latest/ros_installation/#installing-the-default-gazebo-ros-pairing)): + ```shell + cp libRobotecGPULidar.so /opt/ros/${ROS_DISTRO}/opt/gz_sim_vendor/lib/gz-sim-8/plugins + cp libRGLServerPluginInstance.so /opt/ros/${ROS_DISTRO}/opt/gz_sim_vendor/lib/gz-sim-8/plugins + cp libRGLServerPluginManager.so /opt/ros/${ROS_DISTRO}/opt/gz_sim_vendor/lib/gz-sim-8/plugins + cp libRGLVisualize.so /opt/ros/${ROS_DISTRO}/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui + ``` - Or set environment variables: ```shell - # Assuming that libraries: - # libRGLServerPluginInstance.so, libRGLServerPluginManager.so and libRobotecGPULidar.so - # are located in RGLServerPlugin directory, - # and libRGLVisualize.so in RGLGuiPlugin. + # Assuming that system plugin libraries are located in RGLServerPlugin directory, + # and gui plugins (libRGLVisualize.so) in RGLVisualize. export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/RGLServerPlugin:$GZ_SIM_SYSTEM_PLUGIN_PATH - export GZ_GUI_PLUGIN_PATH=`pwd`/RGLGuiPlugin:$GZ_GUI_PLUGIN_PATH + export GZ_GUI_PLUGIN_PATH=`pwd`/RGLVisualize:$GZ_GUI_PLUGIN_PATH ``` ### Building from source @@ -57,15 +62,14 @@ docker build \ --target=exporter \ --output=install . ``` +*Note: Build with [ROS Jazzy](https://docs.ros.org/en/jazzy/index.html) using [colcon](https://colcon.readthedocs.io/en/released/)* #### Manual ```shell -mkdir build -cd build -cmake .. -make -j -make install +mkdir build && cd build +cmake .. && make -j && make install cd .. +# Make it visible to Gazebo via environment variables: export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/install/RGLServerPlugin:$GZ_SIM_SYSTEM_PLUGIN_PATH export GZ_GUI_PLUGIN_PATH=`pwd`/install/RGLVisualize:$GZ_GUI_PLUGIN_PATH ``` @@ -186,7 +190,8 @@ Inside the link entity in your model, add a custom sensor: ``` - **pattern_preset**\ - We have prepared several lidar presets. You can type in the name of a LiDAR to use its pattern (all available patterns are shown below). + We have prepared several lidar presets. You can type in the name of a LiDAR to use its pattern (all available patterns are shown below).\ + *Note: All presets are assumed to work at 10Hz update rate* ```xml Alpha Prime Puck diff --git a/RGLServerPlugin/include/RGLServerPluginManager.hh b/RGLServerPlugin/include/RGLServerPluginManager.hh index f401acd..23219cd 100644 --- a/RGLServerPlugin/include/RGLServerPluginManager.hh +++ b/RGLServerPlugin/include/RGLServerPluginManager.hh @@ -99,7 +99,7 @@ private: const gz::sim::Entity& entity, const gz::sim::components::LaserRetro* laser_retro); - void UpdateRGLEntityPoses(const gz::sim::EntityComponentManager& ecm); + void UpdateRGLEntityTransforms(const gz::sim::EntityComponentManager& ecm); std::unordered_set GetEntitiesInParentLink( gz::sim::Entity entity, diff --git a/RGLServerPlugin/src/RGLServerPluginManager.cc b/RGLServerPlugin/src/RGLServerPluginManager.cc index 8716394..888a912 100644 --- a/RGLServerPlugin/src/RGLServerPluginManager.cc +++ b/RGLServerPlugin/src/RGLServerPluginManager.cc @@ -76,7 +76,7 @@ void RGLServerPluginManager::PostUpdate( return RemoveEntityFromRGLCb(entity, visual, geometry); }); - UpdateRGLEntityPoses(ecm); + UpdateRGLEntityTransforms(ecm); } } // namespace rgl diff --git a/RGLServerPlugin/src/Scene.cc b/RGLServerPlugin/src/Scene.cc index db06806..c9c9f6f 100644 --- a/RGLServerPlugin/src/Scene.cc +++ b/RGLServerPlugin/src/Scene.cc @@ -156,12 +156,12 @@ bool RGLServerPluginManager::SetLaserRetroCb( } #pragma clang diagnostic pop -void RGLServerPluginManager::UpdateRGLEntityPoses(const gz::sim::EntityComponentManager& ecm) +void RGLServerPluginManager::UpdateRGLEntityTransforms(const gz::sim::EntityComponentManager& ecm) { for (auto entity: entitiesInRgl) { rgl_mat3x4f rglMatrix = FindWorldPoseInRglMatrix(entity.first, ecm); - if (!CheckRGL(rgl_entity_set_pose(entity.second.first, &rglMatrix))) { - gzerr << "Failed to update pose for entity (" << entity.first << ").\n"; + if (!CheckRGL(rgl_entity_set_transform(entity.second.first, &rglMatrix))) { + gzerr << "Failed to update transform for entity (" << entity.first << ").\n"; } } } diff --git a/external/CMakeLists.txt b/external/CMakeLists.txt index 1fbf79a..cc73121 100644 --- a/external/CMakeLists.txt +++ b/external/CMakeLists.txt @@ -28,7 +28,7 @@ if(RGL_CUSTOM_LIBRARY_PATH AND RGL_CUSTOM_API_HEADER_PATH) # Copy custom Robotec file(COPY ${RGL_CUSTOM_LIBRARY_PATH} DESTINATION ${RGL_LIBRARY_DIR}) file(COPY ${RGL_CUSTOM_API_HEADER_PATH} DESTINATION ${RGL_PROJECT_DIR}) else() # Download RobotecGPULidar from the release - set(RGL_TAG "v0.17.0") + set(RGL_TAG "v0.20.0") set(RGL_API_CORE_HEADER_PATH "${RGL_API_HEADERS_DIR}/core.h") set(RGL_SO_ZIP_FILENAME "RGL-core-linux-x64.zip") set(RGL_SO_ZIP_URL "https://github.com/RobotecAI/RobotecGPULidar/releases/download/${RGL_TAG}/${RGL_SO_ZIP_FILENAME}") diff --git a/package.xml b/package.xml index 8ab4735..3bdcb47 100644 --- a/package.xml +++ b/package.xml @@ -2,7 +2,7 @@ RGLGazeboPlugin - 0.1.2 + 0.2.0 RGL Gazebo Plugin Mateusz Szczygielski Apache License 2.0