From 45e146867681ca52a08fc287f72362a3552ee40e Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Mon, 29 Mar 2021 18:01:55 -0700 Subject: [PATCH 1/2] fixing demo Signed-off-by: Ian Chen --- examples/gazebo_scene_viewer/CameraWindow.cc | 5 ++-- examples/gazebo_scene_viewer/SceneManager.cc | 25 ++++++++++++-------- ogre/src/OgreMeshFactory.cc | 2 ++ 3 files changed, 20 insertions(+), 12 deletions(-) diff --git a/examples/gazebo_scene_viewer/CameraWindow.cc b/examples/gazebo_scene_viewer/CameraWindow.cc index 2164a753b..f1c3004f4 100644 --- a/examples/gazebo_scene_viewer/CameraWindow.cc +++ b/examples/gazebo_scene_viewer/CameraWindow.cc @@ -14,7 +14,6 @@ * limitations under the License. * */ -#include "CameraWindow.hh" #if __APPLE__ #include @@ -28,6 +27,7 @@ #if !defined(__APPLE__) && !defined(_WIN32) #include + #undef Status #endif #include @@ -37,6 +37,7 @@ #include #include +#include "CameraWindow.hh" #include "SceneManager.hh" #define KEY_ESC 27 @@ -166,7 +167,7 @@ void GlutKeyboard(unsigned char _key, int, int) { // stop transport gazebo::transport::stop(); - gazebo::transport::fini(); + gazebo::transport::fini(); exit(0); } else if (_key == KEY_TAB) diff --git a/examples/gazebo_scene_viewer/SceneManager.cc b/examples/gazebo_scene_viewer/SceneManager.cc index 5fb445514..a781e9473 100644 --- a/examples/gazebo_scene_viewer/SceneManager.cc +++ b/examples/gazebo_scene_viewer/SceneManager.cc @@ -22,6 +22,7 @@ #include #include +#include #include #include @@ -1509,13 +1510,14 @@ void SubSceneManager::ProcessCone( void SubSceneManager::ProcessCapsule( const gazebo::msgs::Geometry & _geometryMsg, VisualPtr _parent) { - GeometryPtr capsule = this->activeScene->CreateCapsule(); - const gazebo::msgs::CapsuleGeom &capsuleMsg = _geometryMsg.capsule(); - double x = 2 * capsuleMsg.radius(); - double y = 2 * capsuleMsg.radius(); - double z = capsuleMsg.length(); - _parent->SetLocalScale(x, y, z); - _parent->AddGeometry(capsule); + // \todo(anyone) needs gazebo capsule msg + CapsulePtr capsule = this->activeScene->CreateCapsule(); + // Const gazebo::msgs::CapsuleGeom &capsuleMsg = _geometryMsg.capsule(); + // Double x = 2 * capsuleMsg.radius(); + // Double y = 2 * capsuleMsg.radius(); + // Double z = capsuleMsg.length(); + // _parent->SetLocalScale(x, y, z); + _parent->AddGeometry(std::dynamic_pointer_cast(capsule)); } ////////////////////////////////////////////////// @@ -1613,7 +1615,9 @@ void SubSceneManager::ProcessPlane(const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent) { // TODO(anyone): handle plane normal + std::cerr << "before create plane " << std::endl; GeometryPtr plane = this->activeScene->CreatePlane(); + std::cerr << "after create plane " << std::endl; const gazebo::msgs::PlaneGeom &planeMsg = _geometryMsg.plane(); const gazebo::msgs::Vector2d planeSize = planeMsg.size(); _parent->SetLocalScale(planeSize.x(), planeSize.y(), 1); @@ -1833,12 +1837,13 @@ void SubSceneManager::CreateGeometryFunctionMap() this->geomFunctions[gazebo::msgs::Geometry::BOX] = &SubSceneManager::ProcessBox; - // TODO(anyone): enable when cone protobuf msg created + // todo(anyone): enable when cone protobuf msg is created // this->geomFunctions[gazebo::msgs::Geometry::CONE] = // &SubSceneManager::ProcessCone; - this->geomFunctions[gazebo::msgs::Geometry::CAPSULE] = - &SubSceneManager::ProcessSphere; + // todo(anyone): enable when capsule protobuf msg is created + // this->geomFunctions[gazebo::msgs::Geometry::CAPSULE] = + // &SubSceneManager::ProcessSphere; this->geomFunctions[gazebo::msgs::Geometry::CYLINDER] = &SubSceneManager::ProcessCylinder; diff --git a/ogre/src/OgreMeshFactory.cc b/ogre/src/OgreMeshFactory.cc index 55b31f669..642a9c023 100644 --- a/ogre/src/OgreMeshFactory.cc +++ b/ogre/src/OgreMeshFactory.cc @@ -227,6 +227,8 @@ bool OgreMeshFactory::LoadImpl(const MeshDescriptor &_desc) // Copy the original submesh. We may need to modify the vertices, and // we don't want to change the original. + std::cerr << " ================= _desc.mesh->SubMeshCount() " << _desc.mesh->SubMeshCount() << " vs " << i << std::endl; + common::SubMesh subMesh(*s.get()); // Recenter the vertices if requested. From 44efdbad5bce328a472c223ef0435f001f87adb0 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Mon, 29 Mar 2021 20:42:27 -0700 Subject: [PATCH 2/2] cleanup Signed-off-by: Ian Chen --- examples/gazebo_scene_viewer/SceneManager.cc | 2 -- ogre/src/OgreMeshFactory.cc | 2 -- 2 files changed, 4 deletions(-) diff --git a/examples/gazebo_scene_viewer/SceneManager.cc b/examples/gazebo_scene_viewer/SceneManager.cc index a781e9473..bf2840e5c 100644 --- a/examples/gazebo_scene_viewer/SceneManager.cc +++ b/examples/gazebo_scene_viewer/SceneManager.cc @@ -1615,9 +1615,7 @@ void SubSceneManager::ProcessPlane(const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent) { // TODO(anyone): handle plane normal - std::cerr << "before create plane " << std::endl; GeometryPtr plane = this->activeScene->CreatePlane(); - std::cerr << "after create plane " << std::endl; const gazebo::msgs::PlaneGeom &planeMsg = _geometryMsg.plane(); const gazebo::msgs::Vector2d planeSize = planeMsg.size(); _parent->SetLocalScale(planeSize.x(), planeSize.y(), 1); diff --git a/ogre/src/OgreMeshFactory.cc b/ogre/src/OgreMeshFactory.cc index 642a9c023..55b31f669 100644 --- a/ogre/src/OgreMeshFactory.cc +++ b/ogre/src/OgreMeshFactory.cc @@ -227,8 +227,6 @@ bool OgreMeshFactory::LoadImpl(const MeshDescriptor &_desc) // Copy the original submesh. We may need to modify the vertices, and // we don't want to change the original. - std::cerr << " ================= _desc.mesh->SubMeshCount() " << _desc.mesh->SubMeshCount() << " vs " << i << std::endl; - common::SubMesh subMesh(*s.get()); // Recenter the vertices if requested.