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Improves world launching #62

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merged 1 commit into from
Jul 5, 2024
Merged

Improves world launching #62

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2 changes: 2 additions & 0 deletions .gitignore
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@@ -1,5 +1,7 @@
*.build
*.install

sandbox

# Visual Studio Code files
.vscode
3 changes: 3 additions & 0 deletions andino_gz/CMakeLists.txt
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Expand Up @@ -5,9 +5,12 @@ find_package(gazebo QUIET)

find_package(ament_cmake REQUIRED)

ament_python_install_package("andino_gz")

install(
DIRECTORY
config
config_gui
models
launch
rviz
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3 changes: 3 additions & 0 deletions andino_gz/andino_gz/__init__.py
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from .launch_tools.substitutions import TextJoin

__all__ = ['TextJoin']
Empty file added andino_gz/andino_gz/launch_tools/__init__.py
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42 changes: 42 additions & 0 deletions andino_gz/andino_gz/launch_tools/substitutions.py
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from typing import Dict, Iterable, Text, Union, List, Sequence
from launch.frontend import expose_substitution
from launch.substitution import Substitution
from launch.launch_context import LaunchContext
from launch.some_substitutions_type import SomeSubstitutionsType
from launch.substitutions import SubstitutionFailure
from launch.utilities import normalize_to_list_of_substitutions
from launch.utilities import perform_substitutions
from launch.utilities.type_utils import perform_typed_substitution


class TextJoin(Substitution):
"""Substitution that TextJoin stuff."""

def __init__(self,
substitutions: Iterable[Union[Text, Substitution]],
separator: Text = '') -> None:
"""Create a TextJoin."""
self.__substitutions = normalize_to_list_of_substitutions(
substitutions)
self.__separator = separator

@property
def substitutions(self) -> Iterable[Substitution]:
"""Getter for variable_name."""
return self.__substitutions

@property
def separator(self) -> Text:
"""Getter for variable_name."""
return self.__separator

def describe(self) -> Text:
"""Return a description of this substitution as a string."""
return f"TextJoin: {self.__separator.join([sub.describe() for sub in self.__substitutions])}"

def perform(self, context: LaunchContext) -> Text:
"""Perform the substitution by retrieving the local variable."""
performed_substitutions = [
sub.perform(context) for sub in self.__substitutions
]
return self.__separator.join(performed_substitutions)
271 changes: 271 additions & 0 deletions andino_gz/config_gui/default.config
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<?xml version="1.0"?>

<!-- Quick start dialog -->
<dialog name="quick_start" show_again="true"/>

<!-- Window -->
<window>
<width>1000</width>
<height>845</height>
<style
material_theme="Light"
material_primary="DeepOrange"
material_accent="LightBlue"
toolbar_color_light="#f3f3f3"
toolbar_text_color_light="#111111"
toolbar_color_dark="#414141"
toolbar_text_color_dark="#f3f3f3"
plugin_toolbar_color_light="#bbdefb"
plugin_toolbar_text_color_light="#111111"
plugin_toolbar_color_dark="#607d8b"
plugin_toolbar_text_color_dark="#eeeeee"
/>
<menus>
<drawer default="false">
</drawer>
</menus>
<dialog_on_exit>true</dialog_on_exit>
</window>

<!-- GUI plugins -->

<!-- 3D scene -->
<plugin filename="MinimalScene" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-2 0 1 0 0 0</camera_pose>
<horizontal_fov>80</horizontal_fov>
<view_controller>orbit</view_controller>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<ignition-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="MarkerManager" name="Marker manager">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="SelectEntities" name="Select Entities">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>

<plugin filename="Spawn" name="Spawn Entities">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>

<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<use_event>true</use_event>

</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>

<!-- Insert simple shapes -->
<plugin filename="Shapes" name="Shapes">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">0</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</ignition-gui>
</plugin>

<!-- Insert lights -->
<plugin filename="Lights" name="Lights">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">250</property>
<property key="y" type="double">0</property>
<property key="width" type="double">150</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</ignition-gui>
</plugin>

<!-- Translate / rotate -->
<plugin filename="TransformControl" name="Transform control">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">50</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</ignition-gui>

<!-- disable legacy features used to connect this plugin to GzScene3D -->
<legacy>false</legacy>
</plugin>

<!-- Screenshot -->
<plugin filename="Screenshot" name="Screenshot">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">250</property>
<property key="y" type="double">50</property>
<property key="width" type="double">50</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</ignition-gui>
</plugin>

<!-- Copy/Paste -->
<plugin filename="CopyPaste" name="CopyPaste">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">300</property>
<property key="y" type="double">50</property>
<property key="width" type="double">100</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</ignition-gui>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<ignition-gui>
<property type="string" key="state">docked_collapsed</property>
</ignition-gui>
</plugin>

<!-- Inspector -->
<plugin filename="ComponentInspector" name="Component inspector">
<ignition-gui>
<property type="string" key="state">docked_collapsed</property>
</ignition-gui>
</plugin>

<!-- Teleop -->
<plugin filename="Teleop" name="Teleop">
<ignition-gui>
<property type="string" key="state">docked_collapsed</property>
</ignition-gui>
<topic>/model/andino/cmd_vel</topic>
</plugin>

<!-- Image of the Camera display -->
<plugin filename="ImageDisplay" name="Image Display">
<ignition-gui>
<property key="state" type="string">docked_collapsed</property>
</ignition-gui>
</plugin>
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