Updates for Gazebo Garden

CMakeLists.txt

@@ -2,23 +2,23 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
 
 project(simslides)
 
-find_package(ignition-common4 REQUIRED)
-set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
+find_package(gz-common5 REQUIRED)
+set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
 
-find_package(ignition-gazebo6 REQUIRED COMPONENTS gui)
-set(IGN_GAZEBO_VER ${ignition-gazebo6_VERSION_MAJOR})
+find_package(gz-sim7 REQUIRED COMPONENTS gui)
+set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
 
-find_package(ignition-rendering6 REQUIRED)
-set(IGN_RENDERING_VER ${ignition-rendering6_VERSION_MAJOR})
+find_package(gz-rendering7 REQUIRED)
+set(GZ_RENDERING_VER ${gz-rendering7_VERSION_MAJOR})
 
-find_package(ignition-gui6 REQUIRED)
-set(IGN_GUI_VER ${ignition-gui6_VERSION_MAJOR})
+find_package(gz-gui7 REQUIRED)
+set(GZ_GUI_VER ${gz-gui7_VERSION_MAJOR})
 
-find_package(sdformat12 REQUIRED)
-set(SDF_VER ${sdformat12_VERSION_MAJOR})
+find_package(sdformat13 REQUIRED)
+set(SDF_VER ${sdformat13_VERSION_MAJOR})
 
 add_subdirectory(common)
-add_subdirectory(ignition)
+add_subdirectory(gazebo)
 
 install(DIRECTORY
   models

README.md

@@ -1,4 +1,4 @@
-## This branch only works with Ignition Fortress. For Gazebo 11 and Ignition Citadel, see the `main` branch.
+## This branch only works with Gazebo Garden. For Gazebo 11 and Gazebo Citadel, see the `main` branch.
 
 ---
 
@@ -11,20 +11,20 @@ Import PDF files into robot simulation and present flying from slide to slide.
 ## Features
 
 SimSlides consists of plugins for two simulators:
-[Gazebo Classic](http://gazebosim.org/) and
-[Ignition Gazebo](https://ignitionrobotics.org/). There are different features for
+[Gazebo Classic](http://classic.gazebosim.org/) and
+[Gazebo](https://gazebosim.org/). There are different features for
 each simulator.
 
-### Ignition
+### Gazebo
 
-![SimSlides Ignition](images/SimSlides_Ignition.gif)
+![SimSlides Gazebo](images/SimSlides_Gazebo.gif)
 
 * Navigate through keyframes using **mouse**, **keyboard** or wireless **presenter**
 * Keyframes can:
     * Look at a **slide** (even if it has moved)
     * **Move camera** to a specific pose
     * Go through slides **stacked** on the same pose
-* ... plus all **Ignition** features!
+* ... plus all **Gazebo** features!
 
 ### Gazebo classic
 
@@ -49,15 +49,15 @@ want to setup keyboard triggers? Control a robot using
 
 ## Install
 
-SimSlides' main branch supports both Gazebo Classic and Ignition. It's ok if
+SimSlides' `main` branch supports both Gazebo Classic and Gazebo. It's ok if
 you don't have both simulators installed, only the plugin for the simulator
 present will be compiled.
 
-### Ignition
+### Gazebo
 
-The main branch has been tested on Ignition Fortress.
+The `garden` branch has been tested on Gazebo Garden.
 
-Follow the official install [instructions](https://ignitionrobotics.org/docs/fortress/install).
+Follow the official install [instructions](https://gazebosim.org/docs/garden/install).
 
 ### Gazebo Classic (doesn't work on this branch)
 
@@ -72,11 +72,11 @@ Follow the official install [instructions](https://ignitionrobotics.org/docs/for
 
 ## Run SimSlides
 
-### Ignition
+### Gazebo
 
 Run simslides:
 
-    simslides_ignition
+    simslides_gazebo
 
 ### Gazebo Classic (doesn't work on this branch)
 
@@ -93,7 +93,7 @@ Run it as follows:
 
 1. Load the world
 
-        simslides_ignition worlds/demo_slide.sdf
+        simslides_gazebo worlds/demo_slide.sdf
 
 ## Your own presentation
 
@@ -191,4 +191,3 @@ gaining more features for each presentation.
 
 The repository was ported to GitHub + Git in August 2019, when BitBucket
 dropped Mercurial support.
-

common/Common.cc

@@ -15,6 +15,7 @@
 */
 
 #include <limits>
+#include <gz/math/Matrix4.hh>
 
 #include "include/simslides/common/Common.hh"
 
@@ -136,23 +137,23 @@ void simslides::Common::Update()
     // Target in world frame
     auto origin = this->Common::Instance()->VisualPose(keyframe->Visual());
 
-    auto bbPos = origin.Pos() + ignition::math::Vector3d(0, 0, 0.5);
-    auto targetWorld = ignition::math::Matrix4d(ignition::math::Pose3d(
+    auto bbPos = origin.Pos() + gz::math::Vector3d(0, 0, 0.5);
+    auto targetWorld = gz::math::Matrix4d(gz::math::Pose3d(
         bbPos, origin.Rot()));
 
     // Eye in target frame
     auto offset = keyframe->EyeOffset();
-    if (offset == ignition::math::Pose3d::Zero)
+    if (offset == gz::math::Pose3d::Zero)
     {
       offset = this->kEyeOffset;
     }
-    ignition::math::Matrix4d eyeTarget(offset);
+    gz::math::Matrix4d eyeTarget(offset);
 
     // Eye in world frame
     auto eyeWorld = targetWorld * eyeTarget;
 
     // Look At
-    auto mat = ignition::math::Matrix4d::LookAt(eyeWorld.Translation(),
+    auto mat = gz::math::Matrix4d::LookAt(eyeWorld.Translation(),
         targetWorld.Translation());
 
     this->MoveCamera(mat.Pose());

common/Keyframe.cc

@@ -42,10 +42,10 @@ class simslides::KeyframePrivate
   public: std::string visual;
 
   /// \brief Camera offset in LOOKAT slide frame
-  public: ignition::math::Pose3d eyeOffset;
+  public: gz::math::Pose3d eyeOffset;
 
   /// \brief Camera pose in world frame
-  public: ignition::math::Pose3d camPose;
+  public: gz::math::Pose3d camPose;
 
   /// \brief Log time to seek to
   public: std::chrono::steady_clock::duration logSeek;
@@ -65,7 +65,7 @@ Keyframe::Keyframe(sdf::ElementPtr _sdf) : dataPtr(new KeyframePrivate)
 
   if (_sdf->HasAttribute("eye_offset"))
   {
-    this->dataPtr->eyeOffset = _sdf->Get<ignition::math::Pose3d>("eye_offset");
+    this->dataPtr->eyeOffset = _sdf->Get<gz::math::Pose3d>("eye_offset");
   }
   if (_sdf->HasAttribute("text"))
   {
@@ -91,14 +91,14 @@ Keyframe::Keyframe(sdf::ElementPtr _sdf) : dataPtr(new KeyframePrivate)
   }
   else if (type == "log_seek")
   {
-    this->dataPtr->camPose = _sdf->Get<ignition::math::Pose3d>("cam_pose");
+    this->dataPtr->camPose = _sdf->Get<gz::math::Pose3d>("cam_pose");
     auto logSeek = _sdf->Get<sdf::Time>("time");
     this->dataPtr->logSeek = std::chrono::seconds(logSeek.sec) +
        std::chrono::nanoseconds(logSeek.nsec);
   }
   else if (type == "cam_pose")
   {
-    this->dataPtr->camPose = _sdf->Get<ignition::math::Pose3d>("pose");
+    this->dataPtr->camPose = _sdf->Get<gz::math::Pose3d>("pose");
   }
   else
   {
@@ -132,13 +132,13 @@ std::string Keyframe::Visual() const
 }
 
 //////////////////////////////////////////////////
-ignition::math::Pose3d Keyframe::CamPose() const
+gz::math::Pose3d Keyframe::CamPose() const
 {
   return this->dataPtr->camPose;
 }
 
 //////////////////////////////////////////////////
-ignition::math::Pose3d Keyframe::EyeOffset() const
+gz::math::Pose3d Keyframe::EyeOffset() const
 {
   return this->dataPtr->eyeOffset;
 }
@@ -202,4 +202,3 @@ KeyframeType KeyframePrivate::StrToType(const std::string &_type) const
 
   return KeyframeType::NONE;
 }
-

common/include/simslides/common/Common.hh

@@ -55,7 +55,7 @@ namespace simslides
      public: void ChangeKeyframe(int _keyframe);
 
      /// \brief Function called to move camera, containing the target pose.
-     public: std::function<void(const ignition::math::Pose3d &)> MoveCamera;
+     public: std::function<void(const gz::math::Pose3d &)> MoveCamera;
 
      /// \brief Function called to move camera, containing the target pose.
      public: std::function<void(const std::string &, bool)> SetVisualVisible;
@@ -68,7 +68,7 @@ namespace simslides
 
      /// \brief Function called to get a visual's pose according to its scoped
      /// name.
-     public: std::function<ignition::math::Pose3d(const std::string &)>
+     public: std::function<gz::math::Pose3d(const std::string &)>
          VisualPose;
 
      /// \brief Function called to set text, containing the the text.
@@ -95,8 +95,8 @@ namespace simslides
      /// -1 means not presenting.
      public: int slideCount{-1};
 
-     public: const ignition::math::Pose3d kEyeOffset
-         {0.0, -3.0, 0.0, 0.0, 0.0, IGN_PI_2};
+     public: const gz::math::Pose3d kEyeOffset
+         {0.0, -3.0, 0.0, 0.0, 0.0, GZ_PI_2};
 
      /// \brief Static instance
      private: static Common *instance;

common/include/simslides/common/Keyframe.hh

@@ -20,7 +20,7 @@
 #include <memory>
 #include <string>
 #include <sdf/Element.hh>
-#include <ignition/math/Pose3.hh>
+#include <gz/math/Pose3.hh>
 
 namespace simslides
 {
@@ -69,11 +69,11 @@ namespace simslides
 
     /// \brief For LOG_SEEK and CAM_POSE
     /// \return Camera pose in the world
-    public: ignition::math::Pose3d CamPose() const;
+    public: gz::math::Pose3d CamPose() const;
 
     /// \brief For LOOKAT
     /// \return Offset from target slide origin.
-    public: ignition::math::Pose3d EyeOffset() const;
+    public: gz::math::Pose3d EyeOffset() const;
 
     /// \brief Log time to seek to
     /// \return Log time

gazebo/CMakeLists.txt

@@ -0,0 +1,52 @@
+set(library_name SimSlidesGz)
+
+set(client_src
+  ${library_name}.cc
+)
+
+set (qt_headers
+  ${library_name}.hh
+)
+
+find_package(Qt5
+  COMPONENTS
+    Core
+    Quick
+    QuickControls2
+  REQUIRED
+)
+
+set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GZ-GUI_CXX_FLAGS} -std=c++17 -lstdc++fs")
+
+QT5_ADD_RESOURCES(resources_RCC ${library_name}.qrc)
+QT5_WRAP_CPP(headers_MOC ${qt_headers})
+
+add_library(${library_name} SHARED
+  ${client_src}
+  ${headers_MOC}
+  ${resources_RCC}
+)
+
+target_link_libraries(${library_name}
+  stdc++fs
+  SimSlidesCommon
+  gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+  gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+  gz-gui${GZ_GUI_VER}::gz-gui${GZ_GUI_VER}
+  gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER}
+)
+
+include(GNUInstallDirs)
+install(TARGETS ${library_name}
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}/gz-gui/
+)
+
+configure_file(
+  "simslides_gazebo.sh.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/share/simslides_gazebo" @ONLY
+)
+
+install(PROGRAMS
+  ${CMAKE_CURRENT_BINARY_DIR}/share/simslides_gazebo
+  DESTINATION bin
+)