Add nexus_workcell_editor (#36)

* Add nexus_workcell_editor Signed-off-by: Yadunund <[email protected]> * Fix demo workcell Signed-off-by: Luca Della Vedova <[email protected]> * Test pin libm Signed-off-by: Luca Della Vedova <[email protected]> * Revert "Test pin libm" This reverts commit 1055ce0. Signed-off-by: Luca Della Vedova <[email protected]> --------- Signed-off-by: Yadunund <[email protected]> Signed-off-by: Luca Della Vedova <[email protected]> Co-authored-by: Luca Della Vedova <[email protected]>
osrf · Oct 28, 2024 · 728fd0d · 728fd0d
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diff --git a/.github/workflows/nexus_workcell_editor.yaml b/.github/workflows/nexus_workcell_editor.yaml
@@ -0,0 +1,41 @@
+name: workcell_editor
+on:
+  pull_request:
+  push:
+    branches: [ main ]
+defaults:
+  run:
+    shell: bash
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        docker_image: ['ros:iron-ros-base']
+    container:
+      image: ${{ matrix.docker_image }}
+    timeout-minutes: 30
+    steps:
+    - name: Deps
+      run: |
+        apt update && apt install -y git curl libclang-dev libasound2-dev libudev-dev libgtk-3-dev python3-pip python3-vcstool
+    - name: Setup Rust
+      uses: dtolnay/[email protected]
+      with:
+        components: clippy, rustfmt
+    - name: Install colcon cargo
+      run: |
+        cargo install --debug cargo-ament-build  # --debug is faster to install
+        pip install git+https://github.com/colcon/colcon-cargo.git
+        pip install git+https://github.com/colcon/colcon-ros-cargo.git
+    - uses: actions/checkout@v2
+    - name: vcs
+      run: |
+        git clone https://github.com/ros2-rust/ros2_rust.git -b 0.4.0
+        vcs import . < ros2_rust/ros2_rust_iron.repos
+    - name: rosdep
+      run: |
+        rosdep update
+        rosdep install --from-paths . -yir
+    - name: build
+      run: /ros_entrypoint.sh colcon build --packages-up-to nexus_workcell_editor
diff --git a/.github/workflows/style.yaml b/.github/workflows/style.yaml
@@ -25,3 +25,10 @@ jobs:
         run: |
           sudo apt update && sudo apt install -y pycodestyle curl
           pycodestyle nexus_network_configuration/
+      - name: Setup Rust
+        uses: dtolnay/[email protected]
+        with:
+          components: clippy, rustfmt
+      - name: rustfmt
+        run: |
+          rustfmt --check --edition 2021 nexus_workcell_editor/src/main.rs
diff --git a/README.md b/README.md
@@ -1,6 +1,7 @@
 # NEXUS
-![](https://github.com/osrf/nexus/workflows/style/badge.svg)
-![](https://github.com/osrf/nexus/workflows/integration_tests/badge.svg)
+[![style](https://github.com/osrf/nexus/actions/workflows/style.yaml/badge.svg)](https://github.com/osrf/nexus/actions/workflows/style.yaml)
+[![integration_tests](https://github.com/osrf/nexus/actions/workflows/nexus_integration_tests.yaml/badge.svg)](https://github.com/osrf/nexus/actions/workflows/nexus_integration_tests.yaml)
+[![workcell_editor](https://github.com/osrf/nexus/actions/workflows/nexus_workcell_editor.yaml/badge.svg)](https://github.com/osrf/nexus/actions/workflows/nexus_workcell_editor.yaml)
 
 ![](./docs/media/nexus_architecture.png)
 

diff --git a/nexus_workcell_editor/.gitignore b/nexus_workcell_editor/.gitignore
@@ -0,0 +1,2 @@
+target/
+Cargo.lock
diff --git a/nexus_workcell_editor/CHANGELOG.rst b/nexus_workcell_editor/CHANGELOG.rst
@@ -0,0 +1,7 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package nexus_workcell_editor
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Forthcoming
+------------------
+* Provides the ``nexus_workcell_editor`` application to graphically design a workcell using individual components and calibrate the poses of these components.
diff --git a/nexus_workcell_editor/Cargo.toml b/nexus_workcell_editor/Cargo.toml
@@ -0,0 +1,21 @@
+[package]
+name = "nexus_workcell_editor"
+version = "0.0.1"
+edition = "2021"
+
+[[bin]]
+path = "src/main.rs"
+name = "nexus_workcell_editor"
+
+[dependencies]
+bevy = "0.12"
+bevy_egui = "0.23"
+# TODO(luca) Just use the version used by site editor once released
+bevy_impulse = { git = "https://github.com/open-rmf/bevy_impulse", branch = "main" }
+clap = { version = "4.0.10", features = ["color", "derive", "help", "usage", "suggestions"] }
+crossbeam-channel = "0.5.8"
+# TODO(luca) back to main when PR is merged
+rmf_site_editor = { git = "https://github.com/open-rmf/rmf_site", rev = "f4bed77" }
+rmf_site_format = { git = "https://github.com/open-rmf/rmf_site", rev = "f4bed77" }
+rclrs = "0.4.0"
+nexus_calibration_msgs = "*"
diff --git a/nexus_workcell_editor/README.md b/nexus_workcell_editor/README.md
@@ -0,0 +1,28 @@
+# nexus_workcell_editor
+
+A GUI for assembling workcells from components that is built off [rmf_site](https://github.com/open-rmf/rmf_site).
+
+## Setup
+
+Install rustup from the Rust website: https://www.rust-lang.org/tools/install
+
+```
+curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
+```
+
+Follow instructions [here](https://github.com/ros2-rust/ros2_rust) to setup ros2_rust.
+
+## Build
+```
+# source the ros distro and ros2_rust workspace.
+cd ~/ws_nexus
+colcon build
+```
+
+## Run
+```bash
+cd ~/ws_nexus
+source ~/ws_nexus/install/setup.bash
+ros2 run nexus_workcell_editor nexus_workcell_editor
+```
+
diff --git a/nexus_workcell_editor/package.xml b/nexus_workcell_editor/package.xml
@@ -0,0 +1,22 @@
+<package format="3">
+  <name>nexus_workcell_editor</name>
+  <version>0.1.1</version>
+  <description>A GUI to assemble workcells</description>
+  <maintainer email="[email protected]">Yadunund</maintainer>
+  <license>Apache License 2.0</license>
+
+  <build_depend>cargo</build_depend>
+
+  <depend>gtk3</depend>
+  <depend>libudev-dev</depend>
+  <depend>libasound2-dev</depend>
+  <depend>nexus_calibration_msgs</depend>
+  <depend>rclrs</depend>
+
+  <test_depend>abb_irb910sc_support</test_depend>
+  <test_depend>nexus_assets</test_depend>
+
+  <export>
+    <build_type>ament_cargo</build_type>
+  </export>
+</package>
diff --git a/nexus_workcell_editor/src/main.rs b/nexus_workcell_editor/src/main.rs
@@ -0,0 +1,126 @@
+/*
+ * Copyright (C) 2024 Johnson & Johnson
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use bevy::render::{
+    render_resource::{AddressMode, SamplerDescriptor},
+    settings::{WgpuFeatures, WgpuSettings},
+    RenderPlugin,
+};
+use bevy::{log::LogPlugin, pbr::DirectionalLightShadowMap, prelude::*};
+use bevy_egui::EguiPlugin;
+
+use clap::Parser;
+
+use librmf_site_editor::{
+    aabb::AabbUpdatePlugin, animate::AnimationPlugin, asset_loaders::AssetLoadersPlugin,
+    interaction::InteractionPlugin, issue::IssuePlugin, keyboard::*, log::LogHistoryPlugin,
+    occupancy::OccupancyPlugin, site::SitePlugin, site_asset_io::SiteAssetIoPlugin,
+    view_menu::ViewMenuPlugin, widgets::*, wireframe::SiteWireframePlugin,
+    workcell::WorkcellEditorPlugin, workspace::*, AppState, CommandLineArgs,
+};
+
+pub mod main_menu;
+use main_menu::{Autoload, MainMenuPlugin};
+
+pub mod ros_context;
+use ros_context::RosContextPlugin;
+
+pub mod workcell_calibration;
+use workcell_calibration::WorkcellCalibrationPlugin;
+
+fn main() {
+    info!("Starting nexus_workcell_editor");
+
+    let mut app = App::new();
+
+    #[cfg(not(target_arch = "wasm32"))]
+    {
+        let command_line_args: Vec<String> = std::env::args().collect();
+        let command_line_args = CommandLineArgs::parse_from(command_line_args);
+        if let Some(path) = command_line_args.filename {
+            app.insert_resource(Autoload::file(
+                path.into(),
+                command_line_args.import.map(Into::into),
+            ));
+        }
+    }
+
+    let mut plugins = DefaultPlugins.build();
+    plugins = plugins.set(WindowPlugin {
+        primary_window: Some(Window {
+            title: "RMF Site Editor".to_owned(),
+            #[cfg(not(target_arch = "wasm32"))]
+            resolution: (1600., 900.).into(),
+            #[cfg(target_arch = "wasm32")]
+            canvas: Some(String::from("#rmf_site_editor_canvas")),
+            #[cfg(target_arch = "wasm32")]
+            fit_canvas_to_parent: true,
+            ..default()
+        }),
+        ..default()
+    });
+    app.add_plugins((
+        SiteAssetIoPlugin,
+        plugins
+            .disable::<LogPlugin>()
+            .set(ImagePlugin {
+                default_sampler: SamplerDescriptor {
+                    address_mode_u: AddressMode::Repeat,
+                    address_mode_v: AddressMode::Repeat,
+                    address_mode_w: AddressMode::Repeat,
+                    ..Default::default()
+                }
+                .into(),
+            })
+            .set(RenderPlugin {
+                render_creation: WgpuSettings {
+                    #[cfg(not(target_arch = "wasm32"))]
+                    features: WgpuFeatures::POLYGON_MODE_LINE,
+                    ..default()
+                }
+                .into(),
+                ..default()
+            }),
+    ));
+
+    app.insert_resource(DirectionalLightShadowMap { size: 2048 })
+        .add_state::<AppState>()
+        .add_plugins((
+            AssetLoadersPlugin,
+            LogHistoryPlugin,
+            AabbUpdatePlugin,
+            EguiPlugin,
+            KeyboardInputPlugin,
+            MainMenuPlugin,
+            WorkcellEditorPlugin,
+            SitePlugin,
+            InteractionPlugin::default(),
+            StandardUiPlugin::default(),
+            AnimationPlugin,
+            OccupancyPlugin,
+            WorkspacePlugin,
+            SiteWireframePlugin,
+        ))
+        .add_plugins((
+            IssuePlugin,
+            ViewMenuPlugin,
+            RosContextPlugin,
+            WorkcellCalibrationPlugin,
+            bevy_impulse::ImpulsePlugin::default(),
+        ))
+        .run();
+}
diff --git a/nexus_workcell_editor/src/main_menu.rs b/nexus_workcell_editor/src/main_menu.rs
@@ -0,0 +1,124 @@
+/*
+ * Copyright (C) 2024 Johnson & Johnson
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use bevy::{app::AppExit, prelude::*, tasks::Task, window::PrimaryWindow};
+use bevy_egui::{egui, EguiContexts};
+use librmf_site_editor::{
+    workspace::{WorkspaceData, WorkspaceLoader},
+    AppState,
+};
+use rmf_site_format;
+use std::path::PathBuf;
+
+#[derive(Resource)]
+pub struct Autoload {
+    pub filename: Option<PathBuf>,
+    pub import: Option<PathBuf>,
+    pub importing: Option<Task<Option<(Entity, rmf_site_format::Site)>>>,
+}
+
+impl Autoload {
+    pub fn file(filename: PathBuf, import: Option<PathBuf>) -> Self {
+        Autoload {
+            filename: Some(filename),
+            import,
+            importing: None,
+        }
+    }
+}
+
+pub fn demo_workcell() -> Vec<u8> {
+    return include_str!("../test/test.workcell.json")
+        .as_bytes()
+        .to_vec();
+}
+
+fn egui_ui(
+    mut egui_context: EguiContexts,
+    mut _exit: EventWriter<AppExit>,
+    mut workspace_loader: WorkspaceLoader,
+    mut _app_state: ResMut<State<AppState>>,
+    autoload: Option<ResMut<Autoload>>,
+    primary_windows: Query<Entity, With<PrimaryWindow>>,
+) {
+    if let Some(mut autoload) = autoload {
+        #[cfg(not(target_arch = "wasm32"))]
+        {
+            if let Some(filename) = autoload.filename.clone() {
+                workspace_loader.load_from_path(filename);
+            }
+            autoload.filename = None;
+        }
+        return;
+    }
+
+    let Some(ctx) = primary_windows
+        .get_single()
+        .ok()
+        .and_then(|w| egui_context.try_ctx_for_window_mut(w))
+    else {
+        return;
+    };
+    egui::Window::new("Welcome!")
+        .collapsible(false)
+        .resizable(false)
+        .title_bar(false)
+        .anchor(egui::Align2::CENTER_CENTER, egui::vec2(0., 0.))
+        .show(ctx, |ui| {
+            ui.heading("Welcome to The NEXUS Workcell Editor!");
+            ui.add_space(10.);
+
+            ui.horizontal(|ui| {
+                if ui.button("New workcell").clicked() {
+                    workspace_loader.load_from_data(WorkspaceData::Workcell(
+                        rmf_site_format::Workcell::default()
+                            .to_string()
+                            .unwrap()
+                            .into(),
+                    ));
+                }
+
+                if ui.button("Load workcell").clicked() {
+                    workspace_loader.load_from_dialog();
+                }
+
+                if ui.button("Demo workcell").clicked() {
+                    workspace_loader.load_from_data(WorkspaceData::Workcell(demo_workcell()));
+                }
+            });
+
+            #[cfg(not(target_arch = "wasm32"))]
+            {
+                ui.add_space(20.);
+                ui.horizontal(|ui| {
+                    ui.with_layout(egui::Layout::right_to_left(egui::Align::Center), |ui| {
+                        if ui.button("Exit").clicked() {
+                            _exit.send(AppExit);
+                        }
+                    });
+                });
+            }
+        });
+}
+
+pub struct MainMenuPlugin;
+
+impl Plugin for MainMenuPlugin {
+    fn build(&self, app: &mut App) {
+        app.add_systems(Update, egui_ui.run_if(in_state(AppState::MainMenu)));
+    }
+}