Rename Ignition to Gazebo

README.md

@@ -52,7 +52,7 @@ Once done with the editing of the building map with `traffic_editor`, user can n
 ros2 run rmf_building_map_tools building_map_generator gazebo \
   ${building_map_path} ${output_world_path} ${output_model_dir}
 ```
-_switch arg `gazebo` to `ignition` for generating a world file for ignition_
+_switch arg `gazebo-classic` to `gazebo` for generating a world file for gazebo_
 
 **Download models used in newly created traffic editor building map.**
 ```bash

rmf_building_map_tools/building_crowdsim/_init_argparse.py

@@ -7,7 +7,7 @@
     description="Generate navmesh.nav, behavior.xml, scene.xml" +
                 "required for running crowd simulation," +
                 "and generating the <plugin> tag in .world" +
-                "for gazebo and ignition-gazebo")
+                "for gazebo-classic and gazebo")
 
 # parser
 parser = argparse.ArgumentParser(add_help=False)

rmf_building_map_tools/building_map/building.py

@@ -379,12 +379,13 @@ def generate_nav_graphs(self):
     def generate_sdf_world(self, options):
         """ Return an etree of this Building in SDF starting from a template"""
         print(f'generator options: {options}')
-        if 'gazebo' in options:
+        if 'gazebo-classic' in options:
+            template_name = 'gz_classic_world.sdf'
+        elif 'gazebo' in options:
             template_name = 'gz_world.sdf'
-        elif 'ignition' in options:
-            template_name = 'ign_world.sdf'
         else:
-            raise RuntimeError("expected either gazebo or ignition in options")
+            raise RuntimeError(
+                "expected either gazebo-classic or gazebo in options")
 
         template_path = os.path.join(
             get_package_share_directory('rmf_building_map_tools'),
@@ -469,7 +470,7 @@ def generate_sdf_world(self, options):
         else:
             camera_pose = f'{c[0]} {c[1]-20} 10 0 0.6 1.57'
         # add floor-toggle GUI plugin parameters
-        if 'gazebo' in options:
+        if 'gazebo-classic' in options:
             camera_pose_ele = gui_ele.find('camera').find('pose')
             camera_pose_ele.text = camera_pose
 
@@ -484,7 +485,7 @@ def generate_sdf_world(self, options):
                 'plugin',
                 {'name': 'toggle_floors', 'filename': 'libtoggle_floors.so'})
 
-        elif 'ignition' in options:
+        elif 'gazebo' in options:
             plugin_ele = gui_ele.find('.//plugin[@filename="GzScene3D"]')
             camera_pose_ele = plugin_ele.find('camera_pose')
             camera_pose_ele.text = camera_pose

rmf_building_map_tools/building_map/generator.py

@@ -49,7 +49,7 @@ def generate_sdf(
             f.write(sdf_str)
         print(f'{len(sdf_str)} bytes written to {output_filename}')
 
-    def generate_gazebo_sdf(
+    def generate_gazebo_classic_sdf(
         self,
         input_filename,
         output_filename,
@@ -60,9 +60,9 @@ def generate_gazebo_sdf(
             input_filename,
             output_filename,
             output_models_dir,
-            options + ['gazebo'])
+            options + ['gazebo-classic'])
 
-    def generate_ignition_sdf(
+    def generate_gazebo_sdf(
         self,
         input_filename,
         output_filename,
@@ -73,7 +73,7 @@ def generate_ignition_sdf(
             input_filename,
             output_filename,
             output_models_dir,
-            options + ['ignition'])
+            options + ['gazebo'])
 
     def generate_nav(self, input_filename, output_dir):
         building = self.parse_editor_yaml(input_filename)

rmf_building_map_tools/building_map/lift.py

@@ -58,7 +58,7 @@ def to_yaml(self):
         y['width'] = self.width
         return y
 
-    def generate_cabin_door(self, lift_model_ele, name):
+    def generate_cabin_door_gazebo_classic(self, lift_model_ele, name):
         door_model_ele = SubElement(lift_model_ele, 'model')
         door_model_ele.set('name', name)
         door_pose = SubElement(door_model_ele, 'pose')
@@ -148,10 +148,10 @@ def generate_door_plugin(self, model_ele, name):
         door_ele.set('right_joint_name', 'right_joint')
         door_ele.set('type', 'DoubleSlidingDoor')
 
-    # TODO: remove this function once nesting model is supported in ignition.
-    def generate_cabin_door_ign(self, lift_model_ele, name):
-        # This is for cabin door generation for ignition gazebo as it doesn't
-        # support nested models yet. Once ignition gazebo supports nested
+    # TODO: remove this function once nesting model is supported in Gazebo.
+    def generate_cabin_door_gazebo(self, lift_model_ele, name):
+        # This is for cabin door generation for Gazebo as it doesn't
+        # support nested models yet. Once Gazebo supports nested
         # models, this should be removed.
         (x, y) = self.cabin_door_pose
         yaw = self.motion_axis_orientation
@@ -430,14 +430,14 @@ def generate_cabin(self, world_ele, options):
 
         # cabin doors
         # TODO: remove the if statement here once nesting model is supported
-        # in ignition.
-        if 'ignition' in options:
+        # in gazebo.
+        if 'gazebo' in options:
             for lift_door in self.doors:
-                lift_door.generate_cabin_door_ign(
+                lift_door.generate_cabin_door_gazebo(
                     lift_model_ele, f'CabinDoor_{self.name}_{lift_door.name}')
         else:
             for lift_door in self.doors:
-                lift_door.generate_cabin_door(
+                lift_door.generate_cabin_door_gazebo_classic(
                     lift_model_ele, f'CabinDoor_{self.name}_{lift_door.name}')
 
         # lift cabin plugin

rmf_building_map_tools/building_map/templates/gz_classic_world.sdf

@@ -0,0 +1,21 @@
+<?xml version="1.0" ?>
+<sdf version="1.7">
+  <world name="world" xmlns:rmf="rmf">
+    <scene>
+      <ambient>0.8 0.8 0.8 1.0</ambient>
+      <background>0 0 0</background>
+      <grid>false</grid>
+    </scene>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+     <gui>
+       <camera name="gui_camera">
+         <pose>10 -20 10 0 0.6 1.57</pose>
+       </camera>
+     </gui>
+
+  </world>
+</sdf>

rmf_building_map_tools/building_map/templates/gz_world.sdf

@@ -1,21 +1,183 @@
 <?xml version="1.0" ?>
 <sdf version="1.7">
-  <world name="world" xmlns:rmf="rmf">
+  <world name="sim_world" xmlns:rmf="rmf">
+    <physics name="10ms" type="ode">
+      <max_step_size>0.01</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="libgz-sim-physics-system.so"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="libgz-sim-user-commands-system.so"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="libgz-sim-scene-broadcaster-system.so"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+
     <scene>
-      <ambient>0.8 0.8 0.8 1.0</ambient>
-      <background>0 0 0</background>
+      <ambient>1 1 1</ambient>
+      <background>0.8 0.8 0.8</background>
       <grid>false</grid>
     </scene>
 
-    <include>
-      <uri>model://sun</uri>
-    </include>
+    <gui fullscreen="0">
+
+      <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>
+      </window>
+
+      <!-- GUI plugins -->
+
+      <!-- 3D scene -->
+      <plugin filename="GzScene3D" name="3D View">
+        <gz-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </gz-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>6 0 6 0 0.5 3.14</camera_pose>
+      </plugin>
+
+      <!-- Play / pause / step -->
+      <plugin filename="WorldControl" name="World control">
+        <gz-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>
+        </gz-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+
+      </plugin>
+
+      <!-- Time / RTF -->
+      <plugin filename="WorldStats" name="World stats">
+        <gz-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>
+        </gz-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+
+      </plugin>
+
+      <!-- Translate / rotate -->
+      <plugin filename="TransformControl" name="Transform control">
+        <gz-gui>
+          <title>Transform control</title>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">230</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>
+        </gz-gui>
+      </plugin>
+
+      <!-- Insert simple shapes -->
+      <plugin filename="Shapes" name="Shapes">
+        <gz-gui>
+          <anchors target="Transform control">
+            <line own="left" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">200</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>
+        </gz-gui>
+      </plugin>
+
+      <!-- Inspector -->
+      <plugin filename="ComponentInspector" name="Component inspector">
+        <gz-gui>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </gz-gui>
+      </plugin>
+
+      <!-- Entity tree -->
+      <plugin filename="EntityTree" name="Entity tree">
+        <gz-gui>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </gz-gui>
+      </plugin>
+
+      <!-- Toggle charging traffic editor plugin -->
+      <plugin filename="toggle_charging" name="toggle_charging"/>
+    </gui>
 
-     <gui>
-       <camera name="gui_camera">
-         <pose>10 -20 10 0 0.6 1.57</pose>
-       </camera>
-     </gui>
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.09</constant>
+        <linear>0.001</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
 
   </world>
 </sdf>