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RobotecAI / RGLGazeboPlugin

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RGLServerPlugin and RGLGuiPlugin #2

Closed Jakub-Krakowiak closed 2 years ago

Jakub-Krakowiak commented 2 years ago
  1. implemented gazebo system (server) plugin interface - Configure, PreUpdate and PostUpdate functions
  2. connected RGL using FetchContent
  3. added mesh detection from gazebo internals (both primitive and external meshes)
  4. added the meshes to rgl scene
  5. implemented rgl lidar entity in gazebo
  6. pose updates from gazebo to rgl for both lidar and other entities
  7. rgl ray tracing hits visible in GUI if RGLGuiPlugin is loaded
  8. divided RGLGazeboPlugin into two parts: RGLServerPlugin and RGLGuiPlugin (since the visualization does not need rgl)