Gazebo viewer only

[Kakcalu13]

Desired behavior

Able to download the lightweight gazebo viewer where it just displays everything inside gazebo without editor like Fbx previewer concept. It's a lightweight program and hopefully, crossover on any platform of gazebo!

Additional context

I was thinking like: 1) Display the gazebo scene only. 2) No tools, add ons or editors 3) Has physics engine and able to move due to the bridge

Hopefully this is a simple request! I have a feeling that this might be a big request :P

Keep up with awesome work! Love it so far!

Side note: Did you know that this worked well with ignition? https://ambientcg.com/

I used it last night and it worked well! I just gotta scale and all that but it worked perfectly!

[ahcorde]

Hi @Kakcalu13,

the feature that you are requesting is already done. Inside ~/.ignition/gazebo there is a file called gui.config which loads the default plugins which are going to run in your Ignition Gazebo GUI.

If you only want to run the visualizer, you can create your own gui.config file, then you should run gazebo using the option --gui-config:

ign gazebo -v 4 shapes.sdf  --gui-config only_visualizer.config

only_visualizer.config file

<?xml version="1.0"?>

<!-- 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>-6 0 6 0 0.5 0</camera_pose>
</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>

Hope this solve your request. Please close the issue is your question is answered

[Kakcalu13]

Thanks!! Testing it now and ill share the result asap!

[Kakcalu13]

I just tested it. That did what I wanted, but I afraid it required a full package. I'm looking for something that can be done with one package due to memory size.

The package allowed me to load is libignition-gazebo3-dev with libignition-gui3-dev

libignition-gui3-dev alone is like 1.2 gb if I remember right and it needed gui3 which is like 200 mb.

Do you know if there's a way to reduce the memory size for docker? I'm trying to find something smaller and lightweight.

[azeey]

I believe you don't need the -dev packages for Garden. You'll need to install libgz-sim7 and the gz-sim7-cli. There might be a couple more, but I would try those first.

[Kakcalu13]

Thanks, I will try it out soon!