Add Track and Follow options in gui EntityContextMenu

[bperseghetti]

🎉 New feature

Summary

I would like to thank NXP for their support in enabling this work.

Depends on:

• https://github.com/gazebosim/gz-gui/pull/619
• https://github.com/gazebosim/gz-msgs/pull/440

This adds a new /gui/track topic using the CameraTrack message to control multiple types of tracking and associated pgain(s), target(s) and offset(s). Furthermore it publishes a tracking camera status CameraTrack message on /gui/currently_tracked

This also adds an 3 unique follow modes and a tracking mode all able to be set from either the /gui/track topic or more ideally from the user gui.

The 3 follow modes are in a submenu under the right click top level menu Follow Options > and are:

• Follow - Traditional follow mode where camera follows and tracks the same target.

• Free Look - Enables a user to follow a target while still using an input device (IE mouse) to look around.

• Look At - Only enabled after already selecting a primary object to follow, this allows a user to track a unique secondary target while following the primary target.

The other right click top level menu item added is Track, where the gui camera can be moved anywhere in the simulator but will always track the selected object.

These all respect using the escape key to stop any form of tracking.

Test it

Use these changes for collection-harmonic.yaml:

repositories:
  gz-gui:
    type: git
    url: https://github.com/rudislabs/gz-gui.git
    version: pr-track-follow
  gz-msgs:
    type: git
    url: https://github.com/rudislabs/gz-msgs.git
    version: pr-track-follow
  gz-sim:
    type: git
    url: https://github.com/rudislabs/gz-sim.git
    version: pr-track-follow

Checklist

• [x] Signed all commits for DCO
• [x] Added tests
• [x] Added example and/or tutorial
• [x] Updated documentation (as needed)
• [x] Updated migration guide (as needed)
• [x] Consider updating Python bindings (if the library has them)
• [x] codecheck passed (See contributing)
• [x] All tests passed (See test coverage)
• [x] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[j-rivero]

@osrf-jenkins run tests

[bperseghetti]

@osrf-jenkins run tests

[nosradom]

I accidentally upgraded to 8.4.0 today. This feature is giving me some problems.

The popup window Follow command does not seem to do anything anymore. Is there a new dependency that is needed for this to work? The 'Move To' command works but follow does not when it previously did.

Using the Right click on the Entity Tree. Then the popup window selecting the Follow Options -> Follow

I'm experimenting with using docker to run some ardupilot simulations. Below is the Dockerfile. (Rebuilding the docker image is how I accidentally upgraded).

I am using harmonic and humble

Also is there an easy way to revert to 8.3.0?

ARG ROS_DISTRO
FROM ros:${ROS_DISTRO}

ENV COLCON_WS=/root/colcon_ws
ENV COLCON_WS_SRC=/root/colcon_ws/src
ENV PYTHONWARNINGS="ignore:setup.py install is deprecated::setuptools.command.install"

ENV DEBIAN_FRONTEND noninteractive

ARG GZ_VERSION

RUN apt-get update -qq \
    && apt-get install -y \
        wget \
    && rm -rf /var/lib/apt/lists/*

RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg\
    && echo "deb [arch=amd64 signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

RUN apt-get update -qq \
    && apt-get install -y \
        gz-${GZ_VERSION} \
        build-essential\
        ros-${ROS_DISTRO}-rcl-interfaces\
        ros-${ROS_DISTRO}-rclcpp\
        ros-${ROS_DISTRO}-builtin-interfaces\
        ros-${ROS_DISTRO}-ros-gz\
        ros-${ROS_DISTRO}-sdformat-urdf\
        ros-${ROS_DISTRO}-vision-msgs\
        ros-${ROS_DISTRO}-actuator-msgs\
        ros-${ROS_DISTRO}-image-transport\
    && rm -rf /var/lib/apt/lists/*

RUN mkdir -p ${COLCON_WS_SRC}\
    && cd ${COLCON_WS}\
    && . /opt/ros/${ROS_DISTRO}/setup.sh\
    && colcon build

RUN git clone --recursive --depth 1 https://github.com/ArduPilot/ardupilot_gazebo.git

RUN apt-get update \
    && apt-get install -y \
        libgz-sim8-dev \
        rapidjson-dev

RUN mkdir ardupilot_gazebo/build\
    && cd ardupilot_gazebo/build\
    && cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo

RUN cd ardupilot_gazebo/build\
    && make -j4

ENV GZ_SIM_RESOURCE_PATH=/ardupilot_gazebo/models:/ardupilot_gazebo/worlds:/models:/worlds
ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/ardupilot_gazebo/build

CMD gz sim -v4 -r /ardupilot_gazebo/worlds/iris_runway.sdf

[bperseghetti]

I accidentally upgraded to 8.4.0 today. This feature is giving me some problems.

The popup window Follow command does not seem to do anything anymore. Is there a new dependency that is needed for this to work? The 'Move To' command works but follow does not when it previously did.

Using the Right click on the Entity Tree. Then the popup window selecting the Follow Options -> Follow

I'm experimenting with using docker to run some ardupilot simulations. Below is the Dockerfile. (Rebuilding the docker image is how I accidentally upgraded).

I am using harmonic and humble

Also is there an easy way to revert to 8.3.0?

ARG ROS_DISTRO
FROM ros:${ROS_DISTRO}

ENV COLCON_WS=/root/colcon_ws
ENV COLCON_WS_SRC=/root/colcon_ws/src
ENV PYTHONWARNINGS="ignore:setup.py install is deprecated::setuptools.command.install"

ENV DEBIAN_FRONTEND noninteractive

ARG GZ_VERSION

RUN apt-get update -qq \
    && apt-get install -y \
        wget \
    && rm -rf /var/lib/apt/lists/*

RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg\
    && echo "deb [arch=amd64 signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

RUN apt-get update -qq \
    && apt-get install -y \
        gz-${GZ_VERSION} \
        build-essential\
        ros-${ROS_DISTRO}-rcl-interfaces\
        ros-${ROS_DISTRO}-rclcpp\
        ros-${ROS_DISTRO}-builtin-interfaces\
        ros-${ROS_DISTRO}-ros-gz\
        ros-${ROS_DISTRO}-sdformat-urdf\
        ros-${ROS_DISTRO}-vision-msgs\
        ros-${ROS_DISTRO}-actuator-msgs\
        ros-${ROS_DISTRO}-image-transport\
    && rm -rf /var/lib/apt/lists/*

RUN mkdir -p ${COLCON_WS_SRC}\
    && cd ${COLCON_WS}\
    && . /opt/ros/${ROS_DISTRO}/setup.sh\
    && colcon build

RUN git clone --recursive --depth 1 https://github.com/ArduPilot/ardupilot_gazebo.git

RUN apt-get update \
    && apt-get install -y \
        libgz-sim8-dev \
        rapidjson-dev

RUN mkdir ardupilot_gazebo/build\
    && cd ardupilot_gazebo/build\
    && cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo

RUN cd ardupilot_gazebo/build\
    && make -j4

ENV GZ_SIM_RESOURCE_PATH=/ardupilot_gazebo/models:/ardupilot_gazebo/worlds:/models:/worlds
ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/ardupilot_gazebo/build

CMD gz sim -v4 -r /ardupilot_gazebo/worlds/iris_runway.sdf

@iche033 I think this is what I mentioned to you yesterday about not having it in first but releasing a gz-sim.

[bperseghetti]

@nosradom fix is incoming and should be released to binaries soon. A release for gz-gui was needed and is here: https://github.com/gazebosim/gz-gui/pull/624

[nosradom]

@nosradom fix is incoming and should be released to binaries soon. A release for gz-gui was needed and is here: gazebosim/gz-gui#624

Awesome thanks

[bperseghetti]

@nosradom fix is incoming and should be released to binaries soon. A release for gz-gui was needed and is here: gazebosim/gz-gui#624

Awesome thanks

Were you able to update and make sure it works properly in your environment?