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maliput / delphyne

Scenario and search based Ego/Ado Car traffic simulations
BSD 3-Clause "New" or "Revised" License
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Add a Pose_V publisher and compute unique Link ids #750

Closed scpeters closed 3 years ago

scpeters commented 3 years ago

To update object pose information, the Scene3D plugin in ign-gui2 expects a Pose_V message, while delphyne currently publishes that in a Model_V message. Instead of using link names to associate the poses to specific objects, the Pose_V message uses an id field that should be a unique integer. This pull request adds a translation from Model_V to Pose_V and publishes these Pose_V messages on the /visualizer/pose_update topic. This also required adding unique ids for each link, by using the std::hash of a string combining the model id and link name.

scpeters commented 3 years ago

Can we add a test for this new topic?

I'll add a test for the new system to match the other system tests, and I'll look into adding some test cases to simulation_runner_test that checks the Pose_V messages.

scpeters commented 3 years ago

I've added some test expectations to confirm that model and link Id's are unique. I'm halfway through adding a test for the new system

scpeters commented 3 years ago

Can we add a test for this new topic?

I'll add a test for the new system to match the other system tests, and I'll look into adding some test cases to simulation_runner_test that checks the Pose_V messages.

I've added a unit test for the new system in a2a1372. The main thing missing is an integration test. I'll how hard it would be to add this

scpeters commented 3 years ago

Can we add a test for this new topic?

I'll add a test for the new system to match the other system tests, and I'll look into adding some test cases to simulation_runner_test that checks the Pose_V messages.

I've added a unit test for the new system in a2a1372. The main thing missing is an integration test. I'll how hard it would be to add this

added an integration test in 541441a

it doesn't capture the odd behavior of the vehicle with id 0, but I'll address that in a follow-up PR