search

osrf / subt

This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.
Other
309 stars 97 forks source link

Some suggestions for useful UI enhancements #130

Closed osrf-migration closed 5 years ago

osrf-migration commented 5 years ago

Original report (archived issue) by Sarah Kitchen (Bitbucket: snkitche).

Some Gazebo 9 things that were helpful for development that we’d like reproduced in the ignition UI (and if they’re already in there, please advise on how to access them):

Some things that may or may not be in the Gazebo version but would also be useful for exploring performance of our controllers:

Being able to build our own environments, including placing artifacts, may be the closest thing to path critical, since it takes a really long time to test things in the large competition environments. Everything else would just help streamline workflow.

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

osrf-migration commented 5 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

Thank you for all the feedback! I've ticketed issues on other repositories so we can keep track of these feature requests. Feel free to vote for the issues :wink:

Follow model option to have the view follow a moving robot

https://bitbucket.org/ignitionrobotics/ign-gazebo/issues/29/follow-model-on-the-gui

Go to model, e.g. by double clicking on the name in the entity tree

https://bitbucket.org/ignitionrobotics/ign-gazebo/issues/30/move-user-camera-to-model

The ability to build our own environments from the subt tiles

I'm curious, how were you building custom worlds in Gazebo 9?

This is for a more manual approach:

https://bitbucket.org/ignitionrobotics/ign-gazebo/issues/31/insert-model-from-the-gui

For a more automated approach specific to SubT, it could be convenient to provide teams with a script that generates random SubT worlds.

The ability to toggle on/off “ambient lighting”

https://bitbucket.org/ignitionrobotics/ign-gazebo/issues/32/expose-scene-properties-through-the-ui

A “reset view” button to whatever the original viewing configuration was

https://bitbucket.org/ignitionrobotics/ign-gazebo/issues/33/widget-to-choose-reset-camera-angles

If those issues look reasonable to you, feel free to close this one. You're also welcome to make other feature requests, either here, or directly to ign-gazebo.

Just a heads up, we're not planning on addressing any of these during the current cycle.

osrf-migration commented 5 years ago

Original comment by Sarah Kitchen (Bitbucket: snkitche).

Thanks! I will check those issues out.

To make a Gazebo 9 tunnel world, I edited the world file manually to place tunnel tiles and artifacts from the subt repo where I wanted them. I was not inserting models directly in the Gazebo GUI to do this. If we don’t care about dynamic loading of tiles, can we do the same now and launch it with a .ign file? Do we need the .dat, .dot, and .tsv files in the subt_ign/worlds directory as well? We’d only use subt fuel models.

Random world generation would also be nice to reproduce for ignition within the next year, but at the moment are most concerned with being able to test specific capabilities of our controller and generate training data for our object classifier efficiently.

osrf-migration commented 5 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

I edited the world file manually

Got it.

Do we need the .dat, .dot, and .tsv files in the subt_ign/worlds directory as well?

Yes, you need them.

osrf-migration commented 5 years ago

Original comment by Sarah Kitchen (Bitbucket: snkitche).

@chapulina , which tile models in the SubT Tech Repo are deprecated vs. which will be used for the competition? Are the numbered tiles (e.g. Tunnel Tile 1) all deprecated? I’m experimenting with building an sdf file now and the tiles are not as regularly sized as they were before, so they don’t always fit together particularly cleanly. I’m also able to launch the world with ign gazebo .sdf without those other 3 files. Why do I need them? Again, I’m not interested in doing dynamic loading/levels for my local testing.

osrf-migration commented 5 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

which tile models in the SubT Tech Repo are deprecated vs. which will be used for the competition?

These are all the tunnel tiles for the practice worlds:

Note that the competition worlds may use different patterns.

Beware that the tiles are versioned, so you can clean up your current cache to be sure you get the latest tiles. Clean up like this:

rm -rf ~/.ignition/fuel

Are the numbered tiles (e.g. Tunnel Tile 1) all deprecated?

No, but you may be using an old version. Cleaning up your cache should solve this.

the tiles are not as regularly sized as they were before, so they don’t always fit together particularly cleanly

Could also be a problem with cached models

I’m also able to launch the world with ign gazebo .sdf without those other 3 files. Why do I need them?

You don't need the TSV, but the DOT and DAT are needed for the CommsClient. If you are not testing communications, you should be ok with just the SDF.

osrf-migration commented 5 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

Sarah Kitchen (snkitche) , can we close this issue?

osrf-migration commented 5 years ago

Original comment by Sarah Kitchen (Bitbucket: snkitche).

Yes, go ahead, thanks.

osrf-migration commented 5 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).