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Merge branch 'gz-sim9' into particle_image_path
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@iche033
iche033 authored Sep 4, 2024
2 parents 20ef3cb + 5482778 commit c872cf3
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2 changes: 1 addition & 1 deletion examples/worlds/dem_monterey_bay.sdf
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Expand Up @@ -22,7 +22,7 @@
<property type="string" key="state">docked</property>
</gz-gui>

<engine>ogre</engine>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0 0 0</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
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2 changes: 1 addition & 1 deletion examples/worlds/dem_moon.sdf
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Expand Up @@ -29,7 +29,7 @@
<property type="string" key="state">docked</property>
</gz-gui>

<engine>ogre</engine>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0 0 0</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
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2 changes: 1 addition & 1 deletion examples/worlds/dem_volcano.sdf
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Expand Up @@ -21,7 +21,7 @@
<property type="string" key="state">docked</property>
</gz-gui>

<engine>ogre</engine>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0 0 0</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
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6 changes: 5 additions & 1 deletion src/ServerConfig.cc
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Expand Up @@ -168,9 +168,13 @@ class gz::sim::ServerConfigPrivate

this->timestamp = GZ_SYSTEM_TIME();

std::string timeInIso = common::timeToIso(this->timestamp);
#ifdef _WIN32
std::replace(timeInIso.begin(), timeInIso.end(), ':', '-');
#endif
// Set a default log record path
this->logRecordPath = common::joinPaths(home,
".gz", "sim", "log", common::timeToIso(this->timestamp));
".gz", "sim", "log", timeInIso);

// If directory already exists, do not overwrite. This could potentially
// happen if multiple simulation instances are started in rapid
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309 changes: 309 additions & 0 deletions tutorials/files/particle_emitter/particle_emitter_scatter_effects.sdf
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@@ -0,0 +1,309 @@
<?xml version="1.0" ?>

<sdf version="1.6">
<world name="particle_emitters">

<physics name="1ms" type="ode">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>

<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin
filename="gz-sim-particle-emitter-system"
name="gz::sim::systems::ParticleEmitter">
</plugin>

<gui fullscreen="0">

<plugin filename="ImageDisplay" name="Image Display">
<gz-gui>
<title>RGB camera</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
</gz-gui>
<topic>camera</topic>
<topic_picker>false</topic_picker>
</plugin>
<plugin filename="ImageDisplay" name="Image Display 2">
<gz-gui>
<title>Depth camera</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
<property type="double" key="x">500</property>
</gz-gui>
<topic>depth_camera</topic>
<topic_picker>false</topic_picker>
</plugin>
<plugin filename="ImageDisplay" name="Image Display 3">
<gz-gui>
<title>RGBD: image</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
<property type="double" key="y">320</property>
</gz-gui>
<topic>rgbd_camera/image</topic>
<topic_picker>false</topic_picker>
</plugin>
<plugin filename="ImageDisplay" name="Image Display 3">
<gz-gui>
<title>RGBD: depth</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
<property type="double" key="x">500</property>
<property type="double" key="y">320</property>
</gz-gui>
<topic>rgbd_camera/depth_image</topic>
<topic_picker>false</topic_picker>
</plugin>
<plugin filename="ImageDisplay" name="Image Display 5">
<gz-gui>
<title>Thermal camera</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
<property type="double" key="x">500</property>
<property type="double" key="y">640</property>
</gz-gui>
<topic>thermal_camera</topic>
<topic_picker>false</topic_picker>
</plugin>

<plugin filename="VisualizeLidar" name="Visualize Lidar">
</plugin>

</gui>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<include>
<uri>https://fuel.gazebosim.org/1.0/openrobotics/models/fog generator</uri>
</include>

<model name="camera_with_lidar">
<pose>8 0 0.5 0 0.0 3.14</pose>
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>

<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>camera</topic>
</sensor>

<sensor name="depth_camera1" type="depth_camera">
<update_rate>10</update_rate>
<topic>depth_camera</topic>
<camera>
<horizontal_fov>1.05</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
<format>R_FLOAT32</format>
</image>
<clip>
<near>0.1</near>
<far>100.0</far>
</clip>
</camera>
</sensor>

<sensor name='gpu_lidar' type='gpu_lidar'>"
<topic>lidar</topic>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>640</samples>
<resolution>1</resolution>
<min_angle>-1.396263</min_angle>
<max_angle>1.396263</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<resolution>0.01</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.08</min>
<max>10.0</max>
<resolution>0.01</resolution>
</range>
</ray>
<always_on>1</always_on>
<visualize>true</visualize>
</sensor>
</link>

<static>true</static>
</model>

<model name="rgbd_camera">
<pose>8 0 0.5 0 0.0 3.14</pose>
<static>true</static>
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="rgbd_camera" type="rgbd_camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>rgbd_camera</topic>
</sensor>
</link>
<static>true</static>
</model>

<model name="thermal_camera">
<pose>8 0 0.5 0 0.0 3.14</pose>
<static>true</static>
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="thermal_camera" type="thermal_camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>thermal_camera</topic>
</sensor>
</link>
</model>

<include>
<pose>0 0 0 0 0 1.570796</pose>
<name>rescue_randy</name>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Rescue Randy</uri>
</include>

</world>
</sdf>
13 changes: 12 additions & 1 deletion tutorials/particle_tutorial.md
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Expand Up @@ -97,7 +97,18 @@ The particles are not only a visual effect in simulation, they also have an effe
* `gpu_lidar`: The particles have a scattering effect on the lidar range readings.
* `thermal_camera`: The particles are not visible in the thermal camera image.

The gif below shows an [example world](https://gist.github.com/iche033/bcd3b7d3f4874e1e707e392d6dbb0aa0) with six different sensors looking at the fog generator with a rescue randy model inside the fog.

The [particle_emitter_scatter_effects.sdf](https://github.com/gazebosim/gz-sim/blob/gz-sim9/tutorials/files/particle_emitter/particle_emitter_scatter_effects.sdf)
demo world shows six different sensors looking at the fog generator with a rescue randy model inside the fog.

Download the example world file and launch it to see what it looks like.

```bash
gz sim -v 4 -r particle_emitter_scatter_effects.sdf
```

Navigate to the Visualize Lidar plugin on the right and click on the refresh button to set the lidar topic. You should see the sensor images and lidar visualization like below:


@image html files/particle_emitter/sensor_scatter_tutorial.gif

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