Added support for fuel textures (#342)

Signed-off-by: Luca Della Vedova <[email protected]>

rmf_building_map_tools/building_map/floor.py

@@ -1,13 +1,12 @@
 import math
 import os
-import shutil
 
 import shapely.geometry
 import shapely.ops
 
 from xml.etree.ElementTree import SubElement
-from ament_index_python.packages import get_package_share_directory
 
+from .material_utils import copy_texture
 from .param_value import ParamValue
 
 triangulation_debugging = False
@@ -292,6 +291,8 @@ def generate(
         if 'texture_name' in self.params:
             texture_name = self.params['texture_name'].value
 
+        texture_filename = copy_texture(texture_name, meshes_path)
+
         mtl_path = f'{model_path}/meshes/floor_{floor_cnt}.mtl'
         with open(mtl_path, 'w') as f:
             f.write('# The Great Editor v0.0.1\n')
@@ -303,13 +304,6 @@ def generate(
             f.write('Ni 1.0\n')  # no idea what this is
             f.write('d 1.0\n')  # alpha (maybe?)
             f.write('illum 2\n')  # illumination model (enum)
-            f.write(f'map_Kd {texture_name}.png\n')
+            f.write(f'map_Kd {texture_filename}\n')
 
         print(f'  wrote {mtl_path}')
-
-        texture_path_source = os.path.join(
-            get_package_share_directory('rmf_building_map_tools'),
-            f'textures/{texture_name}.png')
-        texture_path_dest = f'{model_path}/meshes/{texture_name}.png'
-        shutil.copyfile(texture_path_source, texture_path_dest)
-        print(f'  wrote {texture_path_dest}')

rmf_building_map_tools/building_map/material_utils.py

@@ -0,0 +1,32 @@
+import os
+import requests
+import shutil
+
+from ament_index_python.packages import get_package_share_directory
+from urllib.parse import urlparse
+from xml.etree.ElementTree import ElementTree, Element, SubElement
+
+
+def copy_texture(texture_name, dest_path):
+    texture_filename = f'{texture_name}.png'
+    texture_path_dest = f'{dest_path}/{texture_filename}'
+    # If the texture name is a URL fetch it
+    result = urlparse(texture_name)
+    texture_is_url = all([result.scheme, result.netloc, result.path])
+    if texture_is_url:
+        # Update filename from the URL
+        texture_filename = texture_name.split('/')[-1]
+        texture_path_dest = f'{dest_path}/{texture_filename}'
+        # Skip downloading if existing
+        if not os.path.isfile(texture_path_dest):
+            req = requests.get(texture_name)
+            with open(texture_path_dest, 'wb') as f:
+                f.write(req.content)
+    else:
+        texture_path_source = os.path.join(
+            get_package_share_directory('rmf_building_map_tools'),
+            f'textures/{texture_filename}')
+        shutil.copyfile(texture_path_source, texture_path_dest)
+
+    print(f'  wrote {texture_path_dest}')
+    return texture_filename

rmf_building_map_tools/building_map/wall.py

@@ -1,13 +1,12 @@
 import math
 import os
-import shutil
 
 import numpy as np
 
 from xml.etree.ElementTree import SubElement
-from ament_index_python.packages import get_package_share_directory
 
 from .edge import Edge
+from .material_utils import copy_texture
 from .param_value import ParamValue
 
 
@@ -187,6 +186,8 @@ def generate_wall_visual_mesh(self, model_name, model_path):
                 f.write(f'f {w*8+2}/1/1 {w*8+6}/1/1 {w*8+4}/1/1\n')
                 f.write(f'f {w*8+2}/1/1 {w*8+8}/1/1 {w*8+6}/1/1\n')
 
+        texture_filename = copy_texture(self.texture_name, meshes_path)
+
         mtl_path = f'{meshes_path}/wall_{self.wall_cnt}.mtl'
         print(f'  generating {mtl_path}')
         with open(mtl_path, 'w') as f:
@@ -199,14 +200,7 @@ def generate_wall_visual_mesh(self, model_name, model_path):
             f.write('Ni 1.0\n')  # no idea what this is
             f.write(f'd {self.alpha}\n')  # alpha
             f.write('illum 2\n')  # illumination model (enum)
-            f.write(f'map_Kd {self.texture_name}.png\n')
-
-        print(f'  copying wall textures into {meshes_path}')
-        texture_path_source = os.path.join(
-            get_package_share_directory('rmf_building_map_tools'),
-            f'textures/{self.texture_name}.png')
-        texture_path_dest = f'{meshes_path}/{self.texture_name}.png'
-        shutil.copyfile(texture_path_source, texture_path_dest)
+            f.write(f'map_Kd {texture_filename}\n')
 
     def generate(
         self,