From 6827a9dbfaf8e12146065a4954521d31fb2198e4 Mon Sep 17 00:00:00 2001
From: M1chaelM <mrmccarr@nps.edu>
Date: Wed, 28 Jun 2023 18:26:56 -0400
Subject: [PATCH] adding a config file for use with playback

---
 replay_trial.bash                     | 19 +------------------
 vrx_server/vrx-server/Dockerfile      |  3 ++-
 vrx_server/vrx-server/gui.config      |  4 ++++
 vrx_server/vrx-server/play_vrx_log.sh |  2 +-
 4 files changed, 8 insertions(+), 20 deletions(-)

diff --git a/replay_trial.bash b/replay_trial.bash
index 653e51e..eec2545 100755
--- a/replay_trial.bash
+++ b/replay_trial.bash
@@ -112,6 +112,7 @@ else
 fi
 
 # Output directory
+# TODO: We don't seem to be doing anything with this.
 HOST_OUTPUT_DIR=${HOST_LOG_BASE}/video
 OUTPUT_DIR=${LOG_BASE}/video
 if [ -d "$HOST_OUTPUT_DIR" ]; then
@@ -137,23 +138,6 @@ width=1000
 height=750
 BLACK_WINDOW_TIME=2
 
-HOST_GZ_GUI_CONFIG_DIR=${DIR}/generated/logs/playback_gazebo
-GZ_GUI_CONFIG_DIR=/home/$USER/.gazebo
-if [ -d "$HOST_GZ_GUI_CONFIG_DIR" ]; then
-  echo "Overwriting directory: ${HOST_GZ_GUI_CONFIG_DIR}"
-  rm -R $HOST_GZ_GUI_CONFIG_DIR
-else
-  echo "Creating directory: ${HOST_GZ_GUI_CONFIG_DIR}"
-fi
-mkdir -p $HOST_GZ_GUI_CONFIG_DIR
-
-# Tell gazebo client what size and place it should be
-echo "[geometry]
-width=$width
-height=$height
-x=$x
-y=$y" > ${HOST_GZ_GUI_CONFIG_DIR}/gui.ini
-
 # Run Gazebo simulation server container
 SERVER_CMD="/play_vrx_log.sh ${GZ_LOG_PATH} ${OUTPUT_FILE} ${manual_play} ${keep_gz}"
 SERVER_IMG="vrx-server-${ROS_DISTRO}:latest"
@@ -162,7 +146,6 @@ ${DIR}/vrx_server/run_container.bash ${SERVER_CONTAINER_NAME} $SERVER_IMG \
   --ip ${SERVER_ROS_IP} \
   -v ${HOST_LOG_BASE}:${LOG_BASE} \
   -v ${HOST_OUTPUT_DIR}:${OUTPUT_DIR} \
-  -v ${HOST_GZ_GUI_CONFIG_DIR}:${GZ_GUI_CONFIG_DIR} \
   -e ROS_MASTER_URI=${ROS_MASTER_URI} \
   -e ROS_IP=${SERVER_ROS_IP} \
   -e VRX_DEBUG=false" \
diff --git a/vrx_server/vrx-server/Dockerfile b/vrx_server/vrx-server/Dockerfile
index 4ccce99..fbb705a 100644
--- a/vrx_server/vrx-server/Dockerfile
+++ b/vrx_server/vrx-server/Dockerfile
@@ -8,7 +8,7 @@ ARG ROSDIST=humble
 RUN mkdir -p ~/vrx_ws/src
 
 # TODO: restore version tag
-RUN git clone https://github.com/osrf/vrx.git \
+RUN git clone -b M1chaelM/gz_recording_args https://github.com/osrf/vrx.git \
 && mv ./vrx ~/vrx_ws/src
 
 # Compile the VRX project.
@@ -43,5 +43,6 @@ COPY ./vrx_entrypoint.sh /
 COPY ./run_vrx_trial.sh /
 COPY ./play_vrx_log.sh /
 COPY ./gz_utils.sh /
+COPY ./gui.config /
 
 ENTRYPOINT ["/vrx_entrypoint.sh"]
diff --git a/vrx_server/vrx-server/gui.config b/vrx_server/vrx-server/gui.config
index fb36975..31d3d7e 100644
--- a/vrx_server/vrx-server/gui.config
+++ b/vrx_server/vrx-server/gui.config
@@ -1,4 +1,8 @@
 <?xml version="1.0"?>
+
+<!-- Quick start dialog -->
+<dialog name="quick_start" show_again="false"/>
+
 <window>
     <position_x>100</position_x>
     <position_y>100</position_y>
diff --git a/vrx_server/vrx-server/play_vrx_log.sh b/vrx_server/vrx-server/play_vrx_log.sh
index 9f94d6a..2562283 100755
--- a/vrx_server/vrx-server/play_vrx_log.sh
+++ b/vrx_server/vrx-server/play_vrx_log.sh
@@ -72,7 +72,7 @@ echo "Starting Gazebo..."
 echo "Check any possible errors after the run in $OUTPUT.playback_output.txt..."
 
 # Start Gazebo in playback mode
-gz sim -v 4 --playback $LOG_FILE > $OUTPUT.playback_output.txt 2>&1 &
+gz sim -v 4 --gui-config /gui.config --playback $LOG_FILE > $OUTPUT.playback_output.txt 2>&1 &
 gz_playback_pid=$!
 wait_until_gzserver_is_up
 echo -e "${GREEN}OK${NOCOLOR}\n"