Portuguese Ledge world

README.md

@@ -490,6 +490,27 @@ for example:
 1. `~/lrauv_ws/src/lrauv-application-2/bin/LRAUV`
 1. Start more `bin/LRAUV` as needed
 
+## Levels
+
+Some worlds support [levels](https://ignitionrobotics.org/api/gazebo/6.7/levels.html).
+Levels are turned off by default, which means that all heightmap tiles will
+be loaded at all times. When levels are enabled, only the tiles containing
+vehicles (performers) spawned with `WorldCommPlugin` with an
+[lrauv_init](https://github.com/osrf/lrauv/blob/main/lrauv_ignition_plugins/proto/lrauv_init.proto)
+message will be loaded.
+
+For example, loading without levels:
+
+`ign gazebo -v 4 portuguese_ledge.sdf`
+
+![portuguese_ledge_no_levels](https://user-images.githubusercontent.com/5751272/159629754-9206a9fe-eeed-4afc-a516-5c25a9fbdaf6.png)
+
+And with levels:
+
+`ign gazebo -v 4 portuguese_ledge.sdf --levels`
+
+![portuguese_ledge_no_levels](https://user-images.githubusercontent.com/5751272/159813230-809d1cad-b3f5-457a-af19-3752bec0710f.gif)
+
 ### Troubleshoot
 
 After issuing control commands, for example, rudder and thrust, if you then

docker/debug_integration/Dockerfile

@@ -38,6 +38,7 @@ RUN apt-get update \
         lsb-release \
         tzdata \
         wget \
+        python3-empy \
         python3-numpy
 
 # Add Ignition's latest packages, which may be more up-to-date than the ones from the MBARI image
@@ -47,7 +48,7 @@ RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable
 
 # Install the latest Ignition binaries
 RUN apt-get -qq update && apt-get -q -y install \
-  ignition-garden python3-numpy
+  ignition-garden
 
 # Install PCL
 RUN apt-get update \

docker/empty_world/Dockerfile

@@ -48,7 +48,6 @@ RUN apt-get update \
         software-properties-common \
         sudo \
         vim \
-        python3-numpy \
  && apt-get clean
 
 # setup timezone

docker/tests/Dockerfile

@@ -38,6 +38,7 @@ RUN apt-get update \
         lsb-release \
         tzdata \
         wget \
+        python3-empy \
         python3-numpy
 
 # Add Ignition's latest packages, which may be more up-to-date than the ones from the MBARI image

lrauv_ignition_plugins/CMakeLists.txt

@@ -236,6 +236,20 @@ configure_file(
   "${CMAKE_CURRENT_BINARY_DIR}/hooks/hook.dsv" @ONLY
 )
 
+#============================================================================
+# World generation
+set(WORLD_NAME "portuguese_ledge")
+add_custom_command(
+  OUTPUT world_gen_cmd
+  COMMAND python3 ${CMAKE_CURRENT_SOURCE_DIR}/worlds/empy_expander.py
+  ${CMAKE_CURRENT_SOURCE_DIR}/worlds/${WORLD_NAME}.sdf.em
+  ${CMAKE_CURRENT_BINARY_DIR}/worlds/${WORLD_NAME}.sdf
+)
+
+add_custom_target(world_gen_target ALL
+  DEPENDS world_gen_cmd
+)
+
 #============================================================================
 # Tests
 if(BUILD_TESTING)

lrauv_ignition_plugins/src/WorldCommPlugin.cc

@@ -103,6 +103,7 @@ void WorldCommPlugin::Configure(
 
   // Services
   this->createService = "/world/" + topicWorldName + "/create";
+  this->performerService = "/world/" + topicWorldName + "/level/set_performer";
   this->setSphericalCoordsService = "/world/" + topicWorldName
     + "/set_spherical_coordinates";
 
@@ -213,6 +214,18 @@ void WorldCommPlugin::SpawnCallback(
     ignerr << "Failed to request service [" << this->createService
            << "]" << std::endl;
   }
+  else
+  {
+    // Make spawned model a performer
+    ignition::msgs::StringMsg performerReq;
+    performerReq.set_data(_msg.id_().data());
+    if (!this->node.Request(this->performerService, performerReq,
+        &WorldCommPlugin::ServiceResponse, this))
+    {
+      ignerr << "Failed to request service [" << this->performerService
+             << "]" << std::endl;
+    }
+  }
 }
 
 /////////////////////////////////////////////////

lrauv_ignition_plugins/src/WorldCommPlugin.hh

@@ -80,6 +80,9 @@ namespace tethys
     /// Service to create entities
     private: std::string createService;
 
+    /// Service to make spawned entities performers (for levels)
+    private: std::string performerService;
+
     /// Whether the world origin's latitude and longitude have already been set.
     private: bool hasWorldLatLon{false};
   };

lrauv_ignition_plugins/worlds/empy_expander.py

@@ -0,0 +1,22 @@
+# Takes in a template and generates a file.
+
+import argparse
+import em
+import os
+import sys
+
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser()
+    parser.add_argument('infile', help='Full path to input template.')
+    parser.add_argument('outfile', help='Full path to output file.')
+    args = parser.parse_args()
+
+    with open(args.infile) as infile:
+        template = infile.read()
+    result = em.expand(template, {})
+    os.makedirs(os.path.dirname(args.outfile), exist_ok=True)
+    with open(args.outfile, 'w') as outfile:
+        outfile.write(result)
+
+if __name__ == '__main__':
+    sys.exit(main())