Merge pull request #431 from gergondet/topic/mc_convex_visualization

Introduce tools to display surfaces and convex

doc/_i18n/en/tutorials/tools/mc_convex_visualization.md

@@ -1,24 +1,24 @@
-`mc_convex_visualization` is a tool that allows you to visualize the convexes of a robot in the RViZ application. It is part of the {% link mc_rtc_ros %} package.
+`mc_convex_visualization` is a tool that allows you to visualize the convexes of a robot in any mc_rtc GUI application.
 
 ### Launching the visualization
 
 The tool is launched as follows:
 
 ```bash
-$ roslaunch mc_convex_visualization display.launch robot:=JVRC1
+$ mc_convex_visualization JVRC1
 ```
 
-The `robot` argument should be the same as what you would pass to the `mc_rbdyn::RobotLoader::get_robot_module` function, this can also be a robot alias. For example:
+The arguments to the program should be the same as you would use as a `MainRobot` entry. It can also handle aliases. For example:
 
 ```bash
 # Specify a vector of arguments
-$ roslaunch mc_convex_visualization display.launch robot:="[env, `rospack find mc_env_description`, ground]"
+$ mc_convex_visualization env `rospack find mc_env_description` ground
 # Or an alias
-$ roslaunch mc_convex_visualization display.launch robot:=env/ground
+$ mc_convex_visualization env/ground
 ```
 
-After launching it should look like this:
+After launching an mc_rtc GUI, it should look like this:
 
 <img src="{{site.baseurl_root}}/assets/tutorials/tools/img/mc_convex_visualization.png" alt="mc_convex_visualization in action" class="img-fluid" />
 
-By enabling/disabling the checkboxes in the highlighted area you can show/hide selected convexes.
+You can easily select which convexes to display through the interface.

doc/_i18n/en/tutorials/tools/mc_surfaces_visualization.md

@@ -5,19 +5,19 @@
 The tool is launched as follows:
 
 ```bash
-$ roslaunch mc_surfaces_visualization display.launch robot:=JVRC1
+$ mc_surfaces_visualization JVRC1
 ```
 
-The `robot` argument should be the same as what you would pass to the `mc_rbdyn::RobotLoader::get_robot_module` function, this can also be a robot alias. For example:
+The arguments to the program should be the same as you would use as a `MainRobot` entry. It can also handle aliases. For example:
 
 ```bash
 # Specify a vector of arguments
-$ roslaunch mc_surfaces_visualization display.launch robot:="[env, `rospack find mc_env_description`, ground]"
+$ mc_surfaces_visualization env `rospack find mc_env_description` ground
 # Or an alias
-$ roslaunch mc_surfaces_visualization display.launch robot:=env/ground
+$ mc_surfaces_visualization env/ground
 ```
 
-After launching it should look like this:
+After launching an mc_rtc GUI, it should look like this:
 
 <img src="{{site.baseurl_root}}/assets/tutorials/tools/img/mc_surfaces_visualization.png" alt="mc_surfaces_visualization in action" class="img-fluid" />
 
@@ -27,4 +27,4 @@ In the 3D display:
 - Cylindrical surfaces are green cylinders (not seen in the screenshot);
 - Gripper surfaces are represented with blue arrows representing the normal direction of the gripper's points' frame;
 
-By enabling/disabling the checkboxes in the highlighted area you can show/hide selected surfaces.
+You can easily select which surfaces to display through the interface.

doc/_i18n/jp/tutorials/tools/mc_convex_visualization.md

@@ -1,24 +1,24 @@
-`mc_convex_visualization`は、ロボットの凸領域をRVizで表示するツールです。{% link mc_rtc_ros %}パッケージに含まれています。
+`mc_convex_visualization` は mc_rtc GUI アプリケーションでロボットの凸部を可視化するツールです。
 
-### 可視化ツールを起動する
+### ビジュアライゼーションの起動
 
-以下のようにツールを起動します。
+ツールの起動方法は以下の通りです：
 
 ```bash
-$ roslaunch mc_convex_visualization display.launch robot:=JVRC1
+$ mc_convex_visualization JVRC1
 ```
 
-引数`robot`には、`mc_rbdyn::RobotLoader::get_robot_module`関数に渡すのと同じものを指定する必要があります。なお、この引数ではロボットの別名を使用できます。例:
+プログラムの引数は `MainRobot` のエントリと同じものを指定します。エイリアスも扱えます。例えば
 
 ```bash
-# 引数のベクトルとして与える方法
-$ roslaunch mc_convex_visualization display.launch robot:="[env, `rospack find mc_env_description`, ground]"
-# エイリアスを使用する方法
-$ roslaunch mc_convex_visualization display.launch robot:=env/ground
+# 引数のベクトルを指定する
+$ mc_convex_visualization env `rospack find mc_env_description` ground
+# またはエイリアス
+$ mc_convex_visualization env/ground
 ```
 
-このツールを起動すると、以下のように表示されます。
+mc_rtc GUIを起動した後、これが表示されるはずです：
 
 <img src="{{site.baseurl_root}}/assets/tutorials/tools/img/mc_convex_visualization.png" alt="mc_convex_visualization in action" class="img-fluid" />
 
-赤い枠で囲まれた領域にあるチェックボックスをオン・オフすることで、選択した凸領域の表示・非表示を切り替えられます。
+インターフェースを通じて表示する凸形状を簡単に選択できます。

doc/_i18n/jp/tutorials/tools/mc_surfaces_visualization.md

@@ -2,22 +2,22 @@
 
 ### 可視化ツールを起動する
 
-以下のようにツールを起動します。
+ツールの起動方法は以下の通りです：
 
 ```bash
-$ roslaunch mc_surfaces_visualization display.launch robot:=JVRC1
+$ mc_surfaces_visualization JVRC1
 ```
 
-引数`robot`には、`mc_rbdyn::RobotLoader::get_robot_module`関数に渡すのと同じものを指定する必要があります。なお、この引数ではロボットの別名を使用できます。例:
+プログラムの引数は `MainRobot` のエントリと同じものを指定します。エイリアスも扱えます。例えば
 
 ```bash
-# 引数のベクトルとして与える方法
-$ roslaunch mc_surfaces_visualization display.launch robot:="[env, `rospack find mc_env_description`, ground]"
-# エイリアスとして与える方法
-$ roslaunch mc_surfaces_visualization display.launch robot:=env/ground
+# 引数のベクトルを指定する
+$ mc_surfaces_visualization env `rospack find mc_env_description` ground
+# またはエイリアス
+$ mc_surfaces_visualization env/ground
 ```
 
-このツールを起動すると、以下のように表示されます。
+mc_rtc GUIを起動した後、これが表示されるはずです：
 
 <img src="{{site.baseurl_root}}/assets/tutorials/tools/img/mc_surfaces_visualization.png" alt="mc_surfaces_visualization in action" class="img-fluid" />
 
@@ -27,4 +27,4 @@ $ roslaunch mc_surfaces_visualization display.launch robot:=env/ground
 - 円筒形の表面は、緑の円筒で表示されます（このスクリーンショットには表示されていません）。
 - グリッパーの表面は、グリッパーの先端方向を示すフレームの法線の向きを示す青い矢印で表されます。
 
-赤い枠で囲まれた領域にあるチェックボックスをオン・オフすることで、選択した表面の表示・非表示を切り替えることができます。
+インターフェースを通じて表示する表面を簡単に選択できます

include/mc_control/ControllerServer.h

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <mc_control/ControllerServerConfiguration.h>
 #include <mc_control/MCController.h>
 
 #include <mc_rtc/gui/StateBuilder.h>
@@ -41,6 +42,14 @@ struct MC_CONTROL_DLLAPI ControllerServer
                    const std::vector<std::string> & pub_bind_uri,
                    const std::vector<std::string> & pull_bind_uri);
 
+  /** Construct from the provided configuration
+   *
+   * \param dt Controller timestep
+   *
+   * \param config Server configuration \ref ControllerServerConfiguration for details
+   */
+  ControllerServer(double dt, const ControllerServerConfiguration & config);
+
   ~ControllerServer();
 
   /** Handle requests made by the GUI users */

include/mc_control/ControllerServerConfiguration.h

@@ -0,0 +1,89 @@
+/*
+ * Copyright 2015-2024 CNRS-UM LIRMM, CNRS-AIST JRL
+ */
+
+#pragma once
+
+#include <mc_control/api.h>
+
+#include <mc_rtc/Configuration.h>
+#include <mc_rtc/path.h>
+
+namespace mc_control
+{
+
+namespace details
+{
+
+// FIXME This could be inside ControllerServerConfiguration but it crashes clang-10
+
+/** "Classic" socket configuration
+ *
+ * \tparam default_pub_port Default publisher port
+ *
+ * \tparam default_pull_port Default pull port
+ */
+template<uint16_t default_pub_port, uint16_t default_pull_port>
+struct SocketConfiguration
+{
+  /** Which host the socket binds to */
+  std::string host = "*";
+  /** Publisher port */
+  uint16_t pub_port = default_pub_port;
+  /** Pull request port */
+  uint16_t pull_port = default_pull_port;
+};
+
+} // namespace details
+
+/** Configuration for \ref mc_control::ControllerServer */
+struct MC_CONTROL_DLLAPI ControllerServerConfiguration
+{
+  /** Controller server publication timestep
+   *
+   * If it is null or negative, the timestep will be the same as the controller
+   *
+   * If it happens to be lower than the controller's timestep then it will also be the same
+   */
+  double timestep = 0.05;
+
+  /** IPC socket file
+   *
+   * Actual ipc sockets are created as socket + "_pub.ipc" and socket + "_rep.ipc"
+   *
+   * If nullopt, IPC is disabled
+   */
+  std::optional<std::string> ipc_socket = mc_rtc::temp_directory_path("mc_rtc");
+
+  using TCPConfiguration = details::SocketConfiguration<4242, 4343>;
+
+  /** Configuration for the TCP socket
+   *
+   * TCP is disabled if this is nullopt
+   */
+  std::optional<TCPConfiguration> tcp_config = TCPConfiguration{};
+
+  using WebSocketConfiguration = details::SocketConfiguration<8080, 8081>;
+
+  /** Configuration for the WebSocket socket
+   *
+   * WebSocket is disabled if this is nullopt (default)
+   */
+  std::optional<WebSocketConfiguration> websocket_config = std::nullopt;
+
+  /** Loads from a configuration object */
+  void load(const mc_rtc::Configuration & config);
+
+  /** Returns the URI(s) the PUB socket should bind to */
+  std::vector<std::string> pub_uris() const noexcept;
+
+  /** Returns the URI(s) the PULL socket should bind to */
+  std::vector<std::string> pull_uris() const noexcept;
+
+  /** Prints a message about the server configuration */
+  void print_serving_information() const noexcept;
+
+  static ControllerServerConfiguration fromConfiguration(const mc_rtc::Configuration & config);
+};
+
+} // namespace mc_control

include/mc_control/mc_global_controller.h

@@ -920,9 +920,7 @@ struct MC_CONTROL_DLLAPI MCGlobalController
     std::string log_template = "mc-control";
 
     bool enable_gui_server = true;
-    double gui_timestep = 0.05;
-    std::vector<std::string> gui_server_pub_uris;
-    std::vector<std::string> gui_server_rep_uris;
+    ControllerServerConfiguration gui_server_configuration;
 
     Configuration config;
 

include/mc_rbdyn/gui/RobotConvex.h

@@ -0,0 +1,48 @@
+/*
+ * Copyright 2015-2024 CNRS-UM LIRMM, CNRS-AIST JRL
+ */
+
+#pragma once
+
+#include <mc_rbdyn/Robot.h>
+
+#include <mc_rtc/gui/StateBuilder.h>
+#include <mc_rtc/gui/types.h>
+
+namespace mc_rbdyn::gui
+{
+
+static const mc_rtc::gui::PolyhedronConfig defaultConvexConfig = []()
+{
+  mc_rtc::gui::PolyhedronConfig cfg;
+  cfg.triangle_color = {0, 0.8, 0, 0.5};
+  cfg.edge_config.color = {0, 1, 0, 1};
+  cfg.edge_config.width = 0.001;
+  cfg.show_edges = true;
+  cfg.show_vertices = false;
+  return cfg;
+}();
+
+/** Helper function to create a GUI element from a convex object inside a robot
+ *
+ * \param gui State builder where the object is added (typically controller.gui()
+ *
+ * \param category Category where the object is added
+ *
+ * \param cfg Configuration of the appearance of the convex object
+ *
+ * \param robot Robot that the convex belongs to, this reference is captured by the GUI and should survive
+ *
+ * \param name Name of the collision object added to the GUI, the object should remain in the robot while it is in the
+ * GUI
+ *
+ * \param publishName Name of the object in the GUI, defaults to \param name
+ */
+MC_RBDYN_DLLAPI void addConvexToGUI(mc_rtc::gui::StateBuilder & gui,
+                                    const std::vector<std::string> & category,
+                                    const mc_rbdyn::Robot & robot,
+                                    const std::string & name,
+                                    const mc_rtc::gui::PolyhedronConfig & cfg = defaultConvexConfig,
+                                    const std::optional<std::string> & publishName = std::nullopt);
+
+} // namespace mc_rbdyn::gui

include/mc_rbdyn/gui/RobotSurface.h

@@ -0,0 +1,44 @@
+/*
+ * Copyright 2015-2024 CNRS-UM LIRMM, CNRS-AIST JRL
+ */
+
+#pragma once
+
+#include <mc_rbdyn/Robot.h>
+#include <mc_rtc/gui/StateBuilder.h>
+
+namespace mc_rbdyn::gui
+{
+
+static const mc_rtc::gui::LineConfig defaultSurfaceConfig = []() {
+  return mc_rtc::gui::LineConfig{mc_rtc::gui::Color::Green, 0.01};
+}();
+
+/** Helper function to create a GUI element from a surface object inside a robot
+ *
+ * Multiple elements can be added based on the surface type (e.g. for a planar surface, the polygon and the normal are
+ * added) so this function returns the names of the elements that were added
+ *
+ * \param gui State builder where the object is added (typically controller.gui()
+ *
+ * \param category Category where the object is added
+ *
+ * \param cfg Configuration for the surface polygon
+ *
+ * \param robot Robot that the surfaces belongs to, this reference is captured by the GUI and should survive
+ *
+ * \param name Name of the surface added to the GUI, the object should remain in the robot while it is in the
+ * GUI
+ *
+ * \param publishName Name of the object in the GUI, defaults to \param name
+ *
+ * \returns The names of the elements added by the function
+ */
+MC_RBDYN_DLLAPI std::vector<std::string> addSurfaceToGUI(mc_rtc::gui::StateBuilder & gui,
+                                                         const std::vector<std::string> & category,
+                                                         const mc_rbdyn::Robot & robot,
+                                                         const std::string & name,
+                                                         const mc_rtc::gui::LineConfig & cfg = defaultSurfaceConfig,
+                                                         const std::optional<std::string> & publishName = std::nullopt);
+
+} // namespace mc_rbdyn::gui

include/mc_rtc/path.h

@@ -0,0 +1,36 @@
+/*
+ * Copyright 2015-2024 CNRS-UM LIRMM, CNRS-AIST JRL
+ */
+
+#pragma once
+
+/** This header defines a number of utility functions related to forming path in the environment
+ *
+ * They are thin wrapper around boost::filesystem to be later replaced by std::filesystem after Ubuntu 18.04 support is
+ * fully dropped
+ */
+
+#include <mc_rtc/utils_api.h>
+
+#include <string>
+
+namespace mc_rtc
+{
+
+/** Returns the path to the OS temporary directory
+ *
+ * \param suffix Added (with a path separator) to the returned path
+ */
+MC_RTC_UTILS_DLLAPI std::string temp_directory_path(const std::string & suffix = "");
+
+/** Returns the path to the user's config directory
+ *
+ * On Linux/macOS this returns ${HOME}/.config/mc_rtc folder
+ *
+ * On Windows this returns the %APPDATA%/mc_rtc folder
+ *
+ * \param suffix Added (with a path separator) to the returned path
+ */
+MC_RTC_UTILS_DLLAPI std::string user_config_directory_path(const std::string & suffix = "");
+
+} // namespace mc_rtc

plugins/ROS/CMakeLists.txt

@@ -34,6 +34,7 @@ endif()
 set(mc_rtc_ros_SRC src/mc_rtc_ros/ros.cpp)
 set(mc_rtc_ros_HDR include/mc_rtc_ros/ros.h include/mc_rtc_ros/api.h)
 add_library(mc_rtc_ros SHARED ${mc_rtc_ros_SRC} ${mc_rtc_ros_HDR})
+add_library(mc_rtc::mc_rtc_ros ALIAS mc_rtc_ros)
 set_target_properties(mc_rtc_ros PROPERTIES COMPILE_FLAGS "-DMC_RTC_ROS_EXPORTS")
 target_link_libraries(mc_rtc_ros PUBLIC mc_rtc::mc_rbdyn mc_rtc_3rd_party::ROS)
 target_include_directories(