Enhanced tracking camera and user visualization experience (gazebosim…

…#619) Signed-off-by: Benjamin Perseghetti <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
rudislabs · May 22, 2024 · 1a04fbb · 1a04fbb
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diff --git a/examples/standalone/scene_provider/README.md b/examples/standalone/scene_provider/README.md
@@ -9,7 +9,7 @@ plugin to update the scene using Gazebo Transport.
 
 ## Build
 
-```
+```bash
 cd examples/standalone/scene_provider
 mkdir build
 cd build
@@ -21,14 +21,14 @@ make
 
 In one terminal, start the scene provider:
 
-```
+```bash
 cd examples/standalone/scene_provider/build
 ./scene_provider
 ```
 
 On another terminal, start the example config:
 
-```
+```bash
 gz gui -c examples/config/scene3d.config
 ```
 
@@ -42,24 +42,48 @@ Some commands to test camera tracking with this demo:
 
 Move to box:
 
-```
+```bash
 gz service -s /gui/move_to --reqtype gz.msgs.StringMsg --reptype gz.msgs.Boolean --timeout 2000 --req 'data: "box_model"'
 ```
 
 Echo camera pose:
 
-```
+```bash
 gz topic -e -t /gui/camera/pose
 ```
 
-Follow box:
+Echo camera tracking information:
 
+```bash
+gz topic -e -t /gui/currently_tracked
 ```
-gz service -s /gui/follow --reqtype gz.msgs.StringMsg --reptype gz.msgs.Boolean --timeout 2000 --req 'data: "box_model"'
+
+Follow box from track topic:
+
+```bash
+gz topic -t /gui/track -m gz.msgs.CameraTrack -p 'track_mode: 2, follow_target: { name: "box_model"}'
 ```
 
-Update follow offset:
+Follow box from track topic:
 
+```bash
+gz topic -t /gui/track -m gz.msgs.CameraTrack -p 'track_mode: 2, follow_target: "box_model", follow_offset: {x: -1, y: 0, z: 1}'
 ```
+
+Update follow offset from track topic:
+
+```bash
+gz topic -t /gui/track -m gz.msgs.CameraTrack -p 'track_mode: 2, follow_target: {name: "box_model"}, follow_offset: {x: -1, y: 0, z: 1}'
+```
+
+Follow box from service (deprecated):
+
+```bash
+gz service -s /gui/follow --reqtype gz.msgs.StringMsg --reptype gz.msgs.Boolean --timeout 2000 --req 'data: "box_model"'
+```
+
+Update follow offset from follow offset service (deprecated):
+
+```bash
 gz service -s /gui/follow/offset --reqtype gz.msgs.Vector3d --reptype gz.msgs.Boolean --timeout 2000 --req 'x: 5, y: 5, z: 5'
 ```
diff --git a/src/plugins/CMakeLists.txt b/src/plugins/CMakeLists.txt
@@ -116,6 +116,7 @@ endfunction()
 # Plugins
 add_subdirectory(camera_fps)
 add_subdirectory(camera_tracking)
+add_subdirectory(camera_tracking_config)
 add_subdirectory(grid_config)
 add_subdirectory(image_display)
 add_subdirectory(interactive_view_control)