Update RGL and bump version of the Plugin (#56)

* Update RGL to version 0.20.0

* Update pre-built libraries docs

* Update docs

* Add note to pattern presets update rate

* Bump RGLGazeboPlugin version (0.1.2 -> 0.2.0)

Author: msz-rai

README.md

@@ -25,29 +25,34 @@ Key features:
 
 - GPU: CUDA-enabled
 
-- Nvidia Driver: [See RGL requirements](https://github.com/RobotecAI/RobotecGPULidar/tree/v0.17.0#runtime-requirements)
+- Nvidia Driver: [See RGL requirements](https://github.com/RobotecAI/RobotecGPULidar/tree/v0.20.0#runtime-requirements)
 
 ## Installation:
 
 ### Using pre-built libraries
 1. Download libraries from [release](https://github.com/RobotecAI/RGLGazeboPlugin/releases).
 2. Make RGL plugins visible to Gazebo:
     - Move libraries to the plugin's directories.
-    ```shell
-    # If Gazebo installed from apt:
-    cp libRobotecGPULidar.so /usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/
-    cp libRGLServerPluginInstance.so /usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/
-    cp libRGLServerPluginManager.so /usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/
-    cp libRGLVisualize.so /usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/
-    ```
+      - If Gazebo installed from apt:
+        ```shell
+        cp libRobotecGPULidar.so /usr/lib/x86_64-linux-gnu/gz-sim-8/plugins
+        cp libRGLServerPluginInstance.so /usr/lib/x86_64-linux-gnu/gz-sim-8/plugins
+        cp libRGLServerPluginManager.so /usr/lib/x86_64-linux-gnu/gz-sim-8/plugins
+        cp libRGLVisualize.so /usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui
+        ```
+      - If Gazebo installed from the ROS repository ([see](https://gazebosim.org/docs/latest/ros_installation/#installing-the-default-gazebo-ros-pairing)):
+        ```shell
+        cp libRobotecGPULidar.so /opt/ros/${ROS_DISTRO}/opt/gz_sim_vendor/lib/gz-sim-8/plugins
+        cp libRGLServerPluginInstance.so /opt/ros/${ROS_DISTRO}/opt/gz_sim_vendor/lib/gz-sim-8/plugins
+        cp libRGLServerPluginManager.so /opt/ros/${ROS_DISTRO}/opt/gz_sim_vendor/lib/gz-sim-8/plugins
+        cp libRGLVisualize.so /opt/ros/${ROS_DISTRO}/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui
+        ```
     - Or set environment variables:
     ```shell
-    # Assuming that libraries:
-    # libRGLServerPluginInstance.so, libRGLServerPluginManager.so and libRobotecGPULidar.so
-    # are located in RGLServerPlugin directory,
-    # and libRGLVisualize.so in RGLGuiPlugin.
+    # Assuming that system plugin libraries are located in RGLServerPlugin directory,
+    # and gui plugins (libRGLVisualize.so) in RGLVisualize.
     export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/RGLServerPlugin:$GZ_SIM_SYSTEM_PLUGIN_PATH
-    export GZ_GUI_PLUGIN_PATH=`pwd`/RGLGuiPlugin:$GZ_GUI_PLUGIN_PATH
+    export GZ_GUI_PLUGIN_PATH=`pwd`/RGLVisualize:$GZ_GUI_PLUGIN_PATH
     ```
 ### Building from source
 
@@ -57,15 +62,14 @@ docker build \
    --target=exporter \
    --output=install .
 ```
+*Note: Build with [ROS Jazzy](https://docs.ros.org/en/jazzy/index.html) using [colcon](https://colcon.readthedocs.io/en/released/)*
 
 #### Manual
 ```shell
-mkdir build
-cd build
-cmake ..
-make -j
-make install
+mkdir build && cd build
+cmake .. && make -j && make install
 cd ..
+# Make it visible to Gazebo via environment variables:
 export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/install/RGLServerPlugin:$GZ_SIM_SYSTEM_PLUGIN_PATH
 export GZ_GUI_PLUGIN_PATH=`pwd`/install/RGLVisualize:$GZ_GUI_PLUGIN_PATH
 ```
@@ -186,7 +190,8 @@ Inside the link entity in your model, add a custom sensor:
   ```
 
 - **pattern_preset**\
-  We have prepared several lidar presets. You can type in the name of a LiDAR to use its pattern (all available patterns are shown below).
+  We have prepared several lidar presets. You can type in the name of a LiDAR to use its pattern (all available patterns are shown below).\
+  *Note: All presets are assumed to work at 10Hz update rate*
   ```xml
   <pattern_preset>Alpha Prime</pattern_preset>
   <pattern_preset>Puck</pattern_preset>

RGLServerPlugin/include/RGLServerPluginManager.hh

@@ -99,7 +99,7 @@ private:
         const gz::sim::Entity& entity,
         const gz::sim::components::LaserRetro* laser_retro);
 
-    void UpdateRGLEntityPoses(const gz::sim::EntityComponentManager& ecm);
+    void UpdateRGLEntityTransforms(const gz::sim::EntityComponentManager& ecm);
 
     std::unordered_set<gz::sim::Entity> GetEntitiesInParentLink(
         gz::sim::Entity entity,

RGLServerPlugin/src/RGLServerPluginManager.cc

@@ -76,7 +76,7 @@ void RGLServerPluginManager::PostUpdate(
                 return RemoveEntityFromRGLCb(entity, visual, geometry);
             });
 
-    UpdateRGLEntityPoses(ecm);
+    UpdateRGLEntityTransforms(ecm);
 }
 
 }  // namespace rgl

RGLServerPlugin/src/Scene.cc

@@ -156,12 +156,12 @@ bool RGLServerPluginManager::SetLaserRetroCb(
 }
 #pragma clang diagnostic pop
 
-void RGLServerPluginManager::UpdateRGLEntityPoses(const gz::sim::EntityComponentManager& ecm)
+void RGLServerPluginManager::UpdateRGLEntityTransforms(const gz::sim::EntityComponentManager& ecm)
 {
     for (auto entity: entitiesInRgl) {
         rgl_mat3x4f rglMatrix = FindWorldPoseInRglMatrix(entity.first, ecm);
-        if (!CheckRGL(rgl_entity_set_pose(entity.second.first, &rglMatrix))) {
-            gzerr << "Failed to update pose for entity (" << entity.first << ").\n";
+        if (!CheckRGL(rgl_entity_set_transform(entity.second.first, &rglMatrix))) {
+            gzerr << "Failed to update transform for entity (" << entity.first << ").\n";
         }
     }
 }

external/CMakeLists.txt

@@ -28,7 +28,7 @@ if(RGL_CUSTOM_LIBRARY_PATH AND RGL_CUSTOM_API_HEADER_PATH) # Copy custom Robotec
     file(COPY ${RGL_CUSTOM_LIBRARY_PATH} DESTINATION ${RGL_LIBRARY_DIR})
     file(COPY ${RGL_CUSTOM_API_HEADER_PATH} DESTINATION ${RGL_PROJECT_DIR})
 else() # Download RobotecGPULidar from the release
-    set(RGL_TAG "v0.17.0")
+    set(RGL_TAG "v0.20.0")
     set(RGL_API_CORE_HEADER_PATH "${RGL_API_HEADERS_DIR}/core.h")
     set(RGL_SO_ZIP_FILENAME "RGL-core-linux-x64.zip")
     set(RGL_SO_ZIP_URL "https://github.com/RobotecAI/RobotecGPULidar/releases/download/${RGL_TAG}/${RGL_SO_ZIP_FILENAME}")

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>RGLGazeboPlugin</name>
-  <version>0.1.2</version>
+  <version>0.2.0</version>
   <description>RGL Gazebo Plugin</description>
   <maintainer email="[email protected]">Mateusz Szczygielski</maintainer>
   <license>Apache License 2.0</license>