Add laser_retro support

include/ignition/gazebo/components/LaserRetro.hh

@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef IGNITION_GAZEBO_COMPONENTS_LASERRETRO_HH_
+#define IGNITION_GAZEBO_COMPONENTS_LASERRETRO_HH_
+
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/config.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief A component used to indicate an lidar reflective value
+  using LaserRetro = Component<double, class LaserRetroTag>;
+  IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.LaserRetro",
+      LaserRetro)
+}
+}
+}
+}
+
+#endif

src/SdfEntityCreator.cc

@@ -41,6 +41,7 @@
 #include "ignition/gazebo/components/Joint.hh"
 #include "ignition/gazebo/components/JointAxis.hh"
 #include "ignition/gazebo/components/JointType.hh"
+#include "ignition/gazebo/components/LaserRetro.hh"
 #include "ignition/gazebo/components/Lidar.hh"
 #include "ignition/gazebo/components/Light.hh"
 #include "ignition/gazebo/components/LinearAcceleration.hh"
@@ -503,6 +504,11 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Visual *_visual)
   this->dataPtr->ecm->CreateComponent(visualEntity,
       components::Transparency(_visual->Transparency()));
 
+  if (_visual->HasLaserRetro()){
+    this->dataPtr->ecm->CreateComponent(visualEntity,
+        components::LaserRetro(_visual->LaserRetro()));
+  }
+
   if (_visual->Geom())
   {
     this->dataPtr->ecm->CreateComponent(visualEntity,

src/SdfEntityCreator_TEST.cc

@@ -35,6 +35,7 @@
 #include "ignition/gazebo/components/Joint.hh"
 #include "ignition/gazebo/components/JointAxis.hh"
 #include "ignition/gazebo/components/JointType.hh"
+#include "ignition/gazebo/components/LaserRetro.hh"
 #include "ignition/gazebo/components/Light.hh"
 #include "ignition/gazebo/components/Link.hh"
 #include "ignition/gazebo/components/Material.hh"
@@ -101,6 +102,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities)
   EXPECT_TRUE(this->ecm.HasComponentType(components::Geometry::typeId));
   EXPECT_TRUE(this->ecm.HasComponentType(components::Material::typeId));
   EXPECT_TRUE(this->ecm.HasComponentType(components::Inertial::typeId));
+  EXPECT_TRUE(this->ecm.HasComponentType(components::LaserRetro::typeId));
 
   // Check entities
   // 1 x world + 3 x model + 3 x link + 3 x collision + 3 x visual + 1 x light
@@ -356,6 +358,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities)
   unsigned int visualCount{0};
   this->ecm.Each<components::Visual,
            components::Transparency,
+           components::LaserRetro,
            components::CastShadows,
            components::Geometry,
            components::Material,
@@ -365,6 +368,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities)
     [&](const Entity &_entity,
         const components::Visual *_visual,
         const components::Transparency *_transparency,
+        const components::LaserRetro *_laserRetro,
         const components::CastShadows *_castShadows,
         const components::Geometry *_geometry,
         const components::Material *_material,
@@ -394,6 +398,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities)
         EXPECT_EQ(boxLinkEntity, this->ecm.ParentEntity(_entity));
 
         EXPECT_DOUBLE_EQ(0.0, _transparency->Data());
+        EXPECT_DOUBLE_EQ(1150.0, _laserRetro->Data());
         EXPECT_TRUE(_castShadows->Data());
 
         EXPECT_EQ(sdf::GeometryType::BOX, _geometry->Data().Type());
@@ -417,6 +422,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities)
         EXPECT_EQ(cylLinkEntity, this->ecm.ParentEntity(_entity));
 
         EXPECT_DOUBLE_EQ(0.0, _transparency->Data());
+        EXPECT_DOUBLE_EQ(1654.0, _laserRetro->Data());
         EXPECT_TRUE(_castShadows->Data());
 
         EXPECT_EQ(sdf::GeometryType::CYLINDER, _geometry->Data().Type());
@@ -440,6 +446,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities)
         EXPECT_EQ(sphLinkEntity, this->ecm.ParentEntity(_entity));
 
         EXPECT_DOUBLE_EQ(0.5, _transparency->Data());
+        EXPECT_DOUBLE_EQ(50.0, _laserRetro->Data());
         EXPECT_FALSE(_castShadows->Data());
 
         EXPECT_EQ(sdf::GeometryType::SPHERE, _geometry->Data().Type());

src/rendering/RenderUtil.cc

@@ -48,6 +48,7 @@
 #include "ignition/gazebo/components/DepthCamera.hh"
 #include "ignition/gazebo/components/GpuLidar.hh"
 #include "ignition/gazebo/components/Geometry.hh"
+#include "ignition/gazebo/components/LaserRetro.hh"
 #include "ignition/gazebo/components/Light.hh"
 #include "ignition/gazebo/components/Link.hh"
 #include "ignition/gazebo/components/Material.hh"
@@ -671,6 +672,12 @@ void RenderUtilPrivate::CreateRenderingEntities(
             visual.SetMaterial(material->Data());
           }
 
+          auto laserRetro = _ecm.Component<components::LaserRetro>(_entity);
+          if (laserRetro != nullptr)
+          {
+            visual.SetLaserRetro(laserRetro->Data());
+          }
+
           // todo(anyone) make visual updates more generic without using extra
           // variables like entityTemp just for storing one specific visual
           // param?
@@ -863,6 +870,12 @@ void RenderUtilPrivate::CreateRenderingEntities(
             visual.SetMaterial(material->Data());
           }
 
+          auto laserRetro = _ecm.Component<components::LaserRetro>(_entity);
+          if (laserRetro != nullptr)
+          {
+            visual.SetLaserRetro(laserRetro->Data());
+          }
+
           this->newVisuals.push_back(
               std::make_tuple(_entity, visual, _parent->Data()));
           return true;

src/rendering/SceneManager.cc

@@ -248,6 +248,11 @@ rendering::VisualPtr SceneManager::CreateVisual(Entity _id,
   visualVis->SetUserData("pause-update", static_cast<int>(0));
   visualVis->SetLocalPose(_visual.RawPose());
 
+  if (_visual.HasLaserRetro())
+  {
+    visualVis->SetUserData("laser_retro", _visual.LaserRetro());
+  }
+
   math::Vector3d scale = math::Vector3d::One;
   math::Pose3d localPose;
   rendering::GeometryPtr geom =

test/worlds/shapes.sdf

@@ -64,6 +64,7 @@
         </collision>
 
         <visual name="box_visual">
+          <laser_retro>1150</laser_retro>
           <pose>0.12 0.12 0.12 0 0 0</pose>
           <geometry>
             <box>
@@ -105,6 +106,7 @@
         </collision>
 
         <visual name="cylinder_visual">
+          <laser_retro>1654</laser_retro>
           <pose>0.22 0.22 0.22 0 0 0</pose>
           <geometry>
             <cylinder>
@@ -146,6 +148,7 @@
         </collision>
 
         <visual name="sphere_visual">
+          <laser_retro>50</laser_retro>
           <pose>0.32 0.32 0.32 0 0 0</pose>
           <transparency>0.5</transparency>
           <cast_shadows>false</cast_shadows>