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Update particle emitter tutorial #2585

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Sep 4, 2024
Merged

Update particle emitter tutorial #2585

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387a1a3
update particle tutorial
iche033 Sep 3, 2024
a4c5060
tweak
iche033 Sep 3, 2024
673bd1b
Update tutorials/particle_tutorial.md
ahcorde Sep 4, 2024
b16c117
Merge branch 'gz-sim9' into particle_tutorial
ahcorde Sep 4, 2024
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309 changes: 309 additions & 0 deletions tutorials/files/particle_emitter/particle_emitter_scatter_effects.sdf
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Original file line number Diff line number Diff line change
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<?xml version="1.0" ?>

<sdf version="1.6">
<world name="particle_emitters">

<physics name="1ms" type="ode">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>

<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin
filename="gz-sim-particle-emitter-system"
name="gz::sim::systems::ParticleEmitter">
</plugin>

<gui fullscreen="0">

<plugin filename="ImageDisplay" name="Image Display">
<gz-gui>
<title>RGB camera</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
</gz-gui>
<topic>camera</topic>
<topic_picker>false</topic_picker>
</plugin>
<plugin filename="ImageDisplay" name="Image Display 2">
<gz-gui>
<title>Depth camera</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
<property type="double" key="x">500</property>
</gz-gui>
<topic>depth_camera</topic>
<topic_picker>false</topic_picker>
</plugin>
<plugin filename="ImageDisplay" name="Image Display 3">
<gz-gui>
<title>RGBD: image</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
<property type="double" key="y">320</property>
</gz-gui>
<topic>rgbd_camera/image</topic>
<topic_picker>false</topic_picker>
</plugin>
<plugin filename="ImageDisplay" name="Image Display 3">
<gz-gui>
<title>RGBD: depth</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
<property type="double" key="x">500</property>
<property type="double" key="y">320</property>
</gz-gui>
<topic>rgbd_camera/depth_image</topic>
<topic_picker>false</topic_picker>
</plugin>
<plugin filename="ImageDisplay" name="Image Display 5">
<gz-gui>
<title>Thermal camera</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
<property type="double" key="x">500</property>
<property type="double" key="y">640</property>
</gz-gui>
<topic>thermal_camera</topic>
<topic_picker>false</topic_picker>
</plugin>

<plugin filename="VisualizeLidar" name="Visualize Lidar">
</plugin>

</gui>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<include>
<uri>https://fuel.gazebosim.org/1.0/openrobotics/models/fog generator</uri>
</include>

<model name="camera_with_lidar">
<pose>8 0 0.5 0 0.0 3.14</pose>
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>

<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>camera</topic>
</sensor>

<sensor name="depth_camera1" type="depth_camera">
<update_rate>10</update_rate>
<topic>depth_camera</topic>
<camera>
<horizontal_fov>1.05</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
<format>R_FLOAT32</format>
</image>
<clip>
<near>0.1</near>
<far>100.0</far>
</clip>
</camera>
</sensor>

<sensor name='gpu_lidar' type='gpu_lidar'>"
<topic>lidar</topic>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>640</samples>
<resolution>1</resolution>
<min_angle>-1.396263</min_angle>
<max_angle>1.396263</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<resolution>0.01</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.08</min>
<max>10.0</max>
<resolution>0.01</resolution>
</range>
</ray>
<always_on>1</always_on>
<visualize>true</visualize>
</sensor>
</link>

<static>true</static>
</model>

<model name="rgbd_camera">
<pose>8 0 0.5 0 0.0 3.14</pose>
<static>true</static>
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="rgbd_camera" type="rgbd_camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>rgbd_camera</topic>
</sensor>
</link>
<static>true</static>
</model>

<model name="thermal_camera">
<pose>8 0 0.5 0 0.0 3.14</pose>
<static>true</static>
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="thermal_camera" type="thermal_camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>thermal_camera</topic>
</sensor>
</link>
</model>

<include>
<pose>0 0 0 0 0 1.570796</pose>
<name>rescue_randy</name>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Rescue Randy</uri>
</include>

</world>
</sdf>
13 changes: 12 additions & 1 deletion tutorials/particle_tutorial.md
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Original file line number Diff line number Diff line change
Expand Up @@ -97,7 +97,18 @@ The particles are not only a visual effect in simulation, they also have an effe
* `gpu_lidar`: The particles have a scattering effect on the lidar range readings.
* `thermal_camera`: The particles are not visible in the thermal camera image.

The gif below shows an [example world](https://gist.github.com/iche033/bcd3b7d3f4874e1e707e392d6dbb0aa0) with six different sensors looking at the fog generator with a rescue randy model inside the fog.

The [particle_emitter_scatter_effects.sdf](https://github.com/gazebosim/gz-sim/blob/gz-sim9/tutorials/files/particle_emitter/particle_emitter_scatter_effects.sdf)
demo world shows six different sensors looking at the fog generator with a rescue randy model inside the fog.

Download the example world file and launch it to see what it looks like.

```bash
gz sim -v 4 -r particle_emitter_scatter_effects.sdf
```

Navigate to the Visualize Lidar plugin on the right and click on the refresh button to set the lidar topic. You should see the sensor images and lidar visualization like below:


@image html files/particle_emitter/sensor_scatter_tutorial.gif

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