3D plot plugin system

[luccosta]

This PR is part of this issue #231 .

Initial upload with WIP. Really just the draft while understanding the Ignition structure.

Signed-off-by: Lucas Fernando lucas.costa@ee.ufcg.edu.br

[chapulina]

The file structure is looking good. I think the only thing missing is to add the plugin to the list, because right now it's not being compiled:

diff --git a/src/systems/CMakeLists.txt b/src/systems/CMakeLists.txt
index ab085ca8..89cf2333 100644
--- a/src/systems/CMakeLists.txt
+++ b/src/systems/CMakeLists.txt
@@ -84,6 +84,7 @@ add_subdirectory(joint_controller)
 add_subdirectory(joint_position_controller)
 add_subdirectory(joint_state_publisher)
 add_subdirectory(lift_drag)
+add_subdirectory(link_plot3d_plugin)
 add_subdirectory(log)
 add_subdirectory(log_video_recorder)
 add_subdirectory(logical_camera)

[chapulina]

I recommend getting link_names instead. The joints by themselves are not very helpful to find points in the 3D space.

You could also support multiple links and expose other options like an offset from the link's origin and the material color. See what it looked like on Gazebo classic. Here, I recommend something like this:

      <plugin name='3dplot' filename='LinkPlot3DPlugin'>

        <!-- Update at 10 Hz -->
        <frequency>10</frequency>

        <!-- Upper link plot -->
        <plot>
          <link>double_pendulum_with_base::upper_link</link>

          <!-- Point 1m in +Z axis in link frame -->
          <offset>0 0 1</offset>

          <color>1 0 0</color>
        </plot>

        <!-- Upper link plot -->
        <plot>
          <link>double_pendulum_with_base::lower_link</link>

          <!-- Point 1m in +Z axis in link frame -->
          <offset>0 0 1</offset>

          <color>0 0 1</color>
        </plot>

      </plugin>

• Using an offset vector instead of pose because we don't need rotation
• Using color instead of material because Ignition doesn't support Ogre materials

Let me know if you have any questions!

[chapulina]

Hi @luccosta , are you planning to keep working on this PR? Anything we can help with?

[luccosta]

Hi @chapulina, I want to apologize for the absence, and I will return working on this PR in this weekend. :)

[chapulina]

No worries, @luccosta, I was just checking in. Thanks!

[chapulina]

@luccosta , thank you for opening this PR. I needed the plugin for a project, so I'm porting it in #917.

I'm closing this PR, but you're welcome to contribute other plugins in the future 👍