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In this lecture, we will take our Simple World file a little bit further by adding in some sensors

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and utilizing plug ins.

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So let's take our Simple World file a bit further by adding in some sensors, and we can do this by

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going back to the example PSD file for the camera sensor that we were looking at earlier as a reference.

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Just a reminder that you can find this file in the following folder on your computer.

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So go to other locations.

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Computer User Share Ignition, Mission, Gazebo, six and Worlds.

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And this is where you will find all of these example world files.

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And we're going to be going off the camera sensor, SDF.

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Now, keep in mind, in order to utilize sensors, you must have included the sensor plugin within your

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SDF file.

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So now let's try to implement some of these features in our simple test world SDF file.

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The main thing I will copy over are the physics sensor, user commands and scene broadcasts or plug

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ins, and I'll place them near the top of my file.

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And just to tidy this up a bit, I'm going to go ahead and delete all the things we have commented out

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here from that example model that we've created earlier.

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So instead we're just going to be including the Sun model for some lighting and our ground plane model,

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which we made earlier in the previous lecture.

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So now let's go back to the camera sensor SDF file, and I'm going to scroll down till we get to this

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camera model.

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So we're just going to go ahead and copy and paste it directly into our file to see if we can get it

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working in our test world.

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Now, one of the tags I didn't go over yet is the post tag which we see here near the top of the model,

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and we also can have poses for our individual links.

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These post tags allow you to place your object within the desired x, y, z role.

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Pitch your space in your simulation.

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So here we see our camera is at an X position of for a y position of zero, a z position of 1.0 and

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a roll of zero degrees in radiance your of 0.0 degrees and 3.14 radians in the Z or your axis of rotation.

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And for those of you who don't know, 3.14 radians is 180 degrees.

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So basically the camera normally faces in the positive X direction, but in this case it is turned around

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to face towards the origin.

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I can also go ahead and change the attributes of our image to be a slightly higher resolution to say

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for AP.

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All right.

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That's all the changes I'll make for right now.

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So I'll go ahead and save what we have so far and we can go ahead and try to run this in terminal.

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And we want to make sure that we are properly including our models which we have imported in such as

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this ground plane.

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So I'll be sure to set the ignition gazebo resource path environment variable.

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All right, Let's test out what we have so far.

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So we see our total ground plane and a small black cube which represents our camera.

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Now, keep in mind that this black cube, which is representing our camera, also has physics and collision

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models enabled on it.

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So if we actually play the simulation, we'll see it falls to the ground.

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If you didn't want this, you could set these static property to true within our model.

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But let's see if we're able to successfully integrate our camera sensor into ROS.

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So I'll be sure to play the simulation.

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Head over to our terminal, Open a new terminal tab.

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And let's go ahead and list some of the topics that we have available in ignition.

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All right.

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And we see the camera topic here.

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Now, I know we took a look at this topic in the last lecture, but in case you ever wanted to find

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information about a particular ignition topic, simply do the dash I flag for info and pass in the particular

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topic you're interested in, which in this case we're interested in camera.

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So this will tell you things such as that.

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It's a publisher and then the address and the message type.

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So it's giving you the TCP address as well as the type of ignition message type that it is.

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And that might be useful if we're trying to bridge our topic into ROS, which we'll go ahead and do

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right now.

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So again, we saw this command in the last lecture, but essentially here I'm running the perimeter

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bridge node from the Ross Gazebo Bridge Ross package, and I'm taking the camera topic from ignition

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and converting it to a sensor messages image message type in Ross And then we are passing it from that

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ignition messages image type, which we saw right here.

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Then I'm passing in Ross Arcs to simply remap the topic name from camera to camera image raw, which

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is a type of format you would normally see within raw systems.

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So I'll go ahead and hit enter.

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Open up a third terminal tab.

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And I'll go ahead and run our.

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And here we already had it set up from the last lecture.

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But again, if you needed to get to this point, simply go to plugins, visualization, image view,

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and from here you can refresh the topics and select the one from above.

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So here we just see a ground upper rectangle and a teal lower rectangle.

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And that's just what our world looks like from the perspective of our camera.

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Now I can actually.

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Go ahead.

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And I'll pause the simulation.

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And I'll see if I can move our camera.

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I'll go ahead and move this back up.

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All right.

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So nothing seems to have changed.

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But if I go ahead and put this to the side.

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Move this a bit over.

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If I hit play, we'll see that the live image feed had changed.

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And I can also prove this by placing down additional shapes within the simulation like so.

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All right, so that's simple enough.

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Now, let's go ahead and see how we can change up this simulation to include things such as a image

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view window directly within the simulation.

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So I'll go ahead and stop this from running and head back to our VS code instance.

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So if we head back to that sample camera sensor SDF file.

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So if we scroll up to the top here, we can actually see this gooey tags.

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It stands for a graphical user interface.

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So we scroll down.

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So within these tags we have a series of plug ins related to interfacing with the user interface and

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modifying it.

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So we have things such as what type of engine and scene renderer we're utilizing and you can do things

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such as change the title of the ignition gazebo window.

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And here we see things such as the entity context menu, gazebo, scene manager and interactive view

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Control.

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So a few of these are what I'm actually interested in.

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And to get a feel for this, let's actually go ahead and run this example simulation.

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So ignition.

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Gazebo.

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Camera sensors.

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And this is not in our world file, but it'll automatically default to that default worlds directory,

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which we looked at earlier.

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So here we see a few things within the user interface, which we may not have had earlier.

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Specifically this image display window.

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So if we actually go ahead and hit play, we'll see these things fall down.

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If we go ahead and refresh, we see the camera topic and we have this image viewer directly in the user

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interface, which might be useful to you.

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So let's go ahead and add that in to our Test world file.

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So for now, I'm just going to go ahead and copy all the contents within this goofy tag.

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And we'll place it just below the other plugins that we put in our file earlier.

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Now let's say I want to switch things up a bit and remove the entity tree and component inspector so

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that the simulation window only contains the viewport and the image display.

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So all I have to do is remove the corresponding plugins.

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One of the properties I can modify for this display is I can change the state tag from docked to floating,

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and instead of locking it to the right sidebar in the simulation, this will give us a floating window

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within the simulation.

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So now if I save our test world file and relaunch it in our terminal.

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Here.

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We have a test file, but we don't have all the normal components we would normally have here on the

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right side.

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Instead, we have this floating window, which is for our image display.

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So now we've subscribed to camera.

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If I hit play, we will see the image feed directly within the simulation.

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And so this might be useful so that you don't have to bridge the camera topic every time and look through

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it in RCT.

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You can simply look at what your camera feed sees in your simulation within this simulation window.

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Now, that was a lot of code to put into our world file just so that we could configure our user interface.

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So optionally, you can save the configuration to an external file within the ignition gazebo simulation

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by hitting to this left tab over here.

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And we can save client configuration as.

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And here you can select a location to save it.

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And I'll just set mine as test sim gui config.

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And for now, I'll just save it to my home directory.

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So that's gone ahead and saved.

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And so now if I go ahead and close this.

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And now, if I were to go ahead and actually delete all the things we just pasted in for configuring

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our user interface.

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Right?

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So now we're just back to our normal physics plugins and then our models that we're including.

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So if I go ahead and save this.

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And rerun our test world.

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Right, we get this standard configuration, but if we wanted to load that config file we just saved,

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all we have to do is pass it an extra parameter.

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So when we go to launch our test world SDF, we can type gooey dash config and then we can put in the

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location of our config file, which in this case is test sim gui config.

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And now we see that it is configured as we had it earlier.

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So I have this now floating image view window without having to have all the necessary backbone code

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directly here in my test world file.

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It's instead within the config file, which we could simply include within our package.

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And so this has a lot of attributes just to simply match exactly what you had in your client interface

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to make sure it matches when somebody else opens it.

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So we didn't have to include any of this within our Test SIM world file.

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So that helps us out a little bit, keep things a little bit cleaner.

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Now that was a bit take taken, but essentially we added some code to our PSD files to do things such

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as configure our simulation user interface and even include sensors, which we could include on our

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robot.

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In the next lecture, we'll take a look at one of the ways we can create our own robot models so that

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we can include them in our ignition gazebo simulation.