Allow using plugin file names and environment variables compatible wi…

…th Garden and later (gazebosim#2275) Allows using gz-* in plugin filenames (eg. <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics"/>) and using GZ_* environment variables in Fortress. This is meant to help users (especially ROS users) maintain SDF files and launch files that work in both Fortress and Garden/Harmonic. --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Peppermint-Robots · Jan 12, 2024 · 45a01a8 · 45a01a8
1 parent 5d34efe
commit 45a01a8
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Showing 17 changed files with 376 additions and 135 deletions.
diff --git a/include/gz/sim/Util.hh b/include/gz/sim/Util.hh
@@ -287,19 +287,31 @@ namespace ignition
     std::optional<math::Vector3d> IGNITION_GAZEBO_VISIBLE sphericalCoordinates(
         Entity _entity, const EntityComponentManager &_ecm);
 
-    /// \brief Environment variable holding resource paths.
+    /// \brief Environment variable holding resource paths. Prefer using
+    /// GZ_SIM_RESOURCE_PATH for compatibility with newer versions of Gazebo.
     const std::string kResourcePathEnv{"IGN_GAZEBO_RESOURCE_PATH"};
+    /// \brief Environment variable holding resource paths.
+    const std::string kResourcePathEnvGzSim{"GZ_SIM_RESOURCE_PATH"};
 
     /// \brief Environment variable used by SDFormat to find URIs inside
     /// `<include>`
     const std::string kSdfPathEnv{"SDF_PATH"};
 
-    /// \brief Environment variable holding server config paths.
+    /// \brief Environment variable holding server config paths. Prefer using
+    /// GZ_SIM_SERVER_CONFIG_PATH for compatibility with newer versions of
+    /// Gazebo.
     const std::string kServerConfigPathEnv{"IGN_GAZEBO_SERVER_CONFIG_PATH"};
+    /// \brief Environment variable holding server config paths.
+    const std::string kServerConfigPathEnvGzSim{"GZ_SIM_SERVER_CONFIG_PATH"};
 
     /// \brief Environment variable holding paths to custom rendering engine
-    /// plugins.
+    /// plugins. Prefer using GZ_SIM_RENDER_ENGINE_PATH for compatibility with
+    /// newer versions of Gazebo
     const std::string kRenderPluginPathEnv{"IGN_GAZEBO_RENDER_ENGINE_PATH"};
+    /// \brief Environment variable holding paths to custom rendering engine
+    /// plugins.
+    const std::string kRenderPluginPathEnvGzSim{"GZ_SIM_RENDER_ENGINE_PATH"};
+
     }
   }
 }

diff --git a/src/Conversions.cc b/src/Conversions.cc
@@ -1713,9 +1713,8 @@ msgs::ParticleEmitter ignition::gazebo::convert(const sdf::ParticleEmitter &_in)
   {
     std::string path = asFullPath(_in.ColorRangeImage(), _in.FilePath());
 
-    common::SystemPaths systemPaths;
-    systemPaths.SetFilePathEnv(kResourcePathEnv);
-    std::string absolutePath = systemPaths.FindFile(path);
+    const std::string absolutePath =
+        common::SystemPaths::LocateLocalFile(path, gazebo::resourcePaths());
 
     if (!absolutePath.empty())
       out.mutable_color_range_image()->set_data(absolutePath);

diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc
@@ -922,30 +922,26 @@ ignition::gazebo::parsePluginsFromString(const std::string &_str)
 std::list<ServerConfig::PluginInfo>
 ignition::gazebo::loadPluginInfo(bool _isPlayback)
 {
-  std::list<ServerConfig::PluginInfo> ret;
 
   // 1. Check contents of environment variable
-  std::string envConfig;
-  bool configSet = common::env(kServerConfigPathEnv,
-                                         envConfig,
-                                         true);
-
-  if (configSet)
+  auto parsePlugins = [](const std::string &_serverConfigPathEnv,
+                         const std::string &_envConfig)
   {
-    if (common::exists(envConfig))
+    std::list<ServerConfig::PluginInfo> ret;
+    if (common::exists(_envConfig))
     {
       // Parse configuration stored in environment variable
-      ret = gz::sim::parsePluginsFromFile(envConfig);
+      ret = gz::sim::parsePluginsFromFile(_envConfig);
       if (ret.empty())
       {
         // This may be desired behavior, but warn just in case.
         // Some users may want to defer all loading until later
         // during runtime.
-        ignwarn << kServerConfigPathEnv
-                << " set but no plugins found\n";
+        ignwarn << _serverConfigPathEnv
+          << " set but no plugins found\n";
       }
       igndbg << "Loaded (" << ret.size() << ") plugins from file " <<
-        "[" << envConfig << "]\n";
+        "[" << _envConfig << "]\n";
 
       return ret;
     }
@@ -954,11 +950,31 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback)
       // This may be desired behavior, but warn just in case.
       // Some users may want to defer all loading until late
       // during runtime.
-      ignwarn << kServerConfigPathEnv
-              << " set but no file found,"
-              << " no plugins loaded\n";
+      ignwarn << _serverConfigPathEnv
+        << " set but no file found,"
+        << " no plugins loaded\n";
       return ret;
     }
+  };
+
+  {
+    std::string envConfig;
+    bool configSet = common::env(kServerConfigPathEnv, envConfig, true);
+    if (configSet)
+    {
+      return parsePlugins(kServerConfigPathEnv, envConfig);
+    }
+  }
+
+  // Process the gz-sim environment variable the same way. If the IGN variable
+  // is set, it will have precedence.
+  {
+    std::string envConfig;
+    bool configSet = common::env(kServerConfigPathEnvGzSim, envConfig, true);
+    if (configSet)
+    {
+      return parsePlugins(kServerConfigPathEnvGzSim, envConfig);
+    }
   }
 
   std::string configFilename;
@@ -989,7 +1005,7 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback)
     {
       ignerr << "Failed to create directory [" << defaultConfigDir
              << "]." << std::endl;
-      return ret;
+      return {};
     }
 
     if (!common::exists(installedConfig))
@@ -998,14 +1014,14 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback)
              << "] to default config [" << defaultConfig << "]."
              << "(file " << installedConfig << " doesn't exist)"
              << std::endl;
-      return ret;
+      return {};
     }
     else if (!common::copyFile(installedConfig, defaultConfig))
     {
       ignerr << "Failed to copy installed config [" << installedConfig
              << "] to default config [" << defaultConfig << "]."
              << std::endl;
-      return ret;
+      return {};
     }
     else
     {
@@ -1015,7 +1031,7 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback)
     }
   }
 
-  ret = gz::sim::parsePluginsFromFile(defaultConfig);
+  const auto ret = gz::sim::parsePluginsFromFile(defaultConfig);
 
   if (ret.empty())
   {

diff --git a/src/ServerConfig_TEST.cc b/src/ServerConfig_TEST.cc
@@ -198,14 +198,8 @@ TEST(LoadPluginInfo, FromEmptyEnv)
   EXPECT_TRUE(common::unsetenv(kServerConfigPathEnv));
 }
 
-//////////////////////////////////////////////////
-TEST(LoadPluginInfo, FromValidEnv)
+void testFromValidEnvPlugins()
 {
-  auto validPath = common::joinPaths(PROJECT_SOURCE_PATH,
-    "test", "worlds", "server_valid2.config");
-
-  ASSERT_TRUE(common::setenv(kServerConfigPathEnv, validPath));
-
   auto plugins = loadPluginInfo();
   ASSERT_EQ(2u, plugins.size());
 
@@ -226,9 +220,36 @@ TEST(LoadPluginInfo, FromValidEnv)
   EXPECT_EQ("gz::sim::TestModelSystem", plugin->Name());
   EXPECT_EQ("gz::sim::TestModelSystem", plugin->Plugin().Name());
 
+}
+//////////////////////////////////////////////////
+TEST(LoadPluginInfo, FromValidEnv)
+{
+  auto validPath = common::joinPaths(PROJECT_SOURCE_PATH,
+    "test", "worlds", "server_valid2.config");
+
+  ASSERT_TRUE(common::setenv(kServerConfigPathEnv, validPath));
+
+  SCOPED_TRACE("FromValidEnv");
+  testFromValidEnvPlugins();
+
   EXPECT_TRUE(common::unsetenv(kServerConfigPathEnv));
 }
 
+//////////////////////////////////////////////////
+TEST(LoadPluginInfo, FromValidEnvGzSimCompatibility)
+{
+  auto validPath = common::joinPaths(PROJECT_SOURCE_PATH,
+    "test", "worlds", "server_valid2.config");
+
+  ASSERT_TRUE(common::unsetenv(kServerConfigPathEnv));
+  ASSERT_TRUE(common::setenv(kServerConfigPathEnvGzSim, validPath));
+
+  SCOPED_TRACE("FromValidEnvGzSimCompatibility");
+  testFromValidEnvPlugins();
+
+  EXPECT_TRUE(common::unsetenv(kServerConfigPathEnvGzSim));
+}
+
 //////////////////////////////////////////////////
 TEST(ServerConfig, GenerateRecordPlugin)
 {

diff --git a/src/ServerPrivate.hh b/src/ServerPrivate.hh
@@ -122,9 +122,9 @@ namespace ignition
       /// string and return value of false will be used if the resource could
       /// not be found.
       ///
-      /// Fuel will be checked and then the GZ_GAZEBO_RESOURCE_PATH environment
-      /// variable paths. This service will not check for files relative to
-      /// working directory of the Gazebo server.
+      /// Fuel will be checked and then paths from IGN_GAZEBO_RESOURCE_PATH and
+      /// GZ_SIM_RESOURCE_PATH environment variables. This service will not
+      /// check for files relative to working directory of the Gazebo server.
       ///
       /// \param[in] _req Request filled with a resource URI to resolve.
       /// Example values could be: