Add message library generation to gui

Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>

CMakeLists.txt

@@ -60,6 +60,7 @@ set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-transport
+gz_find_package(gz-transport13-msgs REQUIRED)  # TODO(mjcarroll) Eliminate this
 gz_find_package(gz-transport13 REQUIRED)
 set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
 
@@ -68,6 +69,13 @@ set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
 gz_find_package(gz-rendering8 REQUIRED)
 set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
 
+#--------------------------------------
+# Find gz-plugin
+gz_find_package(gz-sensors8-msgs REQUIRED)
+gz_find_package(gz-sensors8 REQUIRED)
+
+set(GZ_SENSORS_VER 8)
+
 #--------------------------------------
 # Find gz-msgs
 gz_find_package(gz-msgs10 REQUIRED)
@@ -105,6 +113,8 @@ gz_configure_build(QUIT_IF_BUILD_ERRORS)
 #============================================================================
 add_subdirectory(conf)
 
+add_subdirectory(proto)
+
 #============================================================================
 # Create package information
 #============================================================================

include/gz/gui/CMakeLists.txt

@@ -64,7 +64,8 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
     ${Qt5QuickControls2_LIBRARIES}
     ${Qt5Widgets_LIBRARIES}
     TINYXML2::TINYXML2
+  PRIVATE
+    gz-gui${PROJECT_VERSION_MAJOR}-msgs
 )
 
 gz_install_all_headers()
-

proto/CMakeLists.txt

@@ -0,0 +1,17 @@
+file(GLOB proto_files
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/*.proto
+)
+
+gz_msgs_generate_messages(
+  TARGET gz-gui${PROJECT_VERSION_MAJOR}-msgs
+  PROTO_PACKAGE "gz.msgs"
+  MSGS_PATH ${PROJECT_SOURCE_DIR}/proto
+  MSGS_PROTOS ${proto_files}
+  DEPENDENCIES gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}-msgs gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER}-msgs
+)
+
+install(
+  DIRECTORY gz
+  DESTINATION share/protos
+  COMPONENT proto
+  FILES_MATCHING PATTERN "*.proto")

proto/gz/msgs/air_pressure_sensor.proto

@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2019 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "AirPressureSensorProtos";
+
+/// \ingroup gz.msgs
+/// \interface AirPressureSensor
+/// \brief Definition of an air pressure sensor
+
+import "gz/msgs/header.proto";
+import "gz/msgs/sensor_noise.proto";
+
+/// \brief Message that describes an air pressure sensor.
+message AirPressureSensor
+{
+  /// \brief Optional header data
+  Header header               = 1; 
+
+  /// \brief Reference altitude in meters. This value can be used by a sensor
+  /// implementation to augment the altitude of the sensor. For example, if
+  /// you are using simulation, instead of creating a 1000 m mountain model on
+  /// which to place your sensor, you could instead set this value to 1000 and
+  /// place your model on a ground plane with a Z height of zero.
+  double reference_altitude   = 2;
+
+  /// \brief Sensor pressure noise.
+  SensorNoise pressure_noise  = 3;
+}

proto/gz/msgs/altimeter_sensor.proto

@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2019 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "AltimeterSensorProtos";
+
+/// \ingroup gz.msgs
+/// \interface AltimeterSensor
+/// \brief Definition of an altimeter sensor
+
+import "gz/msgs/header.proto";
+import "gz/msgs/sensor_noise.proto";
+
+/// \brief Message that describes an altimeter sensor.
+message AltimeterSensor
+{
+  /// \brief Optional header data
+  Header header             = 1;
+
+  /// \brief Noise parameters for the vertical position.
+  SensorNoise vertical_position_noise = 2;
+
+  /// \brief Noise parameters for the vertical velocity.
+  SensorNoise vertical_velocity_noise = 3;
+}

proto/gz/msgs/axis.proto

@@ -0,0 +1,80 @@
+/*
+ * Copyright (C) 2017 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "AxisProtos";
+
+/// \ingroup gz.msgs
+/// \interface Axis
+/// \brief msgs::Joint axis message
+
+import "gz/msgs/vector3d.proto";
+import "gz/msgs/header.proto";
+
+message Axis
+{
+  /// \brief Optional header data
+  Header header               = 1;
+
+  /// \brief The x,y,z components of the axis unit vector.
+  Vector3d xyz                = 2;
+
+  /// \brief The lower joint axis limit (radians for revolute joints,
+  /// meters for prismatic joints). Not valid if the joint that uses this
+  /// axis is continuous.
+  double limit_lower          = 3;
+
+  /// \brief The upper joint axis limit (radians for revolute joints,
+  /// meters for prismatic joints). Not valid if the joint that uses this
+  /// axis is continuous.
+  double limit_upper          = 4;
+
+  /// \brief Value for enforcing the maximum joint effort applied.
+  /// Limit is not enforced if value is negative.
+  double limit_effort         = 5;
+
+  /// \brief Value for enforcing the maximum joint velocity.
+  double limit_velocity       = 6;
+
+  /// \brief The physical velocity dependent viscous damping coefficient
+  /// of the joint axis.
+  double damping              = 7;
+
+  /// \brief The physical static friction value of the joint.
+  double friction             = 8;
+
+  /// \brief Position of the joint. For angular joints, such as revolute
+  /// joints, the units are radians. For linear joints, such as prismatic
+  /// joints, the units are meters.
+  double position             = 10;
+
+  /// \brief Velocity of the joint in SI units (meter/second).
+  double velocity             = 11;
+
+  /// \brief Force applied to the joint in SI units (Newton).
+  double force                = 12;
+
+  /// \brief Acceleration of the joint is SI units (meter/second^2).
+  double acceleration         = 13;
+
+  /// \brief Set the name of the coordinate frame in which this joint axis's
+  /// unit vector is expressed. An empty value implies the parent (joint)
+  /// frame.
+  string xyz_expressed_in     = 14;
+}

proto/gz/msgs/battery.proto

@@ -0,0 +1,39 @@
+/*
+ * Copyright (C) 2017 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "BatteryProtos";
+
+/// \ingroup gz.msgs
+/// \interface Battery
+/// \brief Message for a battery
+
+import "gz/msgs/header.proto";
+
+message Battery
+{
+  /// \brief Optional header data
+  Header header  = 1;
+
+  /// \brief Name of the battery
+  string name    = 2;
+
+  /// \brief Real voltage in volts.
+  double voltage = 3;
+}

proto/gz/msgs/boxgeom.proto

@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2017 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "BoxGeomProtos";
+
+/// \ingroup gz.msgs
+/// \interface BoxGeom 
+/// \brief Information about a box geometry
+
+import "gz/msgs/header.proto";
+import "gz/msgs/vector3d.proto";
+
+message BoxGeom
+{
+  /// \brief Optional header data
+  Header header  = 1;
+
+  Vector3d size  = 2;
+}