Use MinimalScene by default (#1014)

Signed-off-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

Co-authored-by: ahcorde <ahcorde@gmail.com>
Co-authored-by: Michael Carroll <michael@openrobotics.org>
Co-authored-by: Jenn Nguyen <jenn@openrobotics.org>

Migration.md

@@ -47,6 +47,24 @@ since pose information is being logged in the `changed_state` topic.
       this type is discouraged (see the **Deprecated** section above for more
       information about how to replace usage of `ComponentKey`).
 
+* The `GzScene3D` GUI plugin is being deprecated in favor of `MinimalScene`. In
+  order to get the same functionality as `GzScene3D`, users need to add the
+  following plugins:
+      + `MinimalScene`: base rendering functionality
+      + `GzSceneManager`: adds / removes / moves entities in the scene
+      + `EntityContextMenuPlugin`: right-click menu
+      + `InteractiveViewControl`: orbit controls
+      + `CameraTracking`: Move to, follow, set camera pose
+      + `MarkerManager`: Enables the use of markers
+      + `SelectEntities`: Select entities clicking on the scene
+      + `Spawn`: Functionality to spawn entities into the scene via GUI
+      + `VisualizationCapabilities`: View collisions, inertial, CoM, joints, etc.
+
+    Moreover, legacy mode needs to be turned off for the following plugins
+    for them to work with `MinimalScene` (set `<legacy>false</legacy>`):
+      + `TransformControl`: Translate and rotate
+      + `ViewAndle`: Move camera to preset angles
+
 ## Ignition Gazebo 4.x to 5.x
 
 * Use `cli` component of `ignition-utils1`.

examples/worlds/minimal_scene.sdf

@@ -46,6 +46,14 @@ Missing for parity with GzScene3D:
       </plugin>
 
       <!-- Plugins that add functionality to the scene -->
+      <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+        <ignition-gui>
+          <property key="state" type="string">floating</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+      </plugin>
       <plugin filename="GzSceneManager" name="Scene Manager">
         <ignition-gui>
           <anchors target="3D View">

src/gui/gui.config

@@ -27,7 +27,7 @@
 <!-- GUI plugins -->
 
 <!-- 3D scene -->
-<plugin filename="GzScene3D" name="3D View">
+<plugin filename="MinimalScene" name="3D View">
   <ignition-gui>
     <title>3D View</title>
     <property type="bool" key="showTitleBar">false</property>
@@ -38,10 +38,113 @@
   <scene>scene</scene>
   <ambient_light>0.4 0.4 0.4</ambient_light>
   <background_color>0.8 0.8 0.8</background_color>
-  <camera_pose>6 0 6 0 0.5 3.14</camera_pose>
+  <camera_pose>-6 0 6 0 0.5 0</camera_pose>
 </plugin>
 
-<!-- Play / pause / step -->
+<!-- Plugins that add functionality to the scene -->
+<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+  <ignition-gui>
+    <property key="state" type="string">floating</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="GzSceneManager" name="Scene Manager">
+  <ignition-gui>
+    <anchors target="3D View">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="InteractiveViewControl" name="Interactive view control">
+  <ignition-gui>
+    <anchors target="3D View">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="CameraTracking" name="Camera Tracking">
+  <ignition-gui>
+    <anchors target="3D View">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="MarkerManager" name="Marker manager">
+  <ignition-gui>
+    <anchors target="3D View">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="SelectEntities" name="Select Entities">
+  <ignition-gui>
+    <anchors target="Select entities">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+
+<plugin filename="Spawn" name="Spawn Entities">
+  <ignition-gui>
+    <anchors target="Select entities">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+
+<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
+  <ignition-gui>
+    <anchors target="Select entities">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+
+<!-- World control -->
 <plugin filename="WorldControl" name="World control">
   <ignition-gui>
     <title>World control</title>
@@ -64,7 +167,7 @@
 
 </plugin>
 
-<!-- Time / RTF -->
+<!-- World statistics -->
 <plugin filename="WorldStats" name="World stats">
   <ignition-gui>
     <title>World stats</title>
@@ -85,7 +188,6 @@
   <real_time>true</real_time>
   <real_time_factor>true</real_time_factor>
   <iterations>true</iterations>
-
 </plugin>
 
 <!-- Insert simple shapes -->
@@ -128,6 +230,9 @@
     <property key="showTitleBar" type="bool">false</property>
     <property key="cardBackground" type="string">#777777</property>
   </ignition-gui>
+
+  <!-- disable legacy features used to connect this plugin to GzScene3D -->
+  <legacy>false</legacy>
 </plugin>
 
 <!-- Screenshot -->
@@ -159,3 +264,13 @@
     <property type="string" key="state">docked</property>
   </ignition-gui>
 </plugin>
+
+<!-- View angle -->
+<plugin filename="ViewAngle" name="View angle">
+  <ignition-gui>
+    <property type="string" key="state">docked</property>
+  </ignition-gui>
+
+  <!-- disable legacy features used to connect this plugin to GzScene3D -->
+  <legacy>false</legacy>
+</plugin>

src/gui/plugins/CMakeLists.txt

@@ -121,6 +121,7 @@ add_subdirectory(modules)
 add_subdirectory(align_tool)
 add_subdirectory(banana_for_scale)
 add_subdirectory(component_inspector)
+add_subdirectory(entity_context_menu)
 add_subdirectory(entity_tree)
 add_subdirectory(joint_position_controller)
 add_subdirectory(lights)

src/gui/plugins/entity_context_menu/CMakeLists.txt

@@ -0,0 +1,8 @@
+gz_add_gui_plugin(EntityContextMenuPlugin
+  SOURCES
+    EntityContextMenuPlugin.cc
+  QT_HEADERS
+    EntityContextMenuPlugin.hh
+  PUBLIC_LINK_LIBS
+    ${PROJECT_LIBRARY_TARGET_NAME}-rendering
+)