[Garden] Download models in the background

examples/worlds/fuel.sdf

@@ -17,72 +17,35 @@
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
 
-    <light type="directional" name="sun">
-      <cast_shadows>true</cast_shadows>
-      <pose>0 0 10 0 0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.2 0.2 0.2 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.1 -0.9</direction>
-    </light>
+    <include>
+      <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun</uri>
+    </include>
 
-    <model name="ground_plane">
-      <static>true</static>
-      <link name="link">
-        <collision name="collision">
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <material>
-            <ambient>0.8 0.8 0.8 1</ambient>
-            <diffuse>0.8 0.8 0.8 1</diffuse>
-            <specular>0.8 0.8 0.8 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
+    <include>
+      <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane</uri>
+    </include>
 
     <!-- Included model without meshes -->
     <include>
-      <name>Double pendulum</name>
       <pose>-3 0 0 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Double pendulum with base</uri>
+      <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Double pendulum with base</uri>
     </include>
 
     <!-- Included model with meshes -->
     <include>
       <pose>3 -1 0 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack</uri>
+      <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Backpack</uri>
     </include>
 
     <!-- Included model with meshes using relative paths -->
     <include>
-      <name>Gazebo (relative paths)</name>
       <pose>2 5 0 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Gazebo - relative paths</uri>
+      <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Gazebo - relative paths</uri>
     </include>
 
     <!-- Included actor with meshes using relative paths -->
     <include>
-      <name>Actor Test</name>
-      <pose>0 0 0 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/actor - relative paths</uri>
+      <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/actor - relative paths</uri>
     </include>
 
     <!-- Model with meshes -->
@@ -93,14 +56,14 @@
         <collision name="collision">
           <geometry>
             <mesh>
-              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Radio/4/files/meshes/Radio.dae</uri>
+              <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Radio/4/files/meshes/Radio.dae</uri>
             </mesh>
           </geometry>
         </collision>
         <visual name="visual">
           <geometry>
             <mesh>
-              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Radio/4/files/meshes/Radio.dae</uri>
+              <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Radio/4/files/meshes/Radio.dae</uri>
             </mesh>
           </geometry>
         </visual>
@@ -109,52 +72,52 @@
 
     <!-- Heightmap referring to assets from another model -->
     <model name="fortress_heightmap">
-      <static>true</static>
-      <link name="link">
-        <visual name="visual">
-          <geometry>
-            <heightmap>
-              <use_terrain_paging>false</use_terrain_paging>
-              <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/flat_normal.png</normal>
-                <size>10</size>
-              </texture>
-              <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/grass_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/flat_normal.png</normal>
-                <size>10</size>
-              </texture>
-              <texture>
-                <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/fungus_diffusespecular.png</diffuse>
-                <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/flat_normal.png</normal>
-                <size>10</size>
-              </texture>
-              <blend>
-                <min_height>28</min_height>
-                <fade_dist>6</fade_dist>
-              </blend>
-              <blend>
-                <min_height>35</min_height>
-                <fade_dist>18</fade_dist>
-              </blend>
-              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/fortress_heightmap.png</uri>
-              <size>257 257 50</size>
-              <pos>0 0 -28</pos>
-            </heightmap>
-          </geometry>
-        </visual>
-        <collision name="collision">
-          <geometry>
-            <heightmap>
-              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/fortress_heightmap.png</uri>
-              <size>257 257 50</size>
-              <pos>0 0 -28</pos>
-            </heightmap>
-          </geometry>
-        </collision>
-      </link>
-    </model>
+    <static>true</static>
+    <link name="link">
+      <visual name="visual">
+        <geometry>
+          <heightmap>
+            <use_terrain_paging>false</use_terrain_paging>
+            <texture>
+              <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
+              <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/flat_normal.png</normal>
+              <size>10</size>
+            </texture>
+            <texture>
+              <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/grass_diffusespecular.png</diffuse>
+              <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/flat_normal.png</normal>
+              <size>10</size>
+            </texture>
+            <texture>
+              <diffuse>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/fungus_diffusespecular.png</diffuse>
+              <normal>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/flat_normal.png</normal>
+              <size>10</size>
+            </texture>
+            <blend>
+              <min_height>28</min_height>
+              <fade_dist>6</fade_dist>
+            </blend>
+            <blend>
+              <min_height>35</min_height>
+              <fade_dist>18</fade_dist>
+            </blend>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/fortress_heightmap.png</uri>
+            <size>257 257 50</size>
+            <pos>0 0 -28</pos>
+          </heightmap>
+        </geometry>
+      </visual>
+      <collision name="collision">
+        <geometry>
+          <heightmap>
+            <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/fortress_heightmap.png</uri>
+            <size>257 257 50</size>
+            <pos>0 0 -28</pos>
+          </heightmap>
+        </geometry>
+      </collision>
+    </link>
+  </model>
 
   </world>
 </sdf>

include/gz/sim/Server.hh

@@ -120,6 +120,13 @@ namespace gz
       /// \brief Destructor
       public: ~Server();
 
+      /// \brief Initialize server
+      private: void Init();
+
+      /// \brief Download models from the sdf
+      /// \return True if everything was fine False otherwise
+      private: bool DownloadModels();
+
       /// \brief Set the update period. The update period is the wall-clock time
       /// between ECS updates.
       /// Note that this is different from the simulation update rate. ECS

include/gz/sim/ServerConfig.hh

@@ -246,6 +246,25 @@ namespace gz
       /// an UpdateRate has not been set.
       public: std::optional<double> UpdateRate() const;
 
+      /// \brief Set the run option
+      /// \param[in] _run True if the server should run on start,
+      /// false otherwise
+      public: void SetRunOption(bool _run);
+
+      /// \brief Get the run option
+      /// \return True if the server should run on start, false otherwise
+      public: bool RunOption() const;
+
+      /// \brief True if the models are downloaded in a thread false otherwise
+      /// \param[in] _downloadInParallel True if the models are downloaded in a
+      /// thread false otherwise
+      public: void SetDownloadInParallel(bool _downloadInParallel);
+
+      /// \brief Return True if the models are downloaded in a thread false
+      /// otherwise
+      /// \return True if the models are downloaded in a thread false otherwise
+      public: bool DownloadInParallel() const;
+
       /// \brief Get whether the server is using the level system
       /// \return True if the server is set to use the level system
       public: bool UseLevels() const;

src/LevelManager.cc

@@ -519,6 +519,12 @@ void LevelManager::ConfigureDefaultLevel()
   this->entityCreator->SetParent(defaultLevel, this->worldEntity);
 }
 
+/////////////////////////////////////////////////
+void LevelManager::AddWorld(const sdf::World *_world)
+{
+  this->entityCreator->CreateEntities(_world);
+}
+
 /////////////////////////////////////////////////
 void LevelManager::CreatePerformers()
 {

src/LevelManager.hh

@@ -88,6 +88,10 @@ namespace gz
       /// every update cycle
       public: void UpdateLevelsState();
 
+      /// \brief This will add a world to the scene
+      /// \param[in] _world SDF world to add to the scene
+      public: void AddWorld(const sdf::World *_world);
+
       /// \brief Load entities that have been marked for loading.
       /// \param[in] _namesToLoad List of of entity names to load
       private: void LoadActiveEntities(
@@ -184,4 +188,3 @@ namespace gz
 }
 // GZ_SIM_LEVELMANAGER_HH
 #endif
-

src/SdfEntityCreator.cc

@@ -222,13 +222,28 @@ Entity SdfEntityCreator::CreateEntities(const sdf::World *_world)
 {
   GZ_PROFILE("SdfEntityCreator::CreateEntities(sdf::World)");
 
-  // World entity
-  Entity worldEntity = this->dataPtr->ecm->CreateEntity();
+  Entity worldEntity = kNullEntity;
+  this->dataPtr->ecm->Each<components::Name, components::World>(
+    [&](const Entity &_entity,
+        const components::Name *_name,
+        const components::World *)->bool
+  {
+    if (_world->Name() == _name->Data())
+    {
+      worldEntity = _entity;
+      return false;
+    }
+    return true;
+  });
 
-  // World components
-  this->dataPtr->ecm->CreateComponent(worldEntity, components::World());
-  this->dataPtr->ecm->CreateComponent(worldEntity,
-      components::Name(_world->Name()));
+  if (worldEntity == kNullEntity)
+  {
+    worldEntity = this->dataPtr->ecm->CreateEntity();
+    // World components
+    this->dataPtr->ecm->CreateComponent(worldEntity, components::World());
+    this->dataPtr->ecm->CreateComponent(worldEntity,
+        components::Name(_world->Name()));
+  }
 
   // scene
   if (_world->Scene())