[WIP] export occupancy UI

src/gui/plugins/CMakeLists.txt

@@ -140,6 +140,7 @@ add_subdirectory(entity_context_menu)
 add_subdirectory(entity_tree)
 add_subdirectory(environment_loader)
 add_subdirectory(environment_visualization)
+add_subdirectory(export_occupancy)
 add_subdirectory(global_illumination_civct)
 add_subdirectory(global_illumination_vct)
 add_subdirectory(joint_position_controller)

src/gui/plugins/export_occupancy/CMakeLists.txt

@@ -0,0 +1,8 @@
+gz_add_gui_plugin(ExportOccupancy
+  SOURCES ExportOccupancy.cc
+  QT_HEADERS ExportOccupancy.hh
+  PRIVATE_LINK_LIBS
+    gz-common::gz-common
+    gz-common::io
+    gz-math::gz-math
+)

src/gui/plugins/export_occupancy/ExportOccupancy.cc

@@ -0,0 +1,158 @@
+/*
+ * Copyright (C) 2025 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.
+ *
+*/
+
+#include "ExportOccupancy.hh"
+#include <gz/msgs/entity_factory.pb.h>
+#include <gz/gui/Application.hh>
+#include <gz/gui/MainWindow.hh>
+#include <gz/plugin/Register.hh>
+#include <gz/transport/Node.hh>
+
+#include "gz/sim/Util.hh"
+#include "gz/sim/World.hh"
+
+#include <sstream>
+#include <string>
+
+using namespace gz;
+using namespace sim;
+
+class gz::sim::ExportOccupancyUiPrivate
+{
+  public: std::string worldName;
+};
+
+ExportOccupancyUi::ExportOccupancyUi() :
+  dataPtr(std::make_unique<ExportOccupancyUiPrivate>())
+{
+  gui::App()->Engine()->rootContext()->setContextProperty(
+    "exportOccupancy", this);
+}
+
+ExportOccupancyUi::~ExportOccupancyUi()
+{
+
+}
+
+void ExportOccupancyUi::LoadConfig(
+    const tinyxml2::XMLElement *_pluginElem)
+{
+  if (this->title.empty())
+    this->title = "Export Occupancy";
+
+  gui::App()->findChild<gui::MainWindow *>()->installEventFilter(this);
+}
+
+void ExportOccupancyUi::Update(const UpdateInfo &,
+    EntityComponentManager &_ecm)
+{
+  auto world = World(worldEntity(_ecm));
+  if (!world.Valid(_ecm)) {
+    gzerr << "Could not get running world" << std::endl;
+    return;
+  }
+  if (!world.Name(_ecm).has_value())
+  {
+    return;
+  }
+  this->dataPtr->worldName = world.Name(_ecm).value();
+}
+
+void ExportOccupancyUi::StartExport(double _samples, double _range,
+  double _rangeRes, double _angularRes,
+  double _distanceFromGround, double _gridResolution,
+  std::size_t _numWidth, std::size_t _numHeight)
+{
+  gz::msgs::EntityFactory factoryReq;
+  std::stringstream ss;
+  ss << R"(
+    <sdf version="1.6">
+    <model name="model_with_lidar">
+      <pose>-1.5 -1.5 )" << _distanceFromGround << R"( 0 0 0</pose>
+      <link name="link">
+          <inertial>
+            <mass>0.1</mass>
+            <inertia>
+              <ixx>0.000166667</ixx>
+              <iyy>0.000166667</iyy>
+              <izz>0.000166667</izz>
+            </inertia>
+          </inertial>
+          <collision name="collision">
+            <geometry>
+            <box>
+              <size>0.1 0.1 0.1</size>
+            </box>
+            </geometry>
+          </collision>
+          <visual name="visual">
+            <geometry>
+              <box>
+                <size>0.1 0.1 0.1</size>
+              </box>
+            </geometry>
+          </visual>
+
+          <sensor name='gpu_lidar' type='gpu_lidar'>
+              <topic>freespace_explorer/scan</topic>
+              <update_rate>10</update_rate>
+              <lidar>
+              <scan>
+                <horizontal>
+                <samples>)"<< _samples << R"(</samples>
+                <resolution>)" << _angularRes << R"(</resolution>
+                <min_angle>0</min_angle>
+                <max_angle>6.28</max_angle>
+                </horizontal>
+              </scan>
+              <range>
+                <min>0.08</min>
+                <max>)"<< _range << R"(</max>
+                <resolution>)"<< _rangeRes <<R"(</resolution>
+              </range>
+              </lidar>
+              <visualize>true</visualize>
+          </sensor>
+      </link>
+      <static>true</static>
+
+      <plugin
+        filename="gz-sim-free-space-explorer-system"
+        name="gz::sim::systems::FreeSpaceExplorer">
+        <lidar_topic>freespace_explorer/scan</lidar_topic>
+        <width>)" << _numWidth << R"(</width>
+        <height>)" << _numHeight << R"(</height>
+        <resolution>)" << _gridResolution << R"(</resolution>
+        <sensor_link>link</sensor_link>
+      </plugin>
+    </model>
+    </sdf>
+  )";
+
+  gzerr << ss.str() <<std::endl;
+  factoryReq.set_sdf(ss.str());
+
+  gz::transport::Node node;
+  std::function<void(const msgs::Boolean &, const bool)> cb =
+        [](const msgs::Boolean &/*_rep*/, const bool _result)
+    {};
+  node.Request("/world/" + this->dataPtr->worldName + "/create",
+      factoryReq, cb);
+}
+
+// Register this plugin
+GZ_ADD_PLUGIN(gz::sim::ExportOccupancyUi, gz::gui::Plugin)

src/gui/plugins/export_occupancy/ExportOccupancy.hh

@@ -0,0 +1,66 @@
+/*
+ * Copyright (C) 2025 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.
+ *
+*/
+
+#ifndef GZ_SIM_GUI_EXPORT_OCCUPANCY_HH_
+#define GZ_SIM_GUI_EXPORT_OCCUPANCY_HH_
+
+#include <memory>
+
+#include "gz/sim/gui/GuiSystem.hh"
+#include "gz/gui/qt.h"
+
+namespace gz
+{
+namespace sim
+{
+// Inline bracket to help doxygen filtering.
+inline namespace GZ_SIM_VERSION_NAMESPACE
+{
+  class ExportOccupancyUiPrivate;
+
+  /// \brief A GUI plugin for a user to export the occupancy
+  /// grid of the current world.
+  class ExportOccupancyUi : public gz::sim::GuiSystem
+  {
+    Q_OBJECT
+    /// \brief Constructor
+    public: ExportOccupancyUi();
+
+    /// \brief Destructor
+    public: ~ExportOccupancyUi() override;
+
+    // Documentation inherited
+    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;
+
+    // Documentation inherited
+    public: void Update(const UpdateInfo &,
+                        EntityComponentManager &_ecm) override;
+
+    /// Triggers the export of our
+    public: Q_INVOKABLE void StartExport(double _samples, double _range,
+      double _rangeRes, double _angularRes,
+      double _distanceFromGround, double _gridResolution,
+      std::size_t _numWidth, std::size_t _numHeight);
+
+    /// \internal
+    /// \brief Pointer to private data
+    private: std::unique_ptr<ExportOccupancyUiPrivate> dataPtr;
+  };
+}
+}
+}
+#endif