Add package:// sdf files support

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
open-rmf · Nov 20, 2023 · 2680725 · 2680725
1 parent 4667803
commit 2680725
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Showing 2 changed files with 14 additions and 7 deletions.
diff --git a/rmf_site_editor/src/site/sdf.rs b/rmf_site_editor/src/site/sdf.rs
@@ -67,7 +67,7 @@ fn compute_model_source(path: &str, uri: &str) -> AssetSource {
                 "".into()
             };
         }
-        AssetSource::Local(ref mut p) => {
+        AssetSource::Local(ref mut p) | AssetSource::Package(ref mut p) => {
             let binding = p.clone();
             *p = if let Some(stripped) = uri.strip_prefix("model://") {
                 // Search for a model with the requested name in the same folder as the sdf file
@@ -93,7 +93,7 @@ fn compute_model_source(path: &str, uri: &str) -> AssetSource {
                 "".into()
             };
         }
-        AssetSource::Bundled(_) | AssetSource::Package(_) | AssetSource::OSMTile { .. } => {
+        AssetSource::Bundled(_) | AssetSource::OSMTile { .. } => {
             warn!("Requested asset source {:?} type not supported for SDFs, might behave unexpectedly", asset_source);
         }
     }
@@ -214,8 +214,10 @@ pub fn handle_new_sdf_roots(mut commands: Commands, new_sdfs: Query<(Entity, &Sd
                 );
                 match id {
                     Some(id) => {
-                        commands.entity(id).insert(VisualMeshMarker);
-                        commands.entity(link_id).add_child(id);
+                        commands
+                            .entity(id)
+                            .insert(VisualMeshMarker)
+                            .set_parent(link_id);
                     }
                     None => warn!("Found unhandled geometry type {:?}", &visual.geometry),
                 }
@@ -231,8 +233,10 @@ pub fn handle_new_sdf_roots(mut commands: Commands, new_sdfs: Query<(Entity, &Sd
                 );
                 match id {
                     Some(id) => {
-                        commands.entity(id).insert(CollisionMeshMarker);
-                        commands.entity(link_id).add_child(id);
+                        commands
+                            .entity(id)
+                            .insert(CollisionMeshMarker)
+                            .set_parent(link_id);
                     }
                     None => warn!("Found unhandled geometry type {:?}", &collision.geometry),
                 }

diff --git a/rmf_site_editor/src/workcell/mod.rs b/rmf_site_editor/src/workcell/mod.rs
@@ -81,7 +81,6 @@ impl Plugin for WorkcellEditorPlugin {
                     update_model_scenes,
                     update_model_scales,
                     handle_new_primitive_shapes,
-                    flatten_loaded_models_hierarchy,
                     update_model_tentative_formats,
                     replace_name_in_site_components,
                     handle_create_joint_events,
@@ -113,6 +112,10 @@ impl Plugin for WorkcellEditorPlugin {
                     update_transforms_for_changed_poses,
                 )
                     .run_if(in_state(AppState::WorkcellEditor)),
+            )
+            .add_systems(
+                PostUpdate,
+                (flatten_loaded_models_hierarchy,).run_if(in_state(AppState::WorkcellEditor)),
             );
     }
 }