def _lazy_init(self):
"""
Lazy-initialize effect
"""
# ROS Services Setup
rospy.wait_for_service(GazeboServiceName.GET_MODEL_PROPERTIES.value)
rospy.wait_for_service(GazeboServiceName.GET_VISUAL_NAMES.value)
rospy.wait_for_service(GazeboServiceName.GET_VISUALS.value)
get_model_prop = ServiceProxyWrapper(
GazeboServiceName.GET_MODEL_PROPERTIES.value, GetModelProperties)
get_visual_names = ServiceProxyWrapper(
GazeboServiceName.GET_VISUAL_NAMES.value, GetVisualNames)
get_visuals = ServiceProxyWrapper(GazeboServiceName.GET_VISUALS.value,
GetVisuals)
# Get all model's link names
body_names = get_model_prop(
GetModelPropertiesRequest(model_name=self.model_name)).body_names
link_names = ["%s::%s" % (self.model_name, b) for b in body_names]
res = get_visual_names(GetVisualNamesRequest(link_names=link_names))
get_visuals_req = GetVisualsRequest(link_names=res.link_names,
visual_names=res.visual_names)
self.orig_visuals = get_visuals(get_visuals_req)
def update_model_visual(self, racecar_name, body_shell_type, car_color):
# Get all model's link names
body_names = self.get_model_prop(GetModelPropertiesRequest(model_name=racecar_name)) \
.body_names
link_names = ["%s::%s" % (racecar_name, b) for b in body_names]
res = self.get_visual_names(GetVisualNamesRequest(link_names=link_names))
get_visuals_req = GetVisualsRequest(link_names=res.link_names,
visual_names=res.visual_names)
visuals = self.get_visuals(get_visuals_req)
if const.F1 in body_shell_type.lower():
self._hide_visuals(visuals=visuals)
else:
self._update_color(visuals=visuals,
car_color=car_color)
def get_model_visuals(self, model_name):
"""Get the model visuals associated to the model name
Args:
model_name (str): The model name for the race car we want to hide visuals for.
e.g. racecar_0
Returns:
Visuals: The visuals of the current model.
"""
# Get all model's link names
body_names = self._get_model_prop(GetModelPropertiesRequest(model_name=model_name)) \
.body_names
link_names = ["%s::%s" % (model_name, b) for b in body_names]
res = self._get_visual_names(GetVisualNamesRequest(link_names=link_names))
get_visuals_req = GetVisualsRequest(link_names=res.link_names,
visual_names=res.visual_names)
visuals = self._get_visuals(get_visuals_req)
return visuals
def _are_visuals_hidden(self, link_names, visual_names):
"""Check if the visuals are hidden.
If all the visuals are visible as False or all are transparent,
return True.
Args:
link_names ([str]): A list of link names.
visual_names ([str]): A list of visual names.
Returns:
bool: If the visuals are hiddens
"""
get_visuals_req = GetVisualsRequest(link_names=link_names,
visual_names=visual_names)
visuals = self._get_visuals(get_visuals_req)
# all transparency are 1.0
all_transparent = (int(sum(visuals.transparencies)) == len(link_names))
# all visible are false
all_non_visible = (sum(visuals.visibles) == 0)
return all_transparent or all_non_visible