Fuel Asset Pipeline

This package contains tools to help with the process of uploading models onto Ignition Fuel.

Prerequisites

pip3 install \
  colcon-common-extensions \
  progressbar2

and Gazebo classic.

Instructions

Clone it,

mkdir ws/src
cd ws/src
git clone https://github.com/aaronchongth/fuel-asset-pipeline

Build it,

cd ws
source /opt/ros/foxy/setup.bash
colcon build

Grab the models,

source ws/install/setup.bash
# 
ros2 run fuel_asset_pipeline fuel_asset_pipeline copy_with_ref \
  --ref REFERENCE_ASSETS_DIR \ # Directory that you would like to mimic
  --source SOURCE_ASSETS_DIR \ # Directory that holds all the assets you would like to copy from and more
  --dest DESTINATION_TO_COPY_TO \ # Destination directory to copy to
  --folders-only \ # Only copy folders
  --ignore MODELS_TO_IGNORE

Check them all,

source ws/install/setup.bash
# MODELS_DIR is a directory holding all the models you would like to check
ros2 run fuel_asset_pipeline fuel_asset_pipeline check_all --dir MODELS_DIR

Or check one,

source ws/install/setup.bash
# MODEL_DIR is a single model directory
ros2 run fuel_asset_pipeline fuel_asset_pipeline check --model-dir MODEL_DIR

Generate the thumbnails,

source ws/install/setup.bash
# MODELS_DIR is a directory holding all the models you would like to generate thumbnails for
# OUTPUT_MODELS_DIR is an empty directory where model directories with thumbnails will reside
ros2 run fuel_asset_pipeline fuel_asset_pipeline generate_thumbnails --dir MODELS_DIR --output-dir OUTPUT_MODELS_DIR

Upload all (highly unstable for now),

source ws/install/setup.bash
# MODELS_DIR is a directory holding all the models you would like to upload
# PRIVATE_TOKEN see below on how to generate one
# OWNER optional, if provided will upload under an organization that you are part of
# URL optional, url to fuel
ros2 run fuel_asset_pipeline fuel_asset_pipeline upload_all --dir MODELS_DIR --token PRIVATE_TOKEN --owner OWNER --url URL

Upload one (highly unstable for now),

source ws/install/setup.bash
# MODEL_DIR is a single model directory
# PRIVATE_TOKEN see below on how to generate one
# OWNER optional, if provided will upload under an organization that you are part of
# URL optional, url to fuel
ros2 run fuel_asset_pipeline fuel_asset_pipeline upload --model-dir MODEL_DIR --token PRIVATE_TOKEN --owner OWNER --url URL

Testing

Be sure to test the final models. gazebo should be launched without any issues finding any asset, while no warnings or errors should pop up when the model is placed into the world using the insert tab.

export GAZEBO_MODEL_PATH=wip/output/; gazebo --verbose

Ignition Fuel Private Token

Get the prefix and key using a POST request,

# USERNAME username after logging in
# JWT_TOKEN can be retrieved in browser console, localStorage.id_token, after logging in to Fuel
# NAME any name you choose
curl --request POST   --url https://fuel.ignitionrobotics.org/1.0/users/USERNAME/access-tokens   --header 'Authorization: Bearer JWT_TOKEN' --header 'Content-Type: application/json'   --data '{ "name": "NAME" }'

It will return

{"name":"NAME","prefix":"PREFIX","key":"KEY"}

The private token's value will be PREFIX.KEY.

Next up

• Tool to check diff between two sources
• Refer more to https://github.com/luca-della-vedova/gazebo_asset_checker/blob/master/asset_checker.py, for colorful printouts
• Checking texture names
• Checking allowed extension types, refer to Ignition Fuel
• Upload onto Fuel using ign-fuel-tools