auxoncorp / modality-gazebo

modality-gazebo

A Gazebo plugin to make it easy to send data to Modality from your simulator.

This plugin enables tracing of entities within a gazebo simulator world. You can enable it by adding the plugin and configuration to an SDF world file, like in the example.

The plugin provides tracing for an individual link, which will be assigned a timeline in Modality. Events are logged onto the timeline at every time step, unless the parent model is static, in which case a single event of each kind is logged.

For more information about Modality see the documentation.

Example

1. Install dependencies.

sudo apt install libignition-gazebo7-dev libgz-cmake3-dev libignition-plugin-dev modality-sdk

2. Add <auth_token>YOUR_AUTH_TOKEN_HEX_HERE</auth_token> to examples/world.sdf or set MODALITY_AUTH_TOKEN env var.
3. Build the plugin:

mkdir build
cd build
cmake ..
make

4. Run the example world:

make run-example

Configuration

The ModalityTracingPlugin accepts the following general configuration:

• <link_name>chassis</link_name>: Name of the link to be traced.
• <timeline_name>robot-chassis</timeline_name>: Name of the timeline for events produced by this plugin.
• <auth_token>AUTH_TOKEN_HEX</auth_token>: Auth token hex value. For more information on Modality auth tokens see the documentation. Can alternatively be provided with the MODALITY_AUTH_TOKEN environment variable.
• <allow_insecure_tls>true</allow_insecure_tls>: Whether to allow insecure TLS connections. Equivalent to the allow-insecure-tls option of the modality-reflector config file.
• <modalityd_url>modality-ingest://localhost:14182</modality_url>: URL of the modalityd daemon to send data to. Equivalent to the protocol-parent-url option of the modality-reflector config file.

In addition, the following options configure which events the plugin should produce:

• <pose>true</pose>: Log pose events with x, y, z, roll, pitch, yaw attributes.
• <linear_acceleration>true</linear_acceleration>: Log linear acceleration events with x, y, z attributes.
• <linear_velocity>true</linear_velocity>: Log velocity events with x, y, z attributes.
• <contact_collision>true</contact_collision>: Log contact collision events with entity and name attributes.