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Use common::findFile when searching for slip map in LookupWheelSlip system #3087

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Merged
merged 3 commits into from
Sep 16, 2025
Merged

Use common::findFile when searching for slip map in LookupWheelSlip system #3087

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7c3fd16
Use common::findFile when search for slip map in LookupWheelSlip system
iche033 Sep 12, 2025
15d9049
fix typo
iche033 Sep 12, 2025
a6cbaca
tweak
iche033 Sep 12, 2025
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21 changes: 10 additions & 11 deletions src/systems/lookup_wheel_slip/LookupWheelSlip.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@
#include <sdf/Geometry.hh>
#include <sdf/Heightmap.hh>

#include "gz/sim/components/SourceFilePath.hh"
#include "gz/sim/components/Geometry.hh"
#include "gz/sim/components/World.hh"
#include "gz/sim/Link.hh"
Expand Down Expand Up @@ -212,22 +213,19 @@ void LookupWheelSlip::Configure(const Entity &_entity,
return;
}

// transformation matrix from world to image coordinates
std::string filePath;
if (common::isFile(this->dataPtr->slipMapFilename))
{
filePath = this->dataPtr->slipMapFilename;
}
else if (common::isRelativePath(this->dataPtr->slipMapFilename))
// find the slip map file
auto modelPath =
_ecm.ComponentData<components::SourceFilePath>(_entity);
std::string filePath = common::findFile(asFullPath(
this->dataPtr->slipMapFilename, modelPath.value()), false);
if (filePath.empty())
{
auto *component =
_ecm.Component<components::WorldSdf>(worldEntity(_ecm));
const std::string rootPath =
common::parentPath(component->Data().Element()->FilePath());
std::string path = common::joinPaths(rootPath,
this->dataPtr->slipMapFilename);
if (common::isFile(path))
filePath = path;
filePath = common::findFile(asFullPath(this->dataPtr->slipMapFilename,
component->Data().Element()->FilePath()), false);
}
if (filePath.empty())
{
Expand All @@ -237,6 +235,7 @@ void LookupWheelSlip::Configure(const Entity &_entity,
return;
}
gzdbg << "Using slip_map: " << filePath << std::endl;
// transformation matrix from world to image coordinates
this->dataPtr->slipMapImg.Load(filePath);
this->dataPtr->slipMapRgb = this->dataPtr->slipMapImg.RGBData();
this->dataPtr->worldToImgTransform(0, 0) =
Expand Down
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