multiple lidar support

.gitignore

@@ -30,3 +30,7 @@
 *.exe
 *.out
 *.app
+
+.idea
+build
+cmake-build-debug

CMakeLists.txt

@@ -0,0 +1,5 @@
+cmake_minimum_required(VERSION 3.18)
+project(RGLGazeboPlugin)
+
+add_subdirectory(RGLServerPlugin)
+add_subdirectory(RGLGuiPlugin)

README.md

@@ -1 +1,25 @@
-# RGLGazeboPlugin
+# RGLGazeboPlugin
+## Warning:
+
+Currently tested only on ubuntu 20.04 (ubuntu 22 has faulty gazebo fortress atm)
+
+### Installation:
+From RGLGazeboPlugin directory:
+```
+mkdir build
+cd build
+cmake ..
+make -j
+cd ..
+export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=`pwd`/build/RGLServerPlugin
+export IGN_GUI_PLUGIN_PATH=`pwd`/build/RGLGuiPlugin
+```
+### demo:
+```
+cd test_world
+ign gazebo -v 4 actor_world.sdf
+```
+
+1. load RGLGuiPlugin from the menu on the upper right
+2. press the refresh button in the plugin
+3. start the simulation by pressing play, the lidar hits should be visible in the GUI

RGLGuiPlugin/CMakeLists.txt

@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+
+if(POLICY CMP0100)
+    cmake_policy(SET CMP0100 NEW)
+endif()
+
+project(RGLGuiPlugin)
+
+find_package(ignition-rendering6 REQUIRED)
+
+# GUI plugin
+set(GUI_PLUGIN RGLGuiPlugin)
+
+set(CMAKE_AUTOMOC ON)
+
+find_package(ignition-gui6 REQUIRED)
+find_package(ignition-msgs8 REQUIRED)
+
+QT5_ADD_RESOURCES(resources_RCC ${GUI_PLUGIN}.qrc)
+
+add_library(${GUI_PLUGIN} SHARED
+        ${GUI_PLUGIN}.cc
+        ${resources_RCC}
+        )
+target_link_libraries(${GUI_PLUGIN}
+        PRIVATE
+        ignition-gui6::ignition-gui6
+        ignition-rendering6::ignition-rendering6
+        ignition-msgs8::ignition-msgs8
+        )