Cherry pick optional build rmf_building_map_tools parameters to Jazzy

rmf_building_map_tools/building_map/building.py

@@ -394,13 +394,15 @@ def generate_nav_graphs(self):
                 nav_graphs[f'{i}'] = g
         return nav_graphs
 
-    def generate_sdf_world(self):
+    def generate_sdf_world(self, template_file, skip_camera_pose):
         """ Return an etree of this Building in SDF starting from a template"""
-        template_name = 'gz_world.sdf'
-
-        template_path = os.path.join(
-            get_package_share_directory('rmf_building_map_tools'),
-            f'templates/{template_name}')
+        if template_file == "":
+            template_name = 'gz_world.sdf'
+            template_path = os.path.join(
+                get_package_share_directory('rmf_building_map_tools'),
+                f'templates/{template_name}')
+        else:
+            template_path = template_file
         tree = parse(template_path)
         sdf = tree.getroot()
 
@@ -472,18 +474,20 @@ def generate_sdf_world(self):
             crs_ele.text = self.global_transform.crs_name
 
         gui_ele = world.find('gui')
-        c = self.center()
-        # Transforming camera to account for offsets if
-        # not in reference_image mode and when a floor polygon is defined.
-        if self.global_transform and c != (0, 0):
-            camera_pose = f'{c[0] - self.global_transform.x}  \
-            {c[1]-20 - self.global_transform.y} 10 0 0.6 1.57'
-        else:
-            camera_pose = f'{c[0]} {c[1]-20} 10 0 0.6 1.57'
-        # add floor-toggle GUI plugin parameters
-        plugin_ele = gui_ele.find('.//plugin[@filename="MinimalScene"]')
-        camera_pose_ele = plugin_ele.find('camera_pose')
-        camera_pose_ele.text = camera_pose
+
+        if not skip_camera_pose:
+            c = self.center()
+            # Transforming camera to account for offsets if
+            # not in reference_image mode and when a floor polygon is defined.
+            if self.global_transform and c != (0, 0):
+                camera_pose = f'{c[0] - self.global_transform.x}  \
+                {c[1]-20 - self.global_transform.y} 10 0 0.6 1.57'
+            else:
+                camera_pose = f'{c[0]} {c[1]-20} 10 0 0.6 1.57'
+            # add floor-toggle GUI plugin parameters
+            plugin_ele = gui_ele.find('.//plugin[@filename="MinimalScene"]')
+            camera_pose_ele = plugin_ele.find('camera_pose')
+            camera_pose_ele.text = camera_pose
 
         toggle_floors_ele = SubElement(
             gui_ele,

rmf_building_map_tools/building_map/generator.py

@@ -21,7 +21,9 @@ def generate_sdf(
         self,
         input_filename,
         output_filename,
-        output_models_dir
+        output_models_dir,
+        template_file,
+        skip_camera_pose
     ):
         print('generating {} from {}'.format(output_filename, input_filename))
 
@@ -40,7 +42,7 @@ def generate_sdf(
         building.generate_sdf_models(output_models_dir)
 
         # generate a top-level SDF for convenience
-        sdf = building.generate_sdf_world()
+        sdf = building.generate_sdf_world(template_file, skip_camera_pose)
 
         indent_etree(sdf)
         sdf_str = str(ElementToString(sdf), 'utf-8')

rmf_building_map_tools/building_map_generator/_init_argparse.py

@@ -16,7 +16,14 @@
                            help="Name of the .world file to output")
 shared_parser.add_argument("OUTPUT_MODEL_DIR", type=str,
                            help="Path to output the map model files")
-
+shared_parser.add_argument("--TEMPLATE_WORLD_FILE", type=str, default="",
+                           help="Specify the template for"
+                           + " the base simulation.")
+shared_parser.add_argument("--SKIP_CAMERA_POSE", action="store_true",
+                           help="Skips calculating and setting the initial "
+                           + "camera view pose. This flag should only be used "
+                           + "if the template SDF file already has the camera "
+                           + "pose defined.")
 # Create subparsers for Gazebo and Nav generation
 gazebo_parser = subparsers.add_parser(
     'gazebo',

rmf_building_map_tools/building_map_generator/building_map_generator.py

@@ -16,7 +16,9 @@ def main():
         g.generate_sdf(
             args.INPUT,
             args.OUTPUT_WORLD,
-            args.OUTPUT_MODEL_DIR
+            args.OUTPUT_MODEL_DIR,
+            args.TEMPLATE_WORLD_FILE,
+            args.SKIP_CAMERA_POSE
         )
 
     if args.command == "nav":