Update camera tracking docs.

Signed-off-by: Benjamin Perseghetti <[email protected]>

examples/standalone/scene_provider/README.md

@@ -52,14 +52,26 @@ Echo camera pose:
 gz topic -e -t /gui/camera/pose
 ```
 
-Follow box:
+Echo camera tracking information:
+
+```
+gz topic -e -t /gui/currently_tracked
+```
+
+Follow box from service (depricated):
 
 ```
 gz service -s /gui/follow --reqtype gz.msgs.StringMsg --reptype gz.msgs.Boolean --timeout 2000 --req 'data: "box_model"'
 ```
 
+Follow box from service (depricated):
+
+```
+gz topic -t /gui/track -m gz.msgs.CameraTrack -p 'track_mode: 2, follow_target: "box_model"'
+```
+
 Update follow offset:
 
 ```
-gz service -s /gui/follow/offset --reqtype gz.msgs.Vector3d --reptype gz.msgs.Boolean --timeout 2000 --req 'x: 5, y: 5, z: 5'
+gz topic -t /gui/track -m gz.msgs.CameraTrack -p 'track_mode: 2, follow_target: "box_model", follow_offset: {x: -1, y: 0, z: 1}'
 ```

src/plugins/camera_tracking/CameraTracking.cc

@@ -62,9 +62,16 @@ class CameraTrackingPrivate
       msgs::Boolean &_res);
 
   /// \brief Callback for a track message
-  /// \param[in] _msg Message consistes of the target to track, type of tracking, offset and pgain.
+  /// \param[in] _msg Message consists of the target to track, type of tracking, offset and pgain.
   public: void OnTrackSub(const msgs::CameraTrack &_msg);
 
+  /// \brief Callback for a follow request
+  /// \param[in] _msg Request message to set the target to follow.
+  /// \param[in] _res Response data
+  /// \return True if the request is received
+  public: bool OnFollow(const msgs::StringMsg &_msg,
+      msgs::Boolean &_res);
+
   /// \brief Callback for a move to pose request.
   /// \param[in] _msg GUICamera request message.
   /// \param[in] _res Response data
@@ -142,6 +149,9 @@ class CameraTrackingPrivate
   /// \brief Move to service
   public: std::string moveToService;
 
+  /// \brief Follow service
+  public: std::string followService;
+
   /// \brief The pose set from the move to pose service.
   public: std::optional<math::Pose3d> moveToPoseValue;
 
@@ -196,6 +206,12 @@ void CameraTrackingPrivate::Initialize()
   gzmsg << "Move to service on ["
          << this->moveToService << "]" << std::endl;
 
+  this->followService = "/gui/follow";
+  this->node.Advertise(this->followService,
+      &CameraTrackingPrivate::OnFollow, this);
+  gzmsg << "Follow service on ["
+         << this->followService << "]" << std::endl;
+
   // track
   this->trackTopic = "/gui/track";
   this->node.Subscribe(this->trackTopic, 
@@ -237,6 +253,21 @@ bool CameraTrackingPrivate::OnMoveTo(const msgs::StringMsg &_msg,
   return true;
 }
 
+/////////////////////////////////////////////////
+bool CameraTrackingPrivate::OnFollow(const msgs::StringMsg &_msg,
+  msgs::Boolean &_res)
+{
+  std::lock_guard<std::mutex> lock(this->mutex);
+  this->selectedFollowTarget = _msg.data();
+
+  _res.set_data(true);
+
+  this->trackMode = gz::msgs::CameraTrack::FOLLOW;
+
+  this->newTrack = true;
+  return true;
+}
+
 /////////////////////////////////////////////////
 void CameraTrackingPrivate::OnTrackSub(const msgs::CameraTrack &_msg)
 {

src/plugins/camera_tracking/CameraTracking.qml

@@ -27,10 +27,12 @@ ColumnLayout {
   anchors.margins: 10
 
   property string message: 'Services provided:<br><ul>' +
+      '<li>/gui/follow/pose</li>' +
       '<li>/gui/move_to</li>' +
       '<li>/gui/move_to/pose</li>' +
       '<li>/gui/track</li></ul><br>Topics provided:<br><ul>' +
-      '<li>/gui/camera/pose</li></ul>'
+      '<li>/gui/camera/pose</li>'+
+      '<li>/gui/currently_tracked</li></ul>'
 
   Label {
     Layout.fillWidth: true

test/integration/camera_tracking.cc

@@ -186,17 +186,6 @@ TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   EXPECT_TRUE(result);
   EXPECT_TRUE(rep.data());
 
-  msgs::Vector3d reqOffset;
-  reqOffset.set_x(1.0);
-  reqOffset.set_y(1.0);
-  reqOffset.set_z(1.0);
-  result = false;
-  executed = node.Request("/gui/follow/offset", reqOffset, timeout, rep,
-      result);
-  EXPECT_TRUE(executed);
-  EXPECT_TRUE(result);
-  EXPECT_TRUE(rep.data());
-
   // Many update loops to process many events
   maxSleep = 600;
   for (auto it : {150.0, 200.0})