Add EntitySemantics system that enables setting categories and tags (#3005)

System for assigning semantics to entities, such as models, by classifying them into categories and assigning them tags.

---------

Signed-off-by: Addisu Z. Taddese <[email protected]>
Co-authored-by: Ian Chen <[email protected]>
(cherry picked from commit a503633)

# Conflicts:
#	BUILD.bazel

Author: azeey

BUILD.bazel

@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) 2025 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef GZ_SIM_COMPONENTS_SEMANTIC_CATEGORY_HH_
+#define GZ_SIM_COMPONENTS_SEMANTIC_CATEGORY_HH_
+
+#include <cstdint>
+
+#include "gz/sim/components/Component.hh"
+#include "gz/sim/components/Factory.hh"
+#include "gz/sim/config.hh"
+
+namespace gz
+{
+namespace sim
+{
+// Inline bracket to help doxygen filtering.
+inline namespace GZ_SIM_VERSION_NAMESPACE {
+namespace components
+{
+/// \brief A component that holds the semantic category of an entity. This is
+/// meant to be used by systems such as EntitySemantics to assign categories to
+/// entities.
+/// See
+/// https://github.com/ros-simulation/simulation_interfaces/blob/1.0.0/msg/EntityCategory.msg
+using SemanticCategory = Component<uint8_t, class SemanticCategoryTag>;
+GZ_SIM_REGISTER_COMPONENT("gz_sim_components.SemanticCategory",
+                          SemanticCategory)
+}  // namespace components
+}  // namespace GZ_SIM_VERSION_NAMESPACE
+}  // namespace sim
+}  // namespace gz
+#endif

include/gz/sim/components/SemanticCategory.hh

@@ -0,0 +1,75 @@
+/*
+ * Copyright (C) 2025 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef GZ_SIM_COMPONENTS_SEMANTIC_DESCRIPTION_HH_
+#define GZ_SIM_COMPONENTS_SEMANTIC_DESCRIPTION_HH_
+
+#include <gz/msgs/stringmsg.pb.h>
+
+#include <istream>
+#include <ostream>
+#include <string>
+
+#include "gz/sim/components/Component.hh"
+#include "gz/sim/components/Factory.hh"
+#include "gz/sim/components/Serialization.hh"
+#include "gz/sim/config.hh"
+
+namespace gz
+{
+namespace sim
+{
+// Inline bracket to help doxygen filtering.
+inline namespace GZ_SIM_VERSION_NAMESPACE
+{
+namespace serializers
+{
+class SemanticDescriptionSerializer
+{
+  public:
+  static std::ostream &Serialize(std::ostream &_out, const std::string &_desc)
+  {
+    msgs::StringMsg msg;
+    msg.set_data(_desc);
+    msg.SerializeToOstream(&_out);
+    return _out;
+  }
+
+  public:
+  static std::istream &Deserialize(std::istream &_in, std::string &_desc)
+  {
+    msgs::StringMsg msg;
+    msg.ParsePartialFromIstream(&_in);
+    _desc = msg.data();
+    return _in;
+  }
+};
+}  // namespace serializers
+namespace components
+{
+/// \brief A component that holds the semantic description of an entity. This is
+/// meant to be used by systems such as EntitySemantics to assign descriptions
+/// to entities. See
+/// https://github.com/ros-simulation/simulation_interfaces/blob/1.0.0/msg/EntityInfo.msg
+using SemanticDescription = Component<std::string, class SemanticDescriptionTag,
+                                      serializers::StringSerializer>;
+GZ_SIM_REGISTER_COMPONENT("gz_sim_components.SemanticDescription",
+                          SemanticDescription)
+}  // namespace components
+}  // namespace GZ_SIM_VERSION_NAMESPACE
+}  // namespace sim
+}  // namespace gz
+#endif

include/gz/sim/components/SemanticDescription.hh

@@ -0,0 +1,85 @@
+/*
+ * Copyright (C) 2025 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef GZ_SIM_COMPONENTS_SEMANTIC_TAGS_HH_
+#define GZ_SIM_COMPONENTS_SEMANTIC_TAGS_HH_
+
+#include <gz/msgs/stringmsg_v.pb.h>
+
+#include <istream>
+#include <ostream>
+#include <string>
+#include <vector>
+
+#include "gz/sim/components/Component.hh"
+#include "gz/sim/components/Factory.hh"
+#include "gz/sim/config.hh"
+
+namespace gz
+{
+namespace sim
+{
+// Inline bracket to help doxygen filtering.
+inline namespace GZ_SIM_VERSION_NAMESPACE
+{
+namespace serializers
+{
+class SemanticTagsSerializer
+{
+  public:
+  static std::ostream &Serialize(std::ostream &_out,
+                                 const std::vector<std::string> &_tags)
+  {
+    msgs::StringMsg_V msg;
+    for (const auto &tag : _tags)
+    {
+      msg.add_data(tag);
+    }
+    msg.SerializeToOstream(&_out);
+    return _out;
+  }
+
+  public:
+  static std::istream &Deserialize(std::istream &_in,
+                                   std::vector<std::string> &_tags)
+  {
+    msgs::StringMsg_V msg;
+    msg.ParsePartialFromIstream(&_in);
+    _tags.clear();
+    for (const auto &item : msg.data())
+    {
+      _tags.push_back(item);
+    }
+    return _in;
+  }
+};
+}  // namespace serializers
+//
+namespace components
+{
+
+/// \brief A component that holds the semantic tag of an entity. This is
+/// meant to be used by systems such as EntitySemantics to assign tags to
+/// entities. See
+/// https://github.com/ros-simulation/simulation_interfaces/blob/1.0.0/msg/TagsFilter.msg
+using SemanticTags = Component<std::vector<std::string>, class SemanticTagsTag,
+                              serializers::SemanticTagsSerializer>;
+GZ_SIM_REGISTER_COMPONENT("gz_sim_components.SemanticTags", SemanticTags)
+}  // namespace components
+}  // namespace GZ_SIM_VERSION_NAMESPACE
+}  // namespace sim
+}  // namespace gz
+#endif

include/gz/sim/components/SemanticTags.hh

@@ -117,6 +117,7 @@ add_subdirectory(dvl)
 if (NOT WIN32)
 add_subdirectory(elevator)
 endif()
+add_subdirectory(entity_semantics)
 add_subdirectory(environment_preload)
 add_subdirectory(environmental_sensor_system)
 add_subdirectory(follow_actor)

src/systems/CMakeLists.txt

@@ -0,0 +1,4 @@
+gz_add_system(entity-semantics
+  SOURCES
+    EntitySemantics.cc
+)