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gazebo_ros_wheel_slip: support parameters specified in launch file #1126

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scpeters merged 1 commit into from
Jun 24, 2020
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gazebo_ros_wheel_slip: support parameters specified in launch file #1126

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4 changes: 2 additions & 2 deletions gazebo_plugins/cfg/WheelSlip.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()

# Name Type Reconf level Description Default Min Max
gen.add("slip_compliance_unitless_lateral", double_t, 0, "Unitless slip compliance (slip / friction) in the lateral direction.", 0.0, 0.0, 20.0)
gen.add("slip_compliance_unitless_longitudinal", double_t, 0, "Unitless slip compliance (slip / friction) in the longitudinal direction.", 0.0, 0.0, 20.0)
gen.add("slip_compliance_unitless_lateral", double_t, 0, "Unitless slip compliance (slip / friction) in the lateral direction.", -1.0, -1.0, 20.0)
gen.add("slip_compliance_unitless_longitudinal", double_t, 0, "Unitless slip compliance (slip / friction) in the longitudinal direction.", -1.0, -1.0, 20.0)

exit(gen.generate(PACKAGE, "wheel_slip", "WheelSlip"))
24 changes: 13 additions & 11 deletions gazebo_plugins/src/gazebo_ros_wheel_slip.cpp
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Expand Up @@ -46,20 +46,22 @@ GazeboRosWheelSlip::~GazeboRosWheelSlip()

/////////////////////////////////////////////////
void GazeboRosWheelSlip::configCallback(
gazebo_plugins::WheelSlipConfig &config, uint32_t level)
gazebo_plugins::WheelSlipConfig &config, uint32_t /*level*/)
{
if (level == ~0)
if (config.slip_compliance_unitless_lateral >= 0)
{
// don't overwrite initial parameters
return;
ROS_INFO_NAMED("wheel_slip", "Reconfigure request for the gazebo ros wheel_slip: %s. New lateral slip compliance: %.3e",
this->GetParentModel()->GetScopedName().c_str(),
config.slip_compliance_unitless_lateral);
this->SetSlipComplianceLateral(config.slip_compliance_unitless_lateral);
}
if (config.slip_compliance_unitless_longitudinal >= 0)
{
ROS_INFO_NAMED("wheel_slip", "Reconfigure request for the gazebo ros wheel_slip: %s. New longitudinal slip compliance: %.3e",
this->GetParentModel()->GetScopedName().c_str(),
config.slip_compliance_unitless_longitudinal);
this->SetSlipComplianceLongitudinal(config.slip_compliance_unitless_longitudinal);
}

ROS_INFO_NAMED("wheel_slip", "Reconfigure request for the gazebo ros wheel_slip: %s. New slip compliances, lateral: %.3e, longitudinal: %.3e",
this->GetParentModel()->GetScopedName().c_str(),
config.slip_compliance_unitless_lateral,
config.slip_compliance_unitless_longitudinal);
this->SetSlipComplianceLateral(config.slip_compliance_unitless_lateral);
this->SetSlipComplianceLongitudinal(config.slip_compliance_unitless_longitudinal);
}

/////////////////////////////////////////////////
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