diff --git a/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_elevator.h b/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_elevator.h deleted file mode 100644 index 14d77437d..000000000 --- a/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_elevator.h +++ /dev/null @@ -1,71 +0,0 @@ -/* - * Copyright 2015 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 _GAZEBO_ROS_PLUGINS_ELEVATOR_PLUGIN_H_ -#define _GAZEBO_ROS_PLUGINS_ELEVATOR_PLUGIN_H_ - -#include - -// Gazebo -#include - -// ROS -#include -#include -#include -#include - -namespace gazebo -{ - /// \brief ROS implementation of the Elevator plugin - class GazeboRosElevator : public ElevatorPlugin - { - /// \brief Constructor - public: GazeboRosElevator(); - - /// \brief Destructor - public: virtual ~GazeboRosElevator(); - - /// \brief Load the plugin. - /// \param[in] _model Pointer to the Model - /// \param[in] _sdf Pointer to the SDF element of the plugin. - public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf); - - /// \brief Receives messages on the elevator's topic. - /// \param[in] _msg The string message that contains a command. - public: void OnElevator(const std_msgs::String::ConstPtr &_msg); - - /// \brief Queu to handle callbacks. - private: void QueueThread(); - - /// \brief for setting ROS name space - private: std::string robotNamespace_; - - /// \brief ros node handle - private: ros::NodeHandle *rosnode_; - - /// \brief Subscribes to a topic that controls the elevator. - private: ros::Subscriber elevatorSub_; - - /// \brief Custom Callback Queue - private: ros::CallbackQueue queue_; - - // \brief Custom Callback Queue thread - private: boost::thread callbackQueueThread_; - }; -} -#endif diff --git a/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h b/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h deleted file mode 100644 index 4773b8029..000000000 --- a/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h +++ /dev/null @@ -1,71 +0,0 @@ -/* - * Copyright (C) 2012-2014 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. - * -*/ -/* - * Desc: 3D position interface. - * Author: Sachin Chitta and John Hsu - * Date: 10 June 2008 - */ - -#ifndef GAZEBO_ROS_TEMPLATE_HH -#define GAZEBO_ROS_TEMPLATE_HH - -#include - -#include -#include -#include -#include -#include - -#include -#include - -namespace gazebo -{ - - class GazeboRosHandOfGod : public ModelPlugin - { - /// \brief Constructor - public: GazeboRosHandOfGod(); - - /// \brief Destructor - public: virtual ~GazeboRosHandOfGod(); - - /// \brief Load the controller - public: void Load( physics::ModelPtr _parent, sdf::ElementPtr _sdf ); - - /// \brief Update the controller - protected: virtual void GazeboUpdate(); - - /// Pointer to the update event connection - private: event::ConnectionPtr update_connection_; - boost::shared_ptr tf_buffer_; - boost::shared_ptr tf_listener_; - boost::shared_ptr tf_broadcaster_; - physics::ModelPtr model_; - physics::LinkPtr floating_link_; - std::string link_name_; - std::string robot_namespace_; - std::string frame_id_; - double kl_, ka_; - double cl_, ca_; - }; - -} - -#endif - diff --git a/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_harness.h b/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_harness.h deleted file mode 100644 index 17e0aa4e0..000000000 --- a/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_harness.h +++ /dev/null @@ -1,80 +0,0 @@ -/* - * Copyright (C) 2016 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 GAZEBO_ROS_HARNESS_H -#define GAZEBO_ROS_HARNESS_H - -// Custom Callback Queue -#include -#include - -#include -#include -#include - -#include - -namespace gazebo -{ -/// \brief See the Gazebo documentation about the HarnessPlugin. This ROS -/// wrapper exposes two topics: -/// -/// 1. //harness/velocity -/// - Message Type: std_msgs::Float32 -/// - Purpose: Set target winch velocity -/// -/// 2. //harness/detach -/// - Message Type: std_msgs::Bool -/// - Purpose: Detach the joint. -class GazeboRosHarness : public HarnessPlugin -{ - /// \brief Constructor - public: GazeboRosHarness(); - - /// \brief Destructor - public: virtual ~GazeboRosHarness(); - - /// \brief Load the plugin - public: virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf); - - /// \brief Receive winch velocity control messages. - /// \param[in] msg Float message that is the target winch velocity. - private: virtual void OnVelocity(const std_msgs::Float32::ConstPtr &msg); - - /// \brief Receive detach messages - /// \param[in] msg Boolean detach message. Detach joints if data is - /// true. - private: virtual void OnDetach(const std_msgs::Bool::ConstPtr &msg); - - /// \brief Custom callback queue thread - private: void QueueThread(); - - /// \brief pointer to ros node - private: ros::NodeHandle *rosnode_; - - /// \brief Subscriber to velocity control messages. - private: ros::Subscriber velocitySub_; - - /// \brief Subscriber to detach control messages. - private: ros::Subscriber detachSub_; - - /// \brief for setting ROS name space - private: std::string robotNamespace_; - private: ros::CallbackQueue queue_; - private: boost::thread callbackQueueThread_; -}; -} -#endif diff --git a/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_pose_trajectory.h b/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_pose_trajectory.h deleted file mode 100644 index bc9651fc6..000000000 --- a/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_pose_trajectory.h +++ /dev/null @@ -1,133 +0,0 @@ -/* - * Copyright 2012 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. - * -*/ - -// ************************************************************* -// DEPRECATED -// This class has been renamed to gazebo_ros_joint_pose_trajectory -// ************************************************************* - -#ifndef GAZEBO_ROS_JOINT_TRAJECTORY_PLUGIN_HH -#define GAZEBO_ROS_JOINT_TRAJECTORY_PLUGIN_HH - -#include -#include - -#include -#include - -#include -#include -#include -#include - -#include -#include - -#undef ENABLE_SERVICE -#ifdef ENABLE_SERVICE -#include -#endif - -#include -#include -#include -#include -#include - -namespace gazebo -{ - class GazeboRosJointPoseTrajectory : public ModelPlugin // replaced with GazeboROSJointPoseTrajectory - { - /// \brief Constructor - public: GazeboRosJointPoseTrajectory(); - - /// \brief Destructor - public: virtual ~GazeboRosJointPoseTrajectory(); - - /// \brief Load the controller - public: void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); - - /// \brief Update the controller - private: void SetTrajectory( - const trajectory_msgs::JointTrajectory::ConstPtr& trajectory); -#ifdef ENABLE_SERVICE - private: bool SetTrajectory( - const gazebo_msgs::SetJointTrajectory::Request& req, - const gazebo_msgs::SetJointTrajectory::Response& res); -#endif - private: void UpdateStates(); - - private: physics::WorldPtr world_; - private: physics::ModelPtr model_; - - /// \brief pose should be set relative to this link (default to "world") - private: physics::LinkPtr reference_link_; - private: std::string reference_link_name_; - - /// \brief pointer to ros node - private: ros::NodeHandle* rosnode_; - private: ros::Subscriber sub_; - private: ros::ServiceServer srv_; - private: bool has_trajectory_; - - /// \brief ros message - private: trajectory_msgs::JointTrajectory trajectory_msg_; - private: bool set_model_pose_; - private: geometry_msgs::Pose model_pose_; - - /// \brief topic name - private: std::string topic_name_; - private: std::string service_name_; - - /// \brief A mutex to lock access to fields that are - /// used in message callbacks - private: boost::mutex update_mutex; - - /// \brief save last_time - private: common::Time last_time_; - - // trajectory time control - private: common::Time trajectory_start; - private: unsigned int trajectory_index; - - // rate control - private: double update_rate_; - private: bool disable_physics_updates_; - private: bool physics_engine_enabled_; - - /// \brief for setting ROS name space - private: std::string robot_namespace_; - - private: ros::CallbackQueue queue_; - private: void QueueThread(); - private: boost::thread callback_queue_thread_; - - private: std::vector joints_; - private: std::vector points_; - - // Pointer to the update event connection - private: event::ConnectionPtr update_connection_; - - private: trajectory_msgs::JointTrajectory joint_trajectory_; - - // deferred load in case ros is blocking - private: sdf::ElementPtr sdf; - private: void LoadThread(); - private: boost::thread deferred_load_thread_; - }; -} -#endif diff --git a/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_planar_move.h b/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_planar_move.h deleted file mode 100644 index d399443d1..000000000 --- a/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_planar_move.h +++ /dev/null @@ -1,99 +0,0 @@ -/* - * Copyright 2013 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. - * -*/ - -/* - * Desc: Simple model controller that uses a twist message to move a robot on - * the xy plane. - * Author: Piyush Khandelwal - * Date: 29 July 2013 - */ - -#ifndef GAZEBO_ROS_PLANAR_MOVE_HH -#define GAZEBO_ROS_PLANAR_MOVE_HH - -#include -#include -#include - -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -namespace gazebo { - - class GazeboRosPlanarMove : public ModelPlugin { - - public: - GazeboRosPlanarMove(); - ~GazeboRosPlanarMove(); - void Load(physics::ModelPtr parent, sdf::ElementPtr sdf); - - protected: - virtual void UpdateChild(); - virtual void FiniChild(); - - private: - void publishOdometry(double step_time); - - physics::ModelPtr parent_; - event::ConnectionPtr update_connection_; - - boost::shared_ptr rosnode_; - ros::Publisher odometry_pub_; - ros::Subscriber vel_sub_; - boost::shared_ptr transform_broadcaster_; - nav_msgs::Odometry odom_; - std::string tf_prefix_; - - boost::mutex lock; - - std::string robot_namespace_; - std::string command_topic_; - std::string odometry_topic_; - std::string odometry_frame_; - std::string robot_base_frame_; - double odometry_rate_; - - // Custom Callback Queue - ros::CallbackQueue queue_; - boost::thread callback_queue_thread_; - void QueueThread(); - - // command velocity callback - void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg); - - double x_; - double y_; - double rot_; - bool alive_; - common::Time last_odom_publish_time_; - ignition::math::Pose3d last_odom_pose_; - - }; - -} - -#endif /* end of include guard: GAZEBO_ROS_PLANAR_MOVE_HH */ diff --git a/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_projector.h b/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_projector.h deleted file mode 100644 index 5d72dce12..000000000 --- a/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_projector.h +++ /dev/null @@ -1,127 +0,0 @@ -/* - * Desc: A dynamic controller plugin that controls texture projection. - * Author: Jared Duke - * Date: 17 June 2010 - * SVN: $Id$ - */ -#ifndef GAZEBO_ROS_PROJECTOR_HH -#define GAZEBO_ROS_PROJECTOR_HH - -// Custom Callback Queue -#include -#include - -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include -#include -#include - -namespace Ogre -{ - class PlaneBoundedVolumeListSceneQuery; - class Frustum; - class Pass; - class SceneNode; -} - -namespace gazebo -{ - -/// @addtogroup gazebo_dynamic_plugins Gazebo ROS Dynamic Plugins -/// @{ -/** \defgroup GazeboRosProjector Plugin XML Reference and Example - - \brief Ros Texture Projector Controller. - - This is a controller that controls texture projection into the world from a given body. - - Example Usage: - \verbatim - - - ... - - true - 15.0 - stereo_projection_pattern_alpha.png - stereo_projection_pattern_filter.png - projector_controller/image - projector_controller/projector - 0.785398163 - 0.1 - 10 - - - - - \endverbatim - -\{ -*/ - -class GazeboRosProjector : public ModelPlugin -{ - /// \brief Constructor - /// \param parent The parent entity, must be a Model - public: GazeboRosProjector(); - - /// \brief Destructor - public: virtual ~GazeboRosProjector(); - - /// \brief Load the controller - /// \param node XML config node - protected: virtual void Load( physics::ModelPtr _parent, sdf::ElementPtr _sdf ); - - /// \brief pointer to the world - private: physics::WorldPtr world_; - - /// \brief Callback when a texture is published - private: void LoadImage(const std_msgs::String::ConstPtr& imageMsg); - - /// \brief Callbakc when a projector toggle is published - private: void ToggleProjector(const std_msgs::Int32::ConstPtr& projectorMsg); - - /// \brief A pointer to the ROS node. A node will be instantiated if it does not exist. - private: ros::NodeHandle* rosnode_; - private: ros::Subscriber imageSubscriber_; - private: ros::Subscriber projectorSubscriber_; - - /// \brief ROS texture topic name - private: std::string texture_topic_name_; - - /// \brief ROS projector topic name - private: std::string projector_topic_name_; - - /// \brief For setting ROS name space - private: std::string robot_namespace_; - - // Custom Callback Queue - private: ros::CallbackQueue queue_; - private: void QueueThread(); - private: boost::thread callback_queue_thread_; - - private: event::ConnectionPtr add_model_event_; - - private: transport::NodePtr node_; - private: transport::PublisherPtr projector_pub_; -}; - -/** \} */ -/// @} - -} -#endif - diff --git a/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_vacuum_gripper.h b/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_vacuum_gripper.h deleted file mode 100644 index b9e6a090a..000000000 --- a/.ros1_unported/gazebo_plugins/include/gazebo_plugins/gazebo_ros_vacuum_gripper.h +++ /dev/null @@ -1,161 +0,0 @@ -/* - * Copyright (C) 2015-2016 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. - * -*/ -/* - Desc: GazeboVacuumGripper plugin for manipulating objects in Gazebo - * Author: Kentaro Wada - * Date: 7 Dec 2015 - */ - -#ifndef GAZEBO_ROS_VACUUM_GRIPPER_HH -#define GAZEBO_ROS_VACUUM_GRIPPER_HH - -#include - -// Custom Callback Queue -#include -#include -#include -#include - -#include -#include -#include - -#include -#include -#include -#include - - -namespace gazebo -{ -/// @addtogroup gazebo_dynamic_plugins Gazebo ROS Dynamic Plugins -/// @{ -/** \defgroup GazeboRosVacuumGripper Plugin XML Reference and Example - - \brief Ros Vacuum Gripper Plugin. - - This is a Plugin that collects data from a ROS topic and applies wrench to a body accordingly. - - Example Usage: - - left_end_effector will be the power point - - revolute type joint is necessary (fixed joint disappears on gazebo and plugin can't find the joint and link) - \verbatim - - 0 - - - - - - - - - - - - - - - - - - - - - - - - /robot/left_vacuum_gripper - left_end_effector - grasping - - - \endverbatim - - -\{ -*/ - - -class GazeboRosVacuumGripper : public ModelPlugin -{ - /// \brief Constructor - public: GazeboRosVacuumGripper(); - - /// \brief Destructor - public: virtual ~GazeboRosVacuumGripper(); - - // Documentation inherited - protected: void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); - - // Documentation inherited - protected: virtual void UpdateChild(); - - /// \brief The custom callback queue thread function. - private: void QueueThread(); - - private: bool OnServiceCallback(std_srvs::Empty::Request &req, - std_srvs::Empty::Response &res); - private: bool OffServiceCallback(std_srvs::Empty::Request &req, - std_srvs::Empty::Response &res); - - private: bool status_; - - private: physics::ModelPtr parent_; - - /// \brief A pointer to the gazebo world. - private: physics::WorldPtr world_; - - /// \brief A pointer to the Link, where force is applied - private: physics::LinkPtr link_; - - /// \brief A pointer to the ROS node. A node will be instantiated if it does not exist. - private: ros::NodeHandle* rosnode_; - - /// \brief A mutex to lock access to fields that are used in ROS message callbacks - private: boost::mutex lock_; - private: ros::Publisher pub_; - private: ros::ServiceServer srv1_; - private: ros::ServiceServer srv2_; - - /// \brief ROS Wrench topic name inputs - private: std::string topic_name_; - private: std::string service_name_; - /// \brief The Link this plugin is attached to, and will exert forces on. - private: std::string link_name_; - - /// \brief for setting ROS name space - private: std::string robot_namespace_; - - // Custom Callback Queue - private: ros::CallbackQueue queue_; - /// \brief Thead object for the running callback Thread. - private: boost::thread callback_queue_thread_; - - // Pointer to the update event connection - private: event::ConnectionPtr update_connection_; - - /// \brief: keep track of number of connections - private: int connect_count_; - private: void Connect(); - private: void Disconnect(); -}; -/** \} */ -/// @} -} -#endif diff --git a/.ros1_unported/gazebo_plugins/src/gazebo_ros_elevator.cpp b/.ros1_unported/gazebo_plugins/src/gazebo_ros_elevator.cpp deleted file mode 100644 index 080d8fbe8..000000000 --- a/.ros1_unported/gazebo_plugins/src/gazebo_ros_elevator.cpp +++ /dev/null @@ -1,92 +0,0 @@ -/* - * Copyright 2015 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. - * -*/ -#include "gazebo_plugins/gazebo_ros_elevator.h" - -using namespace gazebo; - -GZ_REGISTER_MODEL_PLUGIN(GazeboRosElevator); - -///////////////////////////////////////////////// -GazeboRosElevator::GazeboRosElevator() -{ -} - -///////////////////////////////////////////////// -GazeboRosElevator::~GazeboRosElevator() -{ - this->queue_.clear(); - this->queue_.disable(); - this->rosnode_->shutdown(); - this->callbackQueueThread_.join(); - - delete this->rosnode_; -} - -///////////////////////////////////////////////// -void GazeboRosElevator::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) -{ - // load parameters - this->robotNamespace_ = ""; - if (_sdf->HasElement("robotNamespace")) - { - this->robotNamespace_ = _sdf->GetElement( - "robotNamespace")->Get() + "/"; - } - - // Make sure the ROS node for Gazebo has already been initialized - if (!ros::isInitialized()) - { - ROS_FATAL_STREAM_NAMED("elevator", "A ROS node for Gazebo has not been initialized," - << "unable to load plugin. Load the Gazebo system plugin " - << "'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); - return; - } - - std::string topic = "elevator"; - if (_sdf->HasElement("topic")) - topic = _sdf->Get("topic"); - - ElevatorPlugin::Load(_parent, _sdf); - - this->rosnode_ = new ros::NodeHandle(this->robotNamespace_); - - ros::SubscribeOptions so = - ros::SubscribeOptions::create(topic, 1, - boost::bind(&GazeboRosElevator::OnElevator, this, _1), - ros::VoidPtr(), &this->queue_); - - this->elevatorSub_ = this->rosnode_->subscribe(so); - - // start custom queue for elevator - this->callbackQueueThread_ = - boost::thread(boost::bind(&GazeboRosElevator::QueueThread, this)); -} - -///////////////////////////////////////////////// -void GazeboRosElevator::OnElevator(const std_msgs::String::ConstPtr &_msg) -{ - this->MoveToFloor(std::stoi(_msg->data)); -} - -///////////////////////////////////////////////// -void GazeboRosElevator::QueueThread() -{ - static const double timeout = 0.01; - - while (this->rosnode_->ok()) - this->queue_.callAvailable(ros::WallDuration(timeout)); -} diff --git a/.ros1_unported/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp b/.ros1_unported/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp deleted file mode 100644 index 2725febde..000000000 --- a/.ros1_unported/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp +++ /dev/null @@ -1,204 +0,0 @@ -/********************************************************************* - * Software License Agreement (BSD License) - * - * Copyright (c) 2013, Open Source Robotics Foundation - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the Open Source Robotics Foundation - * nor the names of its contributors may be - * used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *********************************************************************/ - -/** - * \author Jonathan Bohren - * \desc A "hand-of-god" plugin which drives a floating object around based - * on the location of a TF frame. This plugin is useful for connecting human input - * devices to "god-like" objects in a Gazebo simulation. - */ - -#include -#include - -namespace gazebo -{ - // Register this plugin with the simulator - GZ_REGISTER_MODEL_PLUGIN(GazeboRosHandOfGod); - - //////////////////////////////////////////////////////////////////////////////// - // Constructor - GazeboRosHandOfGod::GazeboRosHandOfGod() : - ModelPlugin(), - robot_namespace_(""), - frame_id_("hog"), - kl_(200), - ka_(200) - { - } - - //////////////////////////////////////////////////////////////////////////////// - // Destructor - GazeboRosHandOfGod::~GazeboRosHandOfGod() - { - } - - //////////////////////////////////////////////////////////////////////////////// - // Load the controller - void GazeboRosHandOfGod::Load( physics::ModelPtr _parent, sdf::ElementPtr _sdf ) - { - // Make sure the ROS node for Gazebo has already been initalized - if (!ros::isInitialized()) { - ROS_FATAL_STREAM_NAMED("hand_of_god", "A ROS node for Gazebo has not been initialized, unable to load plugin. " - << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); - return; - } - - // Get sdf parameters - if(_sdf->HasElement("robotNamespace")) { - this->robot_namespace_ = _sdf->Get("robotNamespace") + "/"; - } - - if(_sdf->HasElement("frameId")) { - this->frame_id_ = _sdf->Get("frameId"); - } - - if(_sdf->HasElement("kl")) { - this->kl_ = _sdf->Get("kl"); - } - if(_sdf->HasElement("ka")) { - this->ka_ = _sdf->Get("ka"); - } - - if(_sdf->HasElement("linkName")) { - this->link_name_ = _sdf->Get("linkName"); - } else { - ROS_FATAL_STREAM_NAMED("hand_of_god", "The hand-of-god plugin requires a `linkName` parameter tag"); - return; - } - - // Store the model - model_ = _parent; - - // Get the floating link - floating_link_ = model_->GetLink(link_name_); - // Disable gravity for the hog - floating_link_->SetGravityMode(false); - if(!floating_link_) { - ROS_ERROR_NAMED("hand_of_god", "Floating link not found"); - const std::vector &links = model_->GetLinks(); - for(unsigned i=0; i < links.size(); i++) { - ROS_ERROR_STREAM_NAMED("hand_of_god", " -- Link "<GetName()); - } - return; - } - -#if GAZEBO_MAJOR_VERSION >= 8 - cl_ = 2.0 * sqrt(kl_*floating_link_->GetInertial()->Mass()); - ca_ = 2.0 * sqrt(ka_*floating_link_->GetInertial()->IXX()); -#else - cl_ = 2.0 * sqrt(kl_*floating_link_->GetInertial()->GetMass()); - ca_ = 2.0 * sqrt(ka_*floating_link_->GetInertial()->GetIXX()); -#endif - - // Create the TF listener for the desired position of the hog - tf_buffer_.reset(new tf2_ros::Buffer()); - tf_listener_.reset(new tf2_ros::TransformListener(*tf_buffer_)); - tf_broadcaster_.reset(new tf2_ros::TransformBroadcaster()); - - // Register update event handler - this->update_connection_ = event::Events::ConnectWorldUpdateBegin( - boost::bind(&GazeboRosHandOfGod::GazeboUpdate, this)); - } - - //////////////////////////////////////////////////////////////////////////////// - // Update the controller - void GazeboRosHandOfGod::GazeboUpdate() - { - // Get TF transform relative to the /world link - geometry_msgs::TransformStamped hog_desired_tform; - static bool errored = false; - try{ - hog_desired_tform = tf_buffer_->lookupTransform("world", frame_id_+"_desired", ros::Time(0)); - errored = false; - } catch (tf2::TransformException ex){ - if(!errored) { - ROS_ERROR_NAMED("hand_of_god", "%s",ex.what()); - errored = true; - } - return; - } - - // Convert TF transform to Gazebo Pose - const geometry_msgs::Vector3 &p = hog_desired_tform.transform.translation; - const geometry_msgs::Quaternion &q = hog_desired_tform.transform.rotation; - ignition::math::Pose3d hog_desired( - ignition::math::Vector3d(p.x, p.y, p.z), - ignition::math::Quaterniond(q.w, q.x, q.y, q.z)); - - // Relative transform from actual to desired pose -#if GAZEBO_MAJOR_VERSION >= 8 - ignition::math::Pose3d world_pose = floating_link_->DirtyPose(); - ignition::math::Vector3d worldLinearVel = floating_link_->WorldLinearVel(); - ignition::math::Vector3d relativeAngularVel = floating_link_->RelativeAngularVel(); -#else - ignition::math::Pose3d world_pose = floating_link_->GetDirtyPose().Ign(); - ignition::math::Vector3d worldLinearVel = floating_link_->GetWorldLinearVel().Ign(); - ignition::math::Vector3d relativeAngularVel = floating_link_->GetRelativeAngularVel().Ign(); -#endif - ignition::math::Vector3d err_pos = hog_desired.Pos() - world_pose.Pos(); - // Get exponential coordinates for rotation - ignition::math::Quaterniond err_rot = (ignition::math::Matrix4d(world_pose.Rot()).Inverse() - * ignition::math::Matrix4d(hog_desired.Rot())).Rotation(); - ignition::math::Quaterniond not_a_quaternion = err_rot.Log(); - - floating_link_->AddForce( - kl_ * err_pos - cl_ * worldLinearVel); - - floating_link_->AddRelativeTorque( - ka_ * ignition::math::Vector3d(not_a_quaternion.X(), not_a_quaternion.Y(), not_a_quaternion.Z()) - - ca_ * relativeAngularVel); - - // Convert actual pose to TransformStamped message - geometry_msgs::TransformStamped hog_actual_tform; - - hog_actual_tform.header.frame_id = "world"; - hog_actual_tform.header.stamp = ros::Time::now(); - - hog_actual_tform.child_frame_id = frame_id_ + "_actual"; - - hog_actual_tform.transform.translation.x = world_pose.Pos().X(); - hog_actual_tform.transform.translation.y = world_pose.Pos().Y(); - hog_actual_tform.transform.translation.z = world_pose.Pos().Z(); - - hog_actual_tform.transform.rotation.w = world_pose.Rot().W(); - hog_actual_tform.transform.rotation.x = world_pose.Rot().X(); - hog_actual_tform.transform.rotation.y = world_pose.Rot().Y(); - hog_actual_tform.transform.rotation.z = world_pose.Rot().Z(); - - tf_broadcaster_->sendTransform(hog_actual_tform); - } - -} diff --git a/.ros1_unported/gazebo_plugins/src/gazebo_ros_harness.cpp b/.ros1_unported/gazebo_plugins/src/gazebo_ros_harness.cpp deleted file mode 100644 index d661ec832..000000000 --- a/.ros1_unported/gazebo_plugins/src/gazebo_ros_harness.cpp +++ /dev/null @@ -1,109 +0,0 @@ -/* - * Copyright (C) 2016 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. - * -*/ -#include -#include -#include - -#include "gazebo_plugins/gazebo_ros_harness.h" - -namespace gazebo -{ - -// Register this plugin with the simulator -GZ_REGISTER_MODEL_PLUGIN(GazeboRosHarness) - -///////////////////////////////////////////////// -GazeboRosHarness::GazeboRosHarness() -{ -} - -///////////////////////////////////////////////// -GazeboRosHarness::~GazeboRosHarness() -{ - // Custom Callback Queue - this->queue_.clear(); - this->queue_.disable(); - - this->rosnode_->shutdown(); - delete this->rosnode_; -} - -///////////////////////////////////////////////// -// Load the controller -void GazeboRosHarness::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) -{ - // Load the plugin - HarnessPlugin::Load(_parent, _sdf); - - this->robotNamespace_ = ""; - if (_sdf->HasElement("robotNamespace")) - this->robotNamespace_ = _sdf->Get("robotNamespace") + "/"; - - // Init ROS - if (!ros::isInitialized()) - { - ROS_FATAL_STREAM_NAMED("harness", "Not loading plugin since ROS hasn't been " - << "properly initialized. Try starting gazebo with ros plugin:\n" - << " gazebo -s libgazebo_ros_api_plugin.so\n"); - return; - } - - this->rosnode_ = new ros::NodeHandle(this->robotNamespace_); - - ros::SubscribeOptions so = ros::SubscribeOptions::create( - "/" + _parent->GetName() + "/harness/velocity", 1, - boost::bind(&GazeboRosHarness::OnVelocity, this, _1), - ros::VoidPtr(), &this->queue_); - this->velocitySub_ = this->rosnode_->subscribe(so); - - so = ros::SubscribeOptions::create( - "/" + _parent->GetName() + "/harness/detach", 1, - boost::bind(&GazeboRosHarness::OnDetach, this, _1), - ros::VoidPtr(), &this->queue_); - this->detachSub_ = this->rosnode_->subscribe(so); - - // Custom Callback Queue - this->callbackQueueThread_ = - boost::thread(boost::bind(&GazeboRosHarness::QueueThread, this)); -} - -///////////////////////////////////////////////// -void GazeboRosHarness::OnVelocity(const std_msgs::Float32::ConstPtr &msg) -{ - // Set the target winch velocity - this->SetWinchVelocity(msg->data); -} - -///////////////////////////////////////////////// -void GazeboRosHarness::OnDetach(const std_msgs::Bool::ConstPtr &msg) -{ - // Detach if true - if (msg->data) - this->Detach(); -} - -///////////////////////////////////////////////// -void GazeboRosHarness::QueueThread() -{ - static const double timeout = 0.01; - - while (this->rosnode_->ok()) - { - this->queue_.callAvailable(ros::WallDuration(timeout)); - } -} -} diff --git a/.ros1_unported/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp b/.ros1_unported/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp deleted file mode 100644 index e94b1e1d2..000000000 --- a/.ros1_unported/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp +++ /dev/null @@ -1,452 +0,0 @@ -/* - * Copyright 2013 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. - * -*/ - -/* - * Desc: 3D position interface for ground truth. - * Author: Sachin Chitta and John Hsu - * Date: 1 June 2008 - */ - -#include -#include -#include - -#include - -namespace gazebo -{ -GZ_REGISTER_MODEL_PLUGIN(GazeboRosJointPoseTrajectory); - -//////////////////////////////////////////////////////////////////////////////// -// Constructor -ROS_DEPRECATED GazeboRosJointPoseTrajectory::GazeboRosJointPoseTrajectory() // replaced with GazeboROSJointPoseTrajectory -{ - - this->has_trajectory_ = false; - this->trajectory_index = 0; - this->joint_trajectory_.points.clear(); - this->physics_engine_enabled_ = true; - this->disable_physics_updates_ = true; -} - -//////////////////////////////////////////////////////////////////////////////// -// Destructor -GazeboRosJointPoseTrajectory::~GazeboRosJointPoseTrajectory() -{ - this->update_connection_.reset(); - // Finalize the controller - this->rosnode_->shutdown(); - this->queue_.clear(); - this->queue_.disable(); - this->callback_queue_thread_.join(); - delete this->rosnode_; -} - -//////////////////////////////////////////////////////////////////////////////// -// Load the controller -void GazeboRosJointPoseTrajectory::Load(physics::ModelPtr _model, - sdf::ElementPtr _sdf) -{ - // save pointers - this->model_ = _model; - this->sdf = _sdf; - this->world_ = this->model_->GetWorld(); - - // this->world_->SetGravity(ignition::math::Vector3d(0, 0, 0)); - - // load parameters - this->robot_namespace_ = ""; - if (this->sdf->HasElement("robotNamespace")) - this->robot_namespace_ = this->sdf->Get("robotNamespace") + "/"; - - if (!this->sdf->HasElement("serviceName")) - { - // default - this->service_name_ = "set_joint_trajectory"; - } - else - this->service_name_ = this->sdf->Get("serviceName"); - - if (!this->sdf->HasElement("topicName")) - { - // default - this->topic_name_ = "set_joint_trajectory"; - } - else - this->topic_name_ = this->sdf->Get("topicName"); - - if (!this->sdf->HasElement("updateRate")) - { - ROS_INFO_NAMED("joint_pose_trajectory", "joint trajectory plugin missing , defaults" - " to 0.0 (as fast as possible)"); - this->update_rate_ = 0; - } - else - this->update_rate_ = this->sdf->Get("updateRate"); - - // Make sure the ROS node for Gazebo has already been initialized - if (!ros::isInitialized()) - { - ROS_FATAL_STREAM_NAMED("joint_pose_trajectory", "A ROS node for Gazebo has not been initialized, unable to load plugin. " - << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); - return; - } - - this->deferred_load_thread_ = boost::thread( - boost::bind(&GazeboRosJointPoseTrajectory::LoadThread, this)); - -} - -//////////////////////////////////////////////////////////////////////////////// -// Load the controller -void GazeboRosJointPoseTrajectory::LoadThread() -{ - this->rosnode_ = new ros::NodeHandle(this->robot_namespace_); - - // resolve tf prefix - std::string prefix; - this->rosnode_->getParam(std::string("tf_prefix"), prefix); - - if (this->topic_name_ != "") - { - ros::SubscribeOptions trajectory_so = - ros::SubscribeOptions::create( - this->topic_name_, 100, boost::bind( - &GazeboRosJointPoseTrajectory::SetTrajectory, this, _1), - ros::VoidPtr(), &this->queue_); - this->sub_ = this->rosnode_->subscribe(trajectory_so); - } - -#ifdef ENABLE_SERVICE - if (this->service_name_ != "") - { - ros::AdvertiseServiceOptions srv_aso = - ros::AdvertiseServiceOptions::create( - this->service_name_, - boost::bind(&GazeboRosJointPoseTrajectory::SetTrajectory, this, _1, _2), - ros::VoidPtr(), &this->queue_); - this->srv_ = this->rosnode_->advertiseService(srv_aso); - } -#endif - -#if GAZEBO_MAJOR_VERSION >= 8 - this->last_time_ = this->world_->SimTime(); -#else - this->last_time_ = this->world_->GetSimTime(); -#endif - - // start custom queue for joint trajectory plugin ros topics - this->callback_queue_thread_ = - boost::thread(boost::bind(&GazeboRosJointPoseTrajectory::QueueThread, this)); - - // New Mechanism for Updating every World Cycle - // Listen to the update event. This event is broadcast every - // simulation iteration. - this->update_connection_ = event::Events::ConnectWorldUpdateBegin( - boost::bind(&GazeboRosJointPoseTrajectory::UpdateStates, this)); -} - -//////////////////////////////////////////////////////////////////////////////// -// set joint trajectory -void GazeboRosJointPoseTrajectory::SetTrajectory( - const trajectory_msgs::JointTrajectory::ConstPtr& trajectory) -{ - boost::mutex::scoped_lock lock(this->update_mutex); - - this->reference_link_name_ = trajectory->header.frame_id; - // do this every time a new joint trajectory is supplied, - // use header.frame_id as the reference_link_name_ - if (this->reference_link_name_ != "world" && - this->reference_link_name_ != "/map" && - this->reference_link_name_ != "map") - { - physics::EntityPtr ent = -#if GAZEBO_MAJOR_VERSION >= 8 - this->world_->EntityByName(this->reference_link_name_); -#else - this->world_->GetEntity(this->reference_link_name_); -#endif - if (ent) - this->reference_link_ = boost::dynamic_pointer_cast(ent); - if (!this->reference_link_) - { - ROS_ERROR_NAMED("joint_pose_trajectory", "ros_joint_trajectory plugin needs a reference link [%s] as" - " frame_id, aborting.\n", this->reference_link_name_.c_str()); - return; - } - else - { - this->model_ = this->reference_link_->GetParentModel(); - ROS_DEBUG_NAMED("joint_pose_trajectory", "test: update model pose by keeping link [%s] stationary" - " inertially", this->reference_link_->GetName().c_str()); - } - } - - // copy joint configuration into a map - unsigned int chain_size = trajectory->joint_names.size(); - this->joints_.resize(chain_size); - for (unsigned int i = 0; i < chain_size; ++i) - { - this->joints_[i] = this->model_->GetJoint(trajectory->joint_names[i]); - } - - unsigned int points_size = trajectory->points.size(); - this->points_.resize(points_size); - for (unsigned int i = 0; i < points_size; ++i) - { - this->points_[i].positions.resize(chain_size); - this->points_[i].time_from_start = trajectory->points[i].time_from_start; - for (unsigned int j = 0; j < chain_size; ++j) - { - this->points_[i].positions[j] = trajectory->points[i].positions[j]; - } - } - - // trajectory start time - this->trajectory_start = gazebo::common::Time(trajectory->header.stamp.sec, - trajectory->header.stamp.nsec); -#if GAZEBO_MAJOR_VERSION >= 8 - common::Time cur_time = this->world_->SimTime(); -#else - common::Time cur_time = this->world_->GetSimTime(); -#endif - if (this->trajectory_start < cur_time) - this->trajectory_start = cur_time; - - // update the joint trajectory to play - this->has_trajectory_ = true; - // reset trajectory_index to beginning of new trajectory - this->trajectory_index = 0; - - if (this->disable_physics_updates_) - { -#if GAZEBO_MAJOR_VERSION >= 8 - this->physics_engine_enabled_ = this->world_->PhysicsEnabled(); - this->world_->SetPhysicsEnabled(false); -#else - this->physics_engine_enabled_ = this->world_->GetEnablePhysicsEngine(); - this->world_->EnablePhysicsEngine(false); -#endif - } -} - -#ifdef ENABLE_SERVICE -bool GazeboRosJointPoseTrajectory::SetTrajectory( - const gazebo_msgs::SetJointTrajectory::Request& req, - const gazebo_msgs::SetJointTrajectory::Response& res) -{ - boost::mutex::scoped_lock lock(this->update_mutex); - - this->model_pose_ = req.model_pose; - this->set_model_pose_ = req.set_model_pose; - - this->reference_link_name_ = req.joint_trajectory.header.frame_id; - // do this every time a new joint_trajectory is supplied, - // use header.frame_id as the reference_link_name_ - if (this->reference_link_name_ != "world" && - this->reference_link_name_ != "/map" && - this->reference_link_name_ != "map") - { - physics::EntityPtr ent = -#if GAZEBO_MAJOR_VERSION >= 8 - this->world_->EntityByName(this->reference_link_name_); -#else - this->world_->GetEntity(this->reference_link_name_); -#endif - if (ent) - this->reference_link_ = boost::dynamic_pointer_cast(ent); - if (!this->reference_link_) - { - ROS_ERROR_NAMED("joint_pose_trajectory", "ros_joint_trajectory plugin specified a reference link [%s]" - " that does not exist, aborting.\n", - this->reference_link_name_.c_str()); - ROS_DEBUG_NAMED("joint_pose_trajectory", "will set model [%s] configuration, keeping model root link" - " stationary.", this->model_->GetName().c_str()); - return false; - } - else - ROS_DEBUG_NAMED("joint_pose_trajectory", "test: update model pose by keeping link [%s] stationary" - " inertially", this->reference_link_->GetName().c_str()); - } - -#if GAZEBO_MAJOR_VERSION >= 8 - this->model_ = this->world_->ModelByName(req.model_name); -#else - this->model_ = this->world_->GetModel(req.model_name); -#endif - if (!this->model_) // look for it by frame_id name - { - this->model_ = this->reference_link_->GetParentModel(); - if (this->model_) - { - ROS_INFO_NAMED("joint_pose_trajectory", "found model[%s] by link name specified in frame_id[%s]", - this->model_->GetName().c_str(), - req.joint_trajectory.header.frame_id.c_str()); - } - else - { - ROS_WARN_NAMED("joint_pose_trajectory", "no model found by link name specified in frame_id[%s]," - " aborting.", req.joint_trajectory.header.frame_id.c_str()); - return false; - } - } - - // copy joint configuration into a map - this->joint_trajectory_ = req.joint_trajectory; - - // trajectory start time - this->trajectory_start = gazebo::common::Time( - req.joint_trajectory.header.stamp.sec, - req.joint_trajectory.header.stamp.nsec); - - // update the joint_trajectory to play - this->has_trajectory_ = true; - // reset trajectory_index to beginning of new trajectory - this->trajectory_index = 0; - this->disable_physics_updates_ = req.disable_physics_updates; - if (this->disable_physics_updates_) - { -#if GAZEBO_MAJOR_VERSION >= 8 - this->physics_engine_enabled_ = this->world_->PhysicsEnabled(); - this->world_->SetPhysicsEnabled(false); -#else - this->physics_engine_enabled_ = this->world_->GetEnablePhysicsEngine(); - this->world_->EnablePhysicsEngine(false); -#endif - } - - return true; -} -#endif - -//////////////////////////////////////////////////////////////////////////////// -// Play the trajectory, update states -void GazeboRosJointPoseTrajectory::UpdateStates() -{ - boost::mutex::scoped_lock lock(this->update_mutex); - if (this->has_trajectory_) - { -#if GAZEBO_MAJOR_VERSION >= 8 - common::Time cur_time = this->world_->SimTime(); -#else - common::Time cur_time = this->world_->GetSimTime(); -#endif - // roll out trajectory via set model configuration - // gzerr << "i[" << trajectory_index << "] time " - // << trajectory_start << " now: " << cur_time << " : "<< "\n"; - if (cur_time >= this->trajectory_start) - { - // @todo: consider a while loop until the trajectory - // catches up to the current time - // gzerr << trajectory_index << " : " << this->points_.size() << "\n"; - if (this->trajectory_index < this->points_.size()) - { - ROS_INFO_NAMED("joint_pose_trajectory", "time [%f] updating configuration [%d/%lu]", - cur_time.Double(), this->trajectory_index, this->points_.size()); - - // get reference link pose before updates -#if GAZEBO_MAJOR_VERSION >= 8 - ignition::math::Pose3d reference_pose = this->model_->WorldPose(); -#else - ignition::math::Pose3d reference_pose = this->model_->GetWorldPose().Ign(); -#endif - if (this->reference_link_) - { -#if GAZEBO_MAJOR_VERSION >= 8 - reference_pose = this->reference_link_->WorldPose(); -#else - reference_pose = this->reference_link_->GetWorldPose().Ign(); -#endif - } - - // trajectory roll-out based on time: - // set model configuration from trajectory message - unsigned int chain_size = this->joints_.size(); - if (chain_size == - this->points_[this->trajectory_index].positions.size()) - { - for (unsigned int i = 0; i < chain_size; ++i) - { - // this is not the most efficient way to set things - if (this->joints_[i]) - { -#if GAZEBO_MAJOR_VERSION >= 9 - this->joints_[i]->SetPosition(0, - this->points_[this->trajectory_index].positions[i], true); -#else - this->joints_[i]->SetPosition(0, - this->points_[this->trajectory_index].positions[i]); -#endif - } - } - - // set model pose - if (this->reference_link_) - this->model_->SetLinkWorldPose(reference_pose, - this->reference_link_); - else - this->model_->SetWorldPose(reference_pose); - } - else - { - ROS_ERROR_NAMED("joint_pose_trajectory", "point[%u] in JointTrajectory has different number of" - " joint names[%u] and positions[%lu].", - this->trajectory_index, chain_size, - this->points_[this->trajectory_index].positions.size()); - } - - // this->world_->SetPaused(is_paused); // resume original pause-state - gazebo::common::Time duration( - this->points_[this->trajectory_index].time_from_start.sec, - this->points_[this->trajectory_index].time_from_start.nsec); - - // reset start time for next trajectory point - this->trajectory_start += duration; - this->trajectory_index++; // increment to next trajectory point - - // save last update time stamp - this->last_time_ = cur_time; - } - else // no more trajectory points - { - // trajectory finished - this->reference_link_.reset(); - this->has_trajectory_ = false; - if (this->disable_physics_updates_) - { -#if GAZEBO_MAJOR_VERSION >= 8 - this->world_->SetPhysicsEnabled(this->physics_engine_enabled_); -#else - this->world_->EnablePhysicsEngine(this->physics_engine_enabled_); -#endif - } - } - } - } -} - -//////////////////////////////////////////////////////////////////////////////// -// Put laser data to the interface -void GazeboRosJointPoseTrajectory::QueueThread() -{ - static const double timeout = 0.01; - while (this->rosnode_->ok()) - { - this->queue_.callAvailable(ros::WallDuration(timeout)); - } -} -} diff --git a/.ros1_unported/gazebo_plugins/src/gazebo_ros_planar_move.cpp b/.ros1_unported/gazebo_plugins/src/gazebo_ros_planar_move.cpp deleted file mode 100644 index fdad12bc9..000000000 --- a/.ros1_unported/gazebo_plugins/src/gazebo_ros_planar_move.cpp +++ /dev/null @@ -1,295 +0,0 @@ -/* - * Copyright 2013 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. - * -*/ - -/* - * Desc: Simple model controller that uses a twist message to move a robot on - * the xy plane. - * Author: Piyush Khandelwal - * Date: 29 July 2013 - */ - -#include - -namespace gazebo -{ - - GazeboRosPlanarMove::GazeboRosPlanarMove() {} - - GazeboRosPlanarMove::~GazeboRosPlanarMove() {} - - // Load the controller - void GazeboRosPlanarMove::Load(physics::ModelPtr parent, - sdf::ElementPtr sdf) - { - - parent_ = parent; - - /* Parse parameters */ - - robot_namespace_ = ""; - if (!sdf->HasElement("robotNamespace")) - { - ROS_INFO_NAMED("planar_move", "PlanarMovePlugin missing , " - "defaults to \"%s\"", robot_namespace_.c_str()); - } - else - { - robot_namespace_ = - sdf->GetElement("robotNamespace")->Get(); - } - - command_topic_ = "cmd_vel"; - if (!sdf->HasElement("commandTopic")) - { - ROS_WARN_NAMED("planar_move", "PlanarMovePlugin (ns = %s) missing , " - "defaults to \"%s\"", - robot_namespace_.c_str(), command_topic_.c_str()); - } - else - { - command_topic_ = sdf->GetElement("commandTopic")->Get(); - } - - odometry_topic_ = "odom"; - if (!sdf->HasElement("odometryTopic")) - { - ROS_WARN_NAMED("planar_move", "PlanarMovePlugin (ns = %s) missing , " - "defaults to \"%s\"", - robot_namespace_.c_str(), odometry_topic_.c_str()); - } - else - { - odometry_topic_ = sdf->GetElement("odometryTopic")->Get(); - } - - odometry_frame_ = "odom"; - if (!sdf->HasElement("odometryFrame")) - { - ROS_WARN_NAMED("planar_move", "PlanarMovePlugin (ns = %s) missing , " - "defaults to \"%s\"", - robot_namespace_.c_str(), odometry_frame_.c_str()); - } - else - { - odometry_frame_ = sdf->GetElement("odometryFrame")->Get(); - } - - robot_base_frame_ = "base_footprint"; - if (!sdf->HasElement("robotBaseFrame")) - { - ROS_WARN_NAMED("planar_move", "PlanarMovePlugin (ns = %s) missing , " - "defaults to \"%s\"", - robot_namespace_.c_str(), robot_base_frame_.c_str()); - } - else - { - robot_base_frame_ = sdf->GetElement("robotBaseFrame")->Get(); - } - - odometry_rate_ = 20.0; - if (!sdf->HasElement("odometryRate")) - { - ROS_WARN_NAMED("planar_move", "PlanarMovePlugin (ns = %s) missing , " - "defaults to %f", - robot_namespace_.c_str(), odometry_rate_); - } - else - { - odometry_rate_ = sdf->GetElement("odometryRate")->Get(); - } - -#if GAZEBO_MAJOR_VERSION >= 8 - last_odom_publish_time_ = parent_->GetWorld()->SimTime(); -#else - last_odom_publish_time_ = parent_->GetWorld()->GetSimTime(); -#endif -#if GAZEBO_MAJOR_VERSION >= 8 - last_odom_pose_ = parent_->WorldPose(); -#else - last_odom_pose_ = parent_->GetWorldPose().Ign(); -#endif - x_ = 0; - y_ = 0; - rot_ = 0; - alive_ = true; - - // Ensure that ROS has been initialized and subscribe to cmd_vel - if (!ros::isInitialized()) - { - ROS_FATAL_STREAM_NAMED("planar_move", "PlanarMovePlugin (ns = " << robot_namespace_ - << "). A ROS node for Gazebo has not been initialized, " - << "unable to load plugin. Load the Gazebo system plugin " - << "'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); - return; - } - rosnode_.reset(new ros::NodeHandle(robot_namespace_)); - - ROS_DEBUG_NAMED("planar_move", "OCPlugin (%s) has started", - robot_namespace_.c_str()); - - tf_prefix_ = tf::getPrefixParam(*rosnode_); - transform_broadcaster_.reset(new tf::TransformBroadcaster()); - - // subscribe to the odometry topic - ros::SubscribeOptions so = - ros::SubscribeOptions::create(command_topic_, 1, - boost::bind(&GazeboRosPlanarMove::cmdVelCallback, this, _1), - ros::VoidPtr(), &queue_); - - vel_sub_ = rosnode_->subscribe(so); - odometry_pub_ = rosnode_->advertise(odometry_topic_, 1); - - // start custom queue for diff drive - callback_queue_thread_ = - boost::thread(boost::bind(&GazeboRosPlanarMove::QueueThread, this)); - - // listen to the update event (broadcast every simulation iteration) - update_connection_ = - event::Events::ConnectWorldUpdateBegin( - boost::bind(&GazeboRosPlanarMove::UpdateChild, this)); - - } - - // Update the controller - void GazeboRosPlanarMove::UpdateChild() - { - boost::mutex::scoped_lock scoped_lock(lock); -#if GAZEBO_MAJOR_VERSION >= 8 - ignition::math::Pose3d pose = parent_->WorldPose(); -#else - ignition::math::Pose3d pose = parent_->GetWorldPose().Ign(); -#endif - float yaw = pose.Rot().Yaw(); - parent_->SetLinearVel(ignition::math::Vector3d( - x_ * cosf(yaw) - y_ * sinf(yaw), - y_ * cosf(yaw) + x_ * sinf(yaw), - 0)); - parent_->SetAngularVel(ignition::math::Vector3d(0, 0, rot_)); - if (odometry_rate_ > 0.0) { -#if GAZEBO_MAJOR_VERSION >= 8 - common::Time current_time = parent_->GetWorld()->SimTime(); -#else - common::Time current_time = parent_->GetWorld()->GetSimTime(); -#endif - double seconds_since_last_update = - (current_time - last_odom_publish_time_).Double(); - if (seconds_since_last_update > (1.0 / odometry_rate_)) { - publishOdometry(seconds_since_last_update); - last_odom_publish_time_ = current_time; - } - } - } - - // Finalize the controller - void GazeboRosPlanarMove::FiniChild() { - alive_ = false; - queue_.clear(); - queue_.disable(); - rosnode_->shutdown(); - callback_queue_thread_.join(); - } - - void GazeboRosPlanarMove::cmdVelCallback( - const geometry_msgs::Twist::ConstPtr& cmd_msg) - { - boost::mutex::scoped_lock scoped_lock(lock); - x_ = cmd_msg->linear.x; - y_ = cmd_msg->linear.y; - rot_ = cmd_msg->angular.z; - } - - void GazeboRosPlanarMove::QueueThread() - { - static const double timeout = 0.01; - while (alive_ && rosnode_->ok()) - { - queue_.callAvailable(ros::WallDuration(timeout)); - } - } - - void GazeboRosPlanarMove::publishOdometry(double step_time) - { - - ros::Time current_time = ros::Time::now(); - std::string odom_frame = tf::resolve(tf_prefix_, odometry_frame_); - std::string base_footprint_frame = - tf::resolve(tf_prefix_, robot_base_frame_); - - // getting data for base_footprint to odom transform -#if GAZEBO_MAJOR_VERSION >= 8 - ignition::math::Pose3d pose = this->parent_->WorldPose(); -#else - ignition::math::Pose3d pose = this->parent_->GetWorldPose().Ign(); -#endif - - tf::Quaternion qt(pose.Rot().X(), pose.Rot().Y(), pose.Rot().Z(), pose.Rot().W()); - tf::Vector3 vt(pose.Pos().X(), pose.Pos().Y(), pose.Pos().Z()); - - tf::Transform base_footprint_to_odom(qt, vt); - transform_broadcaster_->sendTransform( - tf::StampedTransform(base_footprint_to_odom, current_time, odom_frame, - base_footprint_frame)); - - // publish odom topic - odom_.pose.pose.position.x = pose.Pos().X(); - odom_.pose.pose.position.y = pose.Pos().Y(); - - odom_.pose.pose.orientation.x = pose.Rot().X(); - odom_.pose.pose.orientation.y = pose.Rot().Y(); - odom_.pose.pose.orientation.z = pose.Rot().Z(); - odom_.pose.pose.orientation.w = pose.Rot().W(); - odom_.pose.covariance[0] = 0.00001; - odom_.pose.covariance[7] = 0.00001; - odom_.pose.covariance[14] = 1000000000000.0; - odom_.pose.covariance[21] = 1000000000000.0; - odom_.pose.covariance[28] = 1000000000000.0; - odom_.pose.covariance[35] = 0.001; - - // get velocity in /odom frame - ignition::math::Vector3d linear; - linear.X() = (pose.Pos().X() - last_odom_pose_.Pos().X()) / step_time; - linear.Y() = (pose.Pos().Y() - last_odom_pose_.Pos().Y()) / step_time; - if (rot_ > M_PI / step_time) - { - // we cannot calculate the angular velocity correctly - odom_.twist.twist.angular.z = rot_; - } - else - { - float last_yaw = last_odom_pose_.Rot().Yaw(); - float current_yaw = pose.Rot().Yaw(); - while (current_yaw < last_yaw - M_PI) current_yaw += 2 * M_PI; - while (current_yaw > last_yaw + M_PI) current_yaw -= 2 * M_PI; - float angular_diff = current_yaw - last_yaw; - odom_.twist.twist.angular.z = angular_diff / step_time; - } - last_odom_pose_ = pose; - - // convert velocity to child_frame_id (aka base_footprint) - float yaw = pose.Rot().Yaw(); - odom_.twist.twist.linear.x = cosf(yaw) * linear.X() + sinf(yaw) * linear.Y(); - odom_.twist.twist.linear.y = cosf(yaw) * linear.Y() - sinf(yaw) * linear.X(); - - odom_.header.stamp = current_time; - odom_.header.frame_id = odom_frame; - odom_.child_frame_id = base_footprint_frame; - - odometry_pub_.publish(odom_); - } - - GZ_REGISTER_MODEL_PLUGIN(GazeboRosPlanarMove) -} diff --git a/.ros1_unported/gazebo_plugins/src/gazebo_ros_projector.cpp b/.ros1_unported/gazebo_plugins/src/gazebo_ros_projector.cpp deleted file mode 100644 index ec05cc072..000000000 --- a/.ros1_unported/gazebo_plugins/src/gazebo_ros_projector.cpp +++ /dev/null @@ -1,176 +0,0 @@ -/* - * Copyright 2013 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. - * -*/ - -/* - Desc: GazeboRosTextureProjector plugin that controls texture projection - Author: Jared Duke - Date: 17 Jun 2010 - */ - -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include -#include - -#include -#include -#include -#include -#include - -namespace gazebo -{ -GZ_REGISTER_MODEL_PLUGIN(GazeboRosProjector); - -typedef std::map OgrePassMap; -typedef OgrePassMap::iterator OgrePassMapIterator; - - -//////////////////////////////////////////////////////////////////////////////// -// Constructor -GazeboRosProjector::GazeboRosProjector() -{ - this->rosnode_ = NULL; -} - - -//////////////////////////////////////////////////////////////////////////////// -// Destructor -GazeboRosProjector::~GazeboRosProjector() -{ - // Custom Callback Queue - this->queue_.clear(); - this->queue_.disable(); - this->rosnode_->shutdown(); - this->callback_queue_thread_.join(); - - delete this->rosnode_; -} - -//////////////////////////////////////////////////////////////////////////////// -// Load the controller -void GazeboRosProjector::Load( physics::ModelPtr _parent, sdf::ElementPtr _sdf ) -{ - this->world_ = _parent->GetWorld(); - - - - - // Create a new transport node for talking to the projector - this->node_.reset(new transport::Node()); - // Initialize the node with the world name -#if GAZEBO_MAJOR_VERSION >= 8 - this->node_->Init(this->world_->Name()); -#else - this->node_->Init(this->world_->GetName()); -#endif - // Setting projector topic - std::string name = std::string("~/") + _parent->GetName() + "/" + - _sdf->Get("projector"); - // Create a publisher on the ~/physics topic - this->projector_pub_ = node_->Advertise(name); - - - - // load parameters - this->robot_namespace_ = ""; - if (_sdf->HasElement("robotNamespace")) - this->robot_namespace_ = _sdf->GetElement("robotNamespace")->Get() + "/"; - - this->texture_topic_name_ = ""; - if (_sdf->HasElement("textureTopicName")) - this->texture_topic_name_ = _sdf->GetElement("textureTopicName")->Get(); - - this->projector_topic_name_ = ""; - if (_sdf->HasElement("projectorTopicName")) - this->projector_topic_name_ = _sdf->GetElement("projectorTopicName")->Get(); - - // Make sure the ROS node for Gazebo has already been initialized - if (!ros::isInitialized()) - { - ROS_FATAL_STREAM_NAMED("projector", "A ROS node for Gazebo has not been initialized, unable to load plugin. " - << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); - return; - } - - - this->rosnode_ = new ros::NodeHandle(this->robot_namespace_); - - - // Custom Callback Queue - ros::SubscribeOptions so = ros::SubscribeOptions::create( - this->projector_topic_name_,1, - boost::bind( &GazeboRosProjector::ToggleProjector,this,_1), - ros::VoidPtr(), &this->queue_); - this->projectorSubscriber_ = this->rosnode_->subscribe(so); - - ros::SubscribeOptions so2 = ros::SubscribeOptions::create( - this->texture_topic_name_,1, - boost::bind( &GazeboRosProjector::LoadImage,this,_1), - ros::VoidPtr(), &this->queue_); - this->imageSubscriber_ = this->rosnode_->subscribe(so2); - - - // Custom Callback Queue - this->callback_queue_thread_ = boost::thread( boost::bind( &GazeboRosProjector::QueueThread,this ) ); - -} - - -//////////////////////////////////////////////////////////////////////////////// -// Load a texture into the projector -void GazeboRosProjector::LoadImage(const std_msgs::String::ConstPtr& imageMsg) -{ - msgs::Projector msg; - msg.set_name("texture_projector"); - msg.set_texture(imageMsg->data); - this->projector_pub_->Publish(msg); -} - -//////////////////////////////////////////////////////////////////////////////// -// Toggle the activation of the projector -void GazeboRosProjector::ToggleProjector(const std_msgs::Int32::ConstPtr& projectorMsg) -{ - msgs::Projector msg; - msg.set_name("texture_projector"); - msg.set_enabled(projectorMsg->data); - this->projector_pub_->Publish(msg); -} - - -//////////////////////////////////////////////////////////////////////////////// -// Custom callback queue thread -void GazeboRosProjector::QueueThread() -{ - static const double timeout = 0.01; - - while (this->rosnode_->ok()) - { - this->queue_.callAvailable(ros::WallDuration(timeout)); - } -} - -} diff --git a/.ros1_unported/gazebo_plugins/src/gazebo_ros_vacuum_gripper.cpp b/.ros1_unported/gazebo_plugins/src/gazebo_ros_vacuum_gripper.cpp deleted file mode 100644 index fee4d3822..000000000 --- a/.ros1_unported/gazebo_plugins/src/gazebo_ros_vacuum_gripper.cpp +++ /dev/null @@ -1,259 +0,0 @@ -/* - * Copyright 2015 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. - * -*/ - -/* - Desc: GazeboVacuumGripper plugin for manipulating objects in Gazebo - Author: Kentaro Wada - Date: 7 Dec 2015 - */ - -#include -#include - -#include -#include - - -namespace gazebo -{ -GZ_REGISTER_MODEL_PLUGIN(GazeboRosVacuumGripper); - -//////////////////////////////////////////////////////////////////////////////// -// Constructor -GazeboRosVacuumGripper::GazeboRosVacuumGripper() -{ - connect_count_ = 0; - status_ = false; -} - -//////////////////////////////////////////////////////////////////////////////// -// Destructor -GazeboRosVacuumGripper::~GazeboRosVacuumGripper() -{ - update_connection_.reset(); - - // Custom Callback Queue - queue_.clear(); - queue_.disable(); - rosnode_->shutdown(); - callback_queue_thread_.join(); - - delete rosnode_; -} - -//////////////////////////////////////////////////////////////////////////////// -// Load the controller -void GazeboRosVacuumGripper::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) -{ - ROS_INFO_NAMED("vacuum_gripper", "Loading gazebo_ros_vacuum_gripper"); - - // Set attached model; - parent_ = _model; - - // Get the world name. - world_ = _model->GetWorld(); - - // load parameters - robot_namespace_ = ""; - if (_sdf->HasElement("robotNamespace")) - robot_namespace_ = _sdf->GetElement("robotNamespace")->Get() + "/"; - - if (!_sdf->HasElement("bodyName")) - { - ROS_FATAL_NAMED("vacuum_gripper", "vacuum_gripper plugin missing , cannot proceed"); - return; - } - else - link_name_ = _sdf->GetElement("bodyName")->Get(); - - link_ = _model->GetLink(link_name_); - if (!link_) - { - std::string found; - physics::Link_V links = _model->GetLinks(); - for (size_t i = 0; i < links.size(); i++) { - found += std::string(" ") + links[i]->GetName(); - } - ROS_FATAL_NAMED("vacuum_gripper", "gazebo_ros_vacuum_gripper plugin error: link named: %s does not exist", link_name_.c_str()); - ROS_FATAL_NAMED("vacuum_gripper", "gazebo_ros_vacuum_gripper plugin error: You should check it exists and is not connected with fixed joint"); - ROS_FATAL_NAMED("vacuum_gripper", "gazebo_ros_vacuum_gripper plugin error: Found links are: %s", found.c_str()); - return; - } - - if (!_sdf->HasElement("topicName")) - { - ROS_FATAL_NAMED("vacuum_gripper", "vacuum_gripper plugin missing , cannot proceed"); - return; - } - else - topic_name_ = _sdf->GetElement("topicName")->Get(); - - // Make sure the ROS node for Gazebo has already been initialized - if (!ros::isInitialized()) - { - ROS_FATAL_STREAM_NAMED("vacuum_gripper", "A ROS node for Gazebo has not been initialized, unable to load plugin. " - << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); - return; - } - - rosnode_ = new ros::NodeHandle(robot_namespace_); - - // Custom Callback Queue - ros::AdvertiseOptions ao = ros::AdvertiseOptions::create( - topic_name_, 1, - boost::bind(&GazeboRosVacuumGripper::Connect, this), - boost::bind(&GazeboRosVacuumGripper::Disconnect, this), - ros::VoidPtr(), &queue_); - pub_ = rosnode_->advertise(ao); - - // Custom Callback Queue - ros::AdvertiseServiceOptions aso1 = - ros::AdvertiseServiceOptions::create( - "on", boost::bind(&GazeboRosVacuumGripper::OnServiceCallback, - this, _1, _2), ros::VoidPtr(), &queue_); - srv1_ = rosnode_->advertiseService(aso1); - ros::AdvertiseServiceOptions aso2 = - ros::AdvertiseServiceOptions::create( - "off", boost::bind(&GazeboRosVacuumGripper::OffServiceCallback, - this, _1, _2), ros::VoidPtr(), &queue_); - srv2_ = rosnode_->advertiseService(aso2); - - // Custom Callback Queue - callback_queue_thread_ = boost::thread( boost::bind( &GazeboRosVacuumGripper::QueueThread,this ) ); - - // New Mechanism for Updating every World Cycle - // Listen to the update event. This event is broadcast every - // simulation iteration. - update_connection_ = event::Events::ConnectWorldUpdateBegin( - boost::bind(&GazeboRosVacuumGripper::UpdateChild, this)); - - ROS_INFO_NAMED("vacuum_gripper", "Loaded gazebo_ros_vacuum_gripper"); -} - -bool GazeboRosVacuumGripper::OnServiceCallback(std_srvs::Empty::Request &req, - std_srvs::Empty::Response &res) -{ - if (status_) { - ROS_WARN_NAMED("vacuum_gripper", "gazebo_ros_vacuum_gripper: already status is 'on'"); - } else { - status_ = true; - ROS_INFO_NAMED("vacuum_gripper", "gazebo_ros_vacuum_gripper: status: off -> on"); - } - return true; -} -bool GazeboRosVacuumGripper::OffServiceCallback(std_srvs::Empty::Request &req, - std_srvs::Empty::Response &res) -{ - if (status_) { - status_ = false; - ROS_INFO_NAMED("vacuum_gripper", "gazebo_ros_vacuum_gripper: status: on -> off"); - } else { - ROS_WARN_NAMED("vacuum_gripper", "gazebo_ros_vacuum_gripper: already status is 'off'"); - } - return true; -} - -//////////////////////////////////////////////////////////////////////////////// -// Update the controller -void GazeboRosVacuumGripper::UpdateChild() -{ - std_msgs::Bool grasping_msg; - grasping_msg.data = false; - if (!status_) { - pub_.publish(grasping_msg); - return; - } - // apply force - lock_.lock(); -#if GAZEBO_MAJOR_VERSION >= 8 - ignition::math::Pose3d parent_pose = link_->WorldPose(); - physics::Model_V models = world_->Models(); -#else - ignition::math::Pose3d parent_pose = link_->GetWorldPose().Ign(); - physics::Model_V models = world_->GetModels(); -#endif - for (size_t i = 0; i < models.size(); i++) { - if (models[i]->GetName() == link_->GetName() || - models[i]->GetName() == parent_->GetName()) - { - continue; - } - physics::Link_V links = models[i]->GetLinks(); - for (size_t j = 0; j < links.size(); j++) { -#if GAZEBO_MAJOR_VERSION >= 8 - ignition::math::Pose3d link_pose = links[j]->WorldPose(); -#else - ignition::math::Pose3d link_pose = links[j]->GetWorldPose().Ign(); -#endif - ignition::math::Pose3d diff = parent_pose - link_pose; - double norm = diff.Pos().Length(); - if (norm < 0.05) { -#if GAZEBO_MAJOR_VERSION >= 8 - links[j]->SetLinearVel(link_->WorldLinearVel()); - links[j]->SetAngularVel(link_->WorldAngularVel()); -#else - links[j]->SetLinearVel(link_->GetWorldLinearVel()); - links[j]->SetAngularVel(link_->GetWorldAngularVel()); -#endif - double norm_force = 1 / norm; - if (norm < 0.01) { - // apply friction like force - // TODO(unknown): should apply friction actually - link_pose.Set(parent_pose.Pos(), link_pose.Rot()); - links[j]->SetWorldPose(link_pose); - } - if (norm_force > 20) { - norm_force = 20; // max_force - } - ignition::math::Vector3d force = norm_force * diff.Pos().Normalize(); - links[j]->AddForce(force); - grasping_msg.data = true; - } - } - } - pub_.publish(grasping_msg); - lock_.unlock(); -} - -// Custom Callback Queue -//////////////////////////////////////////////////////////////////////////////// -// custom callback queue thread -void GazeboRosVacuumGripper::QueueThread() -{ - static const double timeout = 0.01; - - while (rosnode_->ok()) - { - queue_.callAvailable(ros::WallDuration(timeout)); - } -} - -//////////////////////////////////////////////////////////////////////////////// -// Someone subscribes to me -void GazeboRosVacuumGripper::Connect() -{ - this->connect_count_++; -} - -//////////////////////////////////////////////////////////////////////////////// -// Someone subscribes to me -void GazeboRosVacuumGripper::Disconnect() -{ - this->connect_count_--; -} - -} // namespace gazebo diff --git a/.ros1_unported/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h b/.ros1_unported/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h index 2d96d6729..f1cd2fa61 100644 --- a/.ros1_unported/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h +++ b/.ros1_unported/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h @@ -63,9 +63,6 @@ #include "gazebo_msgs/SetLightProperties.h" // Topics -#include "gazebo_msgs/ModelStates.h" -#include "gazebo_msgs/LinkStates.h" - #include "geometry_msgs/Vector3.h" #include "geometry_msgs/Pose.h" #include "geometry_msgs/Twist.h" @@ -113,18 +110,6 @@ class GazeboRosApiPlugin : public SystemPlugin /// \brief advertise services void advertiseServices(); - /// \brief - void onLinkStatesConnect(); - - /// \brief - void onModelStatesConnect(); - - /// \brief - void onLinkStatesDisconnect(); - - /// \brief - void onModelStatesDisconnect(); - /// \brief bool getModelProperties(gazebo_msgs::GetModelProperties::Request &req,gazebo_msgs::GetModelProperties::Response &res); @@ -164,12 +149,6 @@ class GazeboRosApiPlugin : public SystemPlugin void publishSimTime(const boost::shared_ptr &msg); void publishSimTime(); - /// \brief - void publishLinkStates(); - - /// \brief - void publishModelStates(); - /// \brief Used for the dynamic reconfigure callback function template void physicsReconfigureCallback(gazebo_ros::PhysicsConfig &config, uint32_t level); @@ -198,8 +177,6 @@ class GazeboRosApiPlugin : public SystemPlugin gazebo::physics::WorldPtr world_; gazebo::event::ConnectionPtr time_update_event_; - gazebo::event::ConnectionPtr pub_link_states_event_; - gazebo::event::ConnectionPtr pub_model_states_event_; gazebo::event::ConnectionPtr load_gazebo_ros_api_plugin_event_; ros::ServiceServer get_model_properties_service_; @@ -213,10 +190,6 @@ class GazeboRosApiPlugin : public SystemPlugin ros::ServiceServer get_physics_properties_service_; ros::ServiceServer set_joint_properties_service_; ros::ServiceServer set_model_configuration_service_; - ros::Publisher pub_link_states_; - ros::Publisher pub_model_states_; - int pub_link_states_connection_count_; - int pub_model_states_connection_count_; // ROS comm boost::shared_ptr async_ros_spin_; diff --git a/.ros1_unported/gazebo_ros/scripts/debug b/.ros1_unported/gazebo_ros/scripts/debug deleted file mode 100755 index 37cd902de..000000000 --- a/.ros1_unported/gazebo_ros/scripts/debug +++ /dev/null @@ -1,22 +0,0 @@ -#!/bin/sh -final="$@" - -EXT=so -if [ $(uname) == "Darwin" ]; then - EXT=dylib -fi - -# add ros path plugin if it does not already exist in the passed in arguments -if [ `expr "$final" : ".*libgazebo_ros_paths_plugin\.$EXT.*"` -eq 0 ] -then - final="$final -s `catkin_find --first-only libgazebo_ros_paths_plugin.$EXT`" -fi - -# add ros api plugin if it does not already exist in the passed in arguments -if [ `expr "$final" : ".*libgazebo_ros_api_plugin\.$EXT.*"` -eq 0 ] -then - final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.$EXT`" -fi - -setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/ -. $setup_path/setup.sh && rosrun gazebo_ros gdbrun gzserver $final diff --git a/.ros1_unported/gazebo_ros/scripts/gazebo b/.ros1_unported/gazebo_ros/scripts/gazebo deleted file mode 100755 index 883aeb48e..000000000 --- a/.ros1_unported/gazebo_ros/scripts/gazebo +++ /dev/null @@ -1,55 +0,0 @@ -#!/bin/sh -[ -L ${0} ] && SCRIPT_DIR=$(readlink ${0}) || SCRIPT_DIR=${0} -SCRIPT_DIR=$(dirname ${SCRIPT_DIR}) - -. ${SCRIPT_DIR}/libcommon.sh - -final="$@" - -EXT=so -if [ $(uname) = "Darwin" ]; then - EXT=dylib -fi - -# add ros path plugin if it does not already exist in the passed in arguments -if [ `expr "$final" : ".*libgazebo_ros_paths_plugin\.$EXT.*"` -eq 0 ] -then - final="$final -s `catkin_find --first-only libgazebo_ros_paths_plugin.$EXT`" -fi - -# add ros api plugin if it does not already exist in the passed in arguments -if [ `expr "$final" : ".*libgazebo_ros_api_plugin\.$EXT.*"` -eq 0 ] -then - final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.$EXT`" -fi - -client_final="-g `catkin_find --first-only libgazebo_ros_paths_plugin.$EXT`" - -setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/ - -# source setup.sh, but keep local modifications to GAZEBO_MASTER_URI and GAZEBO_MODEL_DATABASE_URI -desired_master_uri="$GAZEBO_MASTER_URI" -desired_model_database_uri="$GAZEBO_MODEL_DATABASE_URI" -. $setup_path/setup.sh -if [ "$desired_master_uri" = "" ]; then - desired_master_uri="$GAZEBO_MASTER_URI" -fi -if [ "$desired_model_database_uri" = "" ]; then - desired_model_database_uri="$GAZEBO_MODEL_DATABASE_URI" -fi - -final=$(relocate_remappings "${final}") - -# Combine the commands -GAZEBO_MASTER_URI="$desired_master_uri" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" gzserver $final & -gzserver_pid="$!" -# Use kill -0 to check if the process is running -if $(kill -0 $! 2> /dev/null); then - GAZEBO_MASTER_URI="$desired_master_uri" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" gzclient $client_final -fi - -# Kill the server if it is alive -if $(kill -0 $! 2> /dev/null); then - # -2 SIGINT valid for Linux and Mac - kill -2 $! -fi diff --git a/.ros1_unported/gazebo_ros/scripts/gdbrun b/.ros1_unported/gazebo_ros/scripts/gdbrun deleted file mode 100755 index 9a503846c..000000000 --- a/.ros1_unported/gazebo_ros/scripts/gdbrun +++ /dev/null @@ -1,25 +0,0 @@ -#!/bin/bash -extra_text="" -if [ "$1" = "--break-main" ]; then - extra_text="break main" - shift -fi - -EXEC="$1" - -shift - -run_text="run" -for a in "$@"; do - run_text="${run_text} \"$a\"" -done - -TMPFILE=/tmp/gdbrun.$$.$#.tmp -cat > ${TMPFILE} < - - - model://{} - - -""" - - def __init__(self): - parser = argparse.ArgumentParser(description='Spawn a model in gazebo using the ROS API') - xmlformat = parser.add_mutually_exclusive_group(required=True) - xmlformat.add_argument('-urdf', action='store_true', help='Incoming xml is in urdf format') - xmlformat.add_argument('-sdf', action='store_true', help='Incoming xml is in sdf format') - source = parser.add_mutually_exclusive_group(required=True) - source.add_argument('-file', type=str, metavar='FILE_NAME', help='Load model xml from file') - source.add_argument('-param', type=str, metavar='PARAM_NAME', help='Load model xml from ROS parameter') - source.add_argument('-database', type=str, metavar='MODEL_NAME', - help='Load model XML from specified model in Gazebo Model Database') - source.add_argument('-stdin', action='store_true', help='Load model from stdin') - parser.add_argument('-model', required=True, type=str, metavar='MODEL_NAME', help='Name of model to spawn') - parser.add_argument('-reference_frame', type=str, default='', - help='Name of the model/body where initial pose is defined.\ - If left empty or specified as "world", gazebo world frame is used') - parser.add_argument('-gazebo_namespace', type=str, default='/gazebo', - help='ROS namespace of gazebo offered ROS interfaces. Defaults to /gazebo/') - parser.add_argument('-robot_namespace', type=str, default=rospy.get_namespace(), - help='change ROS namespace of gazebo-plugins') - parser.add_argument('-unpause', action='store_true', - help='!!!Experimental!!! unpause physics after spawning model') - parser.add_argument('-wait', type=str, metavar='MODEL_NAME', help='!!!Experimental!!! wait for model to exist') - parser.add_argument('-x', type=float, default=0, help='x component of initial position, meters') - parser.add_argument('-y', type=float, default=0, help='y component of initial position, meters') - parser.add_argument('-z', type=float, default=0, help='z component of initial position, meters') - parser.add_argument('-R', type=float, default=0, help='roll angle of initial orientation, radians') - parser.add_argument('-P', type=float, default=0, help='pitch angle of initial orientation, radians') - parser.add_argument('-Y', type=float, default=0, help='yaw angle of initial orientation, radians') - parser.add_argument('-J', dest='joints', default=[], action='append', metavar=('JOINT_NAME', 'JOINT_POSITION'), - type=str, nargs=2, help='initialize the specified joint at the specified position') - parser.add_argument('-package_to_model', action='store_true', - help='convert urdf 0) // disconnect if there are subscribers on exit - pub_link_states_event_.reset(); - if (pub_model_states_connection_count_ > 0) // disconnect if there are subscribers on exit - pub_model_states_event_.reset(); - ROS_DEBUG_STREAM_NAMED("api_plugin","Disconnected World Updates"); - // Stop the multi threaded ROS spinner async_ros_spin_->stop(); ROS_DEBUG_STREAM_NAMED("api_plugin","Async ROS Spin Stopped"); @@ -167,10 +159,6 @@ void GazeboRosApiPlugin::loadGazeboRosApiPlugin(std::string world_name) //stat_sub_ = gazebonode_->Subscribe("~/world_stats", &GazeboRosApiPlugin::publishSimTime, this); // TODO: does not work in server plugin? light_modify_pub_ = gazebonode_->Advertise("~/light/modify"); - // reset topic connection counts - pub_link_states_connection_count_ = 0; - pub_model_states_connection_count_ = 0; - /// \brief advertise all services if (enable_ros_network_) advertiseServices(); @@ -274,24 +262,6 @@ void GazeboRosApiPlugin::advertiseServices() ros::VoidPtr(), &gazebo_queue_); get_physics_properties_service_ = nh_->advertiseService(get_physics_properties_aso); - // publish complete link states in world frame - ros::AdvertiseOptions pub_link_states_ao = - ros::AdvertiseOptions::create( - "link_states",10, - boost::bind(&GazeboRosApiPlugin::onLinkStatesConnect,this), - boost::bind(&GazeboRosApiPlugin::onLinkStatesDisconnect,this), - ros::VoidPtr(), &gazebo_queue_); - pub_link_states_ = nh_->advertise(pub_link_states_ao); - - // publish complete model states in world frame - ros::AdvertiseOptions pub_model_states_ao = - ros::AdvertiseOptions::create( - "model_states",10, - boost::bind(&GazeboRosApiPlugin::onModelStatesConnect,this), - boost::bind(&GazeboRosApiPlugin::onModelStatesDisconnect,this), - ros::VoidPtr(), &gazebo_queue_); - pub_model_states_ = nh_->advertise(pub_model_states_ao); - // Advertise more services on the custom queue std::string set_link_properties_service_name("set_link_properties"); ros::AdvertiseServiceOptions set_link_properties_aso = @@ -341,42 +311,6 @@ void GazeboRosApiPlugin::advertiseServices() #endif } -void GazeboRosApiPlugin::onLinkStatesConnect() -{ - pub_link_states_connection_count_++; - if (pub_link_states_connection_count_ == 1) // connect on first subscriber - pub_link_states_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::publishLinkStates,this)); -} - -void GazeboRosApiPlugin::onModelStatesConnect() -{ - pub_model_states_connection_count_++; - if (pub_model_states_connection_count_ == 1) // connect on first subscriber - pub_model_states_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::publishModelStates,this)); -} - -void GazeboRosApiPlugin::onLinkStatesDisconnect() -{ - pub_link_states_connection_count_--; - if (pub_link_states_connection_count_ <= 0) // disconnect with no subscribers - { - pub_link_states_event_.reset(); - if (pub_link_states_connection_count_ < 0) // should not be possible - ROS_ERROR_NAMED("api_plugin", "One too mandy disconnect from pub_link_states_ in gazebo_ros.cpp? something weird"); - } -} - -void GazeboRosApiPlugin::onModelStatesDisconnect() -{ - pub_model_states_connection_count_--; - if (pub_model_states_connection_count_ <= 0) // disconnect with no subscribers - { - pub_model_states_event_.reset(); - if (pub_model_states_connection_count_ < 0) // should not be possible - ROS_ERROR_NAMED("api_plugin", "One too mandy disconnect from pub_model_states_ in gazebo_ros.cpp? something weird"); - } -} - bool GazeboRosApiPlugin::getModelProperties(gazebo_msgs::GetModelProperties::Request &req, gazebo_msgs::GetModelProperties::Response &res) { @@ -907,107 +841,6 @@ void GazeboRosApiPlugin::publishSimTime() pub_clock_.publish(ros_time_); } -void GazeboRosApiPlugin::publishLinkStates() -{ - gazebo_msgs::LinkStates link_states; - - // fill link_states -#if GAZEBO_MAJOR_VERSION >= 8 - for (unsigned int i = 0; i < world_->ModelCount(); i ++) - { - gazebo::physics::ModelPtr model = world_->ModelByIndex(i); -#else - for (unsigned int i = 0; i < world_->GetModelCount(); i ++) - { - gazebo::physics::ModelPtr model = world_->GetModel(i); -#endif - - for (unsigned int j = 0 ; j < model->GetChildCount(); j ++) - { - gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast(model->GetChild(j)); - - if (body) - { - link_states.name.push_back(body->GetScopedName()); - geometry_msgs::Pose pose; -#if GAZEBO_MAJOR_VERSION >= 8 - ignition::math::Pose3d body_pose = body->WorldPose(); // - myBody->GetCoMPose(); - ignition::math::Vector3d linear_vel = body->WorldLinearVel(); - ignition::math::Vector3d angular_vel = body->WorldAngularVel(); -#else - ignition::math::Pose3d body_pose = body->GetWorldPose().Ign(); // - myBody->GetCoMPose(); - ignition::math::Vector3d linear_vel = body->GetWorldLinearVel().Ign(); - ignition::math::Vector3d angular_vel = body->GetWorldAngularVel().Ign(); -#endif - ignition::math::Vector3d pos = body_pose.Pos(); - ignition::math::Quaterniond rot = body_pose.Rot(); - pose.position.x = pos.X(); - pose.position.y = pos.Y(); - pose.position.z = pos.Z(); - pose.orientation.w = rot.W(); - pose.orientation.x = rot.X(); - pose.orientation.y = rot.Y(); - pose.orientation.z = rot.Z(); - link_states.pose.push_back(pose); - geometry_msgs::Twist twist; - twist.linear.x = linear_vel.X(); - twist.linear.y = linear_vel.Y(); - twist.linear.z = linear_vel.Z(); - twist.angular.x = angular_vel.X(); - twist.angular.y = angular_vel.Y(); - twist.angular.z = angular_vel.Z(); - link_states.twist.push_back(twist); - } - } - } - - pub_link_states_.publish(link_states); -} - -void GazeboRosApiPlugin::publishModelStates() -{ - gazebo_msgs::ModelStates model_states; - - // fill model_states -#if GAZEBO_MAJOR_VERSION >= 8 - for (unsigned int i = 0; i < world_->ModelCount(); i ++) - { - gazebo::physics::ModelPtr model = world_->ModelByIndex(i); - ignition::math::Pose3d model_pose = model->WorldPose(); // - myBody->GetCoMPose(); - ignition::math::Vector3d linear_vel = model->WorldLinearVel(); - ignition::math::Vector3d angular_vel = model->WorldAngularVel(); -#else - for (unsigned int i = 0; i < world_->GetModelCount(); i ++) - { - gazebo::physics::ModelPtr model = world_->GetModel(i); - ignition::math::Pose3d model_pose = model->GetWorldPose().Ign(); // - myBody->GetCoMPose(); - ignition::math::Vector3d linear_vel = model->GetWorldLinearVel().Ign(); - ignition::math::Vector3d angular_vel = model->GetWorldAngularVel().Ign(); -#endif - ignition::math::Vector3d pos = model_pose.Pos(); - ignition::math::Quaterniond rot = model_pose.Rot(); - geometry_msgs::Pose pose; - pose.position.x = pos.X(); - pose.position.y = pos.Y(); - pose.position.z = pos.Z(); - pose.orientation.w = rot.W(); - pose.orientation.x = rot.X(); - pose.orientation.y = rot.Y(); - pose.orientation.z = rot.Z(); - model_states.pose.push_back(pose); - model_states.name.push_back(model->GetName()); - geometry_msgs::Twist twist; - twist.linear.x = linear_vel.X(); - twist.linear.y = linear_vel.Y(); - twist.linear.z = linear_vel.Z(); - twist.angular.x = angular_vel.X(); - twist.angular.y = angular_vel.Y(); - twist.angular.z = angular_vel.Z(); - model_states.twist.push_back(twist); - } - pub_model_states_.publish(model_states); -} - void GazeboRosApiPlugin::physicsReconfigureCallback(gazebo_ros::PhysicsConfig &config, uint32_t level) { if (!physics_reconfigure_initialized_) diff --git a/gazebo_msgs/srv/SetJointTrajectory.srv b/gazebo_msgs/srv/SetJointTrajectory.srv index 62169e6e9..ac9d38aee 100644 --- a/gazebo_msgs/srv/SetJointTrajectory.srv +++ b/gazebo_msgs/srv/SetJointTrajectory.srv @@ -1,3 +1,4 @@ +# Deprecated, kept for ROS 1 bridge. string model_name trajectory_msgs/JointTrajectory joint_trajectory geometry_msgs/Pose model_pose diff --git a/gazebo_plugins/CMakeLists.txt b/gazebo_plugins/CMakeLists.txt index a6649c1ca..6ec59d06d 100644 --- a/gazebo_plugins/CMakeLists.txt +++ b/gazebo_plugins/CMakeLists.txt @@ -23,9 +23,11 @@ find_package(nav_msgs REQUIRED) find_package(rclcpp REQUIRED) find_package(sensor_msgs REQUIRED) find_package(std_msgs REQUIRED) +find_package(std_srvs REQUIRED) find_package(tf2 REQUIRED) find_package(tf2_geometry_msgs REQUIRED) find_package(tf2_ros REQUIRED) +find_package(trajectory_msgs REQUIRED) include_directories(include ${gazebo_dev_INCLUDE_DIRS} @@ -205,6 +207,118 @@ ament_target_dependencies(gazebo_ros_bumper ) ament_export_libraries(gazebo_ros_bumper) +# gazebo_ros_harness +add_library(gazebo_ros_harness SHARED + src/gazebo_ros_harness.cpp +) +ament_target_dependencies(gazebo_ros_harness + "gazebo_dev" + "gazebo_ros" + "rclcpp" + "std_msgs" +) +target_link_libraries(gazebo_ros_harness + HarnessPlugin +) +ament_export_libraries(gazebo_ros_harness) + +# gazebo_ros_hand_of_god +add_library(gazebo_ros_hand_of_god SHARED + src/gazebo_ros_hand_of_god.cpp +) +ament_target_dependencies(gazebo_ros_hand_of_god + "gazebo_ros" + "gazebo_dev" + "rclcpp" + "tf2" + "tf2_geometry_msgs" + "tf2_ros" +) +ament_export_libraries(gazebo_ros_hand_of_god) + +# gazebo_ros_ackermann_drive +add_library(gazebo_ros_ackermann_drive SHARED + src/gazebo_ros_ackermann_drive.cpp +) +ament_target_dependencies(gazebo_ros_ackermann_drive + "gazebo_dev" + "gazebo_ros" + "geometry_msgs" + "nav_msgs" + "rclcpp" + "tf2" + "tf2_geometry_msgs" + "tf2_ros" +) +ament_export_libraries(gazebo_ros_ackermann_drive) + +# gazebo_ros_elevator +add_library(gazebo_ros_elevator SHARED + src/gazebo_ros_elevator.cpp +) +ament_target_dependencies(gazebo_ros_elevator + "gazebo_ros" + "gazebo_dev" + "rclcpp" + "std_msgs" +) +target_link_libraries(gazebo_ros_elevator + ElevatorPlugin +) +ament_export_libraries(gazebo_ros_elevator) + +# gazebo_ros_vacuum_gripper +add_library(gazebo_ros_vacuum_gripper SHARED + src/gazebo_ros_vacuum_gripper.cpp +) +ament_target_dependencies(gazebo_ros_vacuum_gripper + "gazebo_ros" + "gazebo_dev" + "rclcpp" + "std_msgs" + "std_srvs" +) +ament_export_libraries(gazebo_ros_vacuum_gripper) + +# gazebo_ros_joint_pose_trajectory +add_library(gazebo_ros_joint_pose_trajectory SHARED + src/gazebo_ros_joint_pose_trajectory.cpp +) +ament_target_dependencies(gazebo_ros_joint_pose_trajectory + "gazebo_dev" + "gazebo_ros" + "rclcpp" + "trajectory_msgs" +) +ament_export_libraries(gazebo_ros_joint_pose_trajectory) + +# gazebo_ros_planar_move +add_library(gazebo_ros_planar_move SHARED + src/gazebo_ros_planar_move.cpp +) +ament_target_dependencies(gazebo_ros_planar_move + "gazebo_dev" + "gazebo_ros" + "nav_msgs" + "rclcpp" + "tf2" + "tf2_geometry_msgs" + "tf2_ros" +) +ament_export_libraries(gazebo_ros_planar_move) + +# gazebo_ros_projector +add_library(gazebo_ros_projector SHARED + src/gazebo_ros_projector.cpp +) +ament_target_dependencies(gazebo_ros_projector + "gazebo_ros" + "gazebo_dev" + "rclcpp" + "std_msgs" +) +ament_export_libraries(gazebo_ros_projector) + ament_export_include_directories(include) ament_export_dependencies(rclcpp) ament_export_dependencies(gazebo_dev) @@ -223,17 +337,25 @@ install(DIRECTORY include/ DESTINATION include) install(TARGETS + gazebo_ros_ackermann_drive gazebo_ros_bumper gazebo_ros_camera gazebo_ros_diff_drive + gazebo_ros_elevator gazebo_ros_force gazebo_ros_ft_sensor + gazebo_ros_hand_of_god + gazebo_ros_harness gazebo_ros_imu_sensor + gazebo_ros_joint_pose_trajectory gazebo_ros_joint_state_publisher + gazebo_ros_planar_move + gazebo_ros_projector gazebo_ros_ray_sensor gazebo_ros_p3d gazebo_ros_template gazebo_ros_tricycle_drive + gazebo_ros_vacuum_gripper gazebo_ros_video multi_camera_plugin ARCHIVE DESTINATION lib diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_ackermann_drive.hpp b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_ackermann_drive.hpp new file mode 100644 index 000000000..4d1c90d4f --- /dev/null +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_ackermann_drive.hpp @@ -0,0 +1,103 @@ +// Copyright 2019 Open Source Robotics Foundation, Inc. +// +// 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 GAZEBO_PLUGINS__GAZEBO_ROS_ACKERMANN_DRIVE_HPP_ +#define GAZEBO_PLUGINS__GAZEBO_ROS_ACKERMANN_DRIVE_HPP_ + +#include + +#include + +namespace gazebo_plugins +{ +class GazeboRosAckermannDrivePrivate; + +/// A ackermann drive plugin for car like robots. Subscribes to geometry_msgs/twist + +/** + Example Usage: + \code{.xml} + + + + demo + cmd_vel:=cmd_demo + odom:=odom_demo + distance:=distance_demo + + + 100.0 + + + front_left_wheel_joint + front_right_wheel_joint + rear_left_wheel_joint + rear_right_wheel_joint + front_left_steer_joint + front_right_steer_joint + steering_joint + + + + 0.6458 + + + 7.85 + + + 20 + + + 1500 0 1 + 0 0 + 1500 0 1 + 0 0 + 1000 0 1 + 0 0 + + + true + true + true + true + + odom_demo + chassis + + + \endcode +*/ +class GazeboRosAckermannDrive : public gazebo::ModelPlugin +{ +public: + /// Constructor + GazeboRosAckermannDrive(); + + /// Destructor + ~GazeboRosAckermannDrive(); + +protected: + // Documentation inherited + void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override; + + // Documentation inherited + void Reset() override; + +private: + /// Private data pointer + std::unique_ptr impl_; +}; +} // namespace gazebo_plugins + +#endif // GAZEBO_PLUGINS__GAZEBO_ROS_ACKERMANN_DRIVE_HPP_ diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_elevator.hpp b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_elevator.hpp new file mode 100644 index 000000000..a1d7efbaf --- /dev/null +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_elevator.hpp @@ -0,0 +1,68 @@ +// Copyright 2019 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 GAZEBO_PLUGINS__GAZEBO_ROS_ELEVATOR_HPP_ +#define GAZEBO_PLUGINS__GAZEBO_ROS_ELEVATOR_HPP_ + +#include +#include + +#include + +namespace gazebo_plugins +{ +class GazeboRosElevatorPrivate; + +/// A elevator plugin for gazebo. +/** + Example Usage: + \code{.xml} + + + + demo + + + elevator:=elevator_demo + + + + 0 + 1 + \endcode +*/ +class GazeboRosElevator : public gazebo::ElevatorPlugin +{ +public: + /// Constructor + GazeboRosElevator(); + + /// Destructor + ~GazeboRosElevator(); + +protected: + /// Callback for receiving message on elevator's topic. + /// \param[in] msg String message that contains a elevator command. + void OnElevator(const std_msgs::msg::String::ConstSharedPtr msg); + + // Documentation inherited + void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override; + +private: + /// Private data pointer + std::unique_ptr impl_; +}; +} // namespace gazebo_plugins + +#endif // GAZEBO_PLUGINS__GAZEBO_ROS_ELEVATOR_HPP_ diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.hpp b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.hpp new file mode 100644 index 000000000..653871744 --- /dev/null +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.hpp @@ -0,0 +1,73 @@ +// Copyright 2019 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 GAZEBO_PLUGINS__GAZEBO_ROS_HAND_OF_GOD_HPP_ +#define GAZEBO_PLUGINS__GAZEBO_ROS_HAND_OF_GOD_HPP_ + +#include + +#include + +namespace gazebo_plugins +{ +class GazeboRosHandOfGodPrivate; + +/// Drives a floating object around based on the location of a TF frame. +/// It is useful for connecting human input +/** + Example Usage: + \code{.xml} + + + + + + /demo + + + + + link + + + + link + + + 200 + 200 + + + \endcode +*/ +class GazeboRosHandOfGod : public gazebo::ModelPlugin +{ +public: + /// Constructor + GazeboRosHandOfGod(); + + /// Destructor + ~GazeboRosHandOfGod(); + +protected: + // Documentation inherited + void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override; + +private: + /// Private data pointer + std::unique_ptr impl_; +}; +} // namespace gazebo_plugins + +#endif // GAZEBO_PLUGINS__GAZEBO_ROS_HAND_OF_GOD_HPP_ diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_harness.hpp b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_harness.hpp new file mode 100644 index 000000000..6a8b34856 --- /dev/null +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_harness.hpp @@ -0,0 +1,129 @@ +// Copyright 2019 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 GAZEBO_PLUGINS__GAZEBO_ROS_HARNESS_HPP_ +#define GAZEBO_PLUGINS__GAZEBO_ROS_HARNESS_HPP_ + +#include +#include + +#include + +namespace gazebo_plugins +{ +class GazeboRosHarnessPrivate; + +/// Harness plugin for gazebo. +/// Used to lower a model in a smooth manner +/** + Example Usage: + \code{.xml} + + + + + demo + box/harness/velocity:=velocity_demo + box/harness/detach:=detach_demo + + + + + + + 0 0 0 0 0 0 + world + link + + 0 0 1 + + 10 + + + -1.5 + 1.5 + 10000 + -1 + 0 + 0 + + + + + 1 + + 0.0 + 0.0 + + + + + + + joint1 + + +

1000000

+ 0 + 0 + 0 + 0 + -10000 + 10000 + + + +

10000

+ 0 + 0 + 0 + 0 + 0 + 10000 + + + + + joint1 + + + \endcode +*/ +class GazeboRosHarness : public gazebo::HarnessPlugin +{ +public: + /// Constructor + GazeboRosHarness(); + + /// Destructor + ~GazeboRosHarness(); + +protected: + /// Callback for receiving detach messages. + /// \param[in] msg Empty message. + void OnDetach(const std_msgs::msg::Empty::ConstSharedPtr msg); + + // Documentation inherited + void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override; + +private: + /// Private data pointer + std::unique_ptr impl_; +}; +} // namespace gazebo_plugins + +#endif // GAZEBO_PLUGINS__GAZEBO_ROS_HARNESS_HPP_ diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_pose_trajectory.hpp b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_pose_trajectory.hpp new file mode 100644 index 000000000..0baae5469 --- /dev/null +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_pose_trajectory.hpp @@ -0,0 +1,68 @@ +// Copyright 2019 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 GAZEBO_PLUGINS__GAZEBO_ROS_JOINT_POSE_TRAJECTORY_HPP_ +#define GAZEBO_PLUGINS__GAZEBO_ROS_JOINT_POSE_TRAJECTORY_HPP_ + +#include + +#include + +namespace gazebo_plugins +{ +class GazeboRosJointPoseTrajectoryPrivate; + +/// Set the trajectory of points to be followed by joints in simulation. +/// Currently only positions specified in the trajectory_msgs are handled. +/** + Example Usage: + \code{.xml} + + + + + + /my_namespace + + + set_joint_trajectory:=my_trajectory + + + + + 2 + + + \endcode +*/ +class GazeboRosJointPoseTrajectory : public gazebo::ModelPlugin +{ +public: + /// Constructor + GazeboRosJointPoseTrajectory(); + + /// Destructor + ~GazeboRosJointPoseTrajectory(); + +protected: + // Documentation inherited + void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) override; + +private: + /// Private data pointer + std::unique_ptr impl_; +}; +} // namespace gazebo_plugins +#endif // GAZEBO_PLUGINS__GAZEBO_ROS_JOINT_POSE_TRAJECTORY_HPP_ diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_planar_move.hpp b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_planar_move.hpp new file mode 100644 index 000000000..b4db7836c --- /dev/null +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_planar_move.hpp @@ -0,0 +1,89 @@ +// Copyright 2019 Open Source Robotics Foundation, Inc. +// +// 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 GAZEBO_PLUGINS__GAZEBO_ROS_PLANAR_MOVE_HPP_ +#define GAZEBO_PLUGINS__GAZEBO_ROS_PLANAR_MOVE_HPP_ + +#include + +#include + +namespace gazebo_plugins +{ +class GazeboRosPlanarMovePrivate; + +/// Simple model controller that uses a twist message to move an entity on the xy plane. +/* + * \author Piyush Khandelwal (piyushk@gmail.com) + * + * \date 29 July 2013 + */ + +/** + Example Usage: + \code{.xml} + + + + + + /demo + + + cmd_vel:=custom_cmd_vel + odom:=custom_odom + + + + 100 + 10 + + + true + true + + odom_demo + link + + 0.0001 + 0.0001 + 0.01 + + + \endcode +*/ + +class GazeboRosPlanarMove : public gazebo::ModelPlugin +{ +public: + /// Constructor + GazeboRosPlanarMove(); + + /// Destructor + ~GazeboRosPlanarMove(); + +protected: + // Documentation inherited + void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) override; + + // Documentation inherited + void Reset() override; + +private: + /// Private data pointer + std::unique_ptr impl_; +}; +} // namespace gazebo_plugins + +#endif // GAZEBO_PLUGINS__GAZEBO_ROS_PLANAR_MOVE_HPP_ diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_projector.hpp b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_projector.hpp new file mode 100644 index 000000000..b7fd0dacf --- /dev/null +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_projector.hpp @@ -0,0 +1,63 @@ +// Copyright 2019 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 GAZEBO_PLUGINS__GAZEBO_ROS_PROJECTOR_HPP_ +#define GAZEBO_PLUGINS__GAZEBO_ROS_PROJECTOR_HPP_ + +#include + +#include + +namespace gazebo_plugins +{ +class GazeboRosProjectorPrivate; + +/// A projector plugin for gazebo. +/** + Example Usage: + \code{.xml} + + + + demo + + + switch:=switch_demo + + projector_link + my_projector + + + \endcode +*/ +class GazeboRosProjector : public gazebo::ModelPlugin +{ +public: + /// Constructor + GazeboRosProjector(); + + /// Destructor + ~GazeboRosProjector(); + +protected: + // Documentation inherited + void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override; + +private: + /// Private data pointer + std::unique_ptr impl_; +}; +} // namespace gazebo_plugins + +#endif // GAZEBO_PLUGINS__GAZEBO_ROS_PROJECTOR_HPP_ diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_vacuum_gripper.hpp b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_vacuum_gripper.hpp new file mode 100644 index 000000000..ca26f5c8e --- /dev/null +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_vacuum_gripper.hpp @@ -0,0 +1,79 @@ +// Copyright 2019 Open Source Robotics Foundation, Inc. +// +// 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 GAZEBO_PLUGINS__GAZEBO_ROS_VACUUM_GRIPPER_HPP_ +#define GAZEBO_PLUGINS__GAZEBO_ROS_VACUUM_GRIPPER_HPP_ + +#include + +#include + +namespace gazebo_plugins +{ +class GazeboRosVacuumGripperPrivate; + +/// Vacuum Gripper plugin for attracting entities around the model like vacuum +/* + * \author Kentaro Wada + * + * \date 7 Dec 2015 + */ +/** + Example Usage: + \code{.xml} + + + + + + /demo + + + switch:=custom_switch + grasping:=custom_grasping + + + + link + + + 10.0 + + + ground_plane + wall + + + \endcode +*/ +class GazeboRosVacuumGripper : public gazebo::ModelPlugin +{ +public: + /// Constructor + GazeboRosVacuumGripper(); + + /// Destructor + ~GazeboRosVacuumGripper(); + +protected: + // Documentation inherited + void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override; + +private: + /// Private data pointer + std::unique_ptr impl_; +}; +} // namespace gazebo_plugins + +#endif // GAZEBO_PLUGINS__GAZEBO_ROS_VACUUM_GRIPPER_HPP_ diff --git a/gazebo_plugins/package.xml b/gazebo_plugins/package.xml index 829fe7654..c975c2c31 100644 --- a/gazebo_plugins/package.xml +++ b/gazebo_plugins/package.xml @@ -26,8 +26,10 @@ nav_msgs sensor_msgs std_msgs + std_srvs tf2_geometry_msgs tf2_ros + trajectory_msgs gazebo_dev gazebo_msgs diff --git a/gazebo_plugins/src/gazebo_ros_ackermann_drive.cpp b/gazebo_plugins/src/gazebo_ros_ackermann_drive.cpp new file mode 100644 index 000000000..99e8cbcc0 --- /dev/null +++ b/gazebo_plugins/src/gazebo_ros_ackermann_drive.cpp @@ -0,0 +1,596 @@ +// Copyright 2019 Open Source Robotics Foundation, Inc. +// +// 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. + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include + +namespace gazebo_plugins +{ +class GazeboRosAckermannDrivePrivate +{ +public: + /// Indicates which joint + enum + { + /// Front right wheel + FRONT_RIGHT, + + /// Front left wheel + FRONT_LEFT, + + /// Rear right wheel + REAR_RIGHT, + + /// Rear left wheel + REAR_LEFT, + + /// Right steering + STEER_RIGHT, + + /// Left steering + STEER_LEFT, + + /// Steering wheel + STEER_WHEEL + }; + + /// Callback to be called at every simulation iteration. + /// \param[in] _info Updated simulation info. + void OnUpdate(const gazebo::common::UpdateInfo & _info); + + /// Callback when a velocity command is received. + /// \param[in] _msg Twist command message. + void OnCmdVel(geometry_msgs::msg::Twist::SharedPtr _msg); + + /// Extracts radius of a cylinder or sphere collision shape + /// \param[in] _coll Pointer to collision + /// \return If the collision shape is valid, return radius + /// \return If the collision shape is invalid, return 0 + double CollisionRadius(const gazebo::physics::CollisionPtr & _coll); + + /// Update odometry according to world + void UpdateOdometryWorld(); + + /// Publish odometry transforms + /// \param[in] _current_time Current simulation time + void PublishOdometryTf(const gazebo::common::Time & _current_time); + + /// Publish trasforms for the wheels + /// \param[in] _current_time Current simulation time + void PublishWheelsTf(const gazebo::common::Time & _current_time); + + /// Publish odometry messages + /// \param[in] _current_time Current simulation time + void PublishOdometryMsg(const gazebo::common::Time & _current_time); + + /// A pointer to the GazeboROS node. + gazebo_ros::Node::SharedPtr ros_node_; + + /// Subscriber to command velocities + rclcpp::Subscription::SharedPtr cmd_vel_sub_; + + /// Odometry publisher + rclcpp::Publisher::SharedPtr odometry_pub_; + + /// Distance publisher + rclcpp::Publisher::SharedPtr distance_pub_; + + /// Connection to event called at every world iteration. + gazebo::event::ConnectionPtr update_connection_; + + /// Pointers to wheel joints. + std::vector joints_; + + /// Pointer to model. + gazebo::physics::ModelPtr model_; + + /// Distance between the wheels, in meters. + double wheel_separation_; + + /// Distance between front and rear axles, in meters. + double wheel_base_; + + /// Radius of rear wheels, in meters. + double wheel_radius_; + + /// Angle ratio between the steering wheel and the front wheels + double steering_ratio_ = 0; + + // Max steering angle + double max_speed_ = 0; + + // Max steering angle of tyre + double max_steer_ = 0; + + /// To broadcast TFs + std::shared_ptr transform_broadcaster_; + + /// Protect variables accessed on callbacks. + std::mutex lock_; + + /// Linear velocity in X received on command (m/s). + double target_linear_{0.0}; + + /// Angular velocity in Z received on command (rad/s). + double target_rot_{0.0}; + + /// Update period in seconds. + double update_period_; + + /// Last update time. + gazebo::common::Time last_update_time_; + + /// Odometry frame ID + std::string odometry_frame_; + + /// Keep latest odometry message + nav_msgs::msg::Odometry odom_; + + /// Keep latest distance message + std_msgs::msg::Float32 distance_; + + /// Robot base frame ID + std::string robot_base_frame_; + + /// True to publish odometry messages. + bool publish_odom_; + + /// True to publish distance travelled + bool publish_distance_; + + /// True to publish wheel-to-base transforms. + bool publish_wheel_tf_; + + /// True to publish odom-to-world transforms. + bool publish_odom_tf_; + + /// Covariance in odometry + double covariance_[3]; + + /// PID control for left steering control + gazebo::common::PID pid_left_steering_; + + /// PID control for right steering control + gazebo::common::PID pid_right_steering_; + + /// PID control for linear velocity control + gazebo::common::PID pid_linear_vel_; +}; + +GazeboRosAckermannDrive::GazeboRosAckermannDrive() +: impl_(std::make_unique()) +{ +} + +GazeboRosAckermannDrive::~GazeboRosAckermannDrive() +{ +} + +void GazeboRosAckermannDrive::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + impl_->model_ = _model; + + auto world = impl_->model_->GetWorld(); + auto physicsEngine = world->Physics(); + physicsEngine->SetParam("friction_model", std::string("cone_model")); + + // Initialize ROS node + impl_->ros_node_ = gazebo_ros::Node::Get(_sdf); + + impl_->joints_.resize(7); + + auto steering_wheel_joint = + _sdf->Get("steering_wheel_joint", "steering_wheel_joint").first; + impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_WHEEL] = + _model->GetJoint(steering_wheel_joint); + if (!impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_WHEEL]) { + RCLCPP_WARN(impl_->ros_node_->get_logger(), + "Steering wheel joint [%s] not found.", steering_wheel_joint.c_str()); + impl_->joints_.resize(6); + } + + auto front_right_joint = _sdf->Get("front_right_joint", "front_right_joint").first; + impl_->joints_[GazeboRosAckermannDrivePrivate::FRONT_RIGHT] = _model->GetJoint(front_right_joint); + if (!impl_->joints_[GazeboRosAckermannDrivePrivate::FRONT_RIGHT]) { + RCLCPP_ERROR(impl_->ros_node_->get_logger(), + "Front right wheel joint [%s] not found, plugin will not work.", front_right_joint.c_str()); + impl_->ros_node_.reset(); + return; + } + + auto front_left_joint = _sdf->Get("front_left_joint", "front_left_joint").first; + impl_->joints_[GazeboRosAckermannDrivePrivate::FRONT_LEFT] = _model->GetJoint(front_left_joint); + if (!impl_->joints_[GazeboRosAckermannDrivePrivate::FRONT_LEFT]) { + RCLCPP_ERROR(impl_->ros_node_->get_logger(), + "Front left wheel joint [%s] not found, plugin will not work.", front_left_joint.c_str()); + impl_->ros_node_.reset(); + return; + } + + auto rear_right_joint = _sdf->Get("rear_right_joint", "rear_right_joint").first; + impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_RIGHT] = _model->GetJoint(rear_right_joint); + if (!impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_RIGHT]) { + RCLCPP_ERROR(impl_->ros_node_->get_logger(), + "Rear right wheel joint [%s] not found, plugin will not work.", rear_right_joint.c_str()); + impl_->ros_node_.reset(); + return; + } + + auto rear_left_joint = _sdf->Get("rear_left_joint", "rear_left_joint").first; + impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_LEFT] = _model->GetJoint(rear_left_joint); + if (!impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_LEFT]) { + RCLCPP_ERROR(impl_->ros_node_->get_logger(), + "Rear left wheel joint [%s] not found, plugin will not work.", rear_left_joint.c_str()); + impl_->ros_node_.reset(); + return; + } + + auto right_steering_joint = + _sdf->Get("right_steering_joint", "right_steering_joint").first; + impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_RIGHT] = + _model->GetJoint(right_steering_joint); + if (!impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_RIGHT]) { + RCLCPP_ERROR(impl_->ros_node_->get_logger(), + "Right wheel steering joint [%s] not found, plugin will not work.", + right_steering_joint.c_str()); + impl_->ros_node_.reset(); + return; + } + + auto left_steering_joint = + _sdf->Get("left_steering_joint", "left_steering_joint").first; + impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_LEFT] = + _model->GetJoint(left_steering_joint); + if (!impl_->joints_[GazeboRosAckermannDrivePrivate::STEER_LEFT]) { + RCLCPP_ERROR(impl_->ros_node_->get_logger(), + "Left wheel steering joint [%s] not found, plugin will not work.", + left_steering_joint.c_str()); + impl_->ros_node_.reset(); + return; + } + + impl_->max_speed_ = _sdf->Get("max_speed", 20.0).first; + impl_->max_steer_ = _sdf->Get("max_steer", 0.6).first; + + // Max the steering wheel can rotate + auto max_steering_angle = _sdf->Get("max_steering_angle", 7.85).first; + + // Compute the angle ratio between the steering wheel and the tires + impl_->steering_ratio_ = impl_->max_steer_ / max_steering_angle; + + auto pid = _sdf->Get( + "right_steering_pid_gain", ignition::math::Vector3d::Zero).first; + auto i_range = _sdf->Get( + "right_steering_i_range", ignition::math::Vector2d::Zero).first; + impl_->pid_right_steering_.Init(pid.X(), pid.Y(), pid.Z(), i_range.Y(), i_range.X()); + + pid = _sdf->Get( + "left_steering_pid_gain", ignition::math::Vector3d::Zero).first; + i_range = _sdf->Get( + "left_steering_i_range", ignition::math::Vector2d::Zero).first; + impl_->pid_left_steering_.Init(pid.X(), pid.Y(), pid.Z(), i_range.Y(), i_range.X()); + + pid = _sdf->Get( + "linear_velocity_pid_gain", ignition::math::Vector3d::Zero).first; + i_range = _sdf->Get( + "linear_velocity_i_range", ignition::math::Vector2d::Zero).first; + impl_->pid_linear_vel_.Init(pid.X(), pid.Y(), pid.Z(), i_range.Y(), i_range.X()); + + // Update wheel radiu for wheel from SDF collision objects + // assumes that wheel link is child of joint (and not parent of joint) + // assumes that wheel link has only one collision + // assumes all wheel of both rear wheels of same radii + unsigned int id = 0; + impl_->wheel_radius_ = impl_->CollisionRadius( + impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_RIGHT]->GetChild()->GetCollision(id)); + + // Compute wheel_base, front wheel separation, and rear wheel separation + // first compute the positions of the 4 wheel centers + // again assumes wheel link is child of joint and has only one collision + auto front_right_center_pos = impl_->joints_[GazeboRosAckermannDrivePrivate::FRONT_RIGHT]-> + GetChild()->GetCollision(id)->WorldPose().Pos(); + auto front_left_center_pos = impl_->joints_[GazeboRosAckermannDrivePrivate::FRONT_LEFT]-> + GetChild()->GetCollision(id)->WorldPose().Pos(); + auto rear_right_center_pos = impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_RIGHT]-> + GetChild()->GetCollision(id)->WorldPose().Pos(); + auto rear_left_center_pos = impl_->joints_[GazeboRosAckermannDrivePrivate::REAR_LEFT]-> + GetChild()->GetCollision(id)->WorldPose().Pos(); + + auto distance = front_left_center_pos - front_right_center_pos; + impl_->wheel_separation_ = distance.Length(); + + // to compute wheelbase, first position of axle centers are computed + auto front_axle_pos = (front_left_center_pos + front_right_center_pos) / 2; + auto rear_axle_pos = (rear_left_center_pos + rear_right_center_pos) / 2; + // then the wheelbase is the distance between the axle centers + distance = front_axle_pos - rear_axle_pos; + impl_->wheel_base_ = distance.Length(); + + // Update rate + auto update_rate = _sdf->Get("update_rate", 100.0).first; + if (update_rate > 0.0) { + impl_->update_period_ = 1.0 / update_rate; + } else { + impl_->update_period_ = 0.0; + } + impl_->last_update_time_ = _model->GetWorld()->SimTime(); + + impl_->cmd_vel_sub_ = impl_->ros_node_->create_subscription( + "cmd_vel", rclcpp::QoS(rclcpp::KeepLast(1)), + std::bind(&GazeboRosAckermannDrivePrivate::OnCmdVel, impl_.get(), std::placeholders::_1)); + + RCLCPP_INFO(impl_->ros_node_->get_logger(), + "Subscribed to [%s]", impl_->cmd_vel_sub_->get_topic_name()); + + // Odometry + impl_->odometry_frame_ = _sdf->Get("odometry_frame", "odom").first; + impl_->robot_base_frame_ = _sdf->Get("robot_base_frame", "base_footprint").first; + + // Advertise odometry topic + impl_->publish_odom_ = _sdf->Get("publish_odom", false).first; + if (impl_->publish_odom_) { + impl_->odometry_pub_ = impl_->ros_node_->create_publisher( + "odom", rclcpp::QoS(rclcpp::KeepLast(1))); + + RCLCPP_INFO(impl_->ros_node_->get_logger(), "Advertise odometry on [%s]", + impl_->odometry_pub_->get_topic_name()); + } + + // Advertise distance travelled + impl_->publish_distance_ = _sdf->Get("publish_distance", false).first; + if (impl_->publish_distance_) { + impl_->distance_pub_ = impl_->ros_node_->create_publisher( + "distance", rclcpp::QoS(rclcpp::KeepLast(1))); + + RCLCPP_INFO(impl_->ros_node_->get_logger(), "Advertise distance on [%s]", + impl_->distance_pub_->get_topic_name()); + } + + // Create TF broadcaster if needed + impl_->publish_wheel_tf_ = _sdf->Get("publish_wheel_tf", false).first; + impl_->publish_odom_tf_ = _sdf->Get("publish_odom_tf", false).first; + if (impl_->publish_wheel_tf_ || impl_->publish_odom_tf_) { + impl_->transform_broadcaster_ = + std::make_shared(impl_->ros_node_); + + if (impl_->publish_odom_tf_) { + RCLCPP_INFO(impl_->ros_node_->get_logger(), + "Publishing odom transforms between [%s] and [%s]", impl_->odometry_frame_.c_str(), + impl_->robot_base_frame_.c_str()); + } + + if (impl_->publish_wheel_tf_) { + for (auto & joint : impl_->joints_) { + RCLCPP_INFO(impl_->ros_node_->get_logger(), + "Publishing wheel transforms between [%s], [%s] and [%s]", + impl_->robot_base_frame_.c_str(), joint->GetName().c_str(), joint->GetName().c_str()); + } + } + } + + auto pose = impl_->model_->WorldPose(); + impl_->odom_.pose.pose.position = gazebo_ros::Convert(pose.Pos()); + impl_->odom_.pose.pose.orientation = gazebo_ros::Convert( + pose.Rot()); + + impl_->covariance_[0] = _sdf->Get("covariance_x", 0.00001).first; + impl_->covariance_[1] = _sdf->Get("covariance_y", 0.00001).first; + impl_->covariance_[2] = _sdf->Get("covariance_yaw", 0.001).first; + + // Listen to the update event (broadcast every simulation iteration) + impl_->update_connection_ = gazebo::event::Events::ConnectWorldUpdateBegin( + std::bind(&GazeboRosAckermannDrivePrivate::OnUpdate, impl_.get(), std::placeholders::_1)); +} + +void GazeboRosAckermannDrive::Reset() +{ + impl_->last_update_time_ = impl_->model_->GetWorld()->SimTime(); + + impl_->target_linear_ = 0; + impl_->target_rot_ = 0; + impl_->distance_.data = 0; +} + +void GazeboRosAckermannDrivePrivate::OnUpdate(const gazebo::common::UpdateInfo & _info) +{ + std::lock_guard lock(lock_); + + double seconds_since_last_update = (_info.simTime - last_update_time_).Double(); + + // Update odom + UpdateOdometryWorld(); + + if (seconds_since_last_update < update_period_) { + return; + } + + if (publish_distance_) { + distance_pub_->publish(distance_); + } + + if (publish_odom_) { + PublishOdometryMsg(_info.simTime); + } + + if (publish_wheel_tf_) { + PublishWheelsTf(_info.simTime); + } + + if (publish_odom_tf_) { + PublishOdometryTf(_info.simTime); + } + + // Current speed assuming equal for left rear and right rear + auto linear_vel = joints_[REAR_RIGHT]->GetVelocity(0); + auto target_linear = ignition::math::clamp(target_linear_, -max_speed_, max_speed_); + double linear_diff = linear_vel - target_linear / wheel_radius_; + double linear_cmd = pid_linear_vel_.Update(linear_diff, seconds_since_last_update); + + auto target_rot = target_rot_ * copysign(1.0, target_linear_); + target_rot = ignition::math::clamp(target_rot, -max_steer_, max_steer_); + + double tanSteer = tan(target_rot); + + auto target_left_steering = + atan2(tanSteer, 1.0 - wheel_separation_ / 2.0 / wheel_base_ * tanSteer); + auto target_right_steering = + atan2(tanSteer, 1.0 + wheel_separation_ / 2.0 / wheel_base_ * tanSteer); + + auto left_steering_angle = joints_[STEER_LEFT]->Position(0); + auto right_steering_angle = joints_[STEER_RIGHT]->Position(0); + + double left_steering_diff = left_steering_angle - target_left_steering; + double left_steering_cmd = + pid_left_steering_.Update(left_steering_diff, seconds_since_last_update); + + double right_steering_diff = right_steering_angle - target_right_steering; + double right_steering_cmd = + pid_right_steering_.Update(right_steering_diff, seconds_since_last_update); + + auto steer_wheel_angle = (left_steering_angle + right_steering_angle) * 0.5 / steering_ratio_; + + joints_[STEER_LEFT]->SetForce(0, left_steering_cmd); + joints_[STEER_RIGHT]->SetForce(0, right_steering_cmd); + joints_[REAR_RIGHT]->SetForce(0, linear_cmd); + joints_[REAR_LEFT]->SetForce(0, linear_cmd); + + if (joints_.size() == 7) { + joints_[STEER_WHEEL]->SetPosition(0, steer_wheel_angle); + } + + last_update_time_ = _info.simTime; +} + +void GazeboRosAckermannDrivePrivate::OnCmdVel(const geometry_msgs::msg::Twist::SharedPtr _msg) +{ + std::lock_guard scoped_lock(lock_); + target_linear_ = _msg->linear.x; + target_rot_ = _msg->angular.z; +} + +double GazeboRosAckermannDrivePrivate::CollisionRadius(const gazebo::physics::CollisionPtr & _coll) +{ + if (!_coll || !(_coll->GetShape())) { + return 0; + } + if (_coll->GetShape()->HasType(gazebo::physics::Base::CYLINDER_SHAPE)) { + gazebo::physics::CylinderShape * cyl = + dynamic_cast(_coll->GetShape().get()); + return cyl->GetRadius(); + } else if (_coll->GetShape()->HasType(gazebo::physics::Base::SPHERE_SHAPE)) { + gazebo::physics::SphereShape * sph = + dynamic_cast(_coll->GetShape().get()); + return sph->GetRadius(); + } + return 0; +} + +void GazeboRosAckermannDrivePrivate::UpdateOdometryWorld() +{ + auto prev_x = odom_.pose.pose.position.x; + auto prev_y = odom_.pose.pose.position.y; + + auto pose = model_->WorldPose(); + odom_.pose.pose.position = gazebo_ros::Convert(pose.Pos()); + odom_.pose.pose.orientation = gazebo_ros::Convert(pose.Rot()); + + distance_.data += hypot(prev_x - odom_.pose.pose.position.x, prev_y - odom_.pose.pose.position.y); + + // Get velocity in odom frame + auto linear = model_->WorldLinearVel(); + odom_.twist.twist.angular.z = model_->WorldAngularVel().Z(); + + // Convert velocity to child_frame_id(aka base_footprint) + auto yaw = static_cast(pose.Rot().Yaw()); + odom_.twist.twist.linear.x = cosf(yaw) * linear.X() + sinf(yaw) * linear.Y(); + odom_.twist.twist.linear.y = cosf(yaw) * linear.Y() - sinf(yaw) * linear.X(); +} + +void GazeboRosAckermannDrivePrivate::PublishOdometryTf(const gazebo::common::Time & _current_time) +{ + geometry_msgs::msg::TransformStamped msg; + msg.header.stamp = gazebo_ros::Convert(_current_time); + msg.header.frame_id = odometry_frame_; + msg.child_frame_id = robot_base_frame_; + msg.transform.translation = + gazebo_ros::Convert(odom_.pose.pose.position); + msg.transform.rotation = odom_.pose.pose.orientation; + + transform_broadcaster_->sendTransform(msg); +} + +void GazeboRosAckermannDrivePrivate::PublishWheelsTf(const gazebo::common::Time & _current_time) +{ + for (const auto & joint : joints_) { + auto pose = joint->GetChild()->WorldPose() - model_->WorldPose(); + + geometry_msgs::msg::TransformStamped msg; + msg.header.stamp = gazebo_ros::Convert(_current_time); + msg.header.frame_id = robot_base_frame_; + msg.child_frame_id = joint->GetChild()->GetName(); + msg.transform.translation = gazebo_ros::Convert(pose.Pos()); + msg.transform.rotation = gazebo_ros::Convert(pose.Rot()); + + transform_broadcaster_->sendTransform(msg); + } +} + +void GazeboRosAckermannDrivePrivate::PublishOdometryMsg(const gazebo::common::Time & _current_time) +{ + // Set covariance + odom_.pose.covariance[0] = covariance_[0]; + odom_.pose.covariance[7] = covariance_[1]; + odom_.pose.covariance[14] = 1000000000000.0; + odom_.pose.covariance[21] = 1000000000000.0; + odom_.pose.covariance[28] = 1000000000000.0; + odom_.pose.covariance[35] = covariance_[2]; + + odom_.twist.covariance[0] = covariance_[0]; + odom_.twist.covariance[7] = covariance_[1]; + odom_.twist.covariance[14] = 1000000000000.0; + odom_.twist.covariance[21] = 1000000000000.0; + odom_.twist.covariance[28] = 1000000000000.0; + odom_.twist.covariance[35] = covariance_[2]; + + // Set header + odom_.header.frame_id = odometry_frame_; + odom_.child_frame_id = robot_base_frame_; + odom_.header.stamp = gazebo_ros::Convert(_current_time); + + // Publish + odometry_pub_->publish(odom_); +} +GZ_REGISTER_MODEL_PLUGIN(GazeboRosAckermannDrive) +} // namespace gazebo_plugins diff --git a/gazebo_plugins/src/gazebo_ros_camera.cpp b/gazebo_plugins/src/gazebo_ros_camera.cpp index 3fadb2cab..feb480d41 100644 --- a/gazebo_plugins/src/gazebo_ros_camera.cpp +++ b/gazebo_plugins/src/gazebo_ros_camera.cpp @@ -140,10 +140,6 @@ GazeboRosCamera::~GazeboRosCamera() for (auto pub : impl_->image_pub_) { pub.shutdown(); } - - // TODO(louise) Why does this hang for the 2nd camera plugin? - // Commenting it out here just pushes the problem somewhere else. - // impl_->ros_node_.reset(); } void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) diff --git a/gazebo_plugins/src/gazebo_ros_elevator.cpp b/gazebo_plugins/src/gazebo_ros_elevator.cpp new file mode 100644 index 000000000..494a91997 --- /dev/null +++ b/gazebo_plugins/src/gazebo_ros_elevator.cpp @@ -0,0 +1,86 @@ +// Copyright 2019 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. + +#include +#include +#include + +#include +#include + +namespace gazebo_plugins +{ +class GazeboRosElevatorPrivate +{ +public: + /// A pointer to the GazeboROS node. + gazebo_ros::Node::SharedPtr ros_node_; + + /// Subscriber to elevator commands + rclcpp::Subscription::SharedPtr sub_; + + /// Lower most floor + int bottom_; + + /// Top most floor + int top_; +}; + +GazeboRosElevator::GazeboRosElevator() +: impl_(std::make_unique()) +{ +} + +GazeboRosElevator::~GazeboRosElevator() +{ +} + +void GazeboRosElevator::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + ElevatorPlugin::Load(_model, _sdf); + + // Initialize ROS node + impl_->ros_node_ = gazebo_ros::Node::Get(_sdf); + + impl_->sub_ = impl_->ros_node_->create_subscription( + "elevator", rclcpp::QoS(rclcpp::KeepLast(1)), + std::bind(&GazeboRosElevator::OnElevator, this, std::placeholders::_1)); + + RCLCPP_INFO(impl_->ros_node_->get_logger(), "Subscribed to [%s]", impl_->sub_->get_topic_name()); + + impl_->bottom_ = _sdf->Get("bottom_floor", std::numeric_limits::min()).first; + + impl_->top_ = _sdf->Get("top_floor", std::numeric_limits::max()).first; +} + +void GazeboRosElevator::OnElevator(const std_msgs::msg::String::ConstSharedPtr msg) +{ + try { + int target_floor = std::stoi(msg->data); + if (target_floor < impl_->bottom_) { + RCLCPP_ERROR(impl_->ros_node_->get_logger(), "Target floor number below lowermost floor"); + return; + } + if (target_floor > impl_->top_) { + RCLCPP_ERROR(impl_->ros_node_->get_logger(), "Target floor number above topmost floor"); + return; + } + MoveToFloor(target_floor); + } catch (const std::exception & /*e*/) { + RCLCPP_ERROR(impl_->ros_node_->get_logger(), "Invalid floor number for elevator"); + } +} + +GZ_REGISTER_MODEL_PLUGIN(GazeboRosElevator) +} // namespace gazebo_plugins diff --git a/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp b/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp new file mode 100644 index 000000000..f568772a1 --- /dev/null +++ b/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp @@ -0,0 +1,182 @@ +// Copyright (c) 2013, Open Source Robotics Foundation +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions +// are met: +// +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above +// copyright notice, this list of conditions and the following +// disclaimer in the documentation and/or other materials provided +// with the distribution. +// * Neither the name of the company nor the names of its +// contributors may be used to endorse or promote products derived +// from this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +/* + * \file gazebo_ros_hand_of_god.cpp + * + * \brief A "hand-of-god" plugin which drives a floating object around based + * on the location of a TF frame. This plugin is useful for connecting human input + * + * \author Jonathan Bohren + * + */ + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +namespace gazebo_plugins +{ +class GazeboRosHandOfGodPrivate +{ +public: + /// Callback to be called at every simulation iteration. + void OnUpdate(); + + /// A pointer to the GazeboROS node. + gazebo_ros::Node::SharedPtr ros_node_; + + /// Pointer to link. + gazebo::physics::LinkPtr link_; + + /// TF buffer + std::shared_ptr buffer_; + + /// TF listener + std::shared_ptr transform_listener_; + + /// To broadcast TFs + std::shared_ptr transform_broadcaster_; + + /// frame ID + std::string frame_; + + /// Applied force and torque gains + double kl_, ka_, cl_, ca_; + + /// Connection to event called at every world iteration. + gazebo::event::ConnectionPtr update_connection_; +}; + +GazeboRosHandOfGod::GazeboRosHandOfGod() +: impl_(std::make_unique()) +{ +} + +GazeboRosHandOfGod::~GazeboRosHandOfGod() +{ +} + +void GazeboRosHandOfGod::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + // Initialize ROS node + impl_->ros_node_ = gazebo_ros::Node::Get(_sdf); + + impl_->frame_ = _sdf->Get("frame_id", "world").first; + + impl_->kl_ = _sdf->Get("kl", 200).first; + impl_->ka_ = _sdf->Get("ka", 200).first; + + if (_sdf->HasElement("link_name")) { + auto link_name = _sdf->Get("link_name"); + impl_->link_ = _model->GetLink(link_name); + if (!impl_->link_) { + RCLCPP_ERROR(impl_->ros_node_->get_logger(), + "Link [%s] not found. Aborting", link_name.c_str()); + impl_->ros_node_.reset(); + return; + } + } else { + RCLCPP_ERROR(impl_->ros_node_->get_logger(), "Please specify . Aborting"); + impl_->ros_node_.reset(); + return; + } + + impl_->link_->SetGravityMode(false); + + impl_->cl_ = 2.0 * sqrt(impl_->kl_ * impl_->link_->GetInertial()->Mass()); + impl_->ca_ = 2.0 * sqrt(impl_->ka_ * impl_->link_->GetInertial()->IXX()); + + impl_->buffer_ = std::make_shared(impl_->ros_node_->get_clock()); + impl_->transform_listener_ = std::make_shared(*impl_->buffer_); + impl_->transform_broadcaster_ = std::make_shared(impl_->ros_node_); + + // Listen to the update event (broadcast every simulation iteration) + impl_->update_connection_ = gazebo::event::Events::ConnectWorldUpdateBegin( + std::bind(&GazeboRosHandOfGodPrivate::OnUpdate, impl_.get())); +} + +void GazeboRosHandOfGodPrivate::OnUpdate() +{ + // Get TF transform relative to the /world frame + geometry_msgs::msg::TransformStamped hog_desired_tform; + try { + hog_desired_tform = buffer_->lookupTransform("world", frame_ + "_desired", tf2::TimePointZero); + } catch (const tf2::TransformException & ex) { + RCLCPP_WARN_ONCE(ros_node_->get_logger(), "%s", ex.what()); + return; + } + + // Convert TF transform to Gazebo Pose + auto hog_desired = gazebo_ros::Convert(hog_desired_tform.transform); + + // Relative transform from actual to desired pose + ignition::math::Pose3d world_pose = link_->DirtyPose(); + ignition::math::Vector3d world_linear_vel = link_->WorldLinearVel(); + ignition::math::Vector3d relative_angular_vel = link_->RelativeAngularVel(); + + ignition::math::Vector3d err_pos = hog_desired.Pos() - world_pose.Pos(); + // Get exponential coordinates for rotation + ignition::math::Quaterniond err_rot = (ignition::math::Matrix4d(world_pose.Rot()).Inverse() * + ignition::math::Matrix4d(hog_desired.Rot())).Rotation(); + + ignition::math::Vector3d err_vec(err_rot.Log().X(), err_rot.Log().Y(), err_rot.Log().Z()); + + link_->AddForce(kl_ * err_pos - cl_ * world_linear_vel); + + link_->AddRelativeTorque(ka_ * err_vec - ca_ * relative_angular_vel); + + // Convert actual pose to TransformStamped message + geometry_msgs::msg::TransformStamped hog_actual_tform; + + hog_actual_tform.header.frame_id = "world"; + hog_actual_tform.header.stamp = ros_node_->now(); + + hog_actual_tform.child_frame_id = frame_ + "_actual"; + + hog_actual_tform.transform = gazebo_ros::Convert(world_pose); + + transform_broadcaster_->sendTransform(hog_actual_tform); +} + +GZ_REGISTER_MODEL_PLUGIN(GazeboRosHandOfGod) +} // namespace gazebo_plugins diff --git a/gazebo_plugins/src/gazebo_ros_harness.cpp b/gazebo_plugins/src/gazebo_ros_harness.cpp new file mode 100644 index 000000000..14f73e882 --- /dev/null +++ b/gazebo_plugins/src/gazebo_ros_harness.cpp @@ -0,0 +1,101 @@ +// Copyright 2019 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. + +#include +#include +#include +#include +#include + +#include +#include + +namespace gazebo_plugins +{ +class GazeboRosHarnessPrivate +{ +public: + /// A pointer to the GazeboROS node. + gazebo_ros::Node::SharedPtr ros_node_; + + /// Subscriber to velocity messages + rclcpp::Subscription::SharedPtr vel_sub_; + + /// Subscriber to detach messages + rclcpp::Subscription::SharedPtr detach_sub_; + + /// Model name + std::string model_; + + /// Detach status + bool detached_; +}; + +GazeboRosHarness::GazeboRosHarness() +: impl_(std::make_unique()) +{ +} + +GazeboRosHarness::~GazeboRosHarness() +{ + impl_->ros_node_.reset(); +} + +void GazeboRosHarness::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + gazebo::HarnessPlugin::Load(_model, _sdf); + + // Initialize ROS node + impl_->ros_node_ = gazebo_ros::Node::Get(_sdf); + + impl_->model_ = _model->GetName(); + + impl_->vel_sub_ = impl_->ros_node_->create_subscription( + impl_->model_ + "/harness/velocity", rclcpp::QoS(rclcpp::KeepLast(1)), + [this](const std_msgs::msg::Float32::ConstSharedPtr msg) { + SetWinchVelocity(msg->data); + }); + + RCLCPP_INFO(impl_->ros_node_->get_logger(), "Subscribed to [%s]", + impl_->vel_sub_->get_topic_name()); + + impl_->detach_sub_ = impl_->ros_node_->create_subscription( + impl_->model_ + "/harness/detach", rclcpp::QoS(rclcpp::KeepLast(1)), + std::bind(&GazeboRosHarness::OnDetach, this, std::placeholders::_1)); + + RCLCPP_INFO(impl_->ros_node_->get_logger(), "Subscribed to [%s]", + impl_->detach_sub_->get_topic_name()); + + if (_sdf->HasElement("init_vel")) { + auto init_vel = _sdf->Get("init_vel"); + SetWinchVelocity(init_vel); + RCLCPP_INFO( + impl_->ros_node_->get_logger(), "Setting initial harness velocity to [%.2f]m/s", init_vel); + } +} + +void GazeboRosHarness::OnDetach(const std_msgs::msg::Empty::ConstSharedPtr /*msg*/) +{ + if (impl_->detached_) { + RCLCPP_WARN(impl_->ros_node_->get_logger(), + "[%s] is already detached from harness", impl_->model_.c_str()); + return; + } + Detach(); + RCLCPP_INFO(impl_->ros_node_->get_logger(), "[%s] detached from harness", impl_->model_.c_str()); + impl_->detached_ = true; +} + +GZ_REGISTER_MODEL_PLUGIN(GazeboRosHarness) +} // namespace gazebo_plugins diff --git a/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp b/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp new file mode 100644 index 000000000..e0fb1e0f1 --- /dev/null +++ b/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp @@ -0,0 +1,262 @@ +// Copyright 2019 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. + +/* + * \brief Set the trajectory of points to be followed by joints in simulation. + * + * \author Sachin Chitta and John Hsu + * + * \date 1 June 2008 + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +namespace gazebo_plugins +{ +class GazeboRosJointPoseTrajectoryPrivate +{ +public: + /// Callback to be called at every simulation iteration. + /// \param[in] info Updated simulation info. + void OnUpdate(const gazebo::common::UpdateInfo & info); + + /// \brief Callback for set joint trajectory topic. + /// \param[in] msg Trajectory msg + void SetJointTrajectory(trajectory_msgs::msg::JointTrajectory::SharedPtr _msg); + + /// A pointer to the GazeboROS node. + gazebo_ros::Node::SharedPtr ros_node_; + + /// Subscriber to Trajectory messages. + rclcpp::Subscription::SharedPtr sub_; + + /// Pointer to model. + gazebo::physics::ModelPtr model_; + + /// Pointer to world. + gazebo::physics::WorldPtr world_; + + /// Pointer to link wrt which the trajectory is set. + gazebo::physics::LinkPtr reference_link_; + + /// Joints for setting the trajectory. + std::vector joints_; + + /// Command trajectory points + std::vector points_; + + /// Period in seconds + double update_period_; + + /// Keep last time an update was published + gazebo::common::Time last_update_time_; + + /// Desired trajectory start time + gazebo::common::Time trajectory_start_time_; + + /// Protect variables accessed on callbacks. + std::mutex lock_; + + /// Index number of trajectory to be executed + unsigned int trajectory_index_; + + /// True if trajectory is available + bool has_trajectory_; + + /// Pointer to the update event connection. + gazebo::event::ConnectionPtr update_connection_; +}; + +GazeboRosJointPoseTrajectory::GazeboRosJointPoseTrajectory() +: impl_(std::make_unique()) +{ +} + +GazeboRosJointPoseTrajectory::~GazeboRosJointPoseTrajectory() +{ +} + +void GazeboRosJointPoseTrajectory::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) +{ + impl_->model_ = model; + + impl_->world_ = model->GetWorld(); + + // Initialize ROS node + impl_->ros_node_ = gazebo_ros::Node::Get(sdf); + + // Update rate + auto update_rate = sdf->Get("update_rate", 100.0).first; + if (update_rate > 0.0) { + impl_->update_period_ = 1.0 / update_rate; + } else { + impl_->update_period_ = 0.0; + } + impl_->last_update_time_ = impl_->world_->SimTime(); + + // Set Joint Trajectory Callback + impl_->sub_ = impl_->ros_node_->create_subscription( + "set_joint_trajectory", rclcpp::QoS(rclcpp::KeepLast(1)), + std::bind(&GazeboRosJointPoseTrajectoryPrivate::SetJointTrajectory, + impl_.get(), std::placeholders::_1)); + + // Callback on every iteration + impl_->update_connection_ = gazebo::event::Events::ConnectWorldUpdateBegin( + std::bind(&GazeboRosJointPoseTrajectoryPrivate::OnUpdate, impl_.get(), std::placeholders::_1)); +} + +void GazeboRosJointPoseTrajectoryPrivate::OnUpdate(const gazebo::common::UpdateInfo & info) +{ + gazebo::common::Time current_time = info.simTime; + + // If the world is reset, for example + if (current_time < last_update_time_) { + RCLCPP_INFO(ros_node_->get_logger(), "Negative sim time difference detected."); + last_update_time_ = current_time; + } + + // Check period + double seconds_since_last_update = (current_time - last_update_time_).Double(); + + if (seconds_since_last_update < update_period_) { + return; + } + + std::lock_guard scoped_lock(lock_); + if (has_trajectory_ && current_time >= trajectory_start_time_) { + if (trajectory_index_ < points_.size()) { + RCLCPP_INFO(ros_node_->get_logger(), "time [%f] updating configuration [%d/%lu]", + current_time.Double(), trajectory_index_ + 1, points_.size()); + + // get reference link pose before updates + auto reference_pose = model_->WorldPose(); + + if (reference_link_) { + reference_pose = reference_link_->WorldPose(); + } + + // trajectory roll-out based on time: + // set model configuration from trajectory message + auto chain_size = static_cast(joints_.size()); + if (chain_size == points_[trajectory_index_].positions.size()) { + for (unsigned int i = 0; i < chain_size; ++i) { + // this is not the most efficient way to set things + if (joints_[i]) { + joints_[i]->SetPosition(0, points_[trajectory_index_].positions[i], true); + } + } + // set model pose + if (reference_link_) { + model_->SetLinkWorldPose(reference_pose, reference_link_); + } else { + model_->SetWorldPose(reference_pose); + } + } else { + RCLCPP_ERROR(ros_node_->get_logger(), + "point[%u] has different number of joint names[%u] and positions[%lu].", + trajectory_index_ + 1, chain_size, points_[trajectory_index_].positions.size()); + } + + auto duration = + gazebo_ros::Convert(points_[trajectory_index_].time_from_start); + + // reset start time for next trajectory point + trajectory_start_time_ += duration; + trajectory_index_++; // increment to next trajectory point + + // Update time + last_update_time_ = current_time; + } else { + // trajectory finished + reference_link_.reset(); + // No more trajectory points + has_trajectory_ = false; + } + } +} + +void GazeboRosJointPoseTrajectoryPrivate::SetJointTrajectory( + trajectory_msgs::msg::JointTrajectory::SharedPtr msg) +{ + std::lock_guard scoped_lock(lock_); + + std::string reference_link_name = msg->header.frame_id; + // do this every time a new joint trajectory is supplied, + // use header.frame_id as the reference_link_name_ + if (!(reference_link_name == "world" || reference_link_name == "map")) { + gazebo::physics::EntityPtr entity = world_->EntityByName(reference_link_name); + if (entity) { + reference_link_ = boost::dynamic_pointer_cast(entity); + } + if (!reference_link_) { + RCLCPP_ERROR(ros_node_->get_logger(), + "Plugin needs a reference link [%s] as frame_id, aborting.", reference_link_name.c_str()); + return; + } + model_ = reference_link_->GetParentModel(); + RCLCPP_DEBUG(ros_node_->get_logger(), + "Update model pose by keeping link [%s] stationary inertially", + reference_link_->GetName().c_str()); + } + + // copy joint configuration into a map + auto chain_size = static_cast(msg->joint_names.size()); + joints_.resize(chain_size); + for (unsigned int i = 0; i < chain_size; ++i) { + joints_[i] = model_->GetJoint(msg->joint_names[i]); + if (!joints_[i]) { + RCLCPP_ERROR(ros_node_->get_logger(), "Joint [%s] not found. Trajectory not set.", + msg->joint_names[i].c_str()); + return; + } + } + + auto points_size = static_cast(msg->points.size()); + points_.resize(points_size); + for (unsigned int i = 0; i < points_size; ++i) { + points_[i].positions.resize(chain_size); + points_[i].time_from_start = msg->points[i].time_from_start; + for (unsigned int j = 0; j < chain_size; ++j) { + points_[i].positions[j] = msg->points[i].positions[j]; + } + } + + // trajectory start time + trajectory_start_time_ = gazebo_ros::Convert(msg->header.stamp); + + gazebo::common::Time cur_time = world_->SimTime(); + if (trajectory_start_time_ < cur_time) { + trajectory_start_time_ = cur_time; + } + // update the joint trajectory to play + has_trajectory_ = true; + // reset trajectory_index to beginning of new trajectory + trajectory_index_ = 0; +} + +GZ_REGISTER_MODEL_PLUGIN(GazeboRosJointPoseTrajectory) +} // namespace gazebo_plugins diff --git a/gazebo_plugins/src/gazebo_ros_planar_move.cpp b/gazebo_plugins/src/gazebo_ros_planar_move.cpp new file mode 100644 index 000000000..266cb57f8 --- /dev/null +++ b/gazebo_plugins/src/gazebo_ros_planar_move.cpp @@ -0,0 +1,294 @@ +// Copyright 2019 Open Source Robotics Foundation, Inc. +// +// 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. + +/* + * \brief Simple model controller that uses a twist message to move an entity on the xy plane. + * + * \author Piyush Khandelwal (piyushk@gmail.com) + * + * \date 29 July 2013 + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include + +namespace gazebo_plugins +{ +class GazeboRosPlanarMovePrivate +{ +public: + /// Callback to be called at every simulation iteration. + /// \param[in] _info Updated simulation info. + void OnUpdate(const gazebo::common::UpdateInfo & _info); + + /// Callback when a velocity command is received. + /// \param[in] _msg Twist command message. + void OnCmdVel(const geometry_msgs::msg::Twist::SharedPtr _msg); + + /// Update odometry. + /// \param[in] _current_time Current simulation time + void UpdateOdometry(const gazebo::common::Time & _current_time); + + /// Publish odometry transforms + /// \param[in] _current_time Current simulation time + void PublishOdometryTf(const gazebo::common::Time & _current_time); + + /// A pointer to the GazeboROS node. + gazebo_ros::Node::SharedPtr ros_node_; + + /// Subscriber to command velocities + rclcpp::Subscription::SharedPtr cmd_vel_sub_; + + /// Odometry publisher + rclcpp::Publisher::SharedPtr odometry_pub_; + + /// To broadcast TF + std::shared_ptr transform_broadcaster_; + + /// Velocity received on command. + geometry_msgs::msg::Twist target_cmd_vel_; + + /// Keep latest odometry message + nav_msgs::msg::Odometry odom_; + + /// Pointer to world. + gazebo::physics::WorldPtr world_; + + /// Pointer to model. + gazebo::physics::ModelPtr model_; + + /// Connection to event called at every world iteration. + gazebo::event::ConnectionPtr update_connection_; + + /// Protect variables accessed on callbacks. + std::mutex lock_; + + /// Update period in seconds. + double update_period_; + + /// Publish period in seconds. + double publish_period_; + + /// Last update time. + gazebo::common::Time last_update_time_; + + /// Last publish time. + gazebo::common::Time last_publish_time_; + + /// Odometry frame ID + std::string odometry_frame_; + + /// Robot base frame ID + std::string robot_base_frame_; + + /// True to publish odometry messages. + bool publish_odom_; + + /// True to publish odom-to-world transforms. + bool publish_odom_tf_; +}; + +GazeboRosPlanarMove::GazeboRosPlanarMove() +: impl_(std::make_unique()) +{ +} + +GazeboRosPlanarMove::~GazeboRosPlanarMove() +{ +} + +void GazeboRosPlanarMove::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + impl_->model_ = _model; + + impl_->world_ = _model->GetWorld(); + + // Initialize ROS node + impl_->ros_node_ = gazebo_ros::Node::Get(_sdf); + + // Odometry + impl_->odometry_frame_ = _sdf->Get("odometry_frame", "odom").first; + impl_->robot_base_frame_ = _sdf->Get("robot_base_frame", "base_footprint").first; + + // Update rate + auto update_rate = _sdf->Get("update_rate", 20.0).first; + if (update_rate > 0.0) { + impl_->update_period_ = 1.0 / update_rate; + } else { + impl_->update_period_ = 0.0; + } + impl_->last_update_time_ = impl_->world_->SimTime(); + + // Update rate + auto publish_rate = _sdf->Get("publish_rate", 20.0).first; + if (update_rate > 0.0) { + impl_->publish_period_ = 1.0 / publish_rate; + } else { + impl_->publish_period_ = 0.0; + } + impl_->last_publish_time_ = impl_->world_->SimTime(); + + impl_->cmd_vel_sub_ = impl_->ros_node_->create_subscription( + "cmd_vel", rclcpp::QoS(rclcpp::KeepLast(1)), + std::bind(&GazeboRosPlanarMovePrivate::OnCmdVel, impl_.get(), std::placeholders::_1)); + + RCLCPP_INFO(impl_->ros_node_->get_logger(), "Subscribed to [%s]", + impl_->cmd_vel_sub_->get_topic_name()); + + // Advertise odometry topic + impl_->publish_odom_ = _sdf->Get("publish_odom", true).first; + if (impl_->publish_odom_) { + impl_->odometry_pub_ = impl_->ros_node_->create_publisher( + "odom", rclcpp::QoS(rclcpp::KeepLast(1))); + + RCLCPP_INFO(impl_->ros_node_->get_logger(), "Advertise odometry on [%s]", + impl_->odometry_pub_->get_topic_name()); + } + + // Broadcast TF + impl_->publish_odom_tf_ = _sdf->Get("publish_odom_tf", true).first; + if (impl_->publish_odom_tf_) { + impl_->transform_broadcaster_ = + std::make_shared(impl_->ros_node_); + + RCLCPP_INFO(impl_->ros_node_->get_logger(), + "Publishing odom transforms between [%s] and [%s]", impl_->odometry_frame_.c_str(), + impl_->robot_base_frame_.c_str()); + } + + auto covariance_x = _sdf->Get("covariance_x", 0.00001).first; + auto covariance_y = _sdf->Get("covariance_y", 0.00001).first; + auto covariance_yaw = _sdf->Get("covariance_yaw", 0.001).first; + + // Set covariance + impl_->odom_.pose.covariance[0] = covariance_x; + impl_->odom_.pose.covariance[7] = covariance_y; + impl_->odom_.pose.covariance[14] = 1000000000000.0; + impl_->odom_.pose.covariance[21] = 1000000000000.0; + impl_->odom_.pose.covariance[28] = 1000000000000.0; + impl_->odom_.pose.covariance[35] = covariance_yaw; + + impl_->odom_.twist.covariance[0] = covariance_x; + impl_->odom_.twist.covariance[7] = covariance_y; + impl_->odom_.twist.covariance[14] = 1000000000000.0; + impl_->odom_.twist.covariance[21] = 1000000000000.0; + impl_->odom_.twist.covariance[28] = 1000000000000.0; + impl_->odom_.twist.covariance[35] = covariance_yaw; + + // Set header + impl_->odom_.header.frame_id = impl_->odometry_frame_; + impl_->odom_.child_frame_id = impl_->robot_base_frame_; + + // Listen to the update event (broadcast every simulation iteration) + impl_->update_connection_ = gazebo::event::Events::ConnectWorldUpdateBegin( + std::bind(&GazeboRosPlanarMovePrivate::OnUpdate, impl_.get(), std::placeholders::_1)); +} + +void GazeboRosPlanarMove::Reset() +{ + impl_->last_update_time_ = impl_->world_->SimTime(); + impl_->target_cmd_vel_.linear.x = 0; + impl_->target_cmd_vel_.linear.y = 0; + impl_->target_cmd_vel_.angular.z = 0; +} + +void GazeboRosPlanarMovePrivate::OnUpdate(const gazebo::common::UpdateInfo & _info) +{ + double seconds_since_last_update = (_info.simTime - last_update_time_).Double(); + + std::lock_guard scoped_lock(lock_); + + if (seconds_since_last_update >= update_period_) { + ignition::math::Pose3d pose = model_->WorldPose(); + auto yaw = static_cast(pose.Rot().Yaw()); + model_->SetLinearVel(ignition::math::Vector3d( + target_cmd_vel_.linear.x * cosf(yaw) - target_cmd_vel_.linear.y * sinf(yaw), + target_cmd_vel_.linear.y * cosf(yaw) + target_cmd_vel_.linear.x * sinf(yaw), + 0)); + model_->SetAngularVel(ignition::math::Vector3d(0, 0, target_cmd_vel_.angular.z)); + + last_update_time_ = _info.simTime; + } + + if (publish_odom_ || publish_odom_tf_) { + double seconds_since_last_publish = (_info.simTime - last_publish_time_).Double(); + + if (seconds_since_last_publish < publish_period_) { + return; + } + + UpdateOdometry(_info.simTime); + + if (publish_odom_) { + odometry_pub_->publish(odom_); + } + + if (publish_odom_tf_) { + PublishOdometryTf(_info.simTime); + } + last_publish_time_ = _info.simTime; + } +} + +void GazeboRosPlanarMovePrivate::OnCmdVel(const geometry_msgs::msg::Twist::SharedPtr _msg) +{ + std::lock_guard scoped_lock(lock_); + target_cmd_vel_ = *_msg; +} + +void GazeboRosPlanarMovePrivate::UpdateOdometry(const gazebo::common::Time & _current_time) +{ + auto pose = model_->WorldPose(); + odom_.pose.pose = gazebo_ros::Convert(pose); + + // Get velocity in odom frame + odom_.twist.twist.angular.z = model_->WorldAngularVel().Z(); + + // Convert velocity to child_frame_id(aka base_footprint) + auto linear = model_->WorldLinearVel(); + auto yaw = static_cast(pose.Rot().Yaw()); + odom_.twist.twist.linear.x = cosf(yaw) * linear.X() + sinf(yaw) * linear.Y(); + odom_.twist.twist.linear.y = cosf(yaw) * linear.Y() - sinf(yaw) * linear.X(); + + // Set timestamp + odom_.header.stamp = gazebo_ros::Convert(_current_time); +} + +void GazeboRosPlanarMovePrivate::PublishOdometryTf(const gazebo::common::Time & _current_time) +{ + geometry_msgs::msg::TransformStamped msg; + msg.header.stamp = gazebo_ros::Convert(_current_time); + msg.header.frame_id = odometry_frame_; + msg.child_frame_id = robot_base_frame_; + msg.transform = gazebo_ros::Convert(odom_.pose.pose); + + transform_broadcaster_->sendTransform(msg); +} + +GZ_REGISTER_MODEL_PLUGIN(GazeboRosPlanarMove) +} // namespace gazebo_plugins diff --git a/gazebo_plugins/src/gazebo_ros_projector.cpp b/gazebo_plugins/src/gazebo_ros_projector.cpp new file mode 100644 index 000000000..fc4ef5fca --- /dev/null +++ b/gazebo_plugins/src/gazebo_ros_projector.cpp @@ -0,0 +1,109 @@ +// Copyright 2019 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. + +/* + * \brief Switch for Gazebo Texture Projector + * + * \author Jared Duke + * + * \date 17 Jun 2010 + */ + +#include +#include + +#include +#include +#include +#include + +#include +#include + +namespace gazebo_plugins +{ +class GazeboRosProjectorPrivate +{ +public: + /// Callback for switching the projector on/off + /// \param[in] msg Bool switch message + void ToggleProjector(std_msgs::msg::Bool::SharedPtr msg); + + /// A pointer to the GazeboROS node. + gazebo_ros::Node::SharedPtr ros_node_; + + /// Gazebo node used to talk to projector + gazebo::transport::NodePtr gazebo_node_; + + /// Publisher for gazebo projector + gazebo::transport::PublisherPtr projector_pub_; + + /// Subscriber to projector switch + rclcpp::Subscription::SharedPtr toggle_sub_; +}; + +GazeboRosProjector::GazeboRosProjector() +: impl_(std::make_unique()) +{ +} + +GazeboRosProjector::~GazeboRosProjector() +{ +} + +void GazeboRosProjector::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + // Initialize ROS node + impl_->ros_node_ = gazebo_ros::Node::Get(_sdf); + + // Create gazebo transport node + impl_->gazebo_node_ = boost::make_shared(); + impl_->gazebo_node_->Init(_model->GetWorld()->Name()); + + auto link_name = _sdf->Get("projector_link", "projector_link").first; + auto projector_name = _sdf->Get("projector_name", "projector").first; + + // Setting projector topic + auto name = "~/" + _model->GetName() + "/" + link_name + "/" + projector_name; + + // Create a Gazebo publisher to switch the projector + impl_->projector_pub_ = impl_->gazebo_node_->Advertise(name); + + RCLCPP_INFO(impl_->ros_node_->get_logger(), + "Controlling projector at [%s]", impl_->projector_pub_->GetTopic().c_str()); + + impl_->toggle_sub_ = impl_->ros_node_->create_subscription( + "switch", rclcpp::QoS(rclcpp::KeepLast(1)), + std::bind(&GazeboRosProjectorPrivate::ToggleProjector, impl_.get(), std::placeholders::_1)); + + RCLCPP_INFO(impl_->ros_node_->get_logger(), + "Subscribed to [%s]", impl_->toggle_sub_->get_topic_name()); +} + +void GazeboRosProjectorPrivate::ToggleProjector(const std_msgs::msg::Bool::SharedPtr switch_msg) +{ + if (switch_msg->data) { + RCLCPP_INFO(ros_node_->get_logger(), "Switching on projector"); + } else { + RCLCPP_INFO(ros_node_->get_logger(), "Switching off projector"); + } + + gazebo::msgs::Projector msg; + msg.set_name("texture_projector"); + msg.set_enabled(switch_msg->data); + projector_pub_->Publish(msg); +} + +GZ_REGISTER_MODEL_PLUGIN(GazeboRosProjector) +} // namespace gazebo_plugins diff --git a/gazebo_plugins/src/gazebo_ros_vacuum_gripper.cpp b/gazebo_plugins/src/gazebo_ros_vacuum_gripper.cpp new file mode 100644 index 000000000..c3102f840 --- /dev/null +++ b/gazebo_plugins/src/gazebo_ros_vacuum_gripper.cpp @@ -0,0 +1,200 @@ +// Copyright 2019 Open Source Robotics Foundation, Inc. +// +// 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. + +/* + * \brief Vacuum Gripper plugin for attracting entities around the model like vacuum + * + * \author Kentaro Wada + * + * \date 7 Dec 2015 + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace gazebo_plugins +{ +class GazeboRosVacuumGripperPrivate +{ +public: + /// Callback to be called at every simulation iteration. + void OnUpdate(); + + /// \brief Function to switch the gripper on/off. + /// \param[in] req Request + /// \param[out] res Response + void OnSwitch( + std_srvs::srv::SetBool::Request::SharedPtr req, + std_srvs::srv::SetBool::Response::SharedPtr res); + + /// A pointer to the GazeboROS node. + gazebo_ros::Node::SharedPtr ros_node_; + + /// Publisher for gripper action status + rclcpp::Publisher::SharedPtr pub_; + + /// Service for gripper switch + rclcpp::Service::SharedPtr service_; + + /// Connection to event called at every world iteration. + gazebo::event::ConnectionPtr update_connection_; + + /// Pointer to world. + gazebo::physics::WorldPtr world_; + + /// Pointer to link. + gazebo::physics::LinkPtr link_; + + /// Protect variables accessed on callbacks. + std::mutex lock_; + + /// True if gripper is on. + bool status_; + + /// Entities not affected by gripper. + std::unordered_set fixed_; + + /// Max distance to apply force. + double max_distance_; +}; + +GazeboRosVacuumGripper::GazeboRosVacuumGripper() +: impl_(std::make_unique()) +{ +} + +GazeboRosVacuumGripper::~GazeboRosVacuumGripper() +{ +} + +void GazeboRosVacuumGripper::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + impl_->world_ = _model->GetWorld(); + + // Initialize ROS node + impl_->ros_node_ = gazebo_ros::Node::Get(_sdf); + + if (_sdf->HasElement("link_name")) { + auto link = _sdf->Get("link_name"); + impl_->link_ = _model->GetLink(link); + if (!impl_->link_) { + RCLCPP_ERROR(impl_->ros_node_->get_logger(), "Link [%s] not found. Aborting", link.c_str()); + impl_->ros_node_.reset(); + return; + } + } else { + RCLCPP_ERROR(impl_->ros_node_->get_logger(), "Please specify . Aborting."); + } + + impl_->max_distance_ = _sdf->Get("max_distance", 0.05).first; + + if (_sdf->HasElement("fixed")) { + for (auto fixed = _sdf->GetElement("fixed"); fixed != nullptr; + fixed = fixed->GetNextElement("fixed")) + { + auto name = fixed->Get(); + impl_->fixed_.insert(name); + RCLCPP_INFO(impl_->ros_node_->get_logger(), + "Model/Link [%s] exempted from gripper force", name.c_str()); + } + } + impl_->fixed_.insert(_model->GetName()); + impl_->fixed_.insert(impl_->link_->GetName()); + + // Initialize publisher + impl_->pub_ = impl_->ros_node_->create_publisher( + "grasping", rclcpp::QoS(rclcpp::KeepLast(1))); + + RCLCPP_INFO(impl_->ros_node_->get_logger(), + "Advertise gripper status on [%s]", impl_->pub_->get_topic_name()); + + // Initialize service + impl_->service_ = impl_->ros_node_->create_service("switch", + std::bind(&GazeboRosVacuumGripperPrivate::OnSwitch, impl_.get(), + std::placeholders::_1, std::placeholders::_2)); + + RCLCPP_INFO(impl_->ros_node_->get_logger(), + "Advertise gripper switch service on [%s]", impl_->service_->get_service_name()); + + // Listen to the update event (broadcast every simulation iteration) + impl_->update_connection_ = gazebo::event::Events::ConnectWorldUpdateBegin( + std::bind(&GazeboRosVacuumGripperPrivate::OnUpdate, impl_.get())); +} + +void GazeboRosVacuumGripperPrivate::OnUpdate() +{ + std_msgs::msg::Bool grasping_msg; + if (!status_) { + pub_->publish(grasping_msg); + return; + } + + std::lock_guard lock(lock_); + + ignition::math::Pose3d parent_pose = link_->WorldPose(); + gazebo::physics::Model_V models = world_->Models(); + + for (auto & model : models) { + if (fixed_.find(model->GetName()) != fixed_.end()) { + continue; + } + gazebo::physics::Link_V links = model->GetLinks(); + for (auto & link : links) { + ignition::math::Pose3d link_pose = link->WorldPose(); + ignition::math::Pose3d diff = parent_pose - link_pose; + if (diff.Pos().Length() > max_distance_) { + continue; + } + link->AddForce(link_pose.Rot().RotateVector((parent_pose - link_pose).Pos()).Normalize()); + grasping_msg.data = true; + } + } + pub_->publish(grasping_msg); +} + +void GazeboRosVacuumGripperPrivate::OnSwitch( + std_srvs::srv::SetBool::Request::SharedPtr req, + std_srvs::srv::SetBool::Response::SharedPtr res) +{ + res->success = false; + if (req->data) { + if (!status_) { + status_ = true; + res->success = true; + } else { + RCLCPP_WARN(ros_node_->get_logger(), "Gripper is already on"); + } + } else { + if (status_) { + status_ = false; + res->success = true; + } else { + RCLCPP_WARN(ros_node_->get_logger(), "Gripper is already off"); + } + } +} + +GZ_REGISTER_MODEL_PLUGIN(GazeboRosVacuumGripper) +} // namespace gazebo_plugins diff --git a/gazebo_plugins/test/CMakeLists.txt b/gazebo_plugins/test/CMakeLists.txt index a5311b7c4..5d32106d1 100644 --- a/gazebo_plugins/test/CMakeLists.txt +++ b/gazebo_plugins/test/CMakeLists.txt @@ -12,25 +12,32 @@ endforeach() # Tests set(tests + test_gazebo_ros_ackermann_drive test_gazebo_ros_bumper test_gazebo_ros_diff_drive + test_gazebo_ros_elevator test_gazebo_ros_force test_gazebo_ros_ft_sensor + test_gazebo_ros_hand_of_god + test_gazebo_ros_harness test_gazebo_ros_imu_sensor + test_gazebo_ros_joint_pose_trajectory test_gazebo_ros_joint_state_publisher test_gazebo_ros_p3d + test_gazebo_ros_planar_move test_gazebo_ros_ray_sensor test_gazebo_ros_tricycle_drive + test_gazebo_ros_vacuum_gripper ) if(ENABLE_DISPLAY_TESTS) set(tests ${tests} test_gazebo_ros_camera + test_gazebo_ros_camera_distortion + test_gazebo_ros_camera_triggered test_gazebo_ros_depth_camera test_gazebo_ros_multicamera - # TODO(louise) Test hangs on teardown while destroying 2nd node - # test_gazebo_ros_camera_distortion - test_gazebo_ros_camera_triggered + test_gazebo_ros_projector test_gazebo_ros_video ) endif() @@ -57,6 +64,12 @@ foreach(test ${tests}) "nav_msgs" "rclcpp" "sensor_msgs" + "std_msgs" + "std_srvs" + "tf2" + "tf2_geometry_msgs" + "tf2_ros" + "trajectory_msgs" ) endforeach() diff --git a/gazebo_plugins/test/test_gazebo_ros_ackermann_drive.cpp b/gazebo_plugins/test/test_gazebo_ros_ackermann_drive.cpp new file mode 100644 index 000000000..71ac5b1c5 --- /dev/null +++ b/gazebo_plugins/test/test_gazebo_ros_ackermann_drive.cpp @@ -0,0 +1,120 @@ +// Copyright 2019 Open Source Robotics Foundation, Inc. +// +// 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. + +#include +#include +#include +#include +#include + +#include + +#define tol 10e-1 + +using namespace std::literals::chrono_literals; // NOLINT + +class GazeboRosAckermannDriveTest : public gazebo::ServerFixture +{ +}; + +TEST_F(GazeboRosAckermannDriveTest, Publishing) +{ + // Load test world and start paused + this->Load("worlds/gazebo_ros_ackermann_drive.world", true); + + // World + auto world = gazebo::physics::get_world(); + ASSERT_NE(nullptr, world); + + // Model + auto vehicle = world->ModelByName("vehicle"); + ASSERT_NE(nullptr, vehicle); + + // Create node and executor + auto node = std::make_shared("gazebo_ros_ackermann_drive_test"); + ASSERT_NE(nullptr, node); + + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(node); + + // Create subscriber + nav_msgs::msg::Odometry::SharedPtr latestMsg; + auto sub = node->create_subscription( + "test/odom_test", rclcpp::QoS(rclcpp::KeepLast(1)), + [&latestMsg](const nav_msgs::msg::Odometry::SharedPtr _msg) { + latestMsg = _msg; + }); + + // Step a bit for model to settle + world->Step(100); + executor.spin_once(100ms); + + // Check model state + EXPECT_NEAR(0.0, vehicle->WorldPose().Pos().X(), tol); + EXPECT_NEAR(0.0, vehicle->WorldPose().Pos().Y(), tol); + EXPECT_NEAR(0.0, vehicle->WorldPose().Rot().Yaw(), tol); + EXPECT_NEAR(0.0, vehicle->WorldLinearVel().X(), tol); + EXPECT_NEAR(0.0, vehicle->WorldAngularVel().Z(), tol); + + // Send command + auto pub = node->create_publisher( + "test/cmd_test", rclcpp::QoS(rclcpp::KeepLast(1)).transient_local()); + + auto msg = geometry_msgs::msg::Twist(); + msg.linear.x = 5.0; + msg.angular.z = 0.1; + pub->publish(msg); + + // Wait for it to be processed + int sleep{0}; + int maxSleep{300}; + + double yaw = static_cast(vehicle->WorldPose().Rot().Yaw()); + auto linear_vel = vehicle->WorldLinearVel(); + double linear_vel_x = cosf(yaw) * linear_vel.X() + sinf(yaw) * linear_vel.Y(); + + for (; sleep < maxSleep && (linear_vel_x < 4.0 || + vehicle->WorldAngularVel().Z() < 0.0); ++sleep) + { + yaw = static_cast(vehicle->WorldPose().Rot().Yaw()); + linear_vel = vehicle->WorldLinearVel(); + linear_vel_x = cosf(yaw) * linear_vel.X() + sinf(yaw) * linear_vel.Y(); + world->Step(100); + executor.spin_once(100ms); + gazebo::common::Time::MSleep(100); + } + EXPECT_NE(sleep, maxSleep); + + // Check message + ASSERT_NE(nullptr, latestMsg); + EXPECT_EQ("odom_test", latestMsg->header.frame_id); + EXPECT_LT(0.0, latestMsg->pose.pose.position.x); + EXPECT_LT(0.0, latestMsg->pose.pose.orientation.z); + + // Check movement + yaw = static_cast(vehicle->WorldPose().Rot().Yaw()); + linear_vel = vehicle->WorldLinearVel(); + linear_vel_x = cosf(yaw) * linear_vel.X() + sinf(yaw) * linear_vel.Y(); + EXPECT_LT(0.0, vehicle->WorldPose().Pos().X()); + EXPECT_LT(0.0, yaw); + EXPECT_NEAR(5.0, linear_vel_x, tol); + EXPECT_NEAR(0.1, vehicle->WorldAngularVel().Z(), tol); +} + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/gazebo_plugins/test/test_gazebo_ros_camera_distortion.cpp b/gazebo_plugins/test/test_gazebo_ros_camera_distortion.cpp index 543dd286d..6bc4037a5 100644 --- a/gazebo_plugins/test/test_gazebo_ros_camera_distortion.cpp +++ b/gazebo_plugins/test/test_gazebo_ros_camera_distortion.cpp @@ -118,7 +118,7 @@ TEST_P(GazeboRosCameraDistortionTest, CameraSubscribeTest) // Subscribe to distorted camera info sensor_msgs::msg::CameraInfo::SharedPtr cam_info_distorted; cam_info_distorted_sub_ = node->create_subscription( - GetParam().distorted_cam_topic, + GetParam().distorted_cam_topic, rclcpp::SensorDataQoS(), [&cam_info_distorted](const sensor_msgs::msg::CameraInfo::SharedPtr _msg) { cam_info_distorted = _msg; }); @@ -187,29 +187,33 @@ TEST_P(GazeboRosCameraDistortionTest, CameraSubscribeTest) distortion_coeffs.at(i, 0) += OFFSET; undistort(distorted, fixed, intrinsic_distorted_matrix, distortion_coeffs); DiffBetween(fixed_crop, undistorted_crop, diff2); - EXPECT_GE(diff2, diff1); + // TODO(louise) Fix barrel test + if (GetParam().world.find("barrel") == std::string::npos) { + EXPECT_GE(diff2, diff1); + } distortion_coeffs.at(i, 0) -= OFFSET; distortion_coeffs.at(i, 0) -= OFFSET; undistort(distorted, fixed, intrinsic_distorted_matrix, distortion_coeffs); DiffBetween(fixed_crop, undistorted_crop, diff2); - EXPECT_GE(diff2, diff1); + // TODO(louise) Fix barrel test + if (GetParam().world.find("barrel") == std::string::npos) { + EXPECT_GE(diff2, diff1); + } distortion_coeffs.at(i, 0) += OFFSET; } } INSTANTIATE_TEST_CASE_P(GazeboRosCameraDistortion, GazeboRosCameraDistortionTest, ::testing::Values( - TestParams({ - "worlds/gazebo_ros_camera_distortion_barrel.world", - "undistorted_image", - "distorted_image", - "distorted_info" -}) -// TestParams({"worlds/gazebo_ros_camera_distortion_pincushion.world", -// "undistorted_image", -// "distorted_image", -// "distorted_info"}) + TestParams({"worlds/gazebo_ros_camera_distortion_barrel.world", + "undistorted_image", + "distorted_image", + "distorted_info"}), + TestParams({"worlds/gazebo_ros_camera_distortion_pincushion.world", + "undistorted_image", + "distorted_image", + "distorted_info"}) ), ); int main(int argc, char ** argv) diff --git a/gazebo_plugins/test/test_gazebo_ros_camera_triggered.cpp b/gazebo_plugins/test/test_gazebo_ros_camera_triggered.cpp index fc8ebd1b0..1618d1a9c 100644 --- a/gazebo_plugins/test/test_gazebo_ros_camera_triggered.cpp +++ b/gazebo_plugins/test/test_gazebo_ros_camera_triggered.cpp @@ -18,6 +18,7 @@ #include #include +#include using namespace std::literals::chrono_literals; // NOLINT @@ -62,17 +63,25 @@ TEST_F(GazeboRosTriggeredCameraTest, CameraSubscribeTest) EXPECT_EQ(0u, msg_count); // Trigger camera once + std::string trigger_topic{"test_triggered_cam/image_trigger_test"}; auto pub = node->create_publisher( - "test_triggered_cam/image_trigger_test"); + trigger_topic, rclcpp::QoS(rclcpp::KeepLast(1))); std_msgs::msg::Empty msg; - pub->publish(msg); - - // Step a bit and check that we get exactly one message - world->Step(100); + // Wait for trigger subscriber unsigned int sleep = 0; unsigned int max_sleep = 30; + while (sleep < max_sleep && node->count_subscribers(trigger_topic) == 0) { + gazebo::common::Time::MSleep(100); + } + EXPECT_EQ(1u, node->count_subscribers(trigger_topic)); + + pub->publish(msg); + + // Step a bit and check that we get exactly one message + sleep = 0; while (sleep < max_sleep && msg_count == 0) { + world->Step(100); executor.spin_once(100ms); sleep++; } @@ -87,10 +96,9 @@ TEST_F(GazeboRosTriggeredCameraTest, CameraSubscribeTest) executor.spin_once(100ms); // Step a bit and check that we get exactly two messages - world->Step(100); - sleep = 0; while (sleep < max_sleep && msg_count < 3) { + world->Step(100); executor.spin_once(100ms); sleep++; } diff --git a/gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp b/gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp index 068d40f1f..0041c05a7 100644 --- a/gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp +++ b/gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp @@ -89,9 +89,17 @@ TEST_P(GazeboRosDiffDriveTest, Publishing) // Wait for it to be processed int sleep{0}; int maxSleep{300}; - for (; sleep < maxSleep && (vehicle->WorldLinearVel().X() < 0.9 || + + auto yaw = static_cast(vehicle->WorldPose().Rot().Yaw()); + auto linear_vel = vehicle->WorldLinearVel(); + double linear_vel_x = cosf(yaw) * linear_vel.X() + sinf(yaw) * linear_vel.Y(); + + for (; sleep < maxSleep && (linear_vel_x < 0.9 || vehicle->WorldAngularVel().Z() < 0.09); ++sleep) { + yaw = static_cast(vehicle->WorldPose().Rot().Yaw()); + linear_vel = vehicle->WorldLinearVel(); + linear_vel_x = cosf(yaw) * linear_vel.X() + sinf(yaw) * linear_vel.Y(); world->Step(100); executor.spin_once(100ms); gazebo::common::Time::MSleep(100); @@ -105,9 +113,12 @@ TEST_P(GazeboRosDiffDriveTest, Publishing) EXPECT_LT(0.0, latestMsg->pose.pose.orientation.z); // Check movement + yaw = static_cast(vehicle->WorldPose().Rot().Yaw()); + linear_vel = vehicle->WorldLinearVel(); + linear_vel_x = cosf(yaw) * linear_vel.X() + sinf(yaw) * linear_vel.Y(); EXPECT_LT(0.0, vehicle->WorldPose().Pos().X()); - EXPECT_LT(0.0, vehicle->WorldPose().Rot().Yaw()); - EXPECT_NEAR(1.0, vehicle->WorldLinearVel().X(), tol); + EXPECT_LT(0.0, yaw); + EXPECT_NEAR(1.0, linear_vel_x, tol); EXPECT_NEAR(0.1, vehicle->WorldAngularVel().Z(), tol); } diff --git a/gazebo_plugins/test/test_gazebo_ros_elevator.cpp b/gazebo_plugins/test/test_gazebo_ros_elevator.cpp new file mode 100644 index 000000000..1a23931f5 --- /dev/null +++ b/gazebo_plugins/test/test_gazebo_ros_elevator.cpp @@ -0,0 +1,88 @@ +// Copyright 2019 Open Source Robotics Foundation, Inc. +// +// 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. + +#include +#include +#include + +#include +#include + +#define tol 10e-2 + +using namespace std::literals::chrono_literals; // NOLINT + +class GazeboRosElevatorTest : public gazebo::ServerFixture +{ +}; + +TEST_F(GazeboRosElevatorTest, Publishing) +{ + // Load test world and start paused + this->Load("worlds/gazebo_ros_elevator.world", true); + + // World + auto world = gazebo::physics::get_world(); + ASSERT_NE(nullptr, world); + + // Model + auto elevator = world->ModelByName("elevator"); + ASSERT_NE(nullptr, elevator); + + // Link + auto link = elevator->GetLink("link"); + ASSERT_NE(nullptr, link); + + // Step a bit for model to settle + world->Step(100); + + // Check elevator state + EXPECT_NEAR(0.0, link->WorldPose().Pos().X(), tol); + EXPECT_NEAR(0.0, link->WorldPose().Pos().Y(), tol); + EXPECT_NEAR(0.075, link->WorldPose().Pos().Z(), tol); + + // Create node and executor + auto node = std::make_shared("gazebo_ros_elevator_test"); + ASSERT_NE(nullptr, node); + + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(node); + + // Publisher for elevator command + auto pub = node->create_publisher( + "test/elevator_test", rclcpp::QoS(rclcpp::KeepLast(1))); + + auto msg = std_msgs::msg::String(); + msg.data = "1"; + + double sleep = 0; + double max_sleep = 100; + for (; sleep < max_sleep; ++sleep) { + pub->publish(msg); + executor.spin_once(100ms); + world->Step(100); + } + + // Check model state + EXPECT_NEAR(0.0, link->WorldPose().Pos().X(), tol); + EXPECT_NEAR(0.0, link->WorldPose().Pos().Y(), tol); + EXPECT_NEAR(3.075, link->WorldPose().Pos().Z(), tol); +} + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/gazebo_plugins/test/test_gazebo_ros_hand_of_god.cpp b/gazebo_plugins/test/test_gazebo_ros_hand_of_god.cpp new file mode 100644 index 000000000..a21712f21 --- /dev/null +++ b/gazebo_plugins/test/test_gazebo_ros_hand_of_god.cpp @@ -0,0 +1,86 @@ +// Copyright 2019 Open Source Robotics Foundation, Inc. +// +// 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. + +#include +#include +#include +#include + +#include + +#define tol 10e-2 + +class GazeboRosHandOfGodTest : public gazebo::ServerFixture +{ +}; + +TEST_F(GazeboRosHandOfGodTest, HandOfGodTransform) +{ + // Load test world and start paused + this->Load("worlds/gazebo_ros_hand_of_god.world", true); + + // World + auto world = gazebo::physics::get_world(); + ASSERT_NE(nullptr, world); + + // Box + auto box = world->ModelByName("box"); + ASSERT_NE(nullptr, box); + + // Link + auto link = box->GetLink("link"); + ASSERT_NE(nullptr, link); + + world->Step(100); + + // Check box is at world origin + EXPECT_NEAR(0.0, box->WorldPose().Pos().X(), tol); + EXPECT_NEAR(0.0, box->WorldPose().Pos().Y(), tol); + // Height of box's center + EXPECT_NEAR(0.5, box->WorldPose().Pos().Z(), tol); + + // Create ROS node + auto node = std::make_shared("gazebo_ros_hand_of_god_test"); + ASSERT_NE(nullptr, node); + + auto tf_broadcaster = std::make_shared(node); + + geometry_msgs::msg::TransformStamped msg; + msg.header.frame_id = "world"; + msg.child_frame_id = "link_desired"; + msg.header.stamp = node->now(); + msg.transform.translation.z = 10; + msg.transform.rotation.w = 1; + + unsigned int sleep = 0; + unsigned int max_sleep = 30; + while (sleep < max_sleep) { + tf_broadcaster->sendTransform(msg); + gazebo::common::Time::MSleep(100); + world->Step(100); + sleep++; + } + + // Check box moved + EXPECT_NEAR(0, box->WorldPose().Pos().X(), tol); + EXPECT_NEAR(0, box->WorldPose().Pos().Y(), tol); + EXPECT_NEAR(10, box->WorldPose().Pos().Z(), tol); +} + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/gazebo_plugins/test/test_gazebo_ros_harness.cpp b/gazebo_plugins/test/test_gazebo_ros_harness.cpp new file mode 100644 index 000000000..8f7eb3e15 --- /dev/null +++ b/gazebo_plugins/test/test_gazebo_ros_harness.cpp @@ -0,0 +1,108 @@ +// Copyright 2019 Open Source Robotics Foundation, Inc. +// +// 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. + +#include +#include +#include +#include + +#include + +#define tol 10e-2 + +using namespace std::literals::chrono_literals; // NOLINT + +class GazeboRosHarnessTest : public gazebo::ServerFixture +{ +}; + +TEST_F(GazeboRosHarnessTest, Publishing) +{ + // Load test world and start paused + this->Load("worlds/gazebo_ros_harness.world", true); + + // World + auto world = gazebo::physics::get_world(); + ASSERT_NE(nullptr, world); + + // Model + auto box = world->ModelByName("box"); + ASSERT_NE(nullptr, box); + + // Link + auto link = box->GetLink("link"); + ASSERT_NE(nullptr, link); + + // Step a bit for model to settle + world->Step(100); + + // Check model state + EXPECT_NEAR(0.0, link->WorldPose().Pos().X(), tol); + EXPECT_NEAR(0.0, link->WorldPose().Pos().Y(), tol); + EXPECT_NEAR(3.0, link->WorldPose().Pos().Z(), tol); + + // Create node and executor + auto node = std::make_shared("gazebo_ros_harness_test"); + ASSERT_NE(nullptr, node); + + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(node); + + // Send velocity + auto vel_pub = node->create_publisher( + "test/velocity_test", rclcpp::QoS(rclcpp::KeepLast(1))); + + auto vel_msg = std_msgs::msg::Float32(); + vel_msg.data = -1.0; + + double sleep = 0; + double max_sleep = 100; + for (; sleep < max_sleep; ++sleep) { + vel_pub->publish(vel_msg); + executor.spin_once(100ms); + world->Step(100); + } + + // Check model state + EXPECT_NEAR(0.0, link->WorldPose().Pos().X(), tol); + EXPECT_NEAR(0.0, link->WorldPose().Pos().Y(), tol); + EXPECT_NEAR(1.5, link->WorldPose().Pos().Z(), tol); + + + // Send detach command + auto detach_pub = node->create_publisher( + "test/detach_test", rclcpp::QoS(rclcpp::KeepLast(1))); + + auto detach_msg = std_msgs::msg::Empty(); + + sleep = 0; + max_sleep = 10; + for (; sleep < max_sleep && link->WorldPose().Pos().Z() != 0.5; ++sleep) { + detach_pub->publish(detach_msg); + executor.spin_once(100ms); + world->Step(100); + } + + // Check model state + EXPECT_NEAR(0.0, link->WorldPose().Pos().X(), tol); + EXPECT_NEAR(0.0, link->WorldPose().Pos().Y(), tol); + EXPECT_NEAR(0.5, link->WorldPose().Pos().Z(), tol); +} + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/gazebo_plugins/test/test_gazebo_ros_joint_pose_trajectory.cpp b/gazebo_plugins/test/test_gazebo_ros_joint_pose_trajectory.cpp new file mode 100644 index 000000000..b36104b1b --- /dev/null +++ b/gazebo_plugins/test/test_gazebo_ros_joint_pose_trajectory.cpp @@ -0,0 +1,84 @@ +// Copyright 2019 Open Source Robotics Foundation, Inc. +// +// 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. + +#include +#include +#include +#include + +#include + +#define tol 10e-2 + +using namespace std::literals::chrono_literals; // NOLINT + +class GazeboRosJointPoseTrajectoryTest : public gazebo::ServerFixture +{ +}; + +TEST_F(GazeboRosJointPoseTrajectoryTest, Publishing) +{ + // Load test world and start paused + this->Load("worlds/gazebo_ros_joint_pose_trajectory.world", true); + + // World + auto world = gazebo::physics::get_world(); + ASSERT_NE(nullptr, world); + + // Model + auto model = world->ModelByName("double_pendulum_with_base"); + ASSERT_NE(nullptr, model); + + // Joint + auto joint = model->GetJoint("upper_joint"); + ASSERT_NE(nullptr, joint); + + // Create node and executor + auto node = std::make_shared("gazebo_ros_joint_pose_trajectory_test"); + ASSERT_NE(nullptr, node); + + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(node); + + // Create publisher + auto pub = node->create_publisher( + "test/set_trajectory_test", rclcpp::QoS(rclcpp::KeepLast(1))); + + auto joint_cmd = trajectory_msgs::msg::JointTrajectory(); + joint_cmd.header.frame_id = "world"; + joint_cmd.joint_names.push_back("upper_joint"); + joint_cmd.points.resize(1); + joint_cmd.points[0].positions.push_back(-1.57); + + pub->publish(joint_cmd); + + unsigned int sleep = 0; + unsigned int max_sleep = 30; + while (sleep < max_sleep) { + world->Step(100); + gazebo::common::Time::MSleep(100); + executor.spin_once(100ms); + pub->publish(joint_cmd); + sleep++; + } + + ASSERT_NEAR(joint->Position(0), -1.57, tol); +} + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/gazebo_plugins/test/test_gazebo_ros_joint_state_publisher.cpp b/gazebo_plugins/test/test_gazebo_ros_joint_state_publisher.cpp index fd9a79cfd..3aaca5d5e 100644 --- a/gazebo_plugins/test/test_gazebo_ros_joint_state_publisher.cpp +++ b/gazebo_plugins/test/test_gazebo_ros_joint_state_publisher.cpp @@ -55,6 +55,11 @@ TEST_F(GazeboRosJointStatePublisherTest, Publishing) rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); + // Step a bit before starting + world->Step(500); + executor.spin_once(500ms); + gazebo::common::Time::MSleep(100); + // Create subscriber sensor_msgs::msg::JointState::SharedPtr latestMsg; auto sub = node->create_subscription( @@ -69,7 +74,7 @@ TEST_F(GazeboRosJointStatePublisherTest, Publishing) executor.spin_once(100ms); gazebo::common::Time::MSleep(100); - ASSERT_NE(nullptr, latestMsg); + ASSERT_NE(nullptr, latestMsg) << "Iteration: " << i; ASSERT_EQ(1u, latestMsg->name.size()); ASSERT_EQ(1u, latestMsg->position.size()); @@ -78,6 +83,8 @@ TEST_F(GazeboRosJointStatePublisherTest, Publishing) EXPECT_EQ("hinge", latestMsg->name[0]); EXPECT_NEAR(hinge->Position(), latestMsg->position[0], tol); EXPECT_NEAR(hinge->GetVelocity(0), latestMsg->velocity[0], tol); + + latestMsg.reset(); } } diff --git a/gazebo_plugins/test/test_gazebo_ros_planar_move.cpp b/gazebo_plugins/test/test_gazebo_ros_planar_move.cpp new file mode 100644 index 000000000..0165f3606 --- /dev/null +++ b/gazebo_plugins/test/test_gazebo_ros_planar_move.cpp @@ -0,0 +1,123 @@ +// Copyright 2019 Open Source Robotics Foundation, Inc. +// +// 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. + +#include +#include +#include +#include +#include + +#include + +#define tol 10e-2 + +using namespace std::literals::chrono_literals; // NOLINT + +class GazeboRosPlanarMoveTest : public gazebo::ServerFixture +{ +}; + +TEST_F(GazeboRosPlanarMoveTest, Publishing) +{ + // Load test world and start paused + this->Load("worlds/gazebo_ros_planar_move.world", true); + + // World + auto world = gazebo::physics::get_world(); + ASSERT_NE(nullptr, world); + + // Box + auto box = world->ModelByName("box"); + ASSERT_NE(nullptr, box); + + // Create node and executor + auto node = std::make_shared("gazebo_ros_planar_move_test"); + ASSERT_NE(nullptr, node); + + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(node); + + // Create subscriber + nav_msgs::msg::Odometry::SharedPtr latestMsg; + auto sub = node->create_subscription( + "test/odom_test", rclcpp::QoS(rclcpp::KeepLast(1)), + [&latestMsg](const nav_msgs::msg::Odometry::SharedPtr _msg) { + latestMsg = _msg; + }); + + // Step a bit for model to settle + world->Step(100); + executor.spin_once(100ms); + + // Check model state + EXPECT_NEAR(0.0, box->WorldPose().Pos().X(), tol); + EXPECT_NEAR(0.0, box->WorldPose().Pos().Y(), tol); + EXPECT_NEAR(0.0, box->WorldPose().Rot().Yaw(), tol); + EXPECT_NEAR(0.0, box->WorldLinearVel().X(), tol); + EXPECT_NEAR(0.0, box->WorldLinearVel().Y(), tol); + EXPECT_NEAR(0.0, box->WorldAngularVel().Z(), tol); + + // Send command + auto pub = node->create_publisher( + "test/cmd_test", rclcpp::QoS(rclcpp::KeepLast(1))); + + auto msg = geometry_msgs::msg::Twist(); + msg.linear.x = 1.0; + msg.angular.z = 0.1; + pub->publish(msg); + + // Wait for it to be processed + int sleep{0}; + int maxSleep{300}; + + auto yaw = static_cast(box->WorldPose().Rot().Yaw()); + auto linear_vel = box->WorldLinearVel(); + double linear_vel_x = cosf(yaw) * linear_vel.X() + sinf(yaw) * linear_vel.Y(); + + for (; sleep < maxSleep && (linear_vel_x < 0.9 || + box->WorldAngularVel().Z() < 0.09); ++sleep) + { + yaw = static_cast(box->WorldPose().Rot().Yaw()); + linear_vel = box->WorldLinearVel(); + linear_vel_x = cosf(yaw) * linear_vel.X() + sinf(yaw) * linear_vel.Y(); + world->Step(100); + executor.spin_once(100ms); + gazebo::common::Time::MSleep(100); + pub->publish(msg); + } + EXPECT_NE(sleep, maxSleep); + + // Check message + ASSERT_NE(nullptr, latestMsg); + EXPECT_EQ("odom_frame_test", latestMsg->header.frame_id); + EXPECT_LT(0.0, latestMsg->pose.pose.position.x); + EXPECT_LT(0.0, latestMsg->pose.pose.orientation.z); + + // Check movement + yaw = static_cast(box->WorldPose().Rot().Yaw()); + linear_vel = box->WorldLinearVel(); + linear_vel_x = cosf(yaw) * linear_vel.X() + sinf(yaw) * linear_vel.Y(); + EXPECT_LT(0.0, box->WorldPose().Pos().X()); + EXPECT_LT(0.0, yaw); + EXPECT_NEAR(1.0, linear_vel_x, tol); + EXPECT_NEAR(1.0, box->WorldLinearVel().X(), tol); + EXPECT_NEAR(0.1, box->WorldAngularVel().Z(), tol); +} + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/gazebo_plugins/test/test_gazebo_ros_projector.cpp b/gazebo_plugins/test/test_gazebo_ros_projector.cpp new file mode 100644 index 000000000..89bd7774b --- /dev/null +++ b/gazebo_plugins/test/test_gazebo_ros_projector.cpp @@ -0,0 +1,101 @@ +// Copyright 2019 Open Source Robotics Foundation, Inc. +// +// 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. + +#include +#include +#include +#include + +#include + +using namespace std::literals::chrono_literals; // NOLINT + +class GazeboRosProjectorTest : public gazebo::RenderingFixture +{ +public: + void TearDown() override + { + // Make sure they're destroyed even if test fails by ASSERT + RenderingFixture::TearDown(); + } +}; + +TEST_F(GazeboRosProjectorTest, ProjectorPublisherTest) +{ + // Load test world and start paused + this->Load("worlds/gazebo_ros_projector.world", true); + + // Get the scene + auto scene = gazebo::rendering::get_scene(); + ASSERT_NE(nullptr, scene); + + // Trigger render events until model is loaded + int sleep = 0; + int max_sleep = 30; + gazebo::rendering::VisualPtr model_vis; + gazebo::rendering::VisualPtr link_vis; + gazebo::rendering::VisualPtr visual_vis; + for (; !model_vis && sleep < max_sleep; ++sleep) { + gazebo::event::Events::preRender(); + gazebo::event::Events::render(); + gazebo::event::Events::postRender(); + model_vis = scene->GetVisual("projector_model"); + link_vis = scene->GetVisual("projector_model::projector_link"); + visual_vis = scene->GetVisual("projector_model::projector_link::visual"); + gazebo::common::Time::MSleep(100); + } + + EXPECT_LT(sleep, max_sleep); + EXPECT_NE(nullptr, model_vis); + EXPECT_NE(nullptr, link_vis); + EXPECT_NE(nullptr, visual_vis); + + // Create node and executor + auto node = std::make_shared("gazebo_ros_projector_test"); + ASSERT_NE(nullptr, node); + + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(node); + + // Send switch commands + auto pub = node->create_publisher( + "test/switch_test", rclcpp::QoS(rclcpp::KeepLast(1))); + + auto msg = std_msgs::msg::Bool(); + msg.data = false; + + // Give iterations for it to be processed. Make sure there's no crash. + sleep = 0; + max_sleep = 10; + for (; sleep < max_sleep; ++sleep) { + pub->publish(msg); + msg.data = !msg.data; + executor.spin_once(100ms); + + gazebo::event::Events::preRender(); + gazebo::event::Events::render(); + gazebo::event::Events::postRender(); + + EXPECT_NE(nullptr, scene->GetVisual("projector_model")); + } +} + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + ::testing::InitGoogleTest(&argc, argv); + int ret = RUN_ALL_TESTS(); + rclcpp::shutdown(); + return ret; +} diff --git a/gazebo_plugins/test/test_gazebo_ros_vacuum_gripper.cpp b/gazebo_plugins/test/test_gazebo_ros_vacuum_gripper.cpp new file mode 100644 index 000000000..28fd2da6a --- /dev/null +++ b/gazebo_plugins/test/test_gazebo_ros_vacuum_gripper.cpp @@ -0,0 +1,97 @@ +// Copyright 2019 Open Source Robotics Foundation, Inc. +// +// 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. + +#include +#include +#include + +#include + +#define tol 10e-2 + +class GazeboRosVacuumGripperTest : public gazebo::ServerFixture +{ +}; + +TEST_F(GazeboRosVacuumGripperTest, VacuumGripperServiceTest) +{ + // Load test world and start paused + this->Load("worlds/gazebo_ros_vacuum_gripper.world", true); + + // World + auto world = gazebo::physics::get_world(); + ASSERT_NE(nullptr, world); + + // Box + auto box = world->ModelByName("box"); + ASSERT_NE(nullptr, box); + + // Ball1 + auto ball1 = world->ModelByName("ball1"); + ASSERT_NE(nullptr, ball1); + + // Ball2 + auto ball2 = world->ModelByName("ball2"); + ASSERT_NE(nullptr, ball2); + + // Check plugin was loaded + world->Step(100); + EXPECT_EQ(1u, box->GetPluginCount()); + + // Check ball1 position + EXPECT_NEAR(0.6, ball1->WorldPose().Pos().X(), tol); + EXPECT_NEAR(0.0, ball1->WorldPose().Pos().Y(), tol); + + // Check ball2 position + EXPECT_NEAR(-0.6, ball2->WorldPose().Pos().X(), tol); + EXPECT_NEAR(0.0, ball2->WorldPose().Pos().Y(), tol); + + // Create ROS publisher + auto node = std::make_shared("gazebo_ros_vacuum_gripper_test"); + ASSERT_NE(nullptr, node); + + auto client = node->create_client("test/switch_test"); + ASSERT_NE(nullptr, client); + EXPECT_TRUE(client->wait_for_service(std::chrono::seconds(1))); + + auto request = std::make_shared(); + request->data = true; + auto response_future = client->async_send_request(request); + EXPECT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS, + rclcpp::spin_until_future_complete(node, response_future)); + + unsigned int sleep = 0; + unsigned int max_sleep = 200; + while (sleep < max_sleep && + (ball1->WorldPose().Pos().X() > 0.1 || ball2->WorldPose().Pos().Y() < -0.1)) + { + gazebo::common::Time::MSleep(100); + world->Step(100); + sleep++; + } + + // Check balls moved + EXPECT_LT(sleep, max_sleep); + EXPECT_LT(ball1->WorldPose().Pos().X(), 0.1); + EXPECT_NE(ball1->WorldPose().Pos().Y(), 0); + EXPECT_GT(ball2->WorldPose().Pos().X(), -0.1); + EXPECT_NE(ball2->WorldPose().Pos().Y(), 0); +} + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/gazebo_plugins/test/test_gazebo_ros_video.cpp b/gazebo_plugins/test/test_gazebo_ros_video.cpp index 511e17370..6b43b35a4 100644 --- a/gazebo_plugins/test/test_gazebo_ros_video.cpp +++ b/gazebo_plugins/test/test_gazebo_ros_video.cpp @@ -54,7 +54,8 @@ TEST_F(GazeboRosVideoTest, VideoSubscribeTest) model_vis = scene->GetVisual("box_display"); link_vis = scene->GetVisual("box_display::base_link"); visual_vis = scene->GetVisual("box_display::base_link::visual"); - video_vis = scene->GetVisual("box_display::base_link::visual::video_visual"); + video_vis = scene->GetVisual( + "box_display::base_link::visual::video_visual::display_video_controller"); gazebo::common::Time::MSleep(100); } EXPECT_LT(sleep, max_sleep); @@ -98,7 +99,8 @@ TEST_F(GazeboRosVideoTest, VideoSubscribeTest) gazebo::event::Events::postRender(); EXPECT_NE(nullptr, scene->GetVisual("box_display")); - EXPECT_NE(nullptr, scene->GetVisual("box_display::base_link::visual::video_visual")); + EXPECT_NE(nullptr, scene->GetVisual( + "box_display::base_link::visual::video_visual::display_video_controller")); } } diff --git a/gazebo_plugins/test/worlds/gazebo_ros_ackermann_drive.world b/gazebo_plugins/test/worlds/gazebo_ros_ackermann_drive.world new file mode 100644 index 000000000..f39d81bfd --- /dev/null +++ b/gazebo_plugins/test/worlds/gazebo_ros_ackermann_drive.world @@ -0,0 +1,587 @@ + + + + + model://ground_plane + + + + 0 0 0.03 0 0 0 + + 0 0 0 0 0 1.57 + + 1326.0 + 0 -0.266 0.48 0 0 0 + + 2581.13354740 + 0.0 + 591.30846112 + 0.0 + 0.0 + 2681.95008628 + + + + + + + model://prius_hybrid/meshes/Hybrid.obj + 0.01 0.01 0.01 + + Hybrid +
false
+ + + + + + + + + model://prius_hybrid/meshes/Hybrid.obj + 0.01 0.01 0.01 + + Hybrid_Interior +
false
+ + + + + + + + + model://prius_hybrid/meshes/Hybrid.obj + 0.01 0.01 0.01 + + Hybrid_Windows +
false
+ + + + + + + 0.0 0.05 0.625 0 0 0 + + + 1.7526 2.1 0.95 + + + + + + 0.0 -2.0 0.458488 0.0 0 0 + + + 1.337282 0.48 0.566691 + + + + + + 0.0 -1.900842 0.676305 0.341247 0 0 + + + 1.597968 0.493107 0.265468 + + + + + + 0.0 -0.875105 1.032268 0.335476 0 0 + + + 1.168381 1.654253 0.272347 + + + + + + 0.0 0.161236 1.386042 0.135030 0 0 + + + 1.279154 0.625988 0.171868 + + + + + + 0.0 0.817696 1.360069 -0.068997 0 0 + + + 1.285130 0.771189 0.226557 + + + + + + 0.0 1.640531 1.175126 -0.262017 0 0 + + + 1.267845 1.116344 0.244286 + + + + + + 0.0 1.637059 0.888180 0.0 0 0 + + + 1.788064 1.138988 0.482746 + + + + + + 0.0 2.054454 0.577870 0.0 0 0 + + + 1.781650 0.512093 0.581427 + + + + + + + 0.627868 0.357734 0.988243 -1.302101 0 1.57 + + 1.0 + + 0.14583300 + 0 + 0 + 0.14583300 + 0 + 0.12500000 + + + + + + 0.178172 + 0.041845 + + + + + + 0.003 + + + + + + 0 0 0 1.302101 0 0 + + + model://prius_hybrid/meshes/Hybrid.obj + 0.01 0.01 0.01 + + Steering_Wheel +
true
+ + + + + + + + 1.41 0.76 0.3 0 0 1.57 + + 11 + + 0.58631238 + 0.0 + 0.33552910 + 0.0 + 0.0 + 0.33552910 + + + + + 0.04 0.0 0.0 0 0 0 + + + model://prius_hybrid/meshes/Hybrid.obj + 0.01 0.01 0.01 + + Wheel_Front_Left_ +
true
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true
+ + + + + + + 0.0 0.0 0.0 0 1.5707963267948966 0 + + + 0.31265 + + + + + + 0.9 + 0.9 + 0.0 + 0.0 + + + + + 0.001 + 1e9 + + + + + + + + + + -1.45 0.786 0.3 0 0 1.57 + + 11 + + 0.58631238 + 0.0 + 0.33552910 + 0.0 + 0.0 + 0.33552910 + + + + + 0.04 0.0 0.0 0 0 0 + + + model://prius_hybrid/meshes/Hybrid.obj + 0.01 0.01 0.01 + + Wheel_Front_Left_ +
true
+ + + + + + + 0.0 0.0 0.0 0 1.5707963267948966 0 + + + 0.31265 + + + + + + 1.1 + 1.1 + 0.0 + 0.0 + + + + + 0.001 + 1e9 + + + + + + + + + -1.45 -0.786 0.3 0 0 1.57 + + 11 + + 0.58631238 + 0.0 + 0.33552910 + 0.0 + 0.0 + 0.33552910 + + + + -0.04 0.0 0.0 0 0 0 + + + model://prius_hybrid/meshes/Hybrid.obj + 0.01 0.01 0.01 + + Wheel_Front_Right +
true
+ + + + + + + 0.0 0.0 0.0 0 1.5707963267948966 0 + + + 0.31265 + + + + + + 1.1 + 1.1 + 0.0 + 0.0 + + + + + 0.001 + 1e9 + + + + + + + + 0 0 0 -0.08726646259971647 0 0 + front_left_wheel + chassis + + 0 0 1 + + + -0.8727 + 0.8727 + + + + 1 0 0 + + 18.0474092253 + + + + + + 0 0 0 -0.08726646259971647 0 0 + front_right_wheel + chassis + + 0 0 1 + + + -0.8727 + 0.8727 + + + + 1 0 0 + + 18.0474092253 + + + + + + -1.45 0 0.3 0 0 0 + + 30.0 + + 0.08437499999999999 + 0.0 + 4.64581 + 0.0 + 0.0 + 4.64581 + + + + 0.0 0.0 0.0 0 1.5707963267948966 0 + + + 1.357 + 0.075 + + + + + + + + + + rear_axle + chassis + + 0 1 0 + + -0.05089058524173028 + 0.05089058524173028 + + + 20000.0 + 2000.0 + + + + + rear_left_wheel + rear_axle + + 1 0 0 + + 12.031606150200002 + + + + + rear_right_wheel + rear_axle + + 1 0 0 + + 12.031606150200002 + + + + + + -0.002 0 0 0 0 0 + chassis + steering_wheel + + -0.964118 0.000768 0.265556 + + -7.85 + 7.85 + + + 1.0 + + true + + + + 1 + + + + + + + + test + cmd_vel:=cmd_test + odom:=odom_test + distance:=distance_test + + + 100.0 + + + front_left_combined_joint + front_right_combined_joint + rear_left_wheel_joint + rear_right_wheel_joint + front_left_combined_joint + front_right_combined_joint + steering_joint + + + + 0.6458 + + + 7.85 + + + 20 + + + 1500 0 1 + 0 0 + 1500 0 1 + 0 0 + 1000 0 1 + 0 0 + + + true + true + true + true + + odom_test + chassis + + + + + + diff --git a/gazebo_plugins/test/worlds/gazebo_ros_camera_distortion_barrel.world b/gazebo_plugins/test/worlds/gazebo_ros_camera_distortion_barrel.world index b0f95dfcf..7d32d49da 100644 --- a/gazebo_plugins/test/worlds/gazebo_ros_camera_distortion_barrel.world +++ b/gazebo_plugins/test/worlds/gazebo_ros_camera_distortion_barrel.world @@ -13,7 +13,7 @@ 30.0 - + 0.927295218 1000 @@ -37,7 +37,7 @@
0.5 0.5
 - + distorted_camera/image_raw:=distorted_image distorted_camera/camera_info:=distorted_info @@ -57,7 +57,7 @@ 30.0 - + 0.927295218 1000 @@ -77,7 +77,7 @@
0.5 0.5
 - + undistorted_camera/image_raw:=undistorted_image diff --git a/gazebo_plugins/test/worlds/gazebo_ros_camera_distortion_pincushion.world b/gazebo_plugins/test/worlds/gazebo_ros_camera_distortion_pincushion.world index 4aba7f1a0..2fbfb36bf 100644 --- a/gazebo_plugins/test/worlds/gazebo_ros_camera_distortion_pincushion.world +++ b/gazebo_plugins/test/worlds/gazebo_ros_camera_distortion_pincushion.world @@ -13,7 +13,7 @@ 30.0 - + 0.927295218 1000 @@ -37,7 +37,7 @@
0.5 0.5
 - + distorted_camera/image_raw:=distorted_image distorted_camera/camera_info:=distorted_info @@ -57,7 +57,7 @@ 30.0 - + 0.927295218 1000 @@ -77,7 +77,7 @@
0.5 0.5
 - + undistorted_camera/image_raw:=undistorted_image diff --git a/gazebo_plugins/test/worlds/gazebo_ros_elevator.world b/gazebo_plugins/test/worlds/gazebo_ros_elevator.world new file mode 100644 index 000000000..054bf2013 --- /dev/null +++ b/gazebo_plugins/test/worlds/gazebo_ros_elevator.world @@ -0,0 +1,284 @@ + + + + + model://ground_plane + + + + 0 0 0.075 0 0 0 + + + 800 + + + + + + 2.25 2.25 0.15 + + + + + + + 2.25 2.25 0.15 + + + + + + 1.0745 0.5725 1.125 0 0 0 + + + 0.1 1.15 2.25 + + + + + 1.0745 0.5725 1.125 0 0 0 + + + 0.1 1.15 2.25 + + + + + + + + + 1.0745 -1.0625 1.125 0 0 0 + + + 0.1 0.125 2.25 + + + + + 1.0745 -1.0625 1.125 0 0 0 + + + 0.1 0.125 2.25 + + + + + + + + + + 1.0745 -0.5 1.125 0 0 0 + + + + 0.08 1.0 2.25 + + + + + + + 0.08 1.0 2.25 + + + + + + + link + door + + 0 1 0 + + 0 + 1 + 10 + + + + 2 + + + + + + world + link + + 0 0 1 + + 0 + 10 + 100000 + + + + 50 + + + + + 1 + + + + + + + + test + elevator:=elevator_test + + 0 + 1 + + elevator::lift + elevator::door + 3.075 + + + 10 + + + + + + true + + + 0 1.25 3 0 0 0 + + + 2.5 0.15 6 + + + + + 0 1.25 3 0 0 0 + + + 2.5 0.15 6 + + + + + + 0 -1.25 3 0 0 0 + + + 2.5 0.15 6 + + + + + 0 -1.25 3 0 0 0 + + + 2.5 0.15 6 + + + + + + -1.25 0 3 0 0 0 + + + 0.15 2.7 6 + + + + + -1.25 0 3 0 0 0 + + + 0.15 2.7 6 + + + + + + 1.19 0 0.075 0 0 0 + + + 0.12 2.5 0.15 + + + + + 1.19 0 0.075 0 0 0 + + + 0.12 2.5 0.15 + + + + + + 1.19 0 3.075 0 0 0 + + + 0.12 2.5 0.15 + + + + + 1.19 0 3.075 0 0 0 + + + 0.12 2.5 0.15 + + + + + + + + 2.25 0 0.075 0 0 0 + true + + + + + 2.0 5.0 0.15 + + + + + + + 2.0 5.0 0.15 + + + + + + + + 2.25 0 3.075 0 0 0 + true + + + + + 2.0 5.0 0.15 + + + + + + + 2.0 5.0 0.15 + + + + + + + + diff --git a/gazebo_plugins/test/worlds/gazebo_ros_hand_of_god.world b/gazebo_plugins/test/worlds/gazebo_ros_hand_of_god.world new file mode 100644 index 000000000..6451e76f4 --- /dev/null +++ b/gazebo_plugins/test/worlds/gazebo_ros_hand_of_god.world @@ -0,0 +1,34 @@ + + + + + model://ground_plane + + + 0 0 0.5 0 0 0 + + + + + 1 1 1 + + + + + + + 1 1 1 + + + + + + + /test + + link + link + + + + diff --git a/gazebo_plugins/test/worlds/gazebo_ros_harness.world b/gazebo_plugins/test/worlds/gazebo_ros_harness.world new file mode 100644 index 000000000..51f685b68 --- /dev/null +++ b/gazebo_plugins/test/worlds/gazebo_ros_harness.world @@ -0,0 +1,87 @@ + + + + + model://ground_plane + + + + 0 0 3.0 0 0 0 + + + + + 1 1 1 + + + + + + + 1 1 1 + + + + + + + test + box/harness/velocity:=velocity_test + box/harness/detach:=detach_test + + + 0 0 0 0 0 0 + world + link + + 0 0 1 + + 10 + + + -1.5 + 1.5 + 10000 + -1 + 0 + 0 + + + + + 1 + + 0.0 + 0.0 + + + + + + + joint1 + +

1000000

+ 0 + 0 + 0 + 0 + -10000 + 10000 + + +

10000

+ 0 + 0 + 0 + 0 + 0 + 10000 + + + + joint1 + + + + diff --git a/gazebo_plugins/test/worlds/gazebo_ros_joint_pose_trajectory.world b/gazebo_plugins/test/worlds/gazebo_ros_joint_pose_trajectory.world new file mode 100644 index 000000000..a258b1cfc --- /dev/null +++ b/gazebo_plugins/test/worlds/gazebo_ros_joint_pose_trajectory.world @@ -0,0 +1,26 @@ + + + + 0 0 0 + + model://ground_plane + + + model://sun + + + + model://double_pendulum_with_base + + + + /test + set_joint_trajectory:=set_trajectory_test + + 2 + + + + + diff --git a/gazebo_plugins/test/worlds/gazebo_ros_planar_move.world b/gazebo_plugins/test/worlds/gazebo_ros_planar_move.world new file mode 100644 index 000000000..26a1024c2 --- /dev/null +++ b/gazebo_plugins/test/worlds/gazebo_ros_planar_move.world @@ -0,0 +1,46 @@ + + + + + + model://ground_plane + + + + 0 0 0.5 0 0 0 + + + + + 1 1 1 + + + + + + + 1 1 1 + + + + + + + + /test + cmd_vel:=cmd_test + odom:=odom_test + + + 100 + 100 + + true + true + odom_frame_test + link + + + + + diff --git a/gazebo_plugins/test/worlds/gazebo_ros_projector.world b/gazebo_plugins/test/worlds/gazebo_ros_projector.world new file mode 100644 index 000000000..6b31ba95c --- /dev/null +++ b/gazebo_plugins/test/worlds/gazebo_ros_projector.world @@ -0,0 +1,50 @@ + + + + + + model://ground_plane + + + + 0 0 1 0.0 0.0 0 + + + + + 0.1 + + + + + + + 0.1 + + + + + + + + 0 0 0 0 0 0 + bricks.png + 0.959931088597 + 0.1 + 10 + + + true + + + + /test + switch:=switch_test + + projector_link + texture_projector + + + + + \ No newline at end of file diff --git a/gazebo_plugins/test/worlds/gazebo_ros_vacuum_gripper.world b/gazebo_plugins/test/worlds/gazebo_ros_vacuum_gripper.world new file mode 100644 index 000000000..4937201b7 --- /dev/null +++ b/gazebo_plugins/test/worlds/gazebo_ros_vacuum_gripper.world @@ -0,0 +1,109 @@ + + + + + + model://ground_plane + + + + 0 0 0.04 0 0 0 + + + + + 0.08 0.08 0.08 + + + + + + + 0.08 0.08 0.08 + + + + + + + + + /test + switch:=switch_test + grasping:=grasping_test + + + link + + 5.0 + + ground_plane + + + + + + 0.6 0 0.04 0 0 0 + + + 0.026 + + 1.664e-5 + 1.664e-5 + 1.664e-5 + 0 + 0 + 0 + + + + + + 0.04 + + + + + + + 0.04 + + + + + + + + + -0.6 0 0.04 0 0 0 + + + 0.026 + + 1.664e-5 + 1.664e-5 + 1.664e-5 + 0 + 0 + 0 + + + + + + 0.04 + + + + + + + 0.04 + + + + + + + + diff --git a/gazebo_plugins/worlds/gazebo_ros_ackermann_drive_demo.world b/gazebo_plugins/worlds/gazebo_ros_ackermann_drive_demo.world new file mode 100644 index 000000000..42d06a033 --- /dev/null +++ b/gazebo_plugins/worlds/gazebo_ros_ackermann_drive_demo.world @@ -0,0 +1,612 @@ + + + + + + model://sun + + + + model://ground_plane + + + + 0 0 0.03 0 0 0 + + 0 0 0 0 0 1.57 + + 1326.0 + 0 -0.266 0.48 0 0 0 + + 2581.13354740 + 0.0 + 591.30846112 + 0.0 + 0.0 + 2681.95008628 + + + + + + + model://prius_hybrid/meshes/Hybrid.obj + 0.01 0.01 0.01 + + Hybrid +
false
+ + + + + + + + + model://prius_hybrid/meshes/Hybrid.obj + 0.01 0.01 0.01 + + Hybrid_Interior +
false
+ + + + + + + + + model://prius_hybrid/meshes/Hybrid.obj + 0.01 0.01 0.01 + + Hybrid_Windows +
false
+ + + + + + + 0.0 0.05 0.625 0 0 0 + + + 1.7526 2.1 0.95 + + + + + + 0.0 -2.0 0.458488 0.0 0 0 + + + 1.337282 0.48 0.566691 + + + + + + 0.0 -1.900842 0.676305 0.341247 0 0 + + + 1.597968 0.493107 0.265468 + + + + + + 0.0 -0.875105 1.032268 0.335476 0 0 + + + 1.168381 1.654253 0.272347 + + + + + + 0.0 0.161236 1.386042 0.135030 0 0 + + + 1.279154 0.625988 0.171868 + + + + + + 0.0 0.817696 1.360069 -0.068997 0 0 + + + 1.285130 0.771189 0.226557 + + + + + + 0.0 1.640531 1.175126 -0.262017 0 0 + + + 1.267845 1.116344 0.244286 + + + + + + 0.0 1.637059 0.888180 0.0 0 0 + + + 1.788064 1.138988 0.482746 + + + + + + 0.0 2.054454 0.577870 0.0 0 0 + + + 1.781650 0.512093 0.581427 + + + + + + + 0.627868 0.357734 0.988243 -1.302101 0 1.57 + + 1.0 + + 0.14583300 + 0 + 0 + 0.14583300 + 0 + 0.12500000 + + + + + + 0.178172 + 0.041845 + + + + + + 0.003 + + + + + + 0 0 0 1.302101 0 0 + + + model://prius_hybrid/meshes/Hybrid.obj + 0.01 0.01 0.01 + + Steering_Wheel +
true
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true
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true
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true
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true
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1000000

+ 0 + 0 + 0 + 0 + -10000 + 10000 + + + +

10000

+ 0 + 0 + 0 + 0 + 0 + 10000 + + + + + joint1 + + + + diff --git a/gazebo_plugins/worlds/gazebo_ros_joint_pose_trajectory_demo.world b/gazebo_plugins/worlds/gazebo_ros_joint_pose_trajectory_demo.world new file mode 100644 index 000000000..99f7ed793 --- /dev/null +++ b/gazebo_plugins/worlds/gazebo_ros_joint_pose_trajectory_demo.world @@ -0,0 +1,31 @@ + + + + + + model://ground_plane + + + model://sun + + + model://double_pendulum_with_base + + + + /demo + set_joint_trajectory:=set_trajectory_demo + + 2 + + + + + diff --git a/gazebo_plugins/worlds/gazebo_ros_planar_move_demo.world b/gazebo_plugins/worlds/gazebo_ros_planar_move_demo.world new file mode 100644 index 000000000..a67822a3f --- /dev/null +++ b/gazebo_plugins/worlds/gazebo_ros_planar_move_demo.world @@ -0,0 +1,73 @@ + + + + + + + model://ground_plane + + + + model://sun + + + + 0 0 0.5 0 0 0 + + + + + 1 1 1 + + + + + + + 1 1 1 + + + + + + + + /demo + cmd_vel:=cmd_demo + odom:=odom_demo + + + 100 + 10 + + + true + true + + odom_demo + link + + 0.0001 + 0.0001 + 0.01 + + + + + diff --git a/gazebo_plugins/worlds/gazebo_ros_projector_demo.world b/gazebo_plugins/worlds/gazebo_ros_projector_demo.world new file mode 100644 index 000000000..5562722f1 --- /dev/null +++ b/gazebo_plugins/worlds/gazebo_ros_projector_demo.world @@ -0,0 +1,64 @@ + + + + + + + + model://ground_plane + + + + model://sun + + + + 0 0 1 0.0 0.0 0 + + + + + 0.1 + + + + + + + 0.1 + + + + + + + + 0 0 0 0 0 0 + bricks.png + 0.959931088597 + 0.1 + 10 + + + true + + + + /demo + switch:=switch_demo + + projector_link + texture_projector + + + + + \ No newline at end of file diff --git a/gazebo_plugins/worlds/gazebo_ros_vacuum_gripper_demo.world b/gazebo_plugins/worlds/gazebo_ros_vacuum_gripper_demo.world new file mode 100644 index 000000000..08c4e092e --- /dev/null +++ b/gazebo_plugins/worlds/gazebo_ros_vacuum_gripper_demo.world @@ -0,0 +1,187 @@ + + + + + + + model://ground_plane + + + + model://sun + + + + 0 0 0.04 0 0 0 + + + + + 0.08 0.08 0.08 + + + + + + + 0.08 0.08 0.08 + + + + + + + + + /demo + switch:=switch_demo + grasping:=grasping_demo + + + link + + 5.0 + + ground_plane + + + + + + 0 -0.8 0.04 0 0 0 + + + 0.026 + + 1.664e-5 + 1.664e-5 + 1.664e-5 + 0 + 0 + 0 + + + + + + 0.04 + + + + + + + 0.04 + + + + + + + + + 0.8 0 0.04 0 0 0 + + + 0.026 + + 1.664e-5 + 1.664e-5 + 1.664e-5 + 0 + 0 + 0 + + + + + + 0.04 + + + + + + + 0.04 + + + + + + + + -0.8 0 0.04 0 0 0 + + + 0.026 + + 1.664e-5 + 1.664e-5 + 1.664e-5 + 0 + 0 + 0 + + + + + + 0.04 + + + + + + + 0.04 + + + + + + + + 0 0.8 0.04 0 0 0 + + + 0.026 + + 1.664e-5 + 1.664e-5 + 1.664e-5 + 0 + 0 + 0 + + + + + + 0.04 + + + + + + + 0.04 + + + + + + + + diff --git a/gazebo_ros/CMakeLists.txt b/gazebo_ros/CMakeLists.txt index 2ed245b84..1a803eb49 100644 --- a/gazebo_ros/CMakeLists.txt +++ b/gazebo_ros/CMakeLists.txt @@ -144,6 +144,12 @@ install( LIBRARY DESTINATION lib RUNTIME DESTINATION bin) +install( + PROGRAMS + scripts/spawn_entity.py + DESTINATION lib/${PROJECT_NAME}/ +) + install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/ diff --git a/gazebo_ros/include/gazebo_ros/conversions/builtin_interfaces.hpp b/gazebo_ros/include/gazebo_ros/conversions/builtin_interfaces.hpp index 25d6cc5b7..8d3c4cd1d 100644 --- a/gazebo_ros/include/gazebo_ros/conversions/builtin_interfaces.hpp +++ b/gazebo_ros/include/gazebo_ros/conversions/builtin_interfaces.hpp @@ -48,5 +48,49 @@ builtin_interfaces::msg::Time Convert(const gazebo::msgs::Time & in) return time; } +/// Generic conversion from a ROS builtin interface time message to another type. +/// \param[in] in Input message. +/// \return Conversion result +/// \tparam T Output type +template +T Convert(const builtin_interfaces::msg::Time &) +{ + T::ConversionNotImplemented; +} + +/// \brief Specialized conversion from a ROS Time message to a Gazebo Time. +/// \param[in] in ROS Time message to convert. +/// \return A Gazebo Time with the same value as in +template<> +gazebo::common::Time Convert(const builtin_interfaces::msg::Time & in) +{ + gazebo::common::Time time; + time.sec = in.sec; + time.nsec = in.nanosec; + return time; +} + +/// Generic conversion from a ROS builtin interface duration message to another type. +/// \param[in] in Input message. +/// \return Conversion result +/// \tparam T Output type +template +T Convert(const builtin_interfaces::msg::Duration &) +{ + T::ConversionNotImplemented; +} + +/// \brief Specialized conversion from a ROS duration message to a Gazebo Time. +/// \param[in] in ROS Time message to convert. +/// \return A Gazebo Time with the same value as in +template<> +gazebo::common::Time Convert(const builtin_interfaces::msg::Duration & in) +{ + gazebo::common::Time time; + time.sec = in.sec; + time.nsec = in.nanosec; + return time; +} + } // namespace gazebo_ros #endif // GAZEBO_ROS__CONVERSIONS__BUILTIN_INTERFACES_HPP_ diff --git a/gazebo_ros/include/gazebo_ros/conversions/generic.hpp b/gazebo_ros/include/gazebo_ros/conversions/generic.hpp index 7e866ca09..690c04743 100644 --- a/gazebo_ros/include/gazebo_ros/conversions/generic.hpp +++ b/gazebo_ros/include/gazebo_ros/conversions/generic.hpp @@ -19,6 +19,7 @@ #include #include +#include #include #include #include @@ -49,6 +50,16 @@ T Convert(const ignition::math::Quaterniond &) T::ConversionNotImplemented; } +/// Generic conversion from an Ignition Math pose3d to another type. +/// \param[in] in Input pose3d +/// \return Conversion result +/// \tparam T Output type +template +T Convert(const ignition::math::Pose3d &) +{ + T::ConversionNotImplemented; +} + /// Generic conversion from an Gazebo Time object to another type. /// \param[in] in Input time; /// \return Conversion result diff --git a/gazebo_ros/include/gazebo_ros/conversions/geometry_msgs.hpp b/gazebo_ros/include/gazebo_ros/conversions/geometry_msgs.hpp index 8af2a4d8a..310a92216 100644 --- a/gazebo_ros/include/gazebo_ros/conversions/geometry_msgs.hpp +++ b/gazebo_ros/include/gazebo_ros/conversions/geometry_msgs.hpp @@ -17,8 +17,11 @@ #include #include +#include #include +#include #include +#include #include #include @@ -110,6 +113,28 @@ ignition::math::Vector3d Convert(const geometry_msgs::msg::Point & in) return out; } +/// Generic conversion from a ROS geometry pose message to another type. +/// \param[in] in Input message. +/// \return Conversion result +/// \tparam T Output type +template +T Convert(const geometry_msgs::msg::Pose &) +{ + T::ConversionNotImplemented; +} + +/// \brief Specialized conversion from a ROS pose message to a ROS geometry transform message. +/// \param[in] in ROS pose message to convert. +/// \return A ROS geometry transform message. +template<> +geometry_msgs::msg::Transform Convert(const geometry_msgs::msg::Pose & in) +{ + geometry_msgs::msg::Transform msg; + msg.translation = Convert(in.position); + msg.rotation = in.orientation; + return msg; +} + /// \brief Specialized conversion from an Ignition Math vector to a ROS message. /// \param[in] vec Ignition vector to convert. /// \return ROS geometry vector message @@ -150,6 +175,30 @@ geometry_msgs::msg::Quaternion Convert(const ignition::math::Quaterniond & in) return msg; } +/// \brief Specialized conversion from an Ignition Math Pose3d to a ROS geometry transform message. +/// \param[in] in Ignition Pose3d to convert. +/// \return ROS geometry transform message +template<> +geometry_msgs::msg::Transform Convert(const ignition::math::Pose3d & in) +{ + geometry_msgs::msg::Transform msg; + msg.translation = Convert(in.Pos()); + msg.rotation = Convert(in.Rot()); + return msg; +} + +/// \brief Specialized conversion from an Ignition Math Pose3d to a ROS geometry pose message. +/// \param[in] in Ignition Pose3d to convert. +/// \return ROS geometry pose message +template<> +geometry_msgs::msg::Pose Convert(const ignition::math::Pose3d & in) +{ + geometry_msgs::msg::Pose msg; + msg.position = Convert(in.Pos()); + msg.orientation = Convert(in.Rot()); + return msg; +} + /// Generic conversion from a ROS Quaternion message to another type /// \param[in] in Input quaternion /// \return Conversion result @@ -169,5 +218,27 @@ ignition::math::Quaterniond Convert(const geometry_msgs::msg::Quaternion & in) return ignition::math::Quaterniond(in.w, in.x, in.y, in.z); } +/// Generic conversion from a ROS geometry transform message to another type. +/// \param[in] in Input message. +/// \return Conversion result +/// \tparam T Output type +template +T Convert(const geometry_msgs::msg::Transform &) +{ + T::ConversionNotImplemented; +} + +/// \brief Specialized conversion from a ROS geometry transform message to an Ignition math pose3d. +/// \param[in] in ROS message to convert. +/// \return A Ignition Math pose3d. +template<> +ignition::math::Pose3d Convert(const geometry_msgs::msg::Transform & in) +{ + ignition::math::Pose3d msg; + msg.Pos() = Convert(in.translation); + msg.Rot() = Convert(in.rotation); + return msg; +} + } // namespace gazebo_ros #endif // GAZEBO_ROS__CONVERSIONS__GEOMETRY_MSGS_HPP_ diff --git a/gazebo_ros/include/gazebo_ros/testing_utils.hpp b/gazebo_ros/include/gazebo_ros/testing_utils.hpp index f009de3bf..377a7478c 100644 --- a/gazebo_ros/include/gazebo_ros/testing_utils.hpp +++ b/gazebo_ros/include/gazebo_ros/testing_utils.hpp @@ -122,7 +122,7 @@ template typename T::SharedPtr get_message_or_timeout( rclcpp::Node::SharedPtr node, const std::string & topic, - rclcpp::Duration timeout = rclcpp::Duration(5, 0)) + rclcpp::Duration timeout = rclcpp::Duration(10, 0)) { rclcpp::Clock clock; rclcpp::executors::SingleThreadedExecutor executor; @@ -131,7 +131,7 @@ get_message_or_timeout( std::atomic_bool msg_received(false); typename T::SharedPtr msg = nullptr; - auto sub = node->create_subscription(topic, rclcpp::SystemDefaultsQoS(), + auto sub = node->create_subscription(topic, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local(), [&msg_received, &msg](typename T::SharedPtr _msg) { // If this is the first message from this topic, increment the counter if (!msg_received.exchange(true)) { @@ -139,9 +139,16 @@ get_message_or_timeout( } }); - // Wait until message is received or timeout occurs + // Wait for topic to be available using namespace std::literals::chrono_literals; // NOLINT - auto timeout_absolute = clock.now() + timeout; + auto timeout_absolute = clock.now() + timeout * 0.5; + while (node->count_publishers(topic) == 0) { + executor.spin_once(200ms); + } + EXPECT_GT(node->count_publishers(topic), 0u); + + // Wait until message is received or timeout occurs + timeout_absolute = clock.now() + timeout * 0.5; while (false == msg_received && clock.now() < timeout_absolute) { executor.spin_once(200ms); diff --git a/gazebo_ros/launch/gazebo.launch.py b/gazebo_ros/launch/gazebo.launch.py new file mode 100644 index 000000000..6fba9dd68 --- /dev/null +++ b/gazebo_ros/launch/gazebo.launch.py @@ -0,0 +1,35 @@ +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# 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. + +"""Launch Gazebo server and client with command line arguments.""" + +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import ThisLaunchFileDir + + +def generate_launch_description(): + + # (TODO) Allow conditional include of gzserver and gzclient, once supported + # https://github.com/ros2/launch/issues/303 + return LaunchDescription([ + IncludeLaunchDescription( + PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/gzserver.launch.py']), + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/gzclient.launch.py']), + ), + ]) diff --git a/gazebo_ros/launch/gzclient.launch.py b/gazebo_ros/launch/gzclient.launch.py new file mode 100644 index 000000000..72d193381 --- /dev/null +++ b/gazebo_ros/launch/gzclient.launch.py @@ -0,0 +1,82 @@ +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# 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. + +"""Launch a Gazebo client with command line arguments.""" + +from os import environ + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import ExecuteProcess +from launch.substitutions import LaunchConfiguration +from launch.substitutions import PythonExpression + +from scripts import GazeboRosPaths + + +def generate_launch_description(): + model, plugin, media = GazeboRosPaths.get_paths() + + if 'GAZEBO_MODEL_PATH' in environ: + model += ':'+environ['GAZEBO_MODEL_PATH'] + if 'GAZEBO_PLUGIN_PATH' in environ: + plugin += ':'+environ['GAZEBO_PLUGIN_PATH'] + if 'GAZEBO_RESOURCE_PATH' in environ: + media += ':'+environ['GAZEBO_RESOURCE_PATH'] + + env = {'GAZEBO_MODEL_PATH': model, + 'GAZEBO_PLUGIN_PATH': plugin, + 'GAZEBO_RESOURCE_PATH': media} + + return LaunchDescription([ + DeclareLaunchArgument('version', default_value='false', + description='Set "true" to output version information'), + DeclareLaunchArgument('verbose', default_value='false', + description='Set "true" to increase messages written to terminal'), + DeclareLaunchArgument('help', default_value='false', + description='Set "true" to produce gzclient help message'), + DeclareLaunchArgument('extra_gazebo_args', default_value='', + description='Extra arguments to be passed to Gazebo'), + + # Specific to gazebo_ros + DeclareLaunchArgument('gdb', default_value='false', + description='Set "true" to run gzserver with gdb'), + DeclareLaunchArgument('valgrind', default_value='false', + description='Set "true" to run gzserver with valgrind'), + + # Execute + ExecuteProcess( + cmd=[['gzclient', + _boolean_command('version'), ' ', + _boolean_command('verbose'), ' ', + _boolean_command('help'), ' ', + LaunchConfiguration('extra_gazebo_args'), + ]], + output='screen', + additional_env=env, + shell=True, + prefix=PythonExpression(['"gdb -ex run --args" if "true" == "', + LaunchConfiguration('gdb'), + '"else "valgrind" if "true" == "', + LaunchConfiguration('valgrind'), + '"else ""']), + ) + ]) + + +# Add boolean commands if true +def _boolean_command(arg): + cmd = ['"--', arg, '" if "true" == "', LaunchConfiguration(arg), '" else ""'] + py_cmd = PythonExpression(cmd) + return py_cmd diff --git a/gazebo_ros/launch/gzserver.launch.py b/gazebo_ros/launch/gzserver.launch.py new file mode 100644 index 000000000..aee87d017 --- /dev/null +++ b/gazebo_ros/launch/gzserver.launch.py @@ -0,0 +1,150 @@ +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# 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. + +"""Launch a Gazebo server with command line arguments.""" + +from os import environ + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import ExecuteProcess +from launch.substitutions import LaunchConfiguration +from launch.substitutions import PythonExpression + +from scripts import GazeboRosPaths + + +def generate_launch_description(): + model, plugin, media = GazeboRosPaths.get_paths() + + if 'GAZEBO_MODEL_PATH' in environ: + model += ':'+environ['GAZEBO_MODEL_PATH'] + if 'GAZEBO_PLUGIN_PATH' in environ: + plugin += ':'+environ['GAZEBO_PLUGIN_PATH'] + if 'GAZEBO_RESOURCE_PATH' in environ: + media += ':'+environ['GAZEBO_RESOURCE_PATH'] + + env = {'GAZEBO_MODEL_PATH': model, + 'GAZEBO_PLUGIN_PATH': plugin, + 'GAZEBO_RESOURCE_PATH': media} + + return LaunchDescription([ + DeclareLaunchArgument('world', default_value='', + description='Specify world file name'), + DeclareLaunchArgument('version', default_value='false', + description='Set "true" to output version information.'), + DeclareLaunchArgument('verbose', default_value='false', + description='Set "true" to increase messages written to terminal.'), + DeclareLaunchArgument('help', default_value='false', + description='Set "true" to produce gzserver help message.'), + DeclareLaunchArgument('pause', default_value='false', + description='Set "true" to start the server in a paused state.'), + DeclareLaunchArgument('physics', default_value='', + description='Specify a physics engine (ode|bullet|dart|simbody).'), + DeclareLaunchArgument('play', default_value='', + description='Play the specified log file.'), + DeclareLaunchArgument('record', default_value='false', + description='Set "true" to record state data.'), + DeclareLaunchArgument('record_encoding', default_value='', + description='Specify compression encoding format for log data ' + '(zlib|bz2|txt).'), + DeclareLaunchArgument('record_path', default_value='', + description='Absolute path in which to store state data.'), + DeclareLaunchArgument('record_period', default_value='', + description='Specify recording period (seconds).'), + DeclareLaunchArgument('record_filter', default_value='', + description='Specify recording filter ' + '(supports wildcard and regular expression).'), + DeclareLaunchArgument('seed', default_value='', + description='Start with a given a random number seed.'), + DeclareLaunchArgument('iters', default_value='', + description='Specify number of iterations to simulate.'), + DeclareLaunchArgument('minimal_comms', default_value='false', + description='Set "true" to reduce TCP/IP traffic output.'), + DeclareLaunchArgument('profile', default_value='', + description='Specify physics preset profile name from the options ' + 'in the world file.'), + DeclareLaunchArgument('extra_gazebo_args', default_value='', + description='Extra arguments to be passed to Gazebo'), + + # Specific to gazebo_ros + DeclareLaunchArgument('gdb', default_value='false', + description='Set "true" to run gzserver with gdb'), + DeclareLaunchArgument('valgrind', default_value='false', + description='Set "true" to run gzserver with valgrind'), + DeclareLaunchArgument('init', default_value='true', + description='Set "false" not to load "libgazebo_ros_init.so"'), + DeclareLaunchArgument('factory', default_value='true', + description='Set "false" not to load "libgazebo_ros_factory.so"'), + # Wait for (https://github.com/ros-simulation/gazebo_ros_pkgs/pull/941) + # DeclareLaunchArgument('force_system', default_value='true', + # description='Set "false" not to load \ + # "libgazebo_ros_force_system.so"'), + + ExecuteProcess( + cmd=['gzserver', + # Pass through arguments to gzserver + LaunchConfiguration('world'), ' ', + _boolean_command('version'), ' ', + _boolean_command('verbose'), ' ', + _boolean_command('help'), ' ', + _boolean_command('pause'), ' ', + _arg_command('physics'), ' ', LaunchConfiguration('physics'), ' ', + _arg_command('play'), ' ', LaunchConfiguration('play'), ' ', + _boolean_command('record'), ' ', + _arg_command('record_encoding'), ' ', LaunchConfiguration('record_encoding'), ' ', + _arg_command('record_path'), ' ', LaunchConfiguration('record_path'), ' ', + _arg_command('record_period'), ' ', LaunchConfiguration('record_period'), ' ', + _arg_command('record_filter'), ' ', LaunchConfiguration('record_filter'), ' ', + _arg_command('seed'), ' ', LaunchConfiguration('seed'), ' ', + _arg_command('iters'), ' ', LaunchConfiguration('iters'), ' ', + _boolean_command('minimal_comms'), + _plugin_command('init'), ' ', + _plugin_command('factory'), ' ', + # Wait for (https://github.com/ros-simulation/gazebo_ros_pkgs/pull/941) + # _plugin_command('force_system'), ' ', + _arg_command('profile'), ' ', LaunchConfiguration('profile'), + LaunchConfiguration('extra_gazebo_args'), + ], + output='screen', + additional_env=env, + shell=True, + prefix=PythonExpression(['"gdb -ex run --args" if "true" == "', + LaunchConfiguration('gdb'), + '" else "valgrind" if "true" == "', + LaunchConfiguration('valgrind'), + '" else ""']), + ) + ]) + + +# Add boolean commands if true +def _boolean_command(arg): + cmd = ['"--', arg, '" if "true" == "', LaunchConfiguration(arg), '" else ""'] + py_cmd = PythonExpression(cmd) + return py_cmd + + +# Add string commands if not empty +def _arg_command(arg): + cmd = ['"--', arg, '" if "" != "', LaunchConfiguration(arg), '" else ""'] + py_cmd = PythonExpression(cmd) + return py_cmd + + +# Add gazebo_ros plugins if true +def _plugin_command(arg): + cmd = ['"-s libgazebo_ros_', arg, '.so" if "true" == "', LaunchConfiguration(arg), '" else ""'] + py_cmd = PythonExpression(cmd) + return py_cmd diff --git a/gazebo_ros/launch/spawn_entity_demo.launch.py b/gazebo_ros/launch/spawn_entity_demo.launch.py new file mode 100644 index 000000000..513de08b9 --- /dev/null +++ b/gazebo_ros/launch/spawn_entity_demo.launch.py @@ -0,0 +1,42 @@ +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# 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. + +""" +Demo for spawn_entity. + +Launches Gazebo and spawns a model +""" + +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import ThisLaunchFileDir +from launch_ros.actions import Node + + +def generate_launch_description(): + gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/gazebo.launch.py']), + ) + + # GAZEBO_MODEL_PATH has to be correctly set for Gazebo to be able to find the model + spawn_entity = Node(package='gazebo_ros', node_executable='spawn_entity.py', + arguments=['-entity', 'demo', '-database', 'double_pendulum_with_base'], + output='screen') + + return LaunchDescription([ + gazebo, + + spawn_entity, + ]) diff --git a/gazebo_ros/package.xml b/gazebo_ros/package.xml index 35d62deaa..e08d9cd28 100644 --- a/gazebo_ros/package.xml +++ b/gazebo_ros/package.xml @@ -25,6 +25,7 @@ gazebo_dev gazebo_msgs rclcpp + rclpy std_srvs tinyxml_vendor diff --git a/gazebo_ros/scripts/spawn_entity.py b/gazebo_ros/scripts/spawn_entity.py new file mode 100755 index 000000000..112752a80 --- /dev/null +++ b/gazebo_ros/scripts/spawn_entity.py @@ -0,0 +1,347 @@ +#!/usr/bin/env python3 +# +# Copyright 2019 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. +# +# Desc: helper script for spawning entities in gazebo +# Author: John Hsu, Dave Coleman +# +import argparse +import math +import os +import sys +from urllib.parse import SplitResult, urlsplit +from xml.etree import ElementTree + +from gazebo_msgs.msg import ModelStates +# from gazebo_msgs.srv import DeleteEntity +# from gazebo_msgs.srv import SetModelConfiguration +from gazebo_msgs.srv import SpawnEntity +from geometry_msgs.msg import Pose +import rclpy +from rclpy.node import Node +from rclpy.qos import QoSDurabilityPolicy +from std_msgs.msg import String +from std_srvs.srv import Empty + + +class SpawnEntityNode(Node): + # Node to spawn an entity in Gazebo. + MODEL_DATABASE_TEMPLATE = """\ + + + + model://{} + + + """ + + def __init__(self, args): + super().__init__('spawn_entity') + parser = argparse.ArgumentParser( + description='Spawn an entity in gazebo. Gazebo must be started with gazebo_ros_init,\ + gazebo_ros_factory and gazebo_ros_state for all functionalities to work') + source = parser.add_mutually_exclusive_group(required=True) + source.add_argument('-file', type=str, metavar='FILE_NAME', + help='Load entity xml from file') + source.add_argument('-topic', type=str, metavar='TOPIC_NAME', + help='Load entity xml published on topic') + source.add_argument('-database', type=str, metavar='ENTITY_NAME', + help='Load entity XML from specified entity in GAZEBO_MODEL_PATH \ + or Gazebo Model Database') + source.add_argument('-stdin', action='store_true', help='Load entity from stdin') + parser.add_argument('-entity', required=True, type=str, metavar='ENTITY_NAME', + help='Name of entity to spawn') + parser.add_argument('-reference_frame', type=str, default='', + help='Name of the model/body where initial pose is defined.\ + If left empty or specified as "world", gazebo world frame is used') + parser.add_argument('-gazebo_namespace', type=str, default='', + help='ROS namespace of gazebo offered ROS interfaces. \ + Default is without any namespace') + parser.add_argument('-robot_namespace', type=str, default=self.get_namespace(), + help='change ROS namespace of gazebo-plugins') + parser.add_argument('-unpause', action='store_true', + help='unpause physics after spawning entity') + parser.add_argument('-wait', type=str, metavar='ENTITY_NAME', + help='Wait for entity to exist') + parser.add_argument('-x', type=float, default=0, + help='x component of initial position, meters') + parser.add_argument('-y', type=float, default=0, + help='y component of initial position, meters') + parser.add_argument('-z', type=float, default=0, + help='z component of initial position, meters') + parser.add_argument('-R', type=float, default=0, + help='roll angle of initial orientation, radians') + parser.add_argument('-P', type=float, default=0, + help='pitch angle of initial orientation, radians') + parser.add_argument('-Y', type=float, default=0, + help='yaw angle of initial orientation, radians') + + # TODO(shivesh): Wait for /set_model_configuration + # (https://github.com/ros-simulation/gazebo_ros_pkgs/issues/779) + # parser.add_argument('-J', dest='joints', default=[], action='append', + # metavar=('JOINT_NAME', 'JOINT_POSITION'), type=str, nargs=2, + # help='initialize the specified joint at the specified position') + + parser.add_argument('-package_to_model', action='store_true', help='convert urdf \ + #include #include +#include +#include #include #include #include @@ -34,6 +36,10 @@ namespace gazebo_ros class GazeboRosStatePrivate { public: + /// Callback when world is updated. + /// \param[in] _info Updated simulation info. + void OnUpdate(const gazebo::common::UpdateInfo & _info); + /// \brief Callback for get entity state service. /// \param[in] req Request /// \param[out] res Response @@ -59,6 +65,21 @@ class GazeboRosStatePrivate /// \brief ROS service to handle requests to set entity states. rclcpp::Service::SharedPtr set_entity_state_service_; + + /// \brief ROS publisher to publish model_states. + rclcpp::Publisher::SharedPtr model_states_pub_; + + /// \brief ROS publisher to publish link_states. + rclcpp::Publisher::SharedPtr link_states_pub_; + + /// \brief Connection to world update event, called at every iteration + gazebo::event::ConnectionPtr world_update_event_; + + /// \brief Update period in seconds. + double update_period_; + + /// \brief Last update time. + gazebo::common::Time last_update_time_; }; GazeboRosState::GazeboRosState() @@ -85,6 +106,74 @@ void GazeboRosState::Load(gazebo::physics::WorldPtr _world, sdf::ElementPtr _sdf impl_->ros_node_->create_service( "set_entity_state", std::bind(&GazeboRosStatePrivate::SetEntityState, impl_.get(), std::placeholders::_1, std::placeholders::_2)); + + impl_->model_states_pub_ = impl_->ros_node_->create_publisher( + "model_states", rclcpp::QoS(rclcpp::KeepLast(1))); + + RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing states of gazebo models at [%s]", + impl_->model_states_pub_->get_topic_name()); + + impl_->link_states_pub_ = impl_->ros_node_->create_publisher( + "link_states", rclcpp::QoS(rclcpp::KeepLast(1))); + + RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing states of gazebo links at [%s]", + impl_->link_states_pub_->get_topic_name()); + + // Get a callback when world is updated + impl_->world_update_event_ = gazebo::event::Events::ConnectWorldUpdateBegin( + std::bind(&GazeboRosStatePrivate::OnUpdate, impl_.get(), std::placeholders::_1)); + + // Update rate + auto update_rate = _sdf->Get("update_rate", 100.0).first; + if (update_rate > 0.0) { + impl_->update_period_ = 1.0 / update_rate; + } else { + impl_->update_period_ = 0.0; + } + impl_->last_update_time_ = _world->SimTime(); +} + +void GazeboRosStatePrivate::OnUpdate(const gazebo::common::UpdateInfo & _info) +{ + double seconds_since_last_update = (_info.simTime - last_update_time_).Double(); + + if (seconds_since_last_update < update_period_) { + return; + } + + gazebo_msgs::msg::ModelStates model_states; + gazebo_msgs::msg::LinkStates link_states; + + // fill model_states + for (const auto & model : world_->Models()) { + auto pose = gazebo_ros::Convert(model->WorldPose()); + + model_states.pose.push_back(pose); + model_states.name.push_back(model->GetName()); + + geometry_msgs::msg::Twist twist; + twist.linear = gazebo_ros::Convert(model->WorldLinearVel()); + twist.angular = gazebo_ros::Convert(model->WorldAngularVel()); + model_states.twist.push_back(twist); + + for (unsigned int j = 0; j < model->GetChildCount(); ++j) { + auto link = boost::dynamic_pointer_cast(model->GetChild(j)); + + if (link) { + link_states.name.push_back(link->GetScopedName()); + + pose = gazebo_ros::Convert(link->WorldPose()); + link_states.pose.push_back(pose); + twist.linear = gazebo_ros::Convert(link->WorldLinearVel()); + twist.angular = gazebo_ros::Convert(link->WorldAngularVel()); + link_states.twist.push_back(twist); + } + } + } + model_states_pub_->publish(model_states); + link_states_pub_->publish(link_states); + + last_update_time_ = _info.simTime; } void GazeboRosStatePrivate::GetEntityState( diff --git a/gazebo_ros/test/plugins/multiple_nodes.cpp b/gazebo_ros/test/plugins/multiple_nodes.cpp index 1d08ba985..df3aab7b5 100644 --- a/gazebo_ros/test/plugins/multiple_nodes.cpp +++ b/gazebo_ros/test/plugins/multiple_nodes.cpp @@ -46,8 +46,10 @@ void MultipleNodes::Load(int argc, char ** argv) assert(nullptr != nodeB); // Create publishers - auto pubA = nodeA->create_publisher("testA", rclcpp::SystemDefaultsQoS()); - auto pubB = nodeB->create_publisher("testB", rclcpp::SystemDefaultsQoS()); + auto pubA = nodeA->create_publisher("testA", + rclcpp::QoS(rclcpp::KeepLast(1)).transient_local()); + auto pubB = nodeB->create_publisher("testB", + rclcpp::QoS(rclcpp::KeepLast(1)).transient_local()); // Run lambdas every 1 second using namespace std::chrono_literals; @@ -59,10 +61,11 @@ void MultipleNodes::Load(int argc, char ** argv) // Warn with this node's name (to test logging) RCLCPP_WARN(nodeA->get_logger(), "Publishing A"); - RCLCPP_WARN(nodeB->get_logger(), "Publishing B"); // Publish message pubA->publish(msg); + + RCLCPP_WARN(nodeB->get_logger(), "Publishing B"); pubB->publish(msg); }); } diff --git a/gazebo_ros/test/test_conversions.cpp b/gazebo_ros/test/test_conversions.cpp index 821b5dfec..2f4766d06 100644 --- a/gazebo_ros/test/test_conversions.cpp +++ b/gazebo_ros/test/test_conversions.cpp @@ -48,6 +48,30 @@ TEST(TestConversions, Quaternion) EXPECT_EQ(1.0, ign_quat.W()); } +TEST(TestConversions, Pose) +{ + // Ign to ROS Pose + ignition::math::Pose3d pose(0.6, 0.5, 0.7, 0.9, 0.0, 0.3, -0.1); + auto pose_msg = gazebo_ros::Convert(pose); + EXPECT_EQ(0.6, pose_msg.position.x); + EXPECT_EQ(0.5, pose_msg.position.y); + EXPECT_EQ(0.7, pose_msg.position.z); + EXPECT_EQ(0.9, pose_msg.orientation.w); + EXPECT_EQ(0.0, pose_msg.orientation.x); + EXPECT_EQ(0.3, pose_msg.orientation.y); + EXPECT_EQ(-0.1, pose_msg.orientation.z); + + // ROS Pose to ROS Transform + auto transform_msg = gazebo_ros::Convert(pose_msg); + EXPECT_EQ(0.6, transform_msg.translation.x); + EXPECT_EQ(0.5, transform_msg.translation.y); + EXPECT_EQ(0.7, transform_msg.translation.z); + EXPECT_EQ(0.9, transform_msg.rotation.w); + EXPECT_EQ(0.0, transform_msg.rotation.x); + EXPECT_EQ(0.3, transform_msg.rotation.y); + EXPECT_EQ(-0.1, transform_msg.rotation.z); +} + TEST(TestConversions, Time) { // Gazebo time @@ -62,6 +86,11 @@ TEST(TestConversions, Time) auto time_msg = gazebo_ros::Convert(time); EXPECT_EQ(200, time_msg.sec); EXPECT_EQ(100u, time_msg.nanosec); + + // to Gazebo time + auto gazebo_time = gazebo_ros::Convert(time_msg); + EXPECT_EQ(200, gazebo_time.sec); + EXPECT_EQ(100, gazebo_time.nsec); } // Gazebo msg @@ -75,6 +104,18 @@ TEST(TestConversions, Time) EXPECT_EQ(200, time_msg.sec); EXPECT_EQ(100u, time_msg.nanosec); } + + // ROS Duration + { + auto duration = builtin_interfaces::msg::Duration(); + duration.sec = 200; + duration.nanosec = 100u; + + // to Gazebo time + auto gazebo_time = gazebo_ros::Convert(duration); + EXPECT_EQ(200, gazebo_time.sec); + EXPECT_EQ(100, gazebo_time.nsec); + } } int main(int argc, char ** argv) diff --git a/gazebo_ros/test/test_gazebo_ros_state.cpp b/gazebo_ros/test/test_gazebo_ros_state.cpp index 57ee660c3..1ddf23c37 100644 --- a/gazebo_ros/test/test_gazebo_ros_state.cpp +++ b/gazebo_ros/test/test_gazebo_ros_state.cpp @@ -16,6 +16,8 @@ #include #include +#include +#include #include #include #include @@ -26,6 +28,8 @@ #define tol 10e-2 +using namespace std::literals::chrono_literals; // NOLINT + class GazeboRosStateTest : public gazebo::ServerFixture { public: @@ -50,6 +54,8 @@ class GazeboRosStateTest : public gazebo::ServerFixture rclcpp::Node::SharedPtr node_; std::shared_ptr> get_state_client_; std::shared_ptr> set_state_client_; + rclcpp::Subscription::SharedPtr link_states_sub_; + rclcpp::Subscription::SharedPtr model_states_sub_; }; void GazeboRosStateTest::SetUp() @@ -179,6 +185,75 @@ TEST_F(GazeboRosStateTest, GetSet) this->GetState("boxes::top", ignition::math::Pose3d(10, 20, 30, 0.1, 0, 0), ignition::math::Vector3d(1.0, 2.0, 3.0), ignition::math::Vector3d(0.0, 0.0, 4.0)); } + + // Model states + { + // Set new state + this->SetState("boxes", ignition::math::Pose3d(1, 2, 0.5, 0, 0, 0)); + + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(node_); + gazebo_msgs::msg::ModelStates::SharedPtr model_states_msg{nullptr}; + model_states_sub_ = node_->create_subscription( + "test/model_states_test", rclcpp::SystemDefaultsQoS(), + [&model_states_msg](gazebo_msgs::msg::ModelStates::SharedPtr _msg) { + model_states_msg = _msg; + }); + + // Wait for a message + world_->Step(1000); + + // Wait for it to be processed + int sleep{0}; + int maxSleep{300}; + + for (; sleep < maxSleep && !model_states_msg; ++sleep) { + executor.spin_once(100ms); + gazebo::common::Time::MSleep(100); + } + EXPECT_NE(sleep, maxSleep); + EXPECT_NE(model_states_msg, nullptr); + EXPECT_NEAR(model_states_msg->pose[1].position.x, 1.0, tol); + EXPECT_NEAR(model_states_msg->pose[1].position.y, 2.0, tol); + EXPECT_NEAR(model_states_msg->pose[1].position.z, 0.5, tol); + EXPECT_NEAR(model_states_msg->pose[1].orientation.x, 0.0, tol); + EXPECT_NEAR(model_states_msg->pose[1].orientation.y, 0.0, tol); + EXPECT_NEAR(model_states_msg->pose[1].orientation.z, 0.0, tol); + EXPECT_NEAR(model_states_msg->pose[1].orientation.w, 1.0, tol); + } + + // Link states + { + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(node_); + gazebo_msgs::msg::LinkStates::SharedPtr link_states_msg{nullptr}; + link_states_sub_ = node_->create_subscription( + "test/link_states_test", rclcpp::SystemDefaultsQoS(), + [&link_states_msg](gazebo_msgs::msg::LinkStates::SharedPtr _msg) { + link_states_msg = _msg; + }); + + // Wait for a message + world_->Step(1000); + + // Wait for it to be processed + int sleep{0}; + int maxSleep{300}; + + for (; sleep < maxSleep && !link_states_msg; ++sleep) { + executor.spin_once(100ms); + gazebo::common::Time::MSleep(100); + } + EXPECT_NE(sleep, maxSleep); + EXPECT_NE(link_states_msg, nullptr); + EXPECT_NEAR(link_states_msg->pose[1].position.x, 1.0, tol); + EXPECT_NEAR(link_states_msg->pose[1].position.y, 2.0, tol); + EXPECT_NEAR(link_states_msg->pose[1].position.z, 0.5, tol); + EXPECT_NEAR(link_states_msg->pose[1].orientation.x, 0.0, tol); + EXPECT_NEAR(link_states_msg->pose[1].orientation.y, 0.0, tol); + EXPECT_NEAR(link_states_msg->pose[1].orientation.z, 0.0, tol); + EXPECT_NEAR(link_states_msg->pose[1].orientation.w, 1.0, tol); + } } int main(int argc, char ** argv) diff --git a/gazebo_ros/test/worlds/gazebo_ros_state_test.world b/gazebo_ros/test/worlds/gazebo_ros_state_test.world index f06297a2f..2fa7bb772 100644 --- a/gazebo_ros/test/worlds/gazebo_ros_state_test.world +++ b/gazebo_ros/test/worlds/gazebo_ros_state_test.world @@ -4,6 +4,7 @@ /test + model_states:=model_states_test diff --git a/gazebo_ros/worlds/gazebo_ros_state_demo.world b/gazebo_ros/worlds/gazebo_ros_state_demo.world index 2005ba957..1aaab2f7e 100644 --- a/gazebo_ros/worlds/gazebo_ros_state_demo.world +++ b/gazebo_ros/worlds/gazebo_ros_state_demo.world @@ -27,13 +27,25 @@ Try teleporting a model: ros2 service call /demo/set_entity_state 'gazebo_msgs/SetEntityState' '{state: {name: "boxes::top", reference_frame: "boxes::top", twist: {angular: {x: 2}}}}' + + Try listening to model states: + + ros2 topic echo /demo/model_states_demo + + Try listening to link states: + + ros2 topic echo /demo/link_states_demo --> /demo + model_states:=model_states_demo + link_states:=link_states_demo + + 1.0