diff --git a/README.md b/README.md index 6d4fde2c1..cf7bf0535 100644 --- a/README.md +++ b/README.md @@ -6,7 +6,7 @@ Wrappers, tools and additional API's for using ROS with the Gazebo simulator. Fo [Installing gazebo_ros_pkgs](http://gazebosim.org/wiki/Tutorials/1.9/Installing_gazebo_ros_Packages) ### Documentation and Tutorials -[On gazebosim.org](http://gazebosim.org/wiki/Tutorials#ROS_Integration) +[On gazebosim.org](http://gazebosim.org/tutorials?cat=connect_ros) ### Develop and Contribute diff --git a/gazebo_msgs/CHANGELOG.rst b/gazebo_msgs/CHANGELOG.rst index 94beba3f1..e16394ecf 100644 --- a/gazebo_msgs/CHANGELOG.rst +++ b/gazebo_msgs/CHANGELOG.rst @@ -2,9 +2,42 @@ Changelog for package gazebo_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.4.6 (2014-09-01) +------------------ + +2.4.5 (2014-08-18) +------------------ + +2.4.4 (2014-07-18) +------------------ +* Fix repo names in package.xml's +* Contributors: Jon Binney + +2.4.3 (2014-05-12) +------------------ + +2.4.2 (2014-03-27) +------------------ +* merging from hydro-devel +* bump patch version for indigo-devel to 2.4.1 +* merging from indigo-devel after 2.3.4 release +* "2.4.0" +* catkin_generate_changelog +* Contributors: John Hsu + +2.4.1 (2013-11-13) +------------------ +* rerelease because sdformat became libsdformat, but we also based change on 2.3.4 in hydro-devel. + 2.4.0 (2013-10-14) ------------------ +2.3.5 (2014-03-26) +------------------ + +2.3.4 (2013-11-13) +------------------ + 2.3.3 (2013-10-10) ------------------ diff --git a/gazebo_msgs/package.xml b/gazebo_msgs/package.xml index ae772e5d7..a7e73c4d0 100644 --- a/gazebo_msgs/package.xml +++ b/gazebo_msgs/package.xml @@ -1,7 +1,7 @@ gazebo_msgs - 2.4.0 + 2.4.6 Message and service data structures for interacting with Gazebo from ROS. @@ -11,8 +11,8 @@ BSD http://gazebosim.org/wiki/Tutorials#ROS_Integration - https://github.com/osrf/gazebo_ros_pkgs/issues - https://github.com/osrf/gazebo_ros_pkgs + https://github.com/ros-simulation/gazebo_ros_pkgs/issues + https://github.com/ros-simulation/gazebo_ros_pkgs John Hsu diff --git a/gazebo_plugins/CHANGELOG.rst b/gazebo_plugins/CHANGELOG.rst index 404c1181a..9911983f1 100644 --- a/gazebo_plugins/CHANGELOG.rst +++ b/gazebo_plugins/CHANGELOG.rst @@ -2,6 +2,125 @@ Changelog for package gazebo_plugins ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.4.6 (2014-09-01) +------------------ +* Update gazebo_ros_openni_kinect.cpp +* merging from hydro-devel into indigo-devel +* Merge pull request `#204 `_ from fsuarez6/hydro-devel + gazebo_plugins: Adding ForceTorqueSensor Plugin +* Updated to Apache 2.0 license +* Merge pull request `#180 `_ from vrabaud/indigo-devel + remove PCL dependency +* merging +* check deprecation of gazebo::Joint::SetAngle by SetPosition +* compatibility with gazebo 4.x +* Update changelogs for the upcoming release +* Fix build with gazebo4 and indigo +* Added Gaussian Noise generator +* publish organized pointcloud from openni plugin +* Changed measurement direction to "parent to child" +* gazebo_plugin: Added updateRate parameter to the gazebo_ros_imu plugin +* gazebo_plugins: Adding ForceTorqueSensor Plugin +* remove PCL dependency +* ros_camera_utils: Adding CameraInfoManager to satisfy full ROS camera API (relies on https://github.com/ros-perception/image_common/pull/20 ) + ros_camera_utils: Adding CameraInfoManager to satisfy full ROS camera API (relies on https://github.com/ros-perception/image_common/pull/20 ) +* Contributors: John Hsu, Jonathan Bohren, Jose Luis Rivero, Nate Koenig, Ryohei Ueda, Vincent Rabaud, fsuarez6, gborque, John Binney + +2.4.5 (2014-08-18) +------------------ +* Replace SetAngle with SetPosition for gazebo 4 and up +* Port fix_build branch for indigo-devel + See pull request `#221 `_ +* Contributors: Jose Luis Rivero, Steven Peters + +2.4.4 (2014-07-18) +------------------ +* Merge branch 'hydro-devel' into indigo-devel +* gazebo_ros_diff_drive gazebo_ros_tricycle_drive encoderSource option names updated +* gazebo_ros_diff_drive is now able to use the wheels rotation of the optometry or the gazebo ground truth based on the 'odometrySource' parameter +* simple linear controller for the tricycle_drive added +* second robot for testing in tricycle_drive_scenario.launch added +* Merge remote-tracking branch 'upstream/hydro-devel' into hydro-devel +* BDS licenses header fixed and tricycle drive plugin added +* format patch of hsu applied +* Updated package.xml +* Fix repo names in package.xml's +* ros diff drive supports now an acceleration limit +* Pioneer model: Diff_drive torque reduced +* GPU Laser test example added +* fixed gpu_laser to work with workspaces +* hand_of_god: Adding hand-of-god plugin + ros_force: Fixing error messages to refer to the right plugin +* Remove unneeded dependency on pcl_ros +* minor fixes on relative paths in xacro for pioneer robot +* gazebo test model pionneer 3dx updated with xacro path variables +* pioneer model update for the multi_robot_scenario +* Merge remote-tracking branch 'upstream/hydro-devel' into hydro-devel +* fixed camera to work with workspaces +* fixed links related to changed name +* diff drive name changed to multi robot scenario +* working camera added +* Merge remote-tracking branch 'upstream/hydro-devel' into hydro-devel +* fix in pioneer xacro model for diff_drive +* Laser colour in rviz changed +* A test model for the ros_diff_drive ros_laser and joint_state_publisher added +* the ros_laser checkes now for the model name and adds it als prefix +* joint velocity fixed using radius instead of diameter +* ROS_INFO on laser plugin added to see if it starts +* fetched with upstream +* gazebo_ros_diff_drive was enhanced to publish the wheels tf or the wheels joint state depending on two additinal xml options +* Gazebo ROS joint state publisher added +* Contributors: Dave Coleman, John Hsu, Jon Binney, Jonathan Bohren, Markus Bader, Steven Peters + +2.4.3 (2014-05-12) +------------------ +* gazebo_plugins: add run-time dependency on gazebo_ros +* Merge pull request `#176 `_ from ros-simulation/issue_175 + Fix `#175 `_: dynamic reconfigure dependency error +* Remove unneeded dependency on pcl_ros +* Fix `#175 `_: dynamic reconfigure dependency error +* Contributors: Steven Peters + +2.4.2 (2014-03-27) +------------------ +* merging from hydro-devel +* bump patch version for indigo-devel to 2.4.1 +* merging from indigo-devel after 2.3.4 release +* "2.4.0" +* catkin_generate_changelog +* Contributors: John Hsu + +2.4.1 (2013-11-13) +------------------ + +2.3.5 (2014-03-26) +------------------ +* update test world for block laser +* this corrects the right orientation of the laser scan and improves on comparison between 2 double numbers +* Initialize ``depth_image_connect_count_`` in openni_kinect plugin +* multicamera bad namespace. Fixes `#161 `_ + There was a race condition between GazeboRosCameraUtils::LoadThread + creating the ros::NodeHandle and GazeboRosCameraUtils::Load + suffixing the camera name in the namespace +* Use function for accessing scene node in gazebo_ros_video +* readded the trailing whitespace for cleaner diff +* the parent sensor in gazebo seems not to be active +* Contributors: Dejan Pangercic, Ian Chen, John Hsu, Jordi Pages, Toni Oliver, Ugo Cupcic + +2.3.4 (2013-11-13) +------------------ +* rerelease because sdformat became libsdformat, but we also based change on 2.3.4 in hydro-devel. +* Simplify ``gazebo_plugins/CMakeLists.txt`` + Replace ``cxx_flags`` and ``ld_flags`` variables with simpler cmake macros + and eliminate unnecessary references to ``SDFormat_LIBRARIES``, since + they are already part of ``GAZEBO_LIBRARIES``. +* Put some cmake lists on multiple lines to improve readability. +* Add dependencies on dynamic reconfigure files + Occasionally the build can fail due to some targets having an + undeclared dependency on automatically generated dynamic + reconfigure files (GazeboRosCameraConfig.h for example). This + commit declares several of those dependencies. + 2.4.0 (2013-10-14) ------------------ diff --git a/gazebo_plugins/CMakeLists.txt b/gazebo_plugins/CMakeLists.txt index 43f68b5c5..2ef56f6e7 100644 --- a/gazebo_plugins/CMakeLists.txt +++ b/gazebo_plugins/CMakeLists.txt @@ -14,17 +14,17 @@ find_package(catkin REQUIRED COMPONENTS nav_msgs urdf tf + tf2_ros dynamic_reconfigure driver_base rosgraph_msgs trajectory_msgs - pcl_ros - pcl_conversions image_transport rosconsole cv_bridge polled_camera diagnostic_updater + camera_info_manager ) include (FindPkgConfig) @@ -38,7 +38,6 @@ endif() # Depend on system install of Gazebo and SDFormat find_package(gazebo REQUIRED) -find_package(PCL REQUIRED) find_package(Boost REQUIRED COMPONENTS thread) execute_process(COMMAND @@ -49,26 +48,31 @@ execute_process(COMMAND catkin_python_setup() -generate_dynamic_reconfigure_options(cfg/CameraSynchronizer.cfg cfg/GazeboRosCamera.cfg cfg/GazeboRosOpenniKinect.cfg cfg/Hokuyo.cfg) - -include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} ${OGRE_INCLUDE_DIRS} ${OGRE-Terrain_INCLUDE_DIRS} ${SDFormat_INCLUDE_DIRS}) - -# \todo: remove these? -set(cxx_flags) -foreach (item ${GAZEBO_CFLAGS}) - set(cxx_flags "${cxx_flags} ${item}") -endforeach () +generate_dynamic_reconfigure_options( + cfg/CameraSynchronizer.cfg + cfg/GazeboRosCamera.cfg + cfg/GazeboRosOpenniKinect.cfg + cfg/Hokuyo.cfg +) -set(ld_flags) -foreach (item ${GAZEBO_LDFLAGS}) - set(ld_flags "${ld_flags} ${item}") -endforeach () +include_directories(include + ${Boost_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ${GAZEBO_INCLUDE_DIRS} + ${OGRE_INCLUDE_DIRS} + ${OGRE-Terrain_INCLUDE_DIRS} +) +link_directories( + ${GAZEBO_LIBRARY_DIRS} + ${OGRE_LIBRARY_DIRS} +) catkin_package( INCLUDE_DIRS include LIBRARIES vision_reconfigure + gazebo_ros_utils gazebo_ros_camera_utils gazebo_ros_camera gazebo_ros_multicamera @@ -80,14 +84,17 @@ catkin_package( gazebo_ros_p3d gazebo_ros_imu gazebo_ros_f3d + gazebo_ros_ft_sensor gazebo_ros_bumper gazebo_ros_template gazebo_ros_projector gazebo_ros_prosilica gazebo_ros_force gazebo_ros_joint_trajectory + gazebo_ros_joint_state_publisher gazebo_ros_joint_pose_trajectory gazebo_ros_diff_drive + gazebo_ros_tricycle_drive gazebo_ros_skid_steer_drive gazebo_ros_video gazebo_ros_planar_move @@ -105,18 +112,19 @@ catkin_package( nav_msgs urdf tf + tf2_ros dynamic_reconfigure driver_base rosgraph_msgs trajectory_msgs - pcl_ros - pcl_conversions image_transport rosconsole + camera_info_manager DEPENDS gazebo SDF ) +add_dependencies(${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS}) ## Executables add_executable(hokuyo_node src/hokuyo_node.cpp) @@ -125,134 +133,116 @@ target_link_libraries(hokuyo_node ${catkin_LIBRARIES} ) +add_library(gazebo_ros_utils src/gazebo_ros_utils.cpp) +target_link_libraries(gazebo_ros_utils ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) + add_library(vision_reconfigure src/vision_reconfigure.cpp) -add_dependencies(vision_reconfigure gazebo_plugins_gencfg) +add_dependencies(vision_reconfigure ${PROJECT_NAME}_gencfg) target_link_libraries(vision_reconfigure ${catkin_LIBRARIES}) add_executable(camera_synchronizer src/camera_synchronizer.cpp) +add_dependencies(camera_synchronizer ${PROJECT_NAME}_gencfg) target_link_libraries(camera_synchronizer vision_reconfigure ${catkin_LIBRARIES}) add_executable(pub_joint_trajectory_test test/pub_joint_trajectory_test.cpp) -set_target_properties(pub_joint_trajectory_test PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(pub_joint_trajectory_test PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(pub_joint_trajectory_test ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +target_link_libraries(pub_joint_trajectory_test ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) add_dependencies(pub_joint_trajectory_test ${catkin_EXPORTED_TARGETS}) # don't build until gazebo_msgs is done add_definitions(-fPIC) # what is this for? ## Plugins add_library(gazebo_ros_camera_utils src/gazebo_ros_camera_utils.cpp) -set_target_properties(gazebo_ros_camera_utils PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_camera_utils PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +add_dependencies(gazebo_ros_camera_utils ${PROJECT_NAME}_gencfg) +target_link_libraries(gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) add_library(MultiCameraPlugin src/MultiCameraPlugin.cpp) -set_target_properties(MultiCameraPlugin PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(MultiCameraPlugin PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(MultiCameraPlugin ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +target_link_libraries(MultiCameraPlugin ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) add_library(gazebo_ros_camera src/gazebo_ros_camera.cpp) -set_target_properties(gazebo_ros_camera PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_camera PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_camera gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} CameraPlugin ${catkin_LIBRARIES}) +add_dependencies(gazebo_ros_camera ${PROJECT_NAME}_gencfg) +target_link_libraries(gazebo_ros_camera gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} CameraPlugin ${catkin_LIBRARIES}) add_library(gazebo_ros_multicamera src/gazebo_ros_multicamera.cpp) -set_target_properties(gazebo_ros_multicamera PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_multicamera PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_multicamera gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} MultiCameraPlugin ${catkin_LIBRARIES}) +add_dependencies(gazebo_ros_multicamera ${PROJECT_NAME}_gencfg) +target_link_libraries(gazebo_ros_multicamera gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} MultiCameraPlugin ${catkin_LIBRARIES}) add_library(gazebo_ros_depth_camera src/gazebo_ros_depth_camera.cpp) -set_target_properties(gazebo_ros_depth_camera PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_depth_camera PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_depth_camera gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} DepthCameraPlugin ${catkin_LIBRARIES}) +add_dependencies(gazebo_ros_depth_camera ${PROJECT_NAME}_gencfg) +target_link_libraries(gazebo_ros_depth_camera gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} DepthCameraPlugin ${catkin_LIBRARIES}) add_library(gazebo_ros_openni_kinect src/gazebo_ros_openni_kinect.cpp) -set_target_properties(gazebo_ros_openni_kinect PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_openni_kinect PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_openni_kinect gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} DepthCameraPlugin ${catkin_LIBRARIES}) +add_dependencies(gazebo_ros_openni_kinect ${PROJECT_NAME}_gencfg) +target_link_libraries(gazebo_ros_openni_kinect gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} DepthCameraPlugin ${catkin_LIBRARIES}) add_library(gazebo_ros_gpu_laser src/gazebo_ros_gpu_laser.cpp) -set_target_properties(gazebo_ros_gpu_laser PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_gpu_laser PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_gpu_laser ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} GpuRayPlugin) +target_link_libraries(gazebo_ros_gpu_laser ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} GpuRayPlugin) add_library(gazebo_ros_laser src/gazebo_ros_laser.cpp) -set_target_properties(gazebo_ros_laser PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_laser PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_laser ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} RayPlugin ${catkin_LIBRARIES}) +target_link_libraries(gazebo_ros_laser ${GAZEBO_LIBRARIES} RayPlugin ${catkin_LIBRARIES}) add_library(gazebo_ros_block_laser src/gazebo_ros_block_laser.cpp) -set_target_properties(gazebo_ros_block_laser PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_block_laser PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_block_laser ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} RayPlugin ${catkin_LIBRARIES}) +target_link_libraries(gazebo_ros_block_laser ${GAZEBO_LIBRARIES} RayPlugin ${catkin_LIBRARIES}) add_library(gazebo_ros_p3d src/gazebo_ros_p3d.cpp) -set_target_properties(gazebo_ros_p3d PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_p3d PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_p3d ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +target_link_libraries(gazebo_ros_p3d ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) add_library(gazebo_ros_imu src/gazebo_ros_imu.cpp) -set_target_properties(gazebo_ros_imu PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_imu PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_imu ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +target_link_libraries(gazebo_ros_imu ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) add_library(gazebo_ros_f3d src/gazebo_ros_f3d.cpp) -set_target_properties(gazebo_ros_f3d PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_f3d PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_f3d ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +target_link_libraries(gazebo_ros_f3d ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) add_library(gazebo_ros_bumper src/gazebo_ros_bumper.cpp) add_dependencies(gazebo_ros_bumper gazebo_msgs_gencpp) -set_target_properties(gazebo_ros_bumper PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_bumper PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_bumper ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${Boost_LIBRARIES} ContactPlugin ${catkin_LIBRARIES}) +target_link_libraries(gazebo_ros_bumper ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ContactPlugin ${catkin_LIBRARIES}) add_library(gazebo_ros_projector src/gazebo_ros_projector.cpp) -set_target_properties(gazebo_ros_projector PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_projector PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_projector ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES}) +target_link_libraries(gazebo_ros_projector ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES}) add_library(gazebo_ros_prosilica src/gazebo_ros_prosilica.cpp) -set_target_properties(gazebo_ros_prosilica PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_prosilica PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_prosilica gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} CameraPlugin ${catkin_LIBRARIES}) +add_dependencies(gazebo_ros_prosilica ${PROJECT_NAME}_gencfg) +target_link_libraries(gazebo_ros_prosilica gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} CameraPlugin ${catkin_LIBRARIES}) add_library(gazebo_ros_force src/gazebo_ros_force.cpp) -set_target_properties(gazebo_ros_force PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_force PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_force ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +target_link_libraries(gazebo_ros_force ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) add_library(gazebo_ros_joint_trajectory src/gazebo_ros_joint_trajectory.cpp) -set_target_properties(gazebo_ros_joint_trajectory PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_joint_trajectory PROPERTIES COMPILE_FLAGS "${cxx_flags}") add_dependencies(gazebo_ros_joint_trajectory gazebo_msgs_gencpp) -target_link_libraries(gazebo_ros_joint_trajectory ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +target_link_libraries(gazebo_ros_joint_trajectory ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) + + +add_library(gazebo_ros_joint_state_publisher src/gazebo_ros_joint_state_publisher.cpp) +set_target_properties(gazebo_ros_joint_state_publisher PROPERTIES LINK_FLAGS "${ld_flags}") +set_target_properties(gazebo_ros_joint_state_publisher PROPERTIES COMPILE_FLAGS "${cxx_flags}") +add_dependencies(gazebo_ros_joint_state_publisher gazebo_msgs_gencpp) +target_link_libraries(gazebo_ros_joint_state_publisher ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) add_library(gazebo_ros_joint_pose_trajectory src/gazebo_ros_joint_pose_trajectory.cpp) -set_target_properties(gazebo_ros_joint_pose_trajectory PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_joint_pose_trajectory PROPERTIES COMPILE_FLAGS "${cxx_flags}") add_dependencies(gazebo_ros_joint_pose_trajectory gazebo_msgs_gencpp) -target_link_libraries(gazebo_ros_joint_pose_trajectory ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +target_link_libraries(gazebo_ros_joint_pose_trajectory ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) add_library(gazebo_ros_diff_drive src/gazebo_ros_diff_drive.cpp) -set_target_properties(gazebo_ros_diff_drive PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_diff_drive PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_diff_drive ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +target_link_libraries(gazebo_ros_diff_drive gazebo_ros_utils ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) + +add_library(gazebo_ros_tricycle_drive src/gazebo_ros_tricycle_drive.cpp) +target_link_libraries(gazebo_ros_tricycle_drive gazebo_ros_utils ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES}) add_library(gazebo_ros_skid_steer_drive src/gazebo_ros_skid_steer_drive.cpp) -set_target_properties(gazebo_ros_skid_steer_drive PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_skid_steer_drive PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_skid_steer_drive ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +target_link_libraries(gazebo_ros_skid_steer_drive ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) add_library(gazebo_ros_video src/gazebo_ros_video.cpp) -set_target_properties(gazebo_ros_video PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_video PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_video ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OGRE_LIBRARIES}) +target_link_libraries(gazebo_ros_video ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OGRE_LIBRARIES}) add_library(gazebo_ros_planar_move src/gazebo_ros_planar_move.cpp) -set_target_properties(gazebo_ros_planar_move PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_planar_move PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_planar_move ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +target_link_libraries(gazebo_ros_planar_move ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) + +add_library(gazebo_ros_hand_of_god src/gazebo_ros_hand_of_god.cpp) +set_target_properties(gazebo_ros_hand_of_god PROPERTIES LINK_FLAGS "${ld_flags}") +set_target_properties(gazebo_ros_hand_of_god PROPERTIES COMPILE_FLAGS "${cxx_flags}") +target_link_libraries(gazebo_ros_hand_of_god ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) + +add_library(gazebo_ros_ft_sensor src/gazebo_ros_ft_sensor.cpp) +target_link_libraries(gazebo_ros_ft_sensor ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) ## ## Add your new plugin here @@ -260,14 +250,13 @@ target_link_libraries(gazebo_ros_planar_move ${GAZEBO_LIBRARIES} ${SDFormat_LIBR ## Template add_library(gazebo_ros_template src/gazebo_ros_template.cpp) -set_target_properties(gazebo_ros_template PROPERTIES LINK_FLAGS "${ld_flags}") -set_target_properties(gazebo_ros_template PROPERTIES COMPILE_FLAGS "${cxx_flags}") -target_link_libraries(gazebo_ros_template ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +target_link_libraries(gazebo_ros_template ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) install(TARGETS hokuyo_node vision_reconfigure camera_synchronizer + gazebo_ros_utils gazebo_ros_camera_utils gazebo_ros_camera gazebo_ros_multicamera @@ -280,14 +269,18 @@ install(TARGETS gazebo_ros_p3d gazebo_ros_imu gazebo_ros_f3d + gazebo_ros_ft_sensor gazebo_ros_bumper + gazebo_ros_hand_of_god gazebo_ros_template gazebo_ros_projector gazebo_ros_prosilica gazebo_ros_force gazebo_ros_joint_trajectory + gazebo_ros_joint_state_publisher gazebo_ros_joint_pose_trajectory gazebo_ros_diff_drive + gazebo_ros_tricycle_drive gazebo_ros_skid_steer_drive gazebo_ros_video gazebo_ros_planar_move diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_block_laser.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_block_laser.h index f2adce0f2..cb68d8f32 100644 --- a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_block_laser.h +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_block_laser.h @@ -1,28 +1,23 @@ /* - * Gazebo - Outdoor Multi-Robot Simulator - * Copyright (C) 2003 - * Nate Koenig & Andrew Howard + * Copyright (C) 2012-2014 Open Source Robotics Foundation * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. + * 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 * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. + * http://www.apache.org/licenses/LICENSE-2.0 * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * 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: ros laser controller. * Author: Nathan Koenig * Date: 01 Feb 2007 - * SVN: $Id: gazebo_ros_block_laser.hh 6656 2008-06-20 22:52:19Z natepak $ */ #ifndef GAZEBO_ROS_BLOCK_LASER_HH diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera_utils.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera_utils.h index d74cb992e..313e18264 100644 --- a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera_utils.h +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera_utils.h @@ -34,6 +34,7 @@ #include #include #include +#include // dynamic reconfigure stuff #include @@ -46,6 +47,7 @@ #include #include #include +#include namespace gazebo { @@ -62,7 +64,10 @@ namespace gazebo /// \brief Load the plugin. /// \param[in] _parent Take in SDF root element. /// \param[in] _sdf SDF values. - public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf); + /// \param[in] _camera_name_suffix required before calling LoadThread + public: void Load(sensors::SensorPtr _parent, + sdf::ElementPtr _sdf, + const std::string &_camera_name_suffix = ""); /// \brief Load the plugin. /// \param[in] _parent Take in SDF root element. @@ -113,6 +118,9 @@ namespace gazebo /// \brief ROS camera name private: std::string camera_name_; + /// \brief tf prefix + private: std::string tf_prefix_; + /// \brief ROS image topic name protected: std::string image_topic_name_; @@ -147,6 +155,9 @@ namespace gazebo protected: double distortion_t1_; protected: double distortion_t2_; + protected: boost::shared_ptr camera_info_manager_; + + /// \brief A mutex to lock access to fields /// that are used in ROS message callbacks protected: boost::mutex lock_; diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_depth_camera.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_depth_camera.h index 5a6ebae63..28c2ad848 100644 --- a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_depth_camera.h +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_depth_camera.h @@ -1,29 +1,25 @@ /* - * Gazebo - Outdoor Multi-Robot Simulator - * Copyright (C) 2003 - * Nate Koenig & Andrew Howard + * Copyright (C) 2012-2014 Open Source Robotics Foundation * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. + * 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 * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. + * http://www.apache.org/licenses/LICENSE-2.0 * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * 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: A dynamic controller plugin that publishes ROS image_raw camera_info topic for generic camera sensor. * Author: John Hsu * Date: 24 Sept 2008 - * SVN: $Id$ */ + #ifndef GAZEBO_ROS_DEPTH_CAMERA_HH #define GAZEBO_ROS_DEPTH_CAMERA_HH @@ -32,9 +28,6 @@ #include #include -#include -#include - // ros messages stuff #include #include @@ -124,7 +117,7 @@ namespace gazebo private: ros::Publisher point_cloud_pub_; private: ros::Publisher depth_image_pub_; - /// \brief PCL point cloud message + /// \brief PointCloud2 point cloud message private: sensor_msgs::PointCloud2 point_cloud_msg_; private: sensor_msgs::Image depth_image_msg_; diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_diff_drive.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_diff_drive.h index 339c73691..74335f612 100644 --- a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_diff_drive.h +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_diff_drive.h @@ -46,14 +46,16 @@ // Gazebo #include #include +#include // ROS #include #include #include #include +#include #include -#include +#include // Custom Callback Queue #include @@ -70,6 +72,11 @@ namespace gazebo { class GazeboRosDiffDrive : public ModelPlugin { + enum OdomSource + { + ENCODER = 0, + WORLD = 1, + }; public: GazeboRosDiffDrive(); ~GazeboRosDiffDrive(); @@ -82,26 +89,30 @@ namespace gazebo { private: void publishOdometry(double step_time); void getWheelVelocities(); + void publishWheelTF(); /// publishes the wheel tf's + void publishWheelJointState(); + void UpdateOdometryEncoder(); - physics::WorldPtr world; + + GazeboRosPtr gazebo_ros_; physics::ModelPtr parent; event::ConnectionPtr update_connection_; - std::string left_joint_name_; - std::string right_joint_name_; - double wheel_separation_; double wheel_diameter_; - double torque; + double wheel_torque; double wheel_speed_[2]; + double wheel_accel; + double wheel_speed_instr_[2]; - physics::JointPtr joints[2]; + std::vector joints_; // ROS STUFF - ros::NodeHandle* rosnode_; ros::Publisher odometry_publisher_; ros::Subscriber cmd_vel_subscriber_; - tf::TransformBroadcaster *transform_broadcaster_; + boost::shared_ptr transform_broadcaster_; + sensor_msgs::JointState joint_state_; + ros::Publisher joint_state_publisher_; nav_msgs::Odometry odom_; std::string tf_prefix_; @@ -112,7 +123,7 @@ namespace gazebo { std::string odometry_topic_; std::string odometry_frame_; std::string robot_base_frame_; - + bool publish_tf_; // Custom Callback Queue ros::CallbackQueue queue_; boost::thread callback_queue_thread_; @@ -129,6 +140,14 @@ namespace gazebo { double update_rate_; double update_period_; common::Time last_update_time_; + + OdomSource odom_source_; + geometry_msgs::Pose2D pose_encoder_; + common::Time last_odom_update_; + + // Flags + bool publishWheelTF_; + bool publishWheelJointState_; }; diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_f3d.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_f3d.h index ec487d834..a04779d49 100644 --- a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_f3d.h +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_f3d.h @@ -1,29 +1,25 @@ /* - * Gazebo - Outdoor Multi-Robot Simulator - * Copyright (C) 2003 - * Nate Koenig & Andrew Howard + * Copyright (C) 2012-2014 Open Source Robotics Foundation * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. + * 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 * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. + * http://www.apache.org/licenses/LICENSE-2.0 * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * 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 Applied Force Feedback Interface * Author: John Hsu * Date: 24 Sept 2008 - * SVN: $Id$ */ + #ifndef GAZEBO_ROS_F3D_HH #define GAZEBO_ROS_F3D_HH diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_force.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_force.h index 39110a131..d356a01b4 100644 --- a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_force.h +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_force.h @@ -1,28 +1,25 @@ /* - * Gazebo - Outdoor Multi-Robot Simulator - * Copyright (C) 2003 - * Nate Koenig & Andrew Howard + * Copyright (C) 2012-2014 Open Source Robotics Foundation * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. + * 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 * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. + * http://www.apache.org/licenses/LICENSE-2.0 * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * 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: A dynamic controller plugin that performs generic force interface. * Author: John Hsu * Date: 24 Sept 2008 */ + #ifndef GAZEBO_ROS_FORCE_HH #define GAZEBO_ROS_FORCE_HH diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_ft_sensor.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_ft_sensor.h new file mode 100644 index 000000000..087525de5 --- /dev/null +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_ft_sensor.h @@ -0,0 +1,160 @@ +/* + * 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: Force Torque Sensor Plugin + * Author: Francisco Suarez-Ruiz + * Date: 5 June 2014 + */ + +#ifndef GAZEBO_ROS_FT_HH +#define GAZEBO_ROS_FT_HH + +// Custom Callback Queue +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace gazebo +{ +/// @addtogroup gazebo_dynamic_plugins Gazebo ROS Dynamic Plugins +/// @{ +/** \defgroup GazeboRosFTSensor Plugin XML Reference and Example + +\brief Ros Gazebo Ros Force/Torque Sensor Plugin. +This is a model plugin which broadcasts geometry_msgs/WrenchStamped messages +with measured force and torque on a specified joint. +The wrench is reported in the joint CHILD link frame and the measure direction +is child-to-parent link. + +Example Usage: + +\verbatim + + +true + + + + +100.0 +ft_sensor_topic +JOINT_NAME + + +\endverbatim +\{ +*/ + + +/// \brief GazeboRosFT controller +/// This is a controller that simulates a 6 dof force sensor +class GazeboRosFT : public ModelPlugin +{ + /// \brief Constructor + /// \param parent The parent entity must be a Model + public: GazeboRosFT(); + + /// \brief Destructor + public: virtual ~GazeboRosFT(); + + /// \brief Load the controller + public: void Load( physics::ModelPtr _parent, sdf::ElementPtr _sdf ); + + /// \brief Update the controller + protected: virtual void UpdateChild(); + + /// \brief Gaussian noise + private: double gaussian_noise_; + private: unsigned int seed; + /// \brief Gaussian noise generator + private: double GaussianKernel(double mu, double sigma); + + /// \brief A pointer to the Gazebo joint + private: physics::JointPtr joint_; + + /// \brief A pointer to the Gazebo parent link + private: physics::LinkPtr parent_link_; + + /// \brief A pointer to the Gazebo child link + private: physics::LinkPtr child_link_; + + /// \brief A pointer to the Gazebo model + private: physics::ModelPtr model_; + + /// \brief A pointer to the Gazebo world + private: physics::WorldPtr world_; + + /// \brief A pointer to the ROS node. A node will be instantiated if it does not exist. + private: ros::NodeHandle* rosnode_; + private: ros::Publisher pub_; + + /// \brief ROS WrenchStamped message + private: geometry_msgs::WrenchStamped wrench_msg_; + + /// \brief store bodyname + private: std::string joint_name_; + + /// \brief ROS WrenchStamped topic name + private: std::string topic_name_; + + /// \brief ROS frame transform name to use in the image message header. + /// FIXME: extract link name directly? + private: std::string frame_name_; + + /// \brief for setting ROS name space + private: std::string robot_namespace_; + + /// \brief A mutex to lock access to fields that are used in message callbacks + private: boost::mutex lock_; + + /// \brief save last_time + private: common::Time last_time_; + + // rate control + private: double update_rate_; + + /// \brief: keep track of number of connections + private: int ft_connect_count_; + private: void FTConnect(); + private: void FTDisconnect(); + + // Custom Callback Queue + private: ros::CallbackQueue queue_; + private: void QueueThread(); + private: boost::thread callback_queue_thread_; + + // Pointer to the update event connection + private: event::ConnectionPtr update_connection_; + +}; + +/** \} */ +/// @} + + +} + +#endif diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_gpu_laser.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_gpu_laser.h index 741bc52f7..8e09e5e06 100644 --- a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_gpu_laser.h +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_gpu_laser.h @@ -75,6 +75,9 @@ namespace gazebo /// \brief frame transform name, should match link name private: std::string frame_name_; + + /// \brief tf prefix + private: std::string tf_prefix_; /// \brief for setting ROS name space private: std::string robot_namespace_; diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h new file mode 100644 index 000000000..4773b8029 --- /dev/null +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h @@ -0,0 +1,71 @@ +/* + * 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/gazebo_plugins/include/gazebo_plugins/gazebo_ros_imu.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_imu.h index 4317fbaf0..6f3191713 100644 --- a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_imu.h +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_imu.h @@ -84,6 +84,9 @@ namespace gazebo private: math::Vector3 last_veul_; private: math::Vector3 apos_; private: math::Vector3 aeul_; + + // rate control + private: double update_rate_; /// \brief: keep initial pose to offset orientation in imu message private: math::Pose initial_pose_; diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_state_publisher.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_state_publisher.h new file mode 100644 index 000000000..550a65b8f --- /dev/null +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_state_publisher.h @@ -0,0 +1,91 @@ +/* + * Copyright (c) 2013, Markus Bader + * 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 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 Antons Rebguns ''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 Antons Rebguns 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. + * + **/ + + +#ifndef JOINT_STATE_PUBLISHER_PLUGIN_HH +#define JOINT_STATE_PUBLISHER_PLUGIN_HH + +#include +#include +#include +#include +#include + +// ROS +#include +#include +#include + +// Usage in URDF: +// +// +// /pioneer2dx +// chassis_swivel_joint, swivel_wheel_joint, left_hub_joint, right_hub_joint +// 100.0 +// true +// +// + + + +namespace gazebo { +class GazeboRosJointStatePublisher : public ModelPlugin { +public: + GazeboRosJointStatePublisher(); + ~GazeboRosJointStatePublisher(); + void Load ( physics::ModelPtr _parent, sdf::ElementPtr _sdf ); + void OnUpdate ( const common::UpdateInfo & _info ); + void publishJointStates(); + // Pointer to the model +private: + event::ConnectionPtr updateConnection; + physics::WorldPtr world_; + physics::ModelPtr parent_; + std::vector joints_; + + // ROS STUFF + boost::shared_ptr rosnode_; + sensor_msgs::JointState joint_state_; + ros::Publisher joint_state_publisher_; + std::string tf_prefix_; + std::string robot_namespace_; + std::vector joint_names_; + + // Update Rate + double update_rate_; + double update_period_; + common::Time last_update_time_; + +}; + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN ( GazeboRosJointStatePublisher ) +} + +#endif //JOINT_STATE_PUBLISHER_PLUGIN_HH + diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_laser.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_laser.h index d89cf93e4..e89c38d42 100644 --- a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_laser.h +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_laser.h @@ -36,6 +36,7 @@ #include #include #include +#include #include @@ -59,6 +60,7 @@ namespace gazebo private: void LaserDisconnect(); // Pointer to the model + GazeboRosPtr gazebo_ros_; private: std::string world_name_; private: physics::WorldPtr world_; /// \brief The parent sensor @@ -74,6 +76,9 @@ namespace gazebo /// \brief frame transform name, should match link name private: std::string frame_name_; + + /// \brief tf prefix + private: std::string tf_prefix_; /// \brief for setting ROS name space private: std::string robot_namespace_; diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_openni_kinect.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_openni_kinect.h index 4b7992ee4..8f30e5201 100644 --- a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_openni_kinect.h +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_openni_kinect.h @@ -1,29 +1,25 @@ /* - * Gazebo - Outdoor Multi-Robot Simulator - * Copyright (C) 2003 - * Nate Koenig & Andrew Howard + * Copyright (C) 2012-2014 Open Source Robotics Foundation * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. + * 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 * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. + * http://www.apache.org/licenses/LICENSE-2.0 * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * 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: A dynamic controller plugin that publishes ROS image_raw camera_info topic for generic camera sensor. * Author: John Hsu * Date: 24 Sept 2008 - * SVN: $Id$ */ + #ifndef GAZEBO_ROS_OPENNI_KINECT_HH #define GAZEBO_ROS_OPENNI_KINECT_HH @@ -32,9 +28,6 @@ #include #include -#include -#include - // ros messages stuff #include #include @@ -118,7 +111,7 @@ namespace gazebo private: ros::Publisher point_cloud_pub_; private: ros::Publisher depth_image_pub_; - /// \brief PCL point cloud message + /// \brief PointCloud2 point cloud message private: sensor_msgs::PointCloud2 point_cloud_msg_; private: sensor_msgs::Image depth_image_msg_; diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_template.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_template.h index 255367dbe..4e1f18597 100644 --- a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_template.h +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_template.h @@ -1,29 +1,25 @@ /* - * Gazebo - Outdoor Multi-Robot Simulator - * Copyright (C) 2003 - * Nate Koenig & Andrew Howard + * Copyright (C) 2012-2014 Open Source Robotics Foundation * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. + * 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 * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. + * http://www.apache.org/licenses/LICENSE-2.0 * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * 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 - * SVN: $Id$ */ + #ifndef GAZEBO_ROS_TEMPLATE_HH #define GAZEBO_ROS_TEMPLATE_HH diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_tricycle_drive.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_tricycle_drive.h new file mode 100644 index 000000000..0dd3aa937 --- /dev/null +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_tricycle_drive.h @@ -0,0 +1,170 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Markus Bader + * 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 copyright holder 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_tricycle_drive.cpp + * \brief A tricycle drive plugin for gazebo. + * \author Markus Bader + * \date 22th of June 2014 + */ + +#ifndef TRICYCLE_DRIVE_PLUGIN_HH +#define TRICYCLE_DRIVE_PLUGIN_HH + +#include + +// Gazebo +#include + +// ROS +#include +#include +#include +#include +#include +#include +#include +#include + +// Custom Callback Queue +#include +#include + +// Boost +#include +#include + +namespace gazebo { + +class Joint; +class Entity; + + +class GazeboRosTricycleDrive : public ModelPlugin { + + class TricycleDriveCmd { + public: + TricycleDriveCmd():speed(0), angle(0) {}; + double speed; + double angle; + }; + + enum OdomSource + { + ENCODER = 0, + WORLD = 1, + }; +public: + GazeboRosTricycleDrive(); + ~GazeboRosTricycleDrive(); + void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf); + +protected: + virtual void UpdateChild(); + virtual void FiniChild(); + +private: + GazeboRosPtr gazebo_ros_; + physics::ModelPtr parent; + void publishOdometry(double step_time); + void publishWheelTF(); /// publishes the wheel tf's + void publishWheelJointState(); + void motorController(double target_speed, double target_angle, double dt); + + event::ConnectionPtr update_connection_; + + physics::JointPtr joint_steering_; + physics::JointPtr joint_wheel_actuated_; + physics::JointPtr joint_wheel_encoder_left_; + physics::JointPtr joint_wheel_encoder_right_; + + double diameter_encoder_wheel_; + double diameter_actuated_wheel_; + double wheel_acceleration_; + double wheel_deceleration_; + double wheel_speed_tolerance_; + double steering_angle_tolerance_; + double steering_speed_; + double separation_encoder_wheel_; + + OdomSource odom_source_; + double wheel_torque_; + + std::string robot_namespace_; + std::string command_topic_; + std::string odometry_topic_; + std::string odometry_frame_; + std::string robot_base_frame_; + + // ROS STUFF + ros::Publisher odometry_publisher_; + ros::Subscriber cmd_vel_subscriber_; + boost::shared_ptr transform_broadcaster_; + sensor_msgs::JointState joint_state_; + ros::Publisher joint_state_publisher_; + nav_msgs::Odometry odom_; + + boost::mutex lock; + + + // Custom Callback Queue + ros::CallbackQueue queue_; + boost::thread callback_queue_thread_; + void QueueThread(); + + // DiffDrive stuff + void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg); + + /// updates the relative robot pose based on the wheel encoders + void UpdateOdometryEncoder(); + + TricycleDriveCmd cmd_; + bool alive_; + geometry_msgs::Pose2D pose_encoder_; + common::Time last_odom_update_; + + // Update Rate + double update_rate_; + double update_period_; + common::Time last_actuator_update_; + + // Flags + bool publishWheelTF_; + bool publishWheelJointState_; + +}; + +} + +#endif + diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h new file mode 100644 index 000000000..3db4c45f5 --- /dev/null +++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h @@ -0,0 +1,291 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Markus Bader + * 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 copyright holder 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. + *********************************************************************/ + +#ifndef GAZEBO_ROS_UTILS_H +#define GAZEBO_ROS_UTILS_H +#include +#include + +#include +#include +#include +#include + +namespace gazebo +{ + +/** +* Accessing model name like suggested by nkoenig at http://answers.gazebosim.org/question/4878/multiple-robots-with-ros-plugins-sensor-plugin-vs/ +* @param parent +* @return accessing model name +**/ +inline std::string GetModelName ( const sensors::SensorPtr &parent ) +{ + std::string modelName; + std::vector values; + std::string scopedName = parent->GetScopedName(); + boost::replace_all ( scopedName, "::", "," ); + boost::split ( values, scopedName, boost::is_any_of ( "," ) ); + if ( values.size() < 2 ) { + modelName = ""; + } else { + modelName = values[1]; + } + return modelName; +} + +/** +* @brief Reads the name space tag of a sensor plugin +* @param parent +* @param sdf +* @param pInfo +* @return node namespace +**/ +inline std::string GetRobotNamespace ( const sensors::SensorPtr &parent, const sdf::ElementPtr &sdf, const char *pInfo = NULL ) +{ + std::string name_space; + std::stringstream ss; + if ( sdf->HasElement ( "robotNamespace" ) ) { + name_space = sdf->Get ( "robotNamespace" ); + if ( name_space.empty() ) { + ss << "the 'robotNamespace' param was empty"; + name_space = GetModelName ( parent ); + } else { + ss << "Using the 'robotNamespace' param: '" << name_space << "'"; + } + } else { + ss << "the 'robotNamespace' param did not exit"; + } + if ( pInfo != NULL ) { + ROS_INFO ( "%s Plugin (robotNamespace = %s), Info: %s" , pInfo, name_space.c_str(), ss.str().c_str() ); + } + return name_space; +} + +/** + * Gazebo ros helper class + * The class simplifies the parameter and rosnode handling + * @author Markus Bader + **/ +class GazeboRos +{ +private: + sdf::ElementPtr sdf_; /// sdf to read + std::string plugin_; /// name of the plugin class + std::string namespace_; /// name of the launched node + boost::shared_ptr rosnode_; /// rosnode + std::string tf_prefix_; /// prefix for the ros tf plublisher if not set it uses the namespace_ + std::string info_text; /// info text for log messages to identify the node + /** + * Reads the common plugin parameters used by the constructor + **/ + void readCommonParameter (); +public: + /** + * Constructor + * @param _parent models parent + * @param _sdf sdf to read + * @param _name of the plugin class + **/ + GazeboRos ( physics::ModelPtr &_parent, sdf::ElementPtr _sdf, const std::string &_plugin ) + : sdf_ ( _sdf ), plugin_ ( _plugin ) { + namespace_ = _parent->GetName (); + if ( !sdf_->HasElement ( "robotNamespace" ) ) { + ROS_INFO ( "%s missing , defaults is %s", plugin_.c_str(), namespace_.c_str() ); + } else { + namespace_ = sdf_->GetElement ( "robotNamespace" )->Get(); + if ( namespace_.empty() ) { + namespace_ = _parent->GetName(); + } + } + if ( !namespace_.empty() ) + this->namespace_ += "/"; + rosnode_ = boost::shared_ptr ( new ros::NodeHandle ( namespace_ ) ); + info_text = plugin_ + "(ns = " + namespace_ + ")"; + readCommonParameter (); + } + /** + * Constructor + * @param _parent sensor parent + * @param _sdf sdf to read + * @param _name of the plugin class + **/ + GazeboRos ( sensors::SensorPtr _parent, sdf::ElementPtr _sdf, const std::string &_plugin ) + : sdf_ ( _sdf ), plugin_ ( _plugin ) { + + std::stringstream ss; + if ( sdf_->HasElement ( "robotNamespace" ) ) { + namespace_ = sdf_->Get ( "robotNamespace" ); + if ( namespace_.empty() ) { + ss << "the 'robotNamespace' param was empty"; + namespace_ = GetModelName ( _parent ); + } else { + ss << "Using the 'robotNamespace' param: '" << namespace_ << "'"; + } + } else { + ss << "the 'robotNamespace' param did not exit"; + } + info_text = plugin_ + "(ns = " + namespace_ + ")"; + ROS_INFO ( "%s: %s" , info_text.c_str(), ss.str().c_str() ); + readCommonParameter (); + } + + /** + * Returns info text used for log messages + * @return class name and node name as string + **/ + const char* info() const; + /** + * returns the initialized created within the constuctor + * @return rosnode + **/ + boost::shared_ptr& node();; + /** + * returns the initialized within the constuctor + * @return rosnode + **/ + const boost::shared_ptr& node() const; + /** + * resolves a tf frame name by adding the tf_prefix initialized within the constuctor + * @param _name + * @retun resolved tf name + **/ + std::string resolveTF ( const std::string &_name ); + + /** + * reads the follwoing _tag_name paramer or sets a _default value + * @param _value + * @param _tag_name + * @param _default + * @retun sdf tag value + **/ + void getParameterBoolean ( bool &_value, const char *_tag_name, const bool &_default ); + /** + * reads the follwoing _tag_name paramer + * @param _value + * @param _tag_name + * @retun sdf tag value + **/ + void getParameterBoolean ( bool &_value, const char *_tag_name ); + /** + * retuns a JointPtr based on an sdf tag_name entry + * @param _value + * @param _tag_name + * @param _joint_default_name + * @retun JointPtr + **/ + physics::JointPtr getJoint ( physics::ModelPtr &_parent, const char *_tag_name, const std::string &_joint_default_name ); + /** + * checks if the ros not is initialized + * @retun JointPtr + **/ + void isInitialized(); + + + /** + * reads the follwoing _tag_name paramer or sets a _default value + * @param _value + * @param _tag_name + * @param _default + * @retun sdf tag value + **/ + template + void getParameter ( T &_value, const char *_tag_name, const T &_default ) { + _value = _default; + if ( !sdf_->HasElement ( _tag_name ) ) { + ROS_WARN ( "%s: missing <%s> default is %s", info(), _tag_name, boost::lexical_cast ( _default ).c_str() ); + } else { + this->getParameter ( _value, _tag_name ); + } + } + /** + * reads the follwoing _tag_name paramer + * @param _value + * @param _tag_name + * @param _default + * @retun sdf tag value + **/ + template + void getParameter ( T &_value, const char *_tag_name ) { + if ( sdf_->HasElement ( _tag_name ) ) { + _value = sdf_->GetElement ( _tag_name )->Get(); + } + ROS_DEBUG ( "%s: <%s> = %s", info(), _tag_name, boost::lexical_cast ( _value ).c_str() ); + + } + + /** + * reads the following _tag_name paramer and compares the value with an _options map keys and retuns the corresponding value. + * @param _value + * @param _tag_name + * @param _default + * @retun sdf tag value + **/ + template + void getParameter ( T &_value, const char *_tag_name, const std::map &_options, const T &_default ) { + _value = _default; + if ( !sdf_->HasElement ( _tag_name ) ) { + ROS_WARN ( "%s: missing <%s> default is %s", info(), _tag_name, boost::lexical_cast ( _default ).c_str() ); + } else { + this->getParameter ( _value, _tag_name, _options ); + } + } + /** + * reads the following _tag_name paramer and compares the value with an _options map keys and retuns the corresponding value. + * @param _value + * @param _tag_name + * @param _default + * @retun sdf tag value + **/ + template + void getParameter ( T &_value, const char *_tag_name, const std::map &_options ) { + typename std::map::const_iterator it; + if ( sdf_->HasElement ( _tag_name ) ) { + std::string value = sdf_->GetElement ( _tag_name )->Get(); + it = _options.find ( value ); + if ( it == _options.end() ) { + ROS_WARN ( "%s: <%s> no matching key to %s", info(), _tag_name, value.c_str() ); + } else { + _value = it->second; + } + } + ROS_DEBUG ( "%s: <%s> = %s := %s", info(), _tag_name, ( it == _options.end() ?"default":it->first.c_str() ), boost::lexical_cast ( _value ).c_str() ); + } +}; + +typedef boost::shared_ptr GazeboRosPtr; +} +#endif + + + diff --git a/gazebo_plugins/package.xml b/gazebo_plugins/package.xml index e3b03dbdd..75b80a863 100644 --- a/gazebo_plugins/package.xml +++ b/gazebo_plugins/package.xml @@ -1,18 +1,17 @@ gazebo_plugins - 2.4.0 + 2.4.6 Robot-independent Gazebo plugins for sensors, motors and dynamic reconfigurable components. John Hsu - Dave Coleman - BSD + BSD, Apache 2.0 http://gazebosim.org/wiki/Tutorials#ROS_Integration - https://github.com/osrf/gazebo_ros_pkgs/issues - https://github.com/osrf/gazebo_ros_pkgs + https://github.com/ros-simulation/gazebo_ros_pkgs/issues + https://github.com/ros-simulation/gazebo_ros_pkgs John Hsu @@ -31,20 +30,21 @@ nav_msgs urdf tf + tf2_ros dynamic_reconfigure driver_base rosgraph_msgs - pcl_ros - pcl_conversions image_transport rosconsole message_generation cv_bridge polled_camera diagnostic_updater + camera_info_manager gazebo gazebo_msgs + gazebo_ros geometry_msgs sensor_msgs trajectory_msgs @@ -56,15 +56,15 @@ nav_msgs urdf tf + tf2_ros dynamic_reconfigure driver_base rosgraph_msgs - pcl_ros - pcl_conversions image_transport rosconsole message_generation cv_bridge polled_camera + camera_info_manager diff --git a/gazebo_plugins/src/gazebo_ros_block_laser.cpp b/gazebo_plugins/src/gazebo_ros_block_laser.cpp index b57c13aae..d8f40bc6a 100644 --- a/gazebo_plugins/src/gazebo_ros_block_laser.cpp +++ b/gazebo_plugins/src/gazebo_ros_block_laser.cpp @@ -40,6 +40,8 @@ #include +#define EPSILON_DIFF 0.000001 + namespace gazebo { // Register this plugin with the simulator @@ -321,31 +323,27 @@ void GazeboRosBlockLaser::PutLaserData(common::Time &_updateTime) /* point scan from laser */ /* */ /***************************************************************/ - if (r == maxRange - minRange) + //compare 2 doubles + double diffRange = maxRange - minRange; + double diff = diffRange - r; + if (fabs(diff) < EPSILON_DIFF) { // no noise if at max range geometry_msgs::Point32 point; - point.x = (r+minRange) * cos(pAngle)*cos(yAngle); - point.y = -(r+minRange) * sin(yAngle); - point.z = (r+minRange) * sin(pAngle)*cos(yAngle); - //pAngle is rotated by yAngle: - point.x = (r+minRange) * cos(pAngle) * cos(yAngle); - point.y = -(r+minRange) * cos(pAngle) * sin(yAngle); - point.z = (r+minRange) * sin(pAngle); + point.x = r * cos(pAngle) * cos(yAngle); + point.y = r * cos(pAngle) * sin(yAngle); + point.z = -r * sin(pAngle); this->cloud_msg_.points.push_back(point); } else { geometry_msgs::Point32 point; - point.x = (r+minRange) * cos(pAngle)*cos(yAngle) + this->GaussianKernel(0,this->gaussian_noise_) ; - point.y = -(r+minRange) * sin(yAngle) + this->GaussianKernel(0,this->gaussian_noise_) ; - point.z = (r+minRange) * sin(pAngle)*cos(yAngle) + this->GaussianKernel(0,this->gaussian_noise_) ; //pAngle is rotated by yAngle: - point.x = (r+minRange) * cos(pAngle) * cos(yAngle) + this->GaussianKernel(0,this->gaussian_noise_); - point.y = -(r+minRange) * cos(pAngle) * sin(yAngle) + this->GaussianKernel(0,this->gaussian_noise_); - point.z = (r+minRange) * sin(pAngle) + this->GaussianKernel(0,this->gaussian_noise_); + point.x = r * cos(pAngle) * cos(yAngle) + this->GaussianKernel(0,this->gaussian_noise_); + point.y = r * cos(pAngle) * sin(yAngle) + this->GaussianKernel(0,this->gaussian_noise_); + point.z = -r * sin(pAngle) + this->GaussianKernel(0,this->gaussian_noise_); this->cloud_msg_.points.push_back(point); } // only 1 channel diff --git a/gazebo_plugins/src/gazebo_ros_bumper.cpp b/gazebo_plugins/src/gazebo_ros_bumper.cpp index 4d8ad1bdc..059f1d935 100644 --- a/gazebo_plugins/src/gazebo_ros_bumper.cpp +++ b/gazebo_plugins/src/gazebo_ros_bumper.cpp @@ -121,6 +121,9 @@ void GazeboRosBumper::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) // simulation iteration. this->update_connection_ = this->parentSensor->ConnectUpdated( boost::bind(&GazeboRosBumper::OnContact, this)); + + // Make sure the parent sensor is active. + this->parentSensor->SetActive(true); } //////////////////////////////////////////////////////////////////////////////// diff --git a/gazebo_plugins/src/gazebo_ros_camera_utils.cpp b/gazebo_plugins/src/gazebo_ros_camera_utils.cpp index 70edb4362..2129b65ab 100644 --- a/gazebo_plugins/src/gazebo_ros_camera_utils.cpp +++ b/gazebo_plugins/src/gazebo_ros_camera_utils.cpp @@ -22,11 +22,13 @@ #include #include +#include #include #include #include #include #include +#include #include @@ -85,22 +87,22 @@ void GazeboRosCameraUtils::Load(sensors::SensorPtr _parent, const std::string &_camera_name_suffix, double _hack_baseline) { - // default Load - this->Load(_parent, _sdf); + // default Load: + // provide _camera_name_suffix to prevent LoadThread() creating the ros::NodeHandle with + //an incomplete this->camera_name_ namespace. There was a race condition when the _camera_name_suffix + //was appended in this function. + this->Load(_parent, _sdf, _camera_name_suffix); // overwrite hack baseline if specified at load // example usage in gazebo_ros_multicamera this->hack_baseline_ = _hack_baseline; - - // overwrite camera suffix - // example usage in gazebo_ros_multicamera - this->camera_name_ += _camera_name_suffix; } //////////////////////////////////////////////////////////////////////////////// // Load the controller void GazeboRosCameraUtils::Load(sensors::SensorPtr _parent, - sdf::ElementPtr _sdf) + sdf::ElementPtr _sdf, + const std::string &_camera_name_suffix) { // Get the world name. std::string world_name = _parent->GetWorldName(); @@ -115,10 +117,9 @@ void GazeboRosCameraUtils::Load(sensors::SensorPtr _parent, // pr2_gazebo_plugins this->world = this->world_; - this->robot_namespace_ = ""; - if (this->sdf->HasElement("robotNamespace")) - this->robot_namespace_ = this->sdf->Get("robotNamespace") + "/"; - + std::stringstream ss; + this->robot_namespace_ = GetRobotNamespace(_parent, _sdf, "Camera"); + this->image_topic_name_ = "image_raw"; if (this->sdf->HasElement("imageTopicName")) this->image_topic_name_ = this->sdf->Get("imageTopicName"); @@ -133,6 +134,10 @@ void GazeboRosCameraUtils::Load(sensors::SensorPtr _parent, else this->camera_name_ = this->sdf->Get("cameraName"); + // overwrite camera suffix + // example usage in gazebo_ros_multicamera + this->camera_name_ += _camera_name_suffix; + if (!this->sdf->HasElement("frameName")) ROS_DEBUG("Camera plugin missing , defaults to /world"); else @@ -266,10 +271,11 @@ void GazeboRosCameraUtils::LoadThread() // associated ROS topics. this->parentSensor_->SetActive(false); - this->rosnode_ = new ros::NodeHandle(this->robot_namespace_ + - "/" + this->camera_name_); + this->rosnode_ = new ros::NodeHandle(this->robot_namespace_ + "/" + this->camera_name_); - this->itnode_ = new image_transport::ImageTransport(*this->rosnode_); + // initialize camera_info_manager + this->camera_info_manager_.reset(new camera_info_manager::CameraInfoManager( + *this->rosnode_, this->camera_name_)); // resolve tf prefix std::string key; @@ -279,6 +285,20 @@ void GazeboRosCameraUtils::LoadThread() this->frame_name_ = tf::resolve(prefix, this->frame_name_); } + this->itnode_ = new image_transport::ImageTransport(*this->rosnode_); + + // resolve tf prefix + this->tf_prefix_ = tf::getPrefixParam(*this->rosnode_); + if(this->tf_prefix_.empty()) { + this->tf_prefix_ = this->robot_namespace_; + boost::trim_right_if(this->tf_prefix_,boost::is_any_of("/")); + } + this->frame_name_ = tf::resolve(this->tf_prefix_, this->frame_name_); + + ROS_INFO("Camera Plugin (ns = %s) , set to \"%s\"", + this->robot_namespace_.c_str(), this->tf_prefix_.c_str()); + + if (!this->camera_name_.empty()) { dyn_srv_ = @@ -473,6 +493,59 @@ void GazeboRosCameraUtils::Init() } } + // fill CameraInfo + sensor_msgs::CameraInfo camera_info_msg; + + camera_info_msg.header.frame_id = this->frame_name_; + + camera_info_msg.height = this->height_; + camera_info_msg.width = this->width_; + // distortion +#if ROS_VERSION_MINIMUM(1, 3, 0) + camera_info_msg.distortion_model = "plumb_bob"; + camera_info_msg.D.resize(5); +#endif + camera_info_msg.D[0] = this->distortion_k1_; + camera_info_msg.D[1] = this->distortion_k2_; + camera_info_msg.D[2] = this->distortion_k3_; + camera_info_msg.D[3] = this->distortion_t1_; + camera_info_msg.D[4] = this->distortion_t2_; + // original camera_ matrix + camera_info_msg.K[0] = this->focal_length_; + camera_info_msg.K[1] = 0.0; + camera_info_msg.K[2] = this->cx_; + camera_info_msg.K[3] = 0.0; + camera_info_msg.K[4] = this->focal_length_; + camera_info_msg.K[5] = this->cy_; + camera_info_msg.K[6] = 0.0; + camera_info_msg.K[7] = 0.0; + camera_info_msg.K[8] = 1.0; + // rectification + camera_info_msg.R[0] = 1.0; + camera_info_msg.R[1] = 0.0; + camera_info_msg.R[2] = 0.0; + camera_info_msg.R[3] = 0.0; + camera_info_msg.R[4] = 1.0; + camera_info_msg.R[5] = 0.0; + camera_info_msg.R[6] = 0.0; + camera_info_msg.R[7] = 0.0; + camera_info_msg.R[8] = 1.0; + // camera_ projection matrix (same as camera_ matrix due + // to lack of distortion/rectification) (is this generated?) + camera_info_msg.P[0] = this->focal_length_; + camera_info_msg.P[1] = 0.0; + camera_info_msg.P[2] = this->cx_; + camera_info_msg.P[3] = -this->focal_length_ * this->hack_baseline_; + camera_info_msg.P[4] = 0.0; + camera_info_msg.P[5] = this->focal_length_; + camera_info_msg.P[6] = this->cy_; + camera_info_msg.P[7] = 0.0; + camera_info_msg.P[8] = 0.0; + camera_info_msg.P[9] = 0.0; + camera_info_msg.P[10] = 1.0; + camera_info_msg.P[11] = 0.0; + + this->camera_info_manager_->setCameraInfo(camera_info_msg); // start custom queue for camera_ this->callback_queue_thread_ = boost::thread( @@ -546,58 +619,10 @@ void GazeboRosCameraUtils::PublishCameraInfo() void GazeboRosCameraUtils::PublishCameraInfo( ros::Publisher camera_info_publisher) { - sensor_msgs::CameraInfo camera_info_msg; - // fill CameraInfo - camera_info_msg.header.frame_id = this->frame_name_; + sensor_msgs::CameraInfo camera_info_msg = camera_info_manager_->getCameraInfo(); camera_info_msg.header.stamp.sec = this->sensor_update_time_.sec; camera_info_msg.header.stamp.nsec = this->sensor_update_time_.nsec; - camera_info_msg.height = this->height_; - camera_info_msg.width = this->width_; - // distortion -#if ROS_VERSION_MINIMUM(1, 3, 0) - camera_info_msg.distortion_model = "plumb_bob"; - camera_info_msg.D.resize(5); -#endif - camera_info_msg.D[0] = this->distortion_k1_; - camera_info_msg.D[1] = this->distortion_k2_; - camera_info_msg.D[2] = this->distortion_k3_; - camera_info_msg.D[3] = this->distortion_t1_; - camera_info_msg.D[4] = this->distortion_t2_; - // original camera_ matrix - camera_info_msg.K[0] = this->focal_length_; - camera_info_msg.K[1] = 0.0; - camera_info_msg.K[2] = this->cx_; - camera_info_msg.K[3] = 0.0; - camera_info_msg.K[4] = this->focal_length_; - camera_info_msg.K[5] = this->cy_; - camera_info_msg.K[6] = 0.0; - camera_info_msg.K[7] = 0.0; - camera_info_msg.K[8] = 1.0; - // rectification - camera_info_msg.R[0] = 1.0; - camera_info_msg.R[1] = 0.0; - camera_info_msg.R[2] = 0.0; - camera_info_msg.R[3] = 0.0; - camera_info_msg.R[4] = 1.0; - camera_info_msg.R[5] = 0.0; - camera_info_msg.R[6] = 0.0; - camera_info_msg.R[7] = 0.0; - camera_info_msg.R[8] = 1.0; - // camera_ projection matrix (same as camera_ matrix due - // to lack of distortion/rectification) (is this generated?) - camera_info_msg.P[0] = this->focal_length_; - camera_info_msg.P[1] = 0.0; - camera_info_msg.P[2] = this->cx_; - camera_info_msg.P[3] = -this->focal_length_ * this->hack_baseline_; - camera_info_msg.P[4] = 0.0; - camera_info_msg.P[5] = this->focal_length_; - camera_info_msg.P[6] = this->cy_; - camera_info_msg.P[7] = 0.0; - camera_info_msg.P[8] = 0.0; - camera_info_msg.P[9] = 0.0; - camera_info_msg.P[10] = 1.0; - camera_info_msg.P[11] = 0.0; camera_info_publisher.publish(camera_info_msg); } diff --git a/gazebo_plugins/src/gazebo_ros_depth_camera.cpp b/gazebo_plugins/src/gazebo_ros_depth_camera.cpp index 30fa05fc9..0bdad5ef0 100644 --- a/gazebo_plugins/src/gazebo_ros_depth_camera.cpp +++ b/gazebo_plugins/src/gazebo_ros_depth_camera.cpp @@ -31,7 +31,7 @@ #include #include -#include +#include #include @@ -246,24 +246,29 @@ void GazeboRosDepthCamera::OnNewRGBPointCloud(const float *_pcd, this->point_cloud_msg_.height = this->height; this->point_cloud_msg_.row_step = this->point_cloud_msg_.point_step * this->width; - pcl::PointCloud point_cloud; - point_cloud.points.resize(0); - point_cloud.is_dense = true; + sensor_msgs::PointCloud2Modifier pcd_modifier(point_cloud_msg_); + pcd_modifier.setPointCloud2FieldsByString(2, "xyz", "rgb"); + pcd_modifier.resize(_width*_height); + + point_cloud_msg_.is_dense = true; + + sensor_msgs::PointCloud2Iterator iter_x(point_cloud_msg_, "x"); + sensor_msgs::PointCloud2Iterator iter_y(point_cloud_msg_, "y"); + sensor_msgs::PointCloud2Iterator iter_z(point_cloud_msg_, "z"); + sensor_msgs::PointCloud2Iterator iter_rgb(point_cloud_msg_, "rgb"); for (unsigned int i = 0; i < _width; i++) { - for (unsigned int j = 0; j < _height; j++) + for (unsigned int j = 0; j < _height; j++, ++iter_x, ++iter_y, ++iter_z, ++iter_rgb) { unsigned int index = (j * _width) + i; - pcl::PointXYZRGB point; - point.x = _pcd[4 * index]; - point.y = _pcd[4 * index + 1]; - point.z = _pcd[4 * index + 2]; - point.rgb = _pcd[4 * index + 3]; - point_cloud.points.push_back(point); + *iter_x = _pcd[4 * index]; + *iter_y = _pcd[4 * index + 1]; + *iter_z = _pcd[4 * index + 2]; + *iter_rgb = _pcd[4 * index + 3]; if (i == _width /2 && j == _height / 2) { - uint32_t rgb = *reinterpret_cast(&point.rgb); + uint32_t rgb = *reinterpret_cast(&(*iter_rgb)); uint8_t r = (rgb >> 16) & 0x0000ff; uint8_t g = (rgb >> 8) & 0x0000ff; uint8_t b = (rgb) & 0x0000ff; @@ -272,10 +277,6 @@ void GazeboRosDepthCamera::OnNewRGBPointCloud(const float *_pcd, } } - point_cloud.header = pcl_conversions::toPCL(point_cloud_msg_.header); - - pcl::toROSMsg(point_cloud, this->point_cloud_msg_); - this->point_cloud_pub_.publish(this->point_cloud_msg_); this->lock_.unlock(); } @@ -361,10 +362,16 @@ bool GazeboRosDepthCamera::FillPointCloudHelper( uint32_t rows_arg, uint32_t cols_arg, uint32_t step_arg, void* data_arg) { - pcl::PointCloud point_cloud; + sensor_msgs::PointCloud2Modifier pcd_modifier(point_cloud_msg); + pcd_modifier.setPointCloud2FieldsByString(2, "xyz", "rgb"); + pcd_modifier.resize(rows_arg*cols_arg); - point_cloud.points.resize(0); - point_cloud.is_dense = true; + sensor_msgs::PointCloud2Iterator iter_x(point_cloud_msg_, "x"); + sensor_msgs::PointCloud2Iterator iter_y(point_cloud_msg_, "y"); + sensor_msgs::PointCloud2Iterator iter_z(point_cloud_msg_, "z"); + sensor_msgs::PointCloud2Iterator iter_rgb(point_cloud_msg_, "rgb"); + + point_cloud_msg.is_dense = true; float* toCopyFrom = (float*)data_arg; int index = 0; @@ -379,7 +386,7 @@ bool GazeboRosDepthCamera::FillPointCloudHelper( if (rows_arg>1) pAngle = atan2( (double)j - 0.5*(double)(rows_arg-1), fl); else pAngle = 0.0; - for (uint32_t i=0; i1) yAngle = atan2( (double)i - 0.5*(double)(cols_arg-1), fl); @@ -391,17 +398,16 @@ bool GazeboRosDepthCamera::FillPointCloudHelper( // hardcoded rotation rpy(-M_PI/2, 0, -M_PI/2) is built-in // to urdf, where the *_optical_frame should have above relative // rotation from the physical camera *_frame - pcl::PointXYZRGB point; - point.x = depth * tan(yAngle); - point.y = depth * tan(pAngle); + *iter_x = depth * tan(yAngle); + *iter_y = depth * tan(pAngle); if(depth > this->point_cloud_cutoff_) { - point.z = depth; + *iter_z = depth; } else //point in the unseeable range { - point.x = point.y = point.z = std::numeric_limits::quiet_NaN (); - point_cloud.is_dense = false; + *iter_x = *iter_y = *iter_z = std::numeric_limits::quiet_NaN (); + point_cloud_msg.is_dense = false; } // put image color data for each point @@ -409,32 +415,27 @@ bool GazeboRosDepthCamera::FillPointCloudHelper( if (this->image_msg_.data.size() == rows_arg*cols_arg*3) { // color - point.r = image_src[i*3+j*cols_arg*3+0]; - point.g = image_src[i*3+j*cols_arg*3+1]; - point.b = image_src[i*3+j*cols_arg*3+2]; + iter_rgb[0] = image_src[i*3+j*cols_arg*3+0]; + iter_rgb[1] = image_src[i*3+j*cols_arg*3+1]; + iter_rgb[2] = image_src[i*3+j*cols_arg*3+2]; } else if (this->image_msg_.data.size() == rows_arg*cols_arg) { // mono (or bayer? @todo; fix for bayer) - point.r = image_src[i+j*cols_arg]; - point.g = image_src[i+j*cols_arg]; - point.b = image_src[i+j*cols_arg]; + iter_rgb[0] = image_src[i+j*cols_arg]; + iter_rgb[1] = image_src[i+j*cols_arg]; + iter_rgb[2] = image_src[i+j*cols_arg]; } else { // no image - point.r = 0; - point.g = 0; - point.b = 0; + iter_rgb[0] = 0; + iter_rgb[1] = 0; + iter_rgb[2] = 0; } - - point_cloud.points.push_back(point); } } - point_cloud.header = pcl_conversions::toPCL(point_cloud_msg.header); - - pcl::toROSMsg(point_cloud, point_cloud_msg); return true; } diff --git a/gazebo_plugins/src/gazebo_ros_diff_drive.cpp b/gazebo_plugins/src/gazebo_ros_diff_drive.cpp index a702016a3..99dbd549e 100644 --- a/gazebo_plugins/src/gazebo_ros_diff_drive.cpp +++ b/gazebo_plugins/src/gazebo_ros_diff_drive.cpp @@ -29,7 +29,7 @@ /* * \file gazebo_ros_diff_drive.cpp * - * \brief A differential drive plugin for gazebo. Based on the diffdrive plugin + * \brief A differential drive plugin for gazebo. Based on the diffdrive plugin * developed for the erratic robot (see copyright notice above). The original * plugin can be found in the ROS package gazebo_erratic_plugins. * @@ -38,6 +38,15 @@ * $ Id: 06/21/2013 11:23:40 AM piyushk $ */ + +/* + * + * The support of acceleration limit was added by + * \author George Todoran + * \author Markus Bader + * \date 22th of May 2014 + */ + #include #include @@ -47,132 +56,67 @@ #include #include -#include -#include -#include -#include -#include -#include -#include -namespace gazebo { +namespace gazebo +{ - enum { +enum { RIGHT, LEFT, - }; +}; - GazeboRosDiffDrive::GazeboRosDiffDrive() {} +GazeboRosDiffDrive::GazeboRosDiffDrive() {} - // Destructor - GazeboRosDiffDrive::~GazeboRosDiffDrive() { - delete rosnode_; - delete transform_broadcaster_; - } +// Destructor +GazeboRosDiffDrive::~GazeboRosDiffDrive() {} - // Load the controller - void GazeboRosDiffDrive::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) { +// Load the controller +void GazeboRosDiffDrive::Load ( physics::ModelPtr _parent, sdf::ElementPtr _sdf ) +{ this->parent = _parent; - this->world = _parent->GetWorld(); - - this->robot_namespace_ = ""; - if (!_sdf->HasElement("robotNamespace")) { - ROS_INFO("GazeboRosDiffDrive Plugin missing , defaults to \"%s\"", - this->robot_namespace_.c_str()); - } else { - this->robot_namespace_ = - _sdf->GetElement("robotNamespace")->Get() + "/"; - } - - this->left_joint_name_ = "left_joint"; - if (!_sdf->HasElement("leftJoint")) { - ROS_WARN("GazeboRosDiffDrive Plugin (ns = %s) missing , defaults to \"%s\"", - this->robot_namespace_.c_str(), this->left_joint_name_.c_str()); - } else { - this->left_joint_name_ = _sdf->GetElement("leftJoint")->Get(); - } - - this->right_joint_name_ = "right_joint"; - if (!_sdf->HasElement("rightJoint")) { - ROS_WARN("GazeboRosDiffDrive Plugin (ns = %s) missing , defaults to \"%s\"", - this->robot_namespace_.c_str(), this->right_joint_name_.c_str()); - } else { - this->right_joint_name_ = _sdf->GetElement("rightJoint")->Get(); - } - - this->wheel_separation_ = 0.34; - if (!_sdf->HasElement("wheelSeparation")) { - ROS_WARN("GazeboRosDiffDrive Plugin (ns = %s) missing , defaults to %f", - this->robot_namespace_.c_str(), this->wheel_separation_); - } else { - this->wheel_separation_ = - _sdf->GetElement("wheelSeparation")->Get(); - } - - this->wheel_diameter_ = 0.15; - if (!_sdf->HasElement("wheelDiameter")) { - ROS_WARN("GazeboRosDiffDrive Plugin (ns = %s) missing , defaults to %f", - this->robot_namespace_.c_str(), this->wheel_diameter_); - } else { - this->wheel_diameter_ = _sdf->GetElement("wheelDiameter")->Get(); - } - - this->torque = 5.0; - if (!_sdf->HasElement("torque")) { - ROS_WARN("GazeboRosDiffDrive Plugin (ns = %s) missing , defaults to %f", - this->robot_namespace_.c_str(), this->torque); - } else { - this->torque = _sdf->GetElement("torque")->Get(); - } - - this->command_topic_ = "cmd_vel"; - if (!_sdf->HasElement("commandTopic")) { - ROS_WARN("GazeboRosDiffDrive Plugin (ns = %s) missing , defaults to \"%s\"", - this->robot_namespace_.c_str(), this->command_topic_.c_str()); - } else { - this->command_topic_ = _sdf->GetElement("commandTopic")->Get(); - } - - this->odometry_topic_ = "odom"; - if (!_sdf->HasElement("odometryTopic")) { - ROS_WARN("GazeboRosDiffDrive Plugin (ns = %s) missing , defaults to \"%s\"", - this->robot_namespace_.c_str(), this->odometry_topic_.c_str()); - } else { - this->odometry_topic_ = _sdf->GetElement("odometryTopic")->Get(); - } - - this->odometry_frame_ = "odom"; - if (!_sdf->HasElement("odometryFrame")) { - ROS_WARN("GazeboRosDiffDrive Plugin (ns = %s) missing , defaults to \"%s\"", - this->robot_namespace_.c_str(), this->odometry_frame_.c_str()); - } else { - this->odometry_frame_ = _sdf->GetElement("odometryFrame")->Get(); - } - - this->robot_base_frame_ = "base_footprint"; - if (!_sdf->HasElement("robotBaseFrame")) { - ROS_WARN("GazeboRosDiffDrive Plugin (ns = %s) missing , defaults to \"%s\"", - this->robot_namespace_.c_str(), this->robot_base_frame_.c_str()); - } else { - this->robot_base_frame_ = _sdf->GetElement("robotBaseFrame")->Get(); - } - - this->update_rate_ = 100.0; - if (!_sdf->HasElement("updateRate")) { - ROS_WARN("GazeboRosDiffDrive Plugin (ns = %s) missing , defaults to %f", - this->robot_namespace_.c_str(), this->update_rate_); + gazebo_ros_ = GazeboRosPtr ( new GazeboRos ( _parent, _sdf, "DiffDrive" ) ); + // Make sure the ROS node for Gazebo has already been initialized + gazebo_ros_->isInitialized(); + + gazebo_ros_->getParameter ( command_topic_, "commandTopic", "cmd_vel" ); + gazebo_ros_->getParameter ( odometry_topic_, "odometryTopic", "odom" ); + gazebo_ros_->getParameter ( odometry_frame_, "odometryFrame", "odom" ); + gazebo_ros_->getParameter ( robot_base_frame_, "robotBaseFrame", "base_footprint" ); + gazebo_ros_->getParameterBoolean ( publishWheelTF_, "publishWheelTF", false ); + gazebo_ros_->getParameterBoolean ( publishWheelJointState_, "publishWheelJointState", false ); + + gazebo_ros_->getParameter ( wheel_separation_, "wheelSeparation", 0.34 ); + gazebo_ros_->getParameter ( wheel_diameter_, "wheelDiameter", 0.15 ); + gazebo_ros_->getParameter ( wheel_accel, "wheelAcceleration", 0.0 ); + gazebo_ros_->getParameter ( wheel_torque, "wheelTorque", 5.0 ); + gazebo_ros_->getParameter ( update_rate_, "updateRate", 100.0 ); + std::map odomOptions; + odomOptions["encoder"] = ENCODER; + odomOptions["world"] = WORLD; + gazebo_ros_->getParameter ( odom_source_, "odometrySource", odomOptions, WORLD ); + + + joints_.resize ( 2 ); + joints_[LEFT] = gazebo_ros_->getJoint ( parent, "leftJoint", "left_joint" ); + joints_[RIGHT] = gazebo_ros_->getJoint ( parent, "rightJoint", "right_joint" ); + joints_[LEFT]->SetMaxForce ( 0, wheel_torque ); + joints_[RIGHT]->SetMaxForce ( 0, wheel_torque ); + + + + this->publish_tf_ = true; + if (!_sdf->HasElement("publishTf")) { + ROS_WARN("GazeboRosDiffDrive Plugin (ns = %s) missing , defaults to %d", + this->robot_namespace_.c_str(), this->publish_tf_); } else { - this->update_rate_ = _sdf->GetElement("updateRate")->Get(); + this->publish_tf_ = _sdf->GetElement("publishTf")->Get(); } // Initialize update rate stuff - if (this->update_rate_ > 0.0) { - this->update_period_ = 1.0 / this->update_rate_; - } else { - this->update_period_ = 0.0; - } - last_update_time_ = this->world->GetSimTime(); + if ( this->update_rate_ > 0.0 ) this->update_period_ = 1.0 / this->update_rate_; + else this->update_period_ = 0.0; + last_update_time_ = parent->GetWorld()->GetSimTime(); // Initialize velocity stuff wheel_speed_[RIGHT] = 0; @@ -182,143 +126,257 @@ namespace gazebo { rot_ = 0; alive_ = true; - joints[LEFT] = this->parent->GetJoint(left_joint_name_); - joints[RIGHT] = this->parent->GetJoint(right_joint_name_); - - if (!joints[LEFT]) { - char error[200]; - snprintf(error, 200, - "GazeboRosDiffDrive Plugin (ns = %s) couldn't get left hinge joint named \"%s\"", - this->robot_namespace_.c_str(), this->left_joint_name_.c_str()); - gzthrow(error); - } - if (!joints[RIGHT]) { - char error[200]; - snprintf(error, 200, - "GazeboRosDiffDrive Plugin (ns = %s) couldn't get right hinge joint named \"%s\"", - this->robot_namespace_.c_str(), this->right_joint_name_.c_str()); - gzthrow(error); - } - - joints[LEFT]->SetMaxForce(0, torque); - joints[RIGHT]->SetMaxForce(0, torque); - // Make sure the ROS node for Gazebo has already been initialized - if (!ros::isInitialized()) + if (this->publishWheelJointState_) { - ROS_FATAL_STREAM("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; + joint_state_publisher_ = gazebo_ros_->node()->advertise("joint_states", 1000); + ROS_INFO("%s: Advertise joint_states!", gazebo_ros_->info()); } - rosnode_ = new ros::NodeHandle(this->robot_namespace_); - - ROS_INFO("Starting GazeboRosDiffDrive Plugin (ns = %s)!", this->robot_namespace_.c_str()); - - tf_prefix_ = tf::getPrefixParam(*rosnode_); - transform_broadcaster_ = new tf::TransformBroadcaster(); + transform_broadcaster_ = boost::shared_ptr(new tf::TransformBroadcaster()); // ROS: Subscribe to the velocity command topic (usually "cmd_vel") + ROS_INFO("%s: Try to subscribe to %s!", gazebo_ros_->info(), command_topic_.c_str()); + ros::SubscribeOptions so = - ros::SubscribeOptions::create(command_topic_, 1, - boost::bind(&GazeboRosDiffDrive::cmdVelCallback, this, _1), - ros::VoidPtr(), &queue_); + ros::SubscribeOptions::create(command_topic_, 1, + boost::bind(&GazeboRosDiffDrive::cmdVelCallback, this, _1), + ros::VoidPtr(), &queue_); - cmd_vel_subscriber_ = rosnode_->subscribe(so); + cmd_vel_subscriber_ = gazebo_ros_->node()->subscribe(so); + ROS_INFO("%s: Subscribe to %s!", gazebo_ros_->info(), command_topic_.c_str()); - odometry_publisher_ = rosnode_->advertise(odometry_topic_, 1); + if (this->publish_tf_) + { + odometry_publisher_ = gazebo_ros_->node()->advertise(odometry_topic_, 1); + ROS_INFO("%s: Advertise odom on %s !", gazebo_ros_->info(), odometry_topic_.c_str()); + } // start custom queue for diff drive - this->callback_queue_thread_ = - boost::thread(boost::bind(&GazeboRosDiffDrive::QueueThread, this)); + this->callback_queue_thread_ = + boost::thread ( boost::bind ( &GazeboRosDiffDrive::QueueThread, this ) ); // listen to the update event (broadcast every simulation iteration) - this->update_connection_ = - event::Events::ConnectWorldUpdateBegin( - boost::bind(&GazeboRosDiffDrive::UpdateChild, this)); + this->update_connection_ = + event::Events::ConnectWorldUpdateBegin ( boost::bind ( &GazeboRosDiffDrive::UpdateChild, this ) ); - } +} - // Update the controller - void GazeboRosDiffDrive::UpdateChild() { - common::Time current_time = this->world->GetSimTime(); - double seconds_since_last_update = - (current_time - last_update_time_).Double(); - if (seconds_since_last_update > update_period_) { +void GazeboRosDiffDrive::publishWheelJointState() +{ + ros::Time current_time = ros::Time::now(); - publishOdometry(seconds_since_last_update); + joint_state_.header.stamp = current_time; + joint_state_.name.resize ( joints_.size() ); + joint_state_.position.resize ( joints_.size() ); - // Update robot in case new velocities have been requested - getWheelVelocities(); - joints[LEFT]->SetVelocity(0, wheel_speed_[LEFT] / wheel_diameter_); - joints[RIGHT]->SetVelocity(0, wheel_speed_[RIGHT] / wheel_diameter_); + for ( int i = 0; i < 2; i++ ) { + physics::JointPtr joint = joints_[i]; + math::Angle angle = joint->GetAngle ( 0 ); + joint_state_.name[i] = joint->GetName(); + joint_state_.position[i] = angle.Radian () ; + } + joint_state_publisher_.publish ( joint_state_ ); +} - last_update_time_+= common::Time(update_period_); +void GazeboRosDiffDrive::publishWheelTF() +{ + ros::Time current_time = ros::Time::now(); + for ( int i = 0; i < 2; i++ ) { + + std::string wheel_frame = gazebo_ros_->resolveTF(joints_[i]->GetChild()->GetName ()); + std::string wheel_parent_frame = gazebo_ros_->resolveTF(joints_[i]->GetParent()->GetName ()); + + math::Pose poseWheel = joints_[i]->GetChild()->GetRelativePose(); + + tf::Quaternion qt ( poseWheel.rot.x, poseWheel.rot.y, poseWheel.rot.z, poseWheel.rot.w ); + tf::Vector3 vt ( poseWheel.pos.x, poseWheel.pos.y, poseWheel.pos.z ); + + tf::Transform tfWheel ( qt, vt ); + transform_broadcaster_->sendTransform ( + tf::StampedTransform ( tfWheel, current_time, wheel_parent_frame, wheel_frame ) ); + } +} +// Update the controller +void GazeboRosDiffDrive::UpdateChild() +{ + + if ( odom_source_ == ENCODER ) UpdateOdometryEncoder(); + common::Time current_time = parent->GetWorld()->GetSimTime(); + double seconds_since_last_update = ( current_time - last_update_time_ ).Double(); + if ( seconds_since_last_update > update_period_ ) { + if (this->publish_tf_) publishOdometry ( seconds_since_last_update ); + if ( publishWheelTF_ ) publishWheelTF(); + if ( publishWheelJointState_ ) publishWheelJointState(); + + // Update robot in case new velocities have been requested + getWheelVelocities(); + + double current_speed[2]; + + current_speed[LEFT] = joints_[LEFT]->GetVelocity ( 0 ) * ( wheel_diameter_ / 2.0 ); + current_speed[RIGHT] = joints_[RIGHT]->GetVelocity ( 0 ) * ( wheel_diameter_ / 2.0 ); + + if ( wheel_accel == 0 || + ( fabs ( wheel_speed_[LEFT] - current_speed[LEFT] ) < 0.01 ) || + ( fabs ( wheel_speed_[RIGHT] - current_speed[RIGHT] ) < 0.01 ) ) { + //if max_accel == 0, or target speed is reached + joints_[LEFT]->SetVelocity ( 0, wheel_speed_[LEFT]/ ( wheel_diameter_ / 2.0 ) ); + joints_[RIGHT]->SetVelocity ( 0, wheel_speed_[RIGHT]/ ( wheel_diameter_ / 2.0 ) ); + } else { + if ( wheel_speed_[LEFT]>=current_speed[LEFT] ) + wheel_speed_instr_[LEFT]+=fmin ( wheel_speed_[LEFT]-current_speed[LEFT], wheel_accel * seconds_since_last_update ); + else + wheel_speed_instr_[LEFT]+=fmax ( wheel_speed_[LEFT]-current_speed[LEFT], -wheel_accel * seconds_since_last_update ); + + if ( wheel_speed_[RIGHT]>current_speed[RIGHT] ) + wheel_speed_instr_[RIGHT]+=fmin ( wheel_speed_[RIGHT]-current_speed[RIGHT], wheel_accel * seconds_since_last_update ); + else + wheel_speed_instr_[RIGHT]+=fmax ( wheel_speed_[RIGHT]-current_speed[RIGHT], -wheel_accel * seconds_since_last_update ); + + // ROS_INFO("actual wheel speed = %lf, issued wheel speed= %lf", current_speed[LEFT], wheel_speed_[LEFT]); + // ROS_INFO("actual wheel speed = %lf, issued wheel speed= %lf", current_speed[RIGHT],wheel_speed_[RIGHT]); + + joints_[LEFT]->SetVelocity ( 0,wheel_speed_instr_[LEFT] / ( wheel_diameter_ / 2.0 ) ); + joints_[RIGHT]->SetVelocity ( 0,wheel_speed_instr_[RIGHT] / ( wheel_diameter_ / 2.0 ) ); + } + last_update_time_+= common::Time ( update_period_ ); } - } +} - // Finalize the controller - void GazeboRosDiffDrive::FiniChild() { +// Finalize the controller +void GazeboRosDiffDrive::FiniChild() +{ alive_ = false; queue_.clear(); queue_.disable(); - rosnode_->shutdown(); + gazebo_ros_->node()->shutdown(); callback_queue_thread_.join(); - } +} - void GazeboRosDiffDrive::getWheelVelocities() { - boost::mutex::scoped_lock scoped_lock(lock); +void GazeboRosDiffDrive::getWheelVelocities() +{ + boost::mutex::scoped_lock scoped_lock ( lock ); double vr = x_; double va = rot_; wheel_speed_[LEFT] = vr + va * wheel_separation_ / 2.0; wheel_speed_[RIGHT] = vr - va * wheel_separation_ / 2.0; - } - - void GazeboRosDiffDrive::cmdVelCallback( - const geometry_msgs::Twist::ConstPtr& cmd_msg) { +} - boost::mutex::scoped_lock scoped_lock(lock); +void GazeboRosDiffDrive::cmdVelCallback ( const geometry_msgs::Twist::ConstPtr& cmd_msg ) +{ + boost::mutex::scoped_lock scoped_lock ( lock ); x_ = cmd_msg->linear.x; rot_ = cmd_msg->angular.z; - } +} - void GazeboRosDiffDrive::QueueThread() { +void GazeboRosDiffDrive::QueueThread() +{ static const double timeout = 0.01; - while (alive_ && rosnode_->ok()) { - queue_.callAvailable(ros::WallDuration(timeout)); + while ( alive_ && gazebo_ros_->node()->ok() ) { + queue_.callAvailable ( ros::WallDuration ( timeout ) ); } - } +} + +void GazeboRosDiffDrive::UpdateOdometryEncoder() +{ + double vl = joints_[LEFT]->GetVelocity ( 0 ); + double vr = joints_[RIGHT]->GetVelocity ( 0 ); + common::Time current_time = parent->GetWorld()->GetSimTime(); + double seconds_since_last_update = ( current_time - last_odom_update_ ).Double(); + last_odom_update_ = current_time; + + double b = wheel_separation_; - void GazeboRosDiffDrive::publishOdometry(double step_time) { + // Book: Sigwart 2011 Autonompus Mobile Robots page:337 + double sl = vl * ( wheel_diameter_ / 2.0 ) * seconds_since_last_update; + double sr = vr * ( wheel_diameter_ / 2.0 ) * seconds_since_last_update; + double theta = ( sl - sr ) /b; + + + double dx = ( sl + sr ) /2.0 * cos ( pose_encoder_.theta + ( sl - sr ) / ( 2.0*b ) ); + double dy = ( sl + sr ) /2.0 * sin ( pose_encoder_.theta + ( sl - sr ) / ( 2.0*b ) ); + double dtheta = ( sl - sr ) /b; + + pose_encoder_.x += dx; + pose_encoder_.y += dy; + pose_encoder_.theta += dtheta; + + double w = dtheta/seconds_since_last_update; + double v = sqrt ( dx*dx+dy*dy ) /seconds_since_last_update; + + tf::Quaternion qt; + tf::Vector3 vt; + qt.setRPY ( 0,0,pose_encoder_.theta ); + vt = tf::Vector3 ( pose_encoder_.x, pose_encoder_.y, 0 ); + + odom_.pose.pose.position.x = vt.x(); + odom_.pose.pose.position.y = vt.y(); + odom_.pose.pose.position.z = vt.z(); + + odom_.pose.pose.orientation.x = qt.x(); + odom_.pose.pose.orientation.y = qt.y(); + odom_.pose.pose.orientation.z = qt.z(); + odom_.pose.pose.orientation.w = qt.w(); + + odom_.twist.twist.angular.z = w; + odom_.twist.twist.linear.x = dx/seconds_since_last_update; + odom_.twist.twist.linear.y = dy/seconds_since_last_update; +} + +void GazeboRosDiffDrive::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 - math::Pose pose = this->parent->GetWorldPose(); - - 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; + std::string odom_frame = gazebo_ros_->resolveTF ( odometry_frame_ ); + std::string base_footprint_frame = gazebo_ros_->resolveTF ( robot_base_frame_ ); + + tf::Quaternion qt; + tf::Vector3 vt; + + if ( odom_source_ == ENCODER ) { + // getting data form encoder integration + qt = tf::Quaternion ( odom_.pose.pose.orientation.x, odom_.pose.pose.orientation.y, odom_.pose.pose.orientation.z, odom_.pose.pose.orientation.w ); + vt = tf::Vector3 ( odom_.pose.pose.position.x, odom_.pose.pose.position.y, odom_.pose.pose.position.z ); + + } + if ( odom_source_ == WORLD ) { + // getting data form gazebo world + math::Pose pose = parent->GetWorldPose(); + qt = tf::Quaternion ( pose.rot.x, pose.rot.y, pose.rot.z, pose.rot.w ); + vt = tf::Vector3 ( pose.pos.x, pose.pos.y, pose.pos.z ); + + odom_.pose.pose.position.x = vt.x(); + odom_.pose.pose.position.y = vt.y(); + odom_.pose.pose.position.z = vt.z(); + + odom_.pose.pose.orientation.x = qt.x(); + odom_.pose.pose.orientation.y = qt.y(); + odom_.pose.pose.orientation.z = qt.z(); + odom_.pose.pose.orientation.w = qt.w(); + + // get velocity in /odom frame + math::Vector3 linear; + linear = parent->GetWorldLinearVel(); + odom_.twist.twist.angular.z = parent->GetWorldAngularVel().z; + + // convert velocity to child_frame_id (aka base_footprint) + float yaw = pose.rot.GetYaw(); + 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; + } + + tf::Transform base_footprint_to_odom ( qt, vt ); + transform_broadcaster_->sendTransform ( + tf::StampedTransform ( base_footprint_to_odom, current_time, + odom_frame, base_footprint_frame ) ); + + + // set covariance odom_.pose.covariance[0] = 0.00001; odom_.pose.covariance[7] = 0.00001; odom_.pose.covariance[14] = 1000000000000.0; @@ -326,22 +384,15 @@ namespace gazebo { odom_.pose.covariance[28] = 1000000000000.0; odom_.pose.covariance[35] = 0.001; - // get velocity in /odom frame - math::Vector3 linear; - linear = this->parent->GetWorldLinearVel(); - odom_.twist.twist.angular.z = this->parent->GetWorldAngularVel().z; - - // convert velocity to child_frame_id (aka base_footprint) - float yaw = pose.rot.GetYaw(); - 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 header odom_.header.stamp = current_time; odom_.header.frame_id = odom_frame; odom_.child_frame_id = base_footprint_frame; - odometry_publisher_.publish(odom_); - } + odometry_publisher_.publish ( odom_ ); +} - GZ_REGISTER_MODEL_PLUGIN(GazeboRosDiffDrive) +GZ_REGISTER_MODEL_PLUGIN ( GazeboRosDiffDrive ) } + diff --git a/gazebo_plugins/src/gazebo_ros_force.cpp b/gazebo_plugins/src/gazebo_ros_force.cpp index 7f10ce8e4..0f6cc0721 100644 --- a/gazebo_plugins/src/gazebo_ros_force.cpp +++ b/gazebo_plugins/src/gazebo_ros_force.cpp @@ -71,7 +71,7 @@ void GazeboRosForce::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) if (!_sdf->HasElement("bodyName")) { - ROS_FATAL("f3d plugin missing , cannot proceed"); + ROS_FATAL("force plugin missing , cannot proceed"); return; } else @@ -80,13 +80,13 @@ void GazeboRosForce::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) this->link_ = _model->GetLink(this->link_name_); if (!this->link_) { - ROS_FATAL("gazebo_ros_f3d plugin error: link named: %s does not exist\n",this->link_name_.c_str()); + ROS_FATAL("gazebo_ros_force plugin error: link named: %s does not exist\n",this->link_name_.c_str()); return; } if (!_sdf->HasElement("topicName")) { - ROS_FATAL("f3d plugin missing , cannot proceed"); + ROS_FATAL("force plugin missing , cannot proceed"); return; } else diff --git a/gazebo_plugins/src/gazebo_ros_ft_sensor.cpp b/gazebo_plugins/src/gazebo_ros_ft_sensor.cpp new file mode 100644 index 000000000..db694e7f0 --- /dev/null +++ b/gazebo_plugins/src/gazebo_ros_ft_sensor.cpp @@ -0,0 +1,241 @@ +/* + * 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: Force Torque Sensor Plugin + * Author: Francisco Suarez-Ruiz + * Date: 5 June 2014 + */ + +#include +#include + +namespace gazebo +{ +GZ_REGISTER_MODEL_PLUGIN(GazeboRosFT); + +//////////////////////////////////////////////////////////////////////////////// +// Constructor +GazeboRosFT::GazeboRosFT() +{ + this->ft_connect_count_ = 0; + this->seed = 0; +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboRosFT::~GazeboRosFT() +{ + event::Events::DisconnectWorldUpdateBegin(this->update_connection_); + // Custom Callback Queue + this->queue_.clear(); + this->queue_.disable(); + this->rosnode_->shutdown(); + this->callback_queue_thread_.join(); + delete this->rosnode_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboRosFT::Load( physics::ModelPtr _model, sdf::ElementPtr _sdf ) +{ + // Save pointers + this->model_ = _model; + this->world_ = this->model_->GetWorld(); + + // load parameters + this->robot_namespace_ = ""; + if (_sdf->HasElement("robotNamespace")) + this->robot_namespace_ = _sdf->GetElement("robotNamespace")->Get() + "/"; + + if (!_sdf->HasElement("jointName")) + { + ROS_FATAL("ft_sensor plugin missing , cannot proceed"); + return; + } + else + this->joint_name_ = _sdf->GetElement("jointName")->Get(); + + this->joint_ = this->model_->GetJoint(this->joint_name_); + if (!this->joint_) + { + ROS_FATAL("gazebo_ros_ft_sensor plugin error: jointName: %s does not exist\n",this->joint_name_.c_str()); + return; + } + + this->parent_link_ = this->joint_->GetParent(); + this->child_link_ = this->joint_->GetChild(); + this->frame_name_ = this->child_link_->GetName(); + + ROS_INFO("ft_sensor plugin reporting wrench values to the frame [%s]", this->frame_name_.c_str()); + + if (!_sdf->HasElement("topicName")) + { + ROS_FATAL("ft_sensor plugin missing , cannot proceed"); + return; + } + else + this->topic_name_ = _sdf->GetElement("topicName")->Get(); + + if (!_sdf->HasElement("gaussianNoise")) + { + ROS_INFO("imu plugin missing , defaults to 0.0"); + this->gaussian_noise_ = 0.0; + } + else + this->gaussian_noise_ = _sdf->Get("gaussianNoise"); + + if (!_sdf->HasElement("updateRate")) + { + ROS_DEBUG("ft_sensor plugin missing , defaults to 0.0" + " (as fast as possible)"); + this->update_rate_ = 0; + } + else + this->update_rate_ = _sdf->GetElement("updateRate")->Get(); + + // Make sure the ROS node for Gazebo has already been initialized + if (!ros::isInitialized()) + { + ROS_FATAL_STREAM("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_); + + // resolve tf prefix + std::string prefix; + this->rosnode_->getParam(std::string("tf_prefix"), prefix); + this->frame_name_ = tf::resolve(prefix, this->frame_name_); + + // Custom Callback Queue + ros::AdvertiseOptions ao = ros::AdvertiseOptions::create( + this->topic_name_,1, + boost::bind( &GazeboRosFT::FTConnect,this), + boost::bind( &GazeboRosFT::FTDisconnect,this), ros::VoidPtr(), &this->queue_); + this->pub_ = this->rosnode_->advertise(ao); + + // Custom Callback Queue + this->callback_queue_thread_ = boost::thread( boost::bind( &GazeboRosFT::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(&GazeboRosFT::UpdateChild, this)); +} + +//////////////////////////////////////////////////////////////////////////////// +// Someone subscribes to me +void GazeboRosFT::FTConnect() +{ + this->ft_connect_count_++; +} + +//////////////////////////////////////////////////////////////////////////////// +// Someone subscribes to me +void GazeboRosFT::FTDisconnect() +{ + this->ft_connect_count_--; +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboRosFT::UpdateChild() +{ + common::Time cur_time = this->world_->GetSimTime(); + + // rate control + if (this->update_rate_ > 0 && + (cur_time-this->last_time_).Double() < (1.0/this->update_rate_)) + return; + + if (this->ft_connect_count_ == 0) + return; + + physics::JointWrench wrench; + math::Vector3 torque; + math::Vector3 force; + + // FIXME: Should include options for diferent frames and measure directions + // E.g: https://bitbucket.org/osrf/gazebo/raw/default/gazebo/sensors/ForceTorqueSensor.hh + // Get force torque at the joint + // The wrench is reported in the CHILD + // The is child_to_parent + wrench = this->joint_->GetForceTorque(0); + force = wrench.body2Force; + torque = wrench.body2Torque; + + + this->lock_.lock(); + // copy data into wrench message + this->wrench_msg_.header.frame_id = this->frame_name_; + this->wrench_msg_.header.stamp.sec = (this->world_->GetSimTime()).sec; + this->wrench_msg_.header.stamp.nsec = (this->world_->GetSimTime()).nsec; + + this->wrench_msg_.wrench.force.x = force.x + this->GaussianKernel(0, this->gaussian_noise_); + this->wrench_msg_.wrench.force.y = force.y + this->GaussianKernel(0, this->gaussian_noise_); + this->wrench_msg_.wrench.force.z = force.z + this->GaussianKernel(0, this->gaussian_noise_); + this->wrench_msg_.wrench.torque.x = torque.x + this->GaussianKernel(0, this->gaussian_noise_); + this->wrench_msg_.wrench.torque.y = torque.y + this->GaussianKernel(0, this->gaussian_noise_); + this->wrench_msg_.wrench.torque.z = torque.z + this->GaussianKernel(0, this->gaussian_noise_); + + this->pub_.publish(this->wrench_msg_); + this->lock_.unlock(); + + // save last time stamp + this->last_time_ = cur_time; +} + +////////////////////////////////////////////////////////////////////////////// +// Utility for adding noise +double GazeboRosFT::GaussianKernel(double mu, double sigma) +{ + // using Box-Muller transform to generate two independent standard + // normally disbributed normal variables see wikipedia + + // normalized uniform random variable + double U = static_cast(rand_r(&this->seed)) / + static_cast(RAND_MAX); + + // normalized uniform random variable + double V = static_cast(rand_r(&this->seed)) / + static_cast(RAND_MAX); + + double X = sqrt(-2.0 * ::log(U)) * cos(2.0*M_PI * V); + // double Y = sqrt(-2.0 * ::log(U)) * sin(2.0*M_PI * V); + + // there are 2 indep. vars, we'll just use X + // scale to our mu and sigma + X = sigma * X + mu; + return X; +} + +// Custom Callback Queue +//////////////////////////////////////////////////////////////////////////////// +// custom callback queue thread +void GazeboRosFT::QueueThread() +{ + static const double timeout = 0.01; + + while (this->rosnode_->ok()) + { + this->queue_.callAvailable(ros::WallDuration(timeout)); + } +} + +} diff --git a/gazebo_plugins/src/gazebo_ros_gpu_laser.cpp b/gazebo_plugins/src/gazebo_ros_gpu_laser.cpp index e780fa240..811fc81b2 100644 --- a/gazebo_plugins/src/gazebo_ros_gpu_laser.cpp +++ b/gazebo_plugins/src/gazebo_ros_gpu_laser.cpp @@ -33,10 +33,13 @@ #include #include #include +#include #include +#include #include "gazebo_plugins/gazebo_ros_gpu_laser.h" +#include namespace gazebo { @@ -78,13 +81,11 @@ void GazeboRosLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) if (!this->parent_ray_sensor_) gzthrow("GazeboRosLaser controller requires a Ray Sensor as its parent"); - this->robot_namespace_ = ""; - if (this->sdf->HasElement("robotNamespace")) - this->robot_namespace_ = this->sdf->Get("robotNamespace") + "/"; + this->robot_namespace_ = GetRobotNamespace(_parent, _sdf, "Laser"); if (!this->sdf->HasElement("frameName")) { - ROS_INFO("Laser plugin missing , defaults to /world"); + ROS_INFO("GazeboRosLaser plugin missing , defaults to /world"); this->frame_name_ = "/world"; } else @@ -92,7 +93,7 @@ void GazeboRosLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) if (!this->sdf->HasElement("topicName")) { - ROS_INFO("Laser plugin missing , defaults to /world"); + ROS_INFO("GazeboRosLaser plugin missing , defaults to /world"); this->topic_name_ = "/world"; } else @@ -109,6 +110,7 @@ void GazeboRosLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) return; } + ROS_INFO ( "Starting GazeboRosLaser Plugin (ns = %s)!", this->robot_namespace_.c_str() ); // ros callback queue for processing subscription this->deferred_load_thread_ = boost::thread( boost::bind(&GazeboRosLaser::LoadThread, this)); @@ -119,16 +121,23 @@ void GazeboRosLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) // Load the controller void GazeboRosLaser::LoadThread() { - this->rosnode_ = new ros::NodeHandle(this->robot_namespace_); this->gazebo_node_ = gazebo::transport::NodePtr(new gazebo::transport::Node()); this->gazebo_node_->Init(this->world_name_); this->pmq.startServiceThread(); + this->rosnode_ = new ros::NodeHandle(this->robot_namespace_); + + this->tf_prefix_ = tf::getPrefixParam(*this->rosnode_); + if(this->tf_prefix_.empty()) { + this->tf_prefix_ = this->robot_namespace_; + boost::trim_right_if(this->tf_prefix_,boost::is_any_of("/")); + } + ROS_INFO("GPU Laser Plugin (ns = %s) , set to \"%s\"", + this->robot_namespace_.c_str(), this->tf_prefix_.c_str()); + // resolve tf prefix - std::string prefix; - this->rosnode_->getParam(std::string("tf_prefix"), prefix); - this->frame_name_ = tf::resolve(prefix, this->frame_name_); + this->frame_name_ = tf::resolve(this->tf_prefix_, this->frame_name_); if (this->topic_name_ != "") { 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..607476c9e --- /dev/null +++ b/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp @@ -0,0 +1,190 @@ +/********************************************************************* + * 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("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("The hand-of-god plugin requires a `linkName` parameter tag"); + return; + } + + // Store the model + model_ = _parent; + + // Disable gravity for the hog + model_->SetGravityMode(false); + + // Get the floating link + floating_link_ = model_->GetLink(link_name_); + if(!floating_link_) { + ROS_ERROR("Floating link not found!"); + const std::vector &links = model_->GetLinks(); + for(unsigned i=0; i < links.size(); i++) { + ROS_ERROR_STREAM(" -- Link "<GetName()); + } + return; + } + + cl_ = 2.0 * sqrt(kl_*floating_link_->GetInertial()->GetMass()); + ca_ = 2.0 * sqrt(ka_*floating_link_->GetInertial()->GetIXX()); + + // 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("%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; + gazebo::math::Pose hog_desired( + gazebo::math::Vector3(p.x, p.y, p.z), + gazebo::math::Quaternion(q.w, q.x, q.y, q.z)); + + // Relative transform from actual to desired pose + gazebo::math::Pose world_pose = floating_link_->GetDirtyPose(); + gazebo::math::Vector3 err_pos = hog_desired.pos - world_pose.pos; + // Get exponential coordinates for rotation + gazebo::math::Quaternion err_rot = (world_pose.rot.GetAsMatrix4().Inverse() * hog_desired.rot.GetAsMatrix4()).GetRotation(); + gazebo::math::Quaternion not_a_quaternion = err_rot.GetLog(); + + floating_link_->AddForce( + kl_ * err_pos - cl_ * floating_link_->GetWorldLinearVel()); + + floating_link_->AddRelativeTorque( + ka_ * gazebo::math::Vector3(not_a_quaternion.x, not_a_quaternion.y, not_a_quaternion.z) - ca_ * floating_link_->GetRelativeAngularVel()); + + // 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/gazebo_plugins/src/gazebo_ros_imu.cpp b/gazebo_plugins/src/gazebo_ros_imu.cpp index bc3e8ebf1..233a44fb9 100644 --- a/gazebo_plugins/src/gazebo_ros_imu.cpp +++ b/gazebo_plugins/src/gazebo_ros_imu.cpp @@ -86,7 +86,7 @@ void GazeboRosIMU::LoadThread() if (!this->sdf->HasElement("gaussianNoise")) { ROS_INFO("imu plugin missing , defaults to 0.0"); - this->gaussian_noise_ = 0; + this->gaussian_noise_ = 0.0; } else this->gaussian_noise_ = this->sdf->Get("gaussianNoise"); @@ -114,6 +114,15 @@ void GazeboRosIMU::LoadThread() } else this->offset_.rot = this->sdf->Get("rpyOffset"); + + if (!this->sdf->HasElement("updateRate")) + { + ROS_DEBUG("imu plugin missing , defaults to 0.0" + " (as fast as possible)"); + this->update_rate_ = 0.0; + } + else + this->update_rate_ = this->sdf->GetElement("updateRate")->Get(); // Make sure the ROS node for Gazebo has already been initialized @@ -187,6 +196,13 @@ bool GazeboRosIMU::ServiceCallback(std_srvs::Empty::Request &req, // Update the controller void GazeboRosIMU::UpdateChild() { + common::Time cur_time = this->world_->GetSimTime(); + + // rate control + if (this->update_rate_ > 0 && + (cur_time - this->last_time_).Double() < (1.0 / this->update_rate_)) + return; + if ((this->pub_.getNumSubscribers() > 0 && this->topic_name_ != "")) { math::Pose pose; @@ -203,8 +219,6 @@ void GazeboRosIMU::UpdateChild() rot = this->offset_.rot*rot; rot.Normalize(); - common::Time cur_time = this->world_->GetSimTime(); - // get Rates math::Vector3 vpos = this->link->GetWorldLinearVel(); math::Vector3 veul = this->link->GetWorldAngularVel(); diff --git a/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp b/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp index 0acbb7713..be0f0dd25 100644 --- a/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp +++ b/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp @@ -340,8 +340,14 @@ void GazeboRosJointPoseTrajectory::UpdateStates() { // this is not the most efficient way to set things if (this->joints_[i]) + { +#if GAZEBO_MAJOR_VERSION >= 4 + this->joints_[i]->SetPosition(0, +#else this->joints_[i]->SetAngle(0, +#endif this->points_[this->trajectory_index].positions[i]); + } } // set model pose diff --git a/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp b/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp new file mode 100644 index 000000000..6c1ede190 --- /dev/null +++ b/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp @@ -0,0 +1,128 @@ +/* + * Copyright (c) 2013, Markus Bader + * 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 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 Antons Rebguns ''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 Antons Rebguns 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. + * + **/ +#include +#include +#include + +using namespace gazebo; + +GazeboRosJointStatePublisher::GazeboRosJointStatePublisher() {} + +// Destructor +GazeboRosJointStatePublisher::~GazeboRosJointStatePublisher() { + rosnode_->shutdown(); +} + +void GazeboRosJointStatePublisher::Load ( physics::ModelPtr _parent, sdf::ElementPtr _sdf ) { + // Store the pointer to the model + this->parent_ = _parent; + this->world_ = _parent->GetWorld(); + + this->robot_namespace_ = parent_->GetName (); + if ( !_sdf->HasElement ( "robotNamespace" ) ) { + ROS_INFO ( "GazeboRosJointStatePublisher Plugin missing , defaults to \"%s\"", + this->robot_namespace_.c_str() ); + } else { + this->robot_namespace_ = _sdf->GetElement ( "robotNamespace" )->Get(); + if ( this->robot_namespace_.empty() ) this->robot_namespace_ = parent_->GetName (); + } + if ( !robot_namespace_.empty() ) this->robot_namespace_ += "/"; + rosnode_ = boost::shared_ptr ( new ros::NodeHandle ( this->robot_namespace_ ) ); + + if ( !_sdf->HasElement ( "jointName" ) ) { + ROS_ASSERT ( "GazeboRosJointStatePublisher Plugin missing jointNames" ); + } else { + sdf::ElementPtr element = _sdf->GetElement ( "jointName" ) ; + std::string joint_names = element->Get(); + boost::erase_all ( joint_names, " " ); + boost::split ( joint_names_, joint_names, boost::is_any_of ( "," ) ); + } + + this->update_rate_ = 100.0; + if ( !_sdf->HasElement ( "updateRate" ) ) { + ROS_WARN ( "GazeboRosJointStatePublisher Plugin (ns = %s) missing , defaults to %f", + this->robot_namespace_.c_str(), this->update_rate_ ); + } else { + this->update_rate_ = _sdf->GetElement ( "updateRate" )->Get(); + } + + // Initialize update rate stuff + if ( this->update_rate_ > 0.0 ) { + this->update_period_ = 1.0 / this->update_rate_; + } else { + this->update_period_ = 0.0; + } + last_update_time_ = this->world_->GetSimTime(); + + for ( unsigned int i = 0; i< joint_names_.size(); i++ ) { + joints_.push_back ( this->parent_->GetJoint ( joint_names_[i] ) ); + ROS_INFO ( "GazeboRosJointStatePublisher is going to publish joint: %s", joint_names_[i].c_str() ); + } + + ROS_INFO ( "Starting GazeboRosJointStatePublisher Plugin (ns = %s)!, parent name: %s", this->robot_namespace_.c_str(), parent_->GetName ().c_str() ); + + tf_prefix_ = tf::getPrefixParam ( *rosnode_ ); + joint_state_publisher_ = rosnode_->advertise ( "joint_states",1000 ); + + last_update_time_ = this->world_->GetSimTime(); + // Listen to the update event. This event is broadcast every + // simulation iteration. + this->updateConnection = event::Events::ConnectWorldUpdateBegin ( + boost::bind ( &GazeboRosJointStatePublisher::OnUpdate, this, _1 ) ); +} + +void GazeboRosJointStatePublisher::OnUpdate ( const common::UpdateInfo & _info ) { + // Apply a small linear velocity to the model. + common::Time current_time = this->world_->GetSimTime(); + double seconds_since_last_update = ( current_time - last_update_time_ ).Double(); + if ( seconds_since_last_update > update_period_ ) { + + publishJointStates(); + + last_update_time_+= common::Time ( update_period_ ); + + } + +} + +void GazeboRosJointStatePublisher::publishJointStates() { + ros::Time current_time = ros::Time::now(); + + joint_state_.header.stamp = current_time; + joint_state_.name.resize ( joints_.size() ); + joint_state_.position.resize ( joints_.size() ); + + for ( int i = 0; i < joints_.size(); i++ ) { + physics::JointPtr joint = joints_[i]; + math::Angle angle = joint->GetAngle ( 0 ); + joint_state_.name[i] = joint->GetName(); + joint_state_.position[i] = angle.Radian () ; + } + joint_state_publisher_.publish ( joint_state_ ); +} + diff --git a/gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp b/gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp index eb7748b00..9da5052b9 100644 --- a/gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp +++ b/gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp @@ -342,8 +342,14 @@ void GazeboRosJointTrajectory::UpdateStates() { // this is not the most efficient way to set things if (this->joints_[i]) + { +#if GAZEBO_MAJOR_VERSION >= 4 + this->joints_[i]->SetPosition(0, +#else this->joints_[i]->SetAngle(0, +#endif this->points_[this->trajectory_index].positions[i]); + } } // set model pose diff --git a/gazebo_plugins/src/gazebo_ros_laser.cpp b/gazebo_plugins/src/gazebo_ros_laser.cpp index a6ee8cfa2..815c456e1 100644 --- a/gazebo_plugins/src/gazebo_ros_laser.cpp +++ b/gazebo_plugins/src/gazebo_ros_laser.cpp @@ -33,8 +33,10 @@ #include #include #include +#include #include +#include #include @@ -76,9 +78,7 @@ void GazeboRosLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) if (!this->parent_ray_sensor_) gzthrow("GazeboRosLaser controller requires a Ray Sensor as its parent"); - this->robot_namespace_ = ""; - if (this->sdf->HasElement("robotNamespace")) - this->robot_namespace_ = this->sdf->Get("robotNamespace") + "/"; + this->robot_namespace_ = GetRobotNamespace(_parent, _sdf, "Laser"); if (!this->sdf->HasElement("frameName")) { @@ -88,6 +88,7 @@ void GazeboRosLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) else this->frame_name_ = this->sdf->Get("frameName"); + if (!this->sdf->HasElement("topicName")) { ROS_INFO("Laser plugin missing , defaults to /world"); @@ -106,6 +107,7 @@ void GazeboRosLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) return; } + ROS_INFO ( "Starting Laser Plugin (ns = %s)!", this->robot_namespace_.c_str() ); // ros callback queue for processing subscription this->deferred_load_thread_ = boost::thread( boost::bind(&GazeboRosLaser::LoadThread, this)); @@ -116,16 +118,23 @@ void GazeboRosLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) // Load the controller void GazeboRosLaser::LoadThread() { - this->rosnode_ = new ros::NodeHandle(this->robot_namespace_); this->gazebo_node_ = gazebo::transport::NodePtr(new gazebo::transport::Node()); this->gazebo_node_->Init(this->world_name_); this->pmq.startServiceThread(); + this->rosnode_ = new ros::NodeHandle(this->robot_namespace_); + + this->tf_prefix_ = tf::getPrefixParam(*this->rosnode_); + if(this->tf_prefix_.empty()) { + this->tf_prefix_ = this->robot_namespace_; + boost::trim_right_if(this->tf_prefix_,boost::is_any_of("/")); + } + ROS_INFO("Laser Plugin (ns = %s) , set to \"%s\"", + this->robot_namespace_.c_str(), this->tf_prefix_.c_str()); + // resolve tf prefix - std::string prefix; - this->rosnode_->getParam(std::string("tf_prefix"), prefix); - this->frame_name_ = tf::resolve(prefix, this->frame_name_); + this->frame_name_ = tf::resolve(this->tf_prefix_, this->frame_name_); if (this->topic_name_ != "") { @@ -151,8 +160,8 @@ void GazeboRosLaser::LaserConnect() { this->laser_connect_count_++; if (this->laser_connect_count_ == 1) - this->laser_scan_sub_ = - this->gazebo_node_->Subscribe(this->parent_ray_sensor_->GetTopic(), + this->laser_scan_sub_ = + this->gazebo_node_->Subscribe(this->parent_ray_sensor_->GetTopic(), &GazeboRosLaser::OnScan, this); } @@ -182,12 +191,12 @@ void GazeboRosLaser::OnScan(ConstLaserScanStampedPtr &_msg) laser_msg.range_min = _msg->scan().range_min(); laser_msg.range_max = _msg->scan().range_max(); laser_msg.ranges.resize(_msg->scan().ranges_size()); - std::copy(_msg->scan().ranges().begin(), - _msg->scan().ranges().end(), + std::copy(_msg->scan().ranges().begin(), + _msg->scan().ranges().end(), laser_msg.ranges.begin()); laser_msg.intensities.resize(_msg->scan().intensities_size()); - std::copy(_msg->scan().intensities().begin(), - _msg->scan().intensities().end(), + std::copy(_msg->scan().intensities().begin(), + _msg->scan().intensities().end(), laser_msg.intensities.begin()); this->pub_queue_->push(laser_msg, this->pub_); } diff --git a/gazebo_plugins/src/gazebo_ros_openni_kinect.cpp b/gazebo_plugins/src/gazebo_ros_openni_kinect.cpp index fbe3b2513..bf8a79697 100644 --- a/gazebo_plugins/src/gazebo_ros_openni_kinect.cpp +++ b/gazebo_plugins/src/gazebo_ros_openni_kinect.cpp @@ -32,8 +32,7 @@ #include #include -// for creating PointCloud2 from pcl point cloud -#include +#include #include @@ -48,6 +47,7 @@ GazeboRosOpenniKinect::GazeboRosOpenniKinect() { this->point_cloud_connect_count_ = 0; this->depth_info_connect_count_ = 0; + this->depth_image_connect_count_ = 0; this->last_depth_image_camera_info_update_time_ = common::Time(0); } @@ -300,10 +300,15 @@ bool GazeboRosOpenniKinect::FillPointCloudHelper( uint32_t rows_arg, uint32_t cols_arg, uint32_t step_arg, void* data_arg) { - pcl::PointCloud point_cloud; + sensor_msgs::PointCloud2Modifier pcd_modifier(point_cloud_msg); + pcd_modifier.setPointCloud2FieldsByString(2, "xyz", "rgb"); + pcd_modifier.resize(rows_arg*cols_arg); + point_cloud_msg.is_dense = true; - point_cloud.points.resize(0); - point_cloud.is_dense = true; + sensor_msgs::PointCloud2Iterator iter_x(point_cloud_msg_, "x"); + sensor_msgs::PointCloud2Iterator iter_y(point_cloud_msg_, "y"); + sensor_msgs::PointCloud2Iterator iter_z(point_cloud_msg_, "z"); + sensor_msgs::PointCloud2Iterator iter_rgb(point_cloud_msg_, "rgb"); float* toCopyFrom = (float*)data_arg; int index = 0; @@ -318,7 +323,7 @@ bool GazeboRosOpenniKinect::FillPointCloudHelper( if (rows_arg>1) pAngle = atan2( (double)j - 0.5*(double)(rows_arg-1), fl); else pAngle = 0.0; - for (uint32_t i=0; i1) yAngle = atan2( (double)i - 0.5*(double)(cols_arg-1), fl); @@ -330,17 +335,16 @@ bool GazeboRosOpenniKinect::FillPointCloudHelper( // hardcoded rotation rpy(-M_PI/2, 0, -M_PI/2) is built-in // to urdf, where the *_optical_frame should have above relative // rotation from the physical camera *_frame - pcl::PointXYZRGB point; - point.x = depth * tan(yAngle); - point.y = depth * tan(pAngle); + *iter_x = depth * tan(yAngle); + *iter_y = depth * tan(pAngle); if(depth > this->point_cloud_cutoff_) { - point.z = depth; + *iter_z = depth; } else //point in the unseeable range { - point.x = point.y = point.z = std::numeric_limits::quiet_NaN (); - point_cloud.is_dense = false; + *iter_x = *iter_y = *iter_z = std::numeric_limits::quiet_NaN (); + point_cloud_msg.is_dense = false; } // put image color data for each point @@ -348,32 +352,27 @@ bool GazeboRosOpenniKinect::FillPointCloudHelper( if (this->image_msg_.data.size() == rows_arg*cols_arg*3) { // color - point.r = image_src[i*3+j*cols_arg*3+0]; - point.g = image_src[i*3+j*cols_arg*3+1]; - point.b = image_src[i*3+j*cols_arg*3+2]; + iter_rgb[0] = image_src[i*3+j*cols_arg*3+0]; + iter_rgb[1] = image_src[i*3+j*cols_arg*3+1]; + iter_rgb[2] = image_src[i*3+j*cols_arg*3+2]; } else if (this->image_msg_.data.size() == rows_arg*cols_arg) { // mono (or bayer? @todo; fix for bayer) - point.r = image_src[i+j*cols_arg]; - point.g = image_src[i+j*cols_arg]; - point.b = image_src[i+j*cols_arg]; + iter_rgb[0] = image_src[i+j*cols_arg]; + iter_rgb[1] = image_src[i+j*cols_arg]; + iter_rgb[2] = image_src[i+j*cols_arg]; } else { // no image - point.r = 0; - point.g = 0; - point.b = 0; + iter_rgb[0] = 0; + iter_rgb[1] = 0; + iter_rgb[2] = 0; } - - point_cloud.points.push_back(point); } } - point_cloud.header = pcl_conversions::toPCL(point_cloud_msg.header); - - pcl::toROSMsg(point_cloud, point_cloud_msg); return true; } diff --git a/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp b/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp new file mode 100644 index 000000000..97c5ebb78 --- /dev/null +++ b/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp @@ -0,0 +1,404 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Markus Bader + * 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 copyright holder 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_tricycle_drive.cpp + * \brief A tricycle drive plugin for gazebo. + * \author Markus Bader + * \date 22th of June 2014 + */ + + +#include +#include + +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace gazebo +{ + +enum { + RIGHT, + LEFT, +}; + +GazeboRosTricycleDrive::GazeboRosTricycleDrive() {} + +// Destructor +GazeboRosTricycleDrive::~GazeboRosTricycleDrive() {} + +// Load the controller +void GazeboRosTricycleDrive::Load ( physics::ModelPtr _parent, sdf::ElementPtr _sdf ) +{ + parent = _parent; + gazebo_ros_ = GazeboRosPtr ( new GazeboRos ( _parent, _sdf, "TricycleDrive" ) ); + // Make sure the ROS node for Gazebo has already been initialized + gazebo_ros_->isInitialized(); + + gazebo_ros_->getParameter ( diameter_actuated_wheel_, "actuatedWheelDiameter", 0.15 ); + gazebo_ros_->getParameter ( diameter_encoder_wheel_, "encoderWheelDiameter", 0.15 ); + gazebo_ros_->getParameter ( wheel_torque_, "wheelTorque", 5.0 ); + gazebo_ros_->getParameter ( command_topic_, "commandTopic", "cmd_vel" ); + gazebo_ros_->getParameter ( odometry_topic_, "odometryTopic", "odom" ); + gazebo_ros_->getParameter ( odometry_frame_, "odometryFrame", "odom" ); + gazebo_ros_->getParameter ( robot_base_frame_, "robotBaseFrame", "base_link" ); + + gazebo_ros_->getParameter ( update_rate_, "updateRate", 100.0 ); + gazebo_ros_->getParameter ( wheel_acceleration_, "wheelAcceleration", 0 ); + gazebo_ros_->getParameter ( wheel_deceleration_, "wheelDeceleration", wheel_acceleration_ ); + gazebo_ros_->getParameter ( wheel_speed_tolerance_, "wheelSpeedTolerance", 0.01 ); + gazebo_ros_->getParameter ( steering_speed_, "steeringSpeed", 0 ); + gazebo_ros_->getParameter ( steering_angle_tolerance_, "steeringAngleTolerance", 0.01 ); + gazebo_ros_->getParameter ( separation_encoder_wheel_, "encoderWheelSeparation", 0.5 ); + + gazebo_ros_->getParameterBoolean ( publishWheelTF_, "publishWheelTF", false ); + gazebo_ros_->getParameterBoolean ( publishWheelJointState_, "publishWheelJointState", false ); + + gazebo_ros_->getParameterBoolean ( publishWheelJointState_, "publishWheelJointState", false ); + + joint_steering_ = gazebo_ros_->getJoint ( parent, "steeringJoint", "front_steering_joint" ); + joint_wheel_actuated_ = gazebo_ros_->getJoint ( parent, "actuatedWheelJoint", "front_wheel_joint" ); + joint_wheel_encoder_left_ = gazebo_ros_->getJoint ( parent, "encoderWheelLeftJoint", "left_wheel_joint" ); + joint_wheel_encoder_right_ = gazebo_ros_->getJoint ( parent, "encoderWheelRightJoint", "right_wheel_joint" ); + + std::map odomOptions; + odomOptions["encoder"] = ENCODER; + odomOptions["world"] = WORLD; + gazebo_ros_->getParameter ( odom_source_, "odometrySource", odomOptions, WORLD ); + + joint_wheel_actuated_->SetMaxForce ( 0, wheel_torque_ ); + joint_steering_->SetMaxForce ( 0, wheel_torque_ ); + + + // Initialize update rate stuff + if ( this->update_rate_ > 0.0 ) this->update_period_ = 1.0 / this->update_rate_; + else this->update_period_ = 0.0; + last_actuator_update_ = parent->GetWorld()->GetSimTime(); + + // Initialize velocity stuff + alive_ = true; + + if ( this->publishWheelJointState_ ) { + joint_state_publisher_ = gazebo_ros_->node()->advertise ( "joint_states", 1000 ); + ROS_INFO ( "%s: Advertise joint_states!", gazebo_ros_->info() ); + } + + transform_broadcaster_ = boost::shared_ptr ( new tf::TransformBroadcaster() ); + + // ROS: Subscribe to the velocity command topic (usually "cmd_vel") + ROS_INFO ( "%s: Try to subscribe to %s!", gazebo_ros_->info(), command_topic_.c_str() ); + + ros::SubscribeOptions so = + ros::SubscribeOptions::create ( command_topic_, 1, + boost::bind ( &GazeboRosTricycleDrive::cmdVelCallback, this, _1 ), + ros::VoidPtr(), &queue_ ); + + cmd_vel_subscriber_ = gazebo_ros_->node()->subscribe ( so ); + ROS_INFO ( "%s: Subscribe to %s!", gazebo_ros_->info(), command_topic_.c_str() ); + + odometry_publisher_ = gazebo_ros_->node()->advertise ( odometry_topic_, 1 ); + ROS_INFO ( "%s: Advertise odom on %s !", gazebo_ros_->info(), odometry_topic_.c_str() ); + + // start custom queue for diff drive + this->callback_queue_thread_ = boost::thread ( boost::bind ( &GazeboRosTricycleDrive::QueueThread, this ) ); + + // listen to the update event (broadcast every simulation iteration) + this->update_connection_ = event::Events::ConnectWorldUpdateBegin ( boost::bind ( &GazeboRosTricycleDrive::UpdateChild, this ) ); + +} + +void GazeboRosTricycleDrive::publishWheelJointState() +{ + std::vector joints; + joints.push_back ( joint_steering_ ); + joints.push_back ( joint_wheel_actuated_ ); + joints.push_back ( joint_wheel_encoder_left_ ); + joints.push_back ( joint_wheel_encoder_right_ ); + + ros::Time current_time = ros::Time::now(); + joint_state_.header.stamp = current_time; + joint_state_.name.resize ( joints.size() ); + joint_state_.position.resize ( joints.size() ); + joint_state_.velocity.resize ( joints.size() ); + joint_state_.effort.resize ( joints.size() ); + for ( std::size_t i = 0; i < joints.size(); i++ ) { + joint_state_.name[i] = joints[i]->GetName(); + joint_state_.position[i] = joints[i]->GetAngle ( 0 ).Radian(); + joint_state_.velocity[i] = joints[i]->GetVelocity ( 0 ); + joint_state_.effort[i] = joints[i]->GetForce ( 0 ); + } + joint_state_publisher_.publish ( joint_state_ ); +} + +void GazeboRosTricycleDrive::publishWheelTF() +{ + ros::Time current_time = ros::Time::now(); + std::vector joints; + joints.push_back ( joint_steering_ ); + joints.push_back ( joint_wheel_actuated_ ); + joints.push_back ( joint_wheel_encoder_left_ ); + joints.push_back ( joint_wheel_encoder_right_ ); + for ( std::size_t i = 0; i < joints.size(); i++ ) { + std::string frame = gazebo_ros_->resolveTF ( joints[i]->GetName() ); + std::string parent_frame = gazebo_ros_->resolveTF ( joints[i]->GetParent()->GetName() ); + + math::Pose pose = joints[i]->GetChild()->GetRelativePose(); + + 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 transform ( qt, vt ); + transform_broadcaster_->sendTransform ( tf::StampedTransform ( transform, current_time, parent_frame, frame ) ); + } + +} +// Update the controller +void GazeboRosTricycleDrive::UpdateChild() +{ + if ( odom_source_ == ENCODER ) UpdateOdometryEncoder(); + common::Time current_time = parent->GetWorld()->GetSimTime(); + double seconds_since_last_update = ( current_time - last_actuator_update_ ).Double(); + if ( seconds_since_last_update > update_period_ ) { + + publishOdometry ( seconds_since_last_update ); + if ( publishWheelTF_ ) publishWheelTF(); + if ( publishWheelJointState_ ) publishWheelJointState(); + + double target_wheel_roation_speed = cmd_.speed / ( diameter_actuated_wheel_ / 2.0 ); + double target_steering_angle = cmd_.angle; + + motorController ( target_wheel_roation_speed, target_steering_angle, seconds_since_last_update ); + + //ROS_INFO("v = %f, w = %f !", target_wheel_roation_speed, target_steering_angle); + + last_actuator_update_ += common::Time ( update_period_ ); + } +} + + +void GazeboRosTricycleDrive::motorController ( double target_speed, double target_angle, double dt ) +{ + double applied_speed = target_speed; + double applied_angle = target_angle; + double applied_steering_speed = 0; + + double current_speed = joint_wheel_actuated_->GetVelocity ( 0 ); + if ( wheel_acceleration_ > 0 ) { + double diff_speed = current_speed - target_speed; + if ( fabs ( diff_speed ) < wheel_speed_tolerance_ ) { + applied_speed = target_speed; + } else if ( diff_speed < target_speed ) { + applied_speed = current_speed + wheel_acceleration_ * dt; + } else { + applied_speed = current_speed - wheel_deceleration_ * dt; + } + } + joint_wheel_actuated_->SetVelocity ( 0, applied_speed ); + + double current_angle = joint_steering_->GetAngle ( 0 ).Radian(); + if(target_angle > +M_PI / 2.0) target_angle = +M_PI / 2.0; + if(target_angle < -M_PI / 2.0) target_angle = -M_PI / 2.0; + if ( steering_speed_ > 0 ) { + double diff_angle = current_angle - target_angle; + if ( fabs ( diff_angle ) < steering_angle_tolerance_ ) { + applied_steering_speed = 0; + } else if ( diff_angle < target_speed ) { + applied_steering_speed = steering_speed_; + } else { + applied_steering_speed = -steering_speed_; + } + joint_steering_->SetVelocity ( 0, applied_steering_speed ); + }else { +#if GAZEBO_MAJOR_VERSION >= 4 + joint_steering_->SetPosition ( 0, applied_angle ); +#else + joint_steering_->SetAngle ( 0, math::Angle ( applied_angle ) ); +#endif + } + //ROS_INFO ( "target: [%3.2f, %3.2f], current: [%3.2f, %3.2f], applied: [%3.2f, %3.2f/%3.2f] !", + // target_speed, target_angle, current_speed, current_angle, applied_speed, applied_angle, applied_steering_speed ); + +} + +// Finalize the controller +void GazeboRosTricycleDrive::FiniChild() +{ + alive_ = false; + queue_.clear(); + queue_.disable(); + gazebo_ros_->node()->shutdown(); + callback_queue_thread_.join(); +} + +void GazeboRosTricycleDrive::cmdVelCallback ( const geometry_msgs::Twist::ConstPtr& cmd_msg ) +{ + boost::mutex::scoped_lock scoped_lock ( lock ); + cmd_.speed = cmd_msg->linear.x; + cmd_.angle = cmd_msg->angular.z; +} + +void GazeboRosTricycleDrive::QueueThread() +{ + static const double timeout = 0.01; + + while ( alive_ && gazebo_ros_->node()->ok() ) { + queue_.callAvailable ( ros::WallDuration ( timeout ) ); + } +} + +void GazeboRosTricycleDrive::UpdateOdometryEncoder() +{ + double vl = joint_wheel_encoder_left_->GetVelocity ( 0 ); + double vr = joint_wheel_encoder_right_->GetVelocity ( 0 ); + common::Time current_time = parent->GetWorld()->GetSimTime(); + double seconds_since_last_update = ( current_time - last_odom_update_ ).Double(); + last_odom_update_ = current_time; + + double b = separation_encoder_wheel_; + + // Book: Sigwart 2011 Autonompus Mobile Robots page:337 + double sl = vl * ( diameter_encoder_wheel_ / 2.0 ) * seconds_since_last_update; + double sr = vr * ( diameter_encoder_wheel_ / 2.0 ) * seconds_since_last_update; + double theta = ( sl - sr ) /b; + + + double dx = ( sl + sr ) /2.0 * cos ( pose_encoder_.theta + ( sl - sr ) / ( 2.0*b ) ); + double dy = ( sl + sr ) /2.0 * sin ( pose_encoder_.theta + ( sl - sr ) / ( 2.0*b ) ); + double dtheta = ( sl - sr ) /b; + + pose_encoder_.x += dx; + pose_encoder_.y += dy; + pose_encoder_.theta += dtheta; + + double w = dtheta/seconds_since_last_update; + double v = sqrt ( dx*dx+dy*dy ) /seconds_since_last_update; + + tf::Quaternion qt; + tf::Vector3 vt; + qt.setRPY ( 0,0,pose_encoder_.theta ); + vt = tf::Vector3 ( pose_encoder_.x, pose_encoder_.y, 0 ); + + odom_.pose.pose.position.x = vt.x(); + odom_.pose.pose.position.y = vt.y(); + odom_.pose.pose.position.z = vt.z(); + + odom_.pose.pose.orientation.x = qt.x(); + odom_.pose.pose.orientation.y = qt.y(); + odom_.pose.pose.orientation.z = qt.z(); + odom_.pose.pose.orientation.w = qt.w(); + + odom_.twist.twist.angular.z = w; + odom_.twist.twist.linear.x = dx/seconds_since_last_update; + odom_.twist.twist.linear.y = dy/seconds_since_last_update; +} + +void GazeboRosTricycleDrive::publishOdometry ( double step_time ) +{ + + ros::Time current_time = ros::Time::now(); + std::string odom_frame = gazebo_ros_->resolveTF ( odometry_frame_ ); + std::string base_footprint_frame = gazebo_ros_->resolveTF ( robot_base_frame_ ); + + tf::Quaternion qt; + tf::Vector3 vt; + + if ( odom_source_ == ENCODER ) { + // getting data form encoder integration + qt = tf::Quaternion ( odom_.pose.pose.orientation.x, odom_.pose.pose.orientation.y, odom_.pose.pose.orientation.z, odom_.pose.pose.orientation.w ); + vt = tf::Vector3 ( odom_.pose.pose.position.x, odom_.pose.pose.position.y, odom_.pose.pose.position.z ); + + } + if ( odom_source_ == WORLD ) { + // getting data form gazebo world + math::Pose pose = parent->GetWorldPose(); + qt = tf::Quaternion ( pose.rot.x, pose.rot.y, pose.rot.z, pose.rot.w ); + vt = tf::Vector3 ( pose.pos.x, pose.pos.y, pose.pos.z ); + + odom_.pose.pose.position.x = vt.x(); + odom_.pose.pose.position.y = vt.y(); + odom_.pose.pose.position.z = vt.z(); + + odom_.pose.pose.orientation.x = qt.x(); + odom_.pose.pose.orientation.y = qt.y(); + odom_.pose.pose.orientation.z = qt.z(); + odom_.pose.pose.orientation.w = qt.w(); + + // get velocity in /odom frame + math::Vector3 linear; + linear = parent->GetWorldLinearVel(); + odom_.twist.twist.angular.z = parent->GetWorldAngularVel().z; + + // convert velocity to child_frame_id (aka base_footprint) + float yaw = pose.rot.GetYaw(); + 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; + } + + tf::Transform base_footprint_to_odom ( qt, vt ); + transform_broadcaster_->sendTransform ( + tf::StampedTransform ( base_footprint_to_odom, current_time, + odom_frame, base_footprint_frame ) ); + + + // set covariance + 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; + + + // set header + odom_.header.stamp = current_time; + odom_.header.frame_id = odom_frame; + odom_.child_frame_id = base_footprint_frame; + + odometry_publisher_.publish ( odom_ ); +} + +GZ_REGISTER_MODEL_PLUGIN ( GazeboRosTricycleDrive ) +} + diff --git a/gazebo_plugins/src/gazebo_ros_utils.cpp b/gazebo_plugins/src/gazebo_ros_utils.cpp new file mode 100644 index 000000000..e98ee192c --- /dev/null +++ b/gazebo_plugins/src/gazebo_ros_utils.cpp @@ -0,0 +1,155 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Markus Bader + * 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 copyright holder 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. + *********************************************************************/ + + +#include + +#include +#include + +using namespace gazebo; + +const char* GazeboRos::info() const { + return info_text.c_str(); +} +boost::shared_ptr& GazeboRos ::node() { + return rosnode_; +} +const boost::shared_ptr& GazeboRos ::node() const { + return rosnode_; +} + +std::string GazeboRos ::resolveTF(const std::string &name) { + return tf::resolve(tf_prefix_, name); +} +void GazeboRos ::readCommonParameter() { + + ROS_INFO("Starting plugin %s!", info()); + + std::string debugLevel; + getParameter(debugLevel, "rosDebugLevel", "na"); + if(boost::iequals(debugLevel, std::string("Debug"))) { + if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug) ) { + ros::console::notifyLoggerLevelsChanged(); + } + } else if(boost::iequals(debugLevel, std::string("Info"))) { + if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info) ) { + ros::console::notifyLoggerLevelsChanged(); + } + } else if(boost::iequals(debugLevel, std::string("Warn"))) { + if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Warn) ) { + ros::console::notifyLoggerLevelsChanged(); + } + } else if(boost::iequals(debugLevel, std::string("Error"))) { + if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Error) ) { + ros::console::notifyLoggerLevelsChanged(); + } + } else if(boost::iequals(debugLevel, std::string("Fatal"))) { + if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Fatal) ) { + ros::console::notifyLoggerLevelsChanged(); + } + } + if (sdf_->HasElement("rosDebugLevel")) { + ROS_INFO("%s: = %s", info(), debugLevel.c_str()); + } + + + tf_prefix_ = tf::getPrefixParam(*rosnode_); + if(tf_prefix_.empty()) + { + tf_prefix_ = namespace_; + boost::trim_right_if(tf_prefix_,boost::is_any_of("/")); + } + ROS_INFO("%s: = %s", info(), tf_prefix_.c_str()); +} + + +void GazeboRos ::getParameterBoolean(bool &_value, const char *_tag_name, const bool &_default) { + _value = _default; + if (!sdf_->HasElement(_tag_name)) { + ROS_WARN("%s: missing <%s> default is %s", + info(), _tag_name, (_default?"ture":"false")); + } else { + getParameterBoolean(_value, _tag_name); + } + +} +void GazeboRos ::getParameterBoolean(bool &_value, const char *_tag_name) { + + if (sdf_->HasElement(_tag_name)) { + std::string value = sdf_->GetElement(_tag_name)->Get(); + if(boost::iequals(value, std::string("true"))) + { + _value = true; + } + else if(boost::iequals(value, std::string("false"))) + { + _value = false; + } + else + { + ROS_WARN("%s: <%s> must be either true or false", + info(), _tag_name); + } + } + ROS_DEBUG("%s: <%s> = %s", + info(), _tag_name, (_value?"ture":"false")); + +} + +physics::JointPtr GazeboRos::getJoint(physics::ModelPtr &_parent, const char *_tag_name, const std::string &_joint_default_name) { + std::string joint_name; + getParameter(joint_name, _tag_name, _joint_default_name); + physics::JointPtr joint = _parent->GetJoint(joint_name); + if (!joint) + { + char error[200]; + snprintf(error, 200, + "%s: couldn't get wheel hinge joint named %s", + info() , joint_name.c_str()); + gzthrow(error); + } + return joint; +} + +void GazeboRos::isInitialized() { + if (!ros::isInitialized()) + { + ROS_FATAL_STREAM(info() << "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; + } +} + + + diff --git a/gazebo_plugins/src/gazebo_ros_video.cpp b/gazebo_plugins/src/gazebo_ros_video.cpp index 43de193a6..75d534a8f 100644 --- a/gazebo_plugins/src/gazebo_ros_video.cpp +++ b/gazebo_plugins/src/gazebo_ros_video.cpp @@ -74,7 +74,7 @@ namespace gazebo mo.convertToMesh(name + "__VideoMesh__"); Ogre::MovableObject *obj = (Ogre::MovableObject*) - this->sceneNode->getCreator()->createEntity( + this->GetSceneNode()->getCreator()->createEntity( name + "__VideoEntity__", name + "__VideoMesh__"); obj->setCastShadows(false); diff --git a/gazebo_plugins/test/multi_robot_scenario/launch/multi_robot_scenario.launch b/gazebo_plugins/test/multi_robot_scenario/launch/multi_robot_scenario.launch new file mode 100644 index 000000000..ddc9f79d4 --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/launch/multi_robot_scenario.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.gazebo.launch b/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.gazebo.launch new file mode 100644 index 000000000..35dd47a15 --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.gazebo.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.rviz b/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.rviz new file mode 100644 index 000000000..4300d22df --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.rviz @@ -0,0 +1,482 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1/Tree1 + - /LaserScan1 + - /LaserScan2 + - /Camera1 + Splitter Ratio: 0.528662 + Tree Height: 344 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + battery0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + center_hubcap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + center_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + chassis: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_hub: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_hub: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sonar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + swivel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + top: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: r1/robot_description + TF Prefix: r1 + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + r1/base_link: + Value: true + r1/battery0: + Value: true + r1/center_hubcap: + Value: true + r1/center_wheel: + Value: true + r1/chassis: + Value: true + r1/front_camera: + Value: true + r1/front_laser: + Value: true + r1/left_hub: + Value: true + r1/left_wheel: + Value: true + r1/odom: + Value: true + r1/right_hub: + Value: true + r1/right_wheel: + Value: true + r1/sonar: + Value: true + r1/swivel: + Value: true + r1/top: + Value: true + r2/base_link: + Value: true + r2/battery0: + Value: true + r2/center_hubcap: + Value: true + r2/center_wheel: + Value: true + r2/chassis: + Value: true + r2/front_camera: + Value: true + r2/front_laser: + Value: true + r2/left_hub: + Value: true + r2/left_wheel: + Value: true + r2/odom: + Value: true + r2/right_hub: + Value: true + r2/right_wheel: + Value: true + r2/sonar: + Value: true + r2/swivel: + Value: true + r2/top: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + base_link: + r1/odom: + r1/base_link: + r1/chassis: + r1/battery0: + {} + r1/front_camera: + {} + r1/front_laser: + {} + r1/left_hub: + r1/left_wheel: + {} + r1/right_hub: + r1/right_wheel: + {} + r1/sonar: + {} + r1/swivel: + r1/center_wheel: + r1/center_hubcap: + {} + r1/top: + {} + r2/odom: + r2/base_link: + r2/chassis: + r2/battery0: + {} + r2/front_camera: + {} + r2/front_laser: + {} + r2/left_hub: + r2/left_wheel: + {} + r2/right_hub: + r2/right_wheel: + {} + r2/sonar: + {} + r2/swivel: + r2/center_wheel: + r2/center_hubcap: + {} + r2/top: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + battery0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + center_hubcap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + center_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + chassis: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_hub: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_hub: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sonar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + swivel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + top: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: r2/robot_description + TF Prefix: r2 + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 85; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 999999 + Min Color: 0; 0; 0 + Min Intensity: -999999 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.03 + Style: Flat Squares + Topic: /r1/front_laser/scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 85; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 3.49902e-38 + Min Color: 0; 0; 0 + Min Intensity: -999999 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.03 + Style: Flat Squares + Topic: /r2/front_laser/scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Camera + Enabled: true + Image Rendering: background and overlay + Image Topic: /r1/front_camera/image_raw + Name: Camera + Overlay Alpha: 0.5 + Queue Size: 2 + Transport Hint: raw + Value: true + Visibility: + Grid: true + LaserScan: true + RobotModel: true + TF: true + Value: true + Zoom Factor: 1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2.00511 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.243573 + Y: -0.560009 + Z: 0.448538 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.585398 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.665372 + Saved: ~ +Window Geometry: + Camera: + collapsed: false + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 2265 + Y: 97 diff --git a/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.urdf.launch b/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.urdf.launch new file mode 100644 index 000000000..1a2120564 --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.urdf.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/gazebo_plugins/test/multi_robot_scenario/meshes/laser/hokuyo.dae b/gazebo_plugins/test/multi_robot_scenario/meshes/laser/hokuyo.dae new file mode 100644 index 000000000..bc65151bb --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/meshes/laser/hokuyo.dae @@ -0,0 +1,253 @@ + + + + + Blender User + Blender 2.64.0 r51232 + + 2013-03-22T08:19:53 + 2013-03-22T08:19:53 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 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Sonar : -0.2 0 0.209 +Back Sonar : 0.109 0 0.209 + diff --git a/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/back_rim.stl b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/back_rim.stl new file mode 100644 index 000000000..09587a535 Binary files /dev/null and b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/back_rim.stl differ diff --git a/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/back_sonar.stl b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/back_sonar.stl new file mode 100644 index 000000000..9153bc5eb Binary files /dev/null and b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/back_sonar.stl differ diff --git a/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/center_hubcap.stl b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/center_hubcap.stl new file mode 100644 index 000000000..c9400f7d2 Binary files /dev/null and b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/center_hubcap.stl differ diff --git a/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/center_wheel.stl b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/center_wheel.stl new file mode 100644 index 000000000..c8b857dc5 Binary files /dev/null and b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/center_wheel.stl differ diff --git a/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/chassis.stl b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/chassis.stl new file mode 100644 index 000000000..13aa2cf73 Binary files /dev/null and b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/chassis.stl differ diff --git a/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/front_rim.stl b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/front_rim.stl new file mode 100644 index 000000000..c3074d5c0 Binary files /dev/null and b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/front_rim.stl differ diff --git a/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/front_sonar.stl b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/front_sonar.stl new file mode 100644 index 000000000..82b9ce0d9 Binary files /dev/null and b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/front_sonar.stl differ diff --git a/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/left_hubcap.stl b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/left_hubcap.stl new file mode 100644 index 000000000..01bd2f93f Binary files /dev/null and b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/left_hubcap.stl differ diff --git a/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/left_wheel.stl b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/left_wheel.stl new file mode 100644 index 000000000..31137e2d5 Binary files /dev/null and b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/left_wheel.stl differ diff --git a/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/right_hubcap.stl b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/right_hubcap.stl new file mode 100644 index 000000000..ac3f36f93 Binary files /dev/null and b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/right_hubcap.stl differ diff --git a/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/right_wheel.stl b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/right_wheel.stl new file mode 100644 index 000000000..c518c0eb5 Binary files /dev/null and b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/right_wheel.stl differ diff --git a/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/swivel.stl b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/swivel.stl new file mode 100644 index 000000000..03797a26a Binary files /dev/null and b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/swivel.stl differ diff --git a/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/top.stl b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/top.stl new file mode 100644 index 000000000..302ed5f4b Binary files /dev/null and b/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/top.stl differ diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/camera/camera.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/camera/camera.xacro new file mode 100644 index 000000000..8755051be --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/xacro/camera/camera.xacro @@ -0,0 +1,81 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 30.0 + + 1.3962634 + + 800 + 800 + R8G8B8 + + + 0.02 + 300 + + + gaussian + + 0.0 + 0.007 + + + + + true + 0.0 + ${name} + image_raw + camera_info + ${name} + 0.07 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo.xacro new file mode 100644 index 000000000..1e20f0905 --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo.xacro @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + + + + + 1 + 2.0944 + -2.0944 + 683 + + + + 0.08 + 5 + 0.01 + + + + + + ${name}/scan + ${name} + + + + 1 + 30 + true + + + + + diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo_gpu.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo_gpu.xacro new file mode 100644 index 000000000..68c65960f --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo_gpu.xacro @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + 1 + 30 + true + + + + + 1 + 2.0944 + -2.0944 + + + 683 + + + + 0.10 + 140.0 + 0.01 + + + gaussian + + 0.0 + 0.01 + + + + + ${name}/scan + ${name} + + + + + + diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/materials.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/materials.xacro new file mode 100644 index 000000000..311c3cdd8 --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/xacro/materials.xacro @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/battery_block.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/battery_block.xacro new file mode 100644 index 000000000..7881c8e86 --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/battery_block.xacro @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/inertia_tensors.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/inertia_tensors.xacro new file mode 100644 index 000000000..c7649ea01 --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/inertia_tensors.xacro @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx.xacro new file mode 100644 index 000000000..9b1fd95bd --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx.xacro @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_body.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_body.xacro new file mode 100644 index 000000000..4b2163480 --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_body.xacro @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_chassis.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_chassis.xacro new file mode 100644 index 000000000..ec3c233a9 --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_chassis.xacro @@ -0,0 +1,65 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_plugins.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_plugins.xacro new file mode 100644 index 000000000..7b5f860c4 --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_plugins.xacro @@ -0,0 +1,39 @@ + + + + + + + + chassis_swivel_joint, swivel_wheel_joint, left_hub_joint, right_hub_joint + 10.0 + true + + + + + + + + Debug + + false + true + true + left_hub_joint + right_hub_joint + 0.3 + 0.18 + 20 + 1.8 + cmd_vel + odom + odom + world + base_link + 10.0 + + + + + diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_sonar.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_sonar.xacro new file mode 100644 index 000000000..5d0dc3efa --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_sonar.xacro @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_swivel.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_swivel.xacro new file mode 100644 index 000000000..f4530e276 --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_swivel.xacro @@ -0,0 +1,114 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_wheel.xacro b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_wheel.xacro new file mode 100644 index 000000000..b323befb8 --- /dev/null +++ b/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_wheel.xacro @@ -0,0 +1,78 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/gazebo_plugins/test/test_worlds/gazebo_ros_block_laser.world b/gazebo_plugins/test/test_worlds/gazebo_ros_block_laser.world index 68b765d12..905b3fc5a 100644 --- a/gazebo_plugins/test/test_worlds/gazebo_ros_block_laser.world +++ b/gazebo_plugins/test/test_worlds/gazebo_ros_block_laser.world @@ -36,7 +36,6 @@ 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - 1.0 0.0 @@ -54,10 +53,12 @@ 0.05 0.05 0.05 + true 100.0 @@ -143,7 +144,6 @@ 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - 1.0 0.0 @@ -161,10 +161,12 @@ 0.05 0.05 0.05 + true 100.0 @@ -245,7 +247,6 @@ 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - 1.0 0.0 @@ -260,14 +261,16 @@ 0.0 0.1 0.0 0.0 0.0 0.0 - pr2/gripper_v0/l_finger_tip.stl + pr2/gripper_v0/l_finger_tip.stl 3 3 3 + true 100.0 @@ -276,7 +279,7 @@ 250 - pr2/gripper_v0/l_finger_tip.stl + pr2/gripper_v0/l_finger_tip.stl 3 3 3 @@ -311,7 +314,7 @@ 0.0 -0.1 0.0 0.0 0.0 0.0 - pr2/gripper_v0/l_finger_tip.dae + pr2/gripper_v0/l_finger_tip.dae 3 3 3 @@ -323,7 +326,7 @@ 250 - pr2/gripper_v0/l_finger_tip.dae + pr2/gripper_v0/l_finger_tip.dae 3 3 3 @@ -366,7 +369,6 @@ -0.1 -0.5 -0.5 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - 1.0 0.0 @@ -384,10 +386,12 @@ 0.1 0.25 0.5 + true 100.0 @@ -434,7 +438,6 @@ 0.0 0.5 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - 1.0 0.0 @@ -452,10 +455,12 @@ 0.05 + true 100.0 @@ -502,7 +507,6 @@ 0.5 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 - 1.0 0.0 @@ -521,10 +525,12 @@ 0.5 + true 100.0 @@ -588,7 +594,7 @@ - chair/models/Chair.stl + chair/models/Chair.stl 0.0254 0.0254 0.0254 @@ -621,7 +627,7 @@ - chair/models/Chair.dae + chair/models/Chair.dae 0.0254 0.0254 0.0254 diff --git a/gazebo_plugins/test/tricycle_drive/launch/.directory b/gazebo_plugins/test/tricycle_drive/launch/.directory new file mode 100644 index 000000000..b0371cd66 --- /dev/null +++ b/gazebo_plugins/test/tricycle_drive/launch/.directory @@ -0,0 +1,4 @@ +[Dolphin] +Timestamp=2013,11,4,9,14,4 +Version=3 +ViewMode=2 diff --git a/gazebo_plugins/test/tricycle_drive/launch/tricycle.gazebo.launch b/gazebo_plugins/test/tricycle_drive/launch/tricycle.gazebo.launch new file mode 100644 index 000000000..1673b7882 --- /dev/null +++ b/gazebo_plugins/test/tricycle_drive/launch/tricycle.gazebo.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/gazebo_plugins/test/tricycle_drive/launch/tricycle.rviz b/gazebo_plugins/test/tricycle_drive/launch/tricycle.rviz new file mode 100644 index 000000000..49c0fc84f --- /dev/null +++ b/gazebo_plugins/test/tricycle_drive/launch/tricycle.rviz @@ -0,0 +1,237 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Marker1 + - /Marker1/Namespaces1 + - /LaserScan1 + Splitter Ratio: 0.590385 + Tree Height: 690 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + r1/base_link: + Value: true + r1/chassis: + Value: true + r1/front_steering: + Value: true + r1/front_wheel: + Value: true + r1/left_wheel: + Value: true + r1/odom: + Value: true + r1/right_wheel: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + r1/odom: + r1/base_link: + r1/chassis: + {} + r1/front_steering: + r1/front_wheel: + {} + r1/left_wheel: + {} + r1/right_wheel: + {} + Update Interval: 0 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: visualization_marker + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + chassis: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_steering: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: r1/robot_description + TF Prefix: r1 + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /r1/front_laser/scan + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: r1/base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 7.43455 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.351517 + Y: 0.0334811 + Z: 0.722431 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.234797 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.99819 + Saved: ~ +Window Geometry: + Camera: + collapsed: false + Displays: + collapsed: false + Height: 1054 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1678 + X: 1920 + Y: 0 diff --git a/gazebo_plugins/test/tricycle_drive/launch/tricycle.urdf.launch b/gazebo_plugins/test/tricycle_drive/launch/tricycle.urdf.launch new file mode 100644 index 000000000..c909ff523 --- /dev/null +++ b/gazebo_plugins/test/tricycle_drive/launch/tricycle.urdf.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/gazebo_plugins/test/tricycle_drive/launch/tricycle_drive_scenario.launch b/gazebo_plugins/test/tricycle_drive/launch/tricycle_drive_scenario.launch new file mode 100644 index 000000000..e3a48b5be --- /dev/null +++ b/gazebo_plugins/test/tricycle_drive/launch/tricycle_drive_scenario.launch @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/gazebo_plugins/test/tricycle_drive/launch/tricycle_rviz.launch b/gazebo_plugins/test/tricycle_drive/launch/tricycle_rviz.launch new file mode 100644 index 000000000..d2d5b2d8e --- /dev/null +++ b/gazebo_plugins/test/tricycle_drive/launch/tricycle_rviz.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/gazebo_plugins/test/tricycle_drive/xacro/.directory b/gazebo_plugins/test/tricycle_drive/xacro/.directory new file mode 100644 index 000000000..b41f2a18a --- /dev/null +++ b/gazebo_plugins/test/tricycle_drive/xacro/.directory @@ -0,0 +1,3 @@ +[Dolphin] +Timestamp=2013,10,18,16,23,17 +ViewMode=2 diff --git a/gazebo_plugins/test/tricycle_drive/xacro/materials.xacro b/gazebo_plugins/test/tricycle_drive/xacro/materials.xacro new file mode 100644 index 000000000..f260fff42 --- /dev/null +++ b/gazebo_plugins/test/tricycle_drive/xacro/materials.xacro @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/inertia_tensors.xacro b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/inertia_tensors.xacro new file mode 100644 index 000000000..15874715a --- /dev/null +++ b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/inertia_tensors.xacro @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle.xacro b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle.xacro new file mode 100644 index 000000000..81119279e --- /dev/null +++ b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle.xacro @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_body.xacro b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_body.xacro new file mode 100644 index 000000000..6c9371ca7 --- /dev/null +++ b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_body.xacro @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_chassis.xacro b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_chassis.xacro new file mode 100644 index 000000000..1feeaf799 --- /dev/null +++ b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_chassis.xacro @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_plugins.xacro b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_plugins.xacro new file mode 100644 index 000000000..ef5494e27 --- /dev/null +++ b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_plugins.xacro @@ -0,0 +1,36 @@ + + + + + + + + Debug + + false + true + true + front_steering_joint + front_wheel_joint + left_wheel_joint + right_wheel_joint + 0.135 + 0.135 + 0.548 + cmd_vel + odom + odom + encoder + base_link + 10.0 + 1.8 + 5.0 + 0.05 + 20 + 0.4 + 0.02 + + + + + diff --git a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel.xacro b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel.xacro new file mode 100644 index 000000000..691aa0c0c --- /dev/null +++ b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel.xacro @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel_actuated.xacro b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel_actuated.xacro new file mode 100644 index 000000000..0acacc810 --- /dev/null +++ b/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel_actuated.xacro @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/gazebo_ros/CHANGELOG.rst b/gazebo_ros/CHANGELOG.rst index bc432e6b6..5ed8b310e 100644 --- a/gazebo_ros/CHANGELOG.rst +++ b/gazebo_ros/CHANGELOG.rst @@ -2,13 +2,99 @@ Changelog for package gazebo_ros ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.4.6 (2014-09-01) +------------------ +* Merge pull request `#232 `_ from ros-simulation/fix_get_physics_properties_non_ode + Fix get physics properties non ode +* Merge pull request `#183 `_ from ros-simulation/issue_182 + Fix STL iterator errors, misc. cppcheck (`#182 `_) +* check physics engine type before calling set_physics_properties and get_physics_properteis +* check physics engine type before calling set_physics_properties and get_physics_properteis +* Fixes for calling GetParam() with different physic engines. +* 2.3.6 +* Update changelogs for the upcoming release +* Fixed boost any cast +* Removed a few warnings +* Update for hydro + gazebo 1.9 +* Fix build with gazebo4 and indigo +* Fix STL iterator errors, misc. cppcheck (`#182 `_) + There were some errors in STL iterators. + Initialized values of member variables in constructor. + Removed an unused variable (model_name). +* Contributors: Carlos Agüero, John Hsu, Jose Luis Rivero, Nate Koenig, Steven Peters, hsu, osrf + +2.4.5 (2014-08-18) +------------------ +* Port fix_build branch for indigo-devel + See pull request `#221 `_ +* Contributors: Jose Luis Rivero + +2.4.4 (2014-07-18) +------------------ +* Fix repo names in package.xml's +* fix issue `#198 `_ + Operator ``==`` is not recognized by sh scripts. +* Add verbose parameter + Add verbose parameter for --verbose gazebo flag +* added osx support for gazebo start scripts +* Contributors: Arn-O, Jon Binney, Markus Achtelik, Vincenzo Comito + +2.4.3 (2014-05-12) +------------------ +* added osx support for gazebo start scripts +* Remove gazebo_ros dependency on gazebo_plugins +* Contributors: Markus Achtelik, Steven Peters + +2.4.2 (2014-03-27) +------------------ +* merging from hydro-devel +* bump patch version for indigo-devel to 2.4.1 +* merging from indigo-devel after 2.3.4 release +* "2.4.0" +* catkin_generate_changelog +* Contributors: John Hsu + +2.4.1 (2013-11-13) +------------------ + +2.3.5 (2014-03-26) +------------------ +* gazebo_ros: [less-than-minor] fix newlines +* gazebo_ros: remove assignment to self + If this is needed for any twisted reason, it should be made clear + anyway. Assuming this line is harmless and removing it because it + generates cppcheck warnings. +* Contributors: Paul Mathieu + +2.3.4 (2013-11-13) +------------------ +* rerelease because sdformat became libsdformat, but we also based change on 2.3.4 in hydro-devel. +* remove debug statement +* fix sdf spawn with initial pose +* fix sdf spawn with initial pose +* Merge branch 'hydro-devel' into ``spawn_model_pose_fix`` +* fix indentation +* Merge pull request `#142 `_ from hsu/hydro-devel + fix issue `#38 `_, gui segfault on model deletion +* Merge pull request `#140 `_ from ``v4hn/spawn_model_sleep`` + replace time.sleep by rospy.Rate.sleep +* fix spawn initial pose. When model has a non-zero initial pose and user specified initial model spawn pose, add the two. +* fix issue `#38 `_, gui segfault on model deletion by removing an obsolete call to set selected object state to "normal". +* replace time.sleep by rospy.Rate.sleep + time was not even imported, so I don't know + why this could ever have worked... +* Add time import + When using the -wait option the script fails because is missing the time import +* Use pre-increment for iterators +* Fix iterator erase() problems + 2.4.0 (2013-10-14) ------------------ 2.3.3 (2013-10-10) ------------------ * Cleaned up unnecessary debug output that was recently added -* Fixed issue where catkin_find returns more than one library if it is installed from both source and debian +* Fixed issue where ``catkin_find`` returns more than one library if it is installed from both source and debian 2.3.2 (2013-09-19) ------------------ diff --git a/gazebo_ros/CMakeLists.txt b/gazebo_ros/CMakeLists.txt index 6595c14b2..1c2ab2a51 100644 --- a/gazebo_ros/CMakeLists.txt +++ b/gazebo_ros/CMakeLists.txt @@ -49,7 +49,6 @@ catkin_package( message_generation std_msgs gazebo_msgs - gazebo_plugins DEPENDS TinyXML diff --git a/gazebo_ros/launch/empty_world.launch b/gazebo_ros/launch/empty_world.launch index 2e02d7bcc..45b11270f 100644 --- a/gazebo_ros/launch/empty_world.launch +++ b/gazebo_ros/launch/empty_world.launch @@ -6,6 +6,7 @@ + @@ -18,12 +19,14 @@ + + + args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) $(arg world_name)" /> diff --git a/gazebo_ros/package.xml b/gazebo_ros/package.xml index abc42de64..96d5de47c 100644 --- a/gazebo_ros/package.xml +++ b/gazebo_ros/package.xml @@ -1,7 +1,7 @@ gazebo_ros - 2.4.0 + 2.4.6 Provides ROS plugins that offer message and service publishers for interfacing with Gazebo through ROS. Formally simulator_gazebo/gazebo @@ -13,8 +13,8 @@ Apache 2.0 http://gazebosim.org/wiki/Tutorials#ROS_Integration - https://github.com/osrf/gazebo_ros_pkgs/issues - https://github.com/osrf/gazebo_ros_pkgs + https://github.com/ros-simulation/gazebo_ros_pkgs/issues + https://github.com/ros-simulation/gazebo_ros_pkgs John Hsu Nate Koenig @@ -25,7 +25,6 @@ cmake_modules gazebo gazebo_msgs - gazebo_plugins roslib roscpp tf @@ -40,7 +39,6 @@ gazebo gazebo_msgs - gazebo_plugins roslib roscpp tf diff --git a/gazebo_ros/scripts/debug b/gazebo_ros/scripts/debug index f9a58f8d7..37cd902de 100755 --- a/gazebo_ros/scripts/debug +++ b/gazebo_ros/scripts/debug @@ -1,16 +1,21 @@ #!/bin/sh final="$@" +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\.so.*'` -eq 0 ] +if [ `expr "$final" : ".*libgazebo_ros_paths_plugin\.$EXT.*"` -eq 0 ] then - final="$final -s `catkin_find --first-only libgazebo_ros_paths_plugin.so`" + final="$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\.so.*'` -eq 0 ] +if [ `expr "$final" : ".*libgazebo_ros_api_plugin\.$EXT.*"` -eq 0 ] then - final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.so`" + final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.$EXT`" fi setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/ diff --git a/gazebo_ros/scripts/gazebo b/gazebo_ros/scripts/gazebo index 1ea3788b4..d994be4c9 100755 --- a/gazebo_ros/scripts/gazebo +++ b/gazebo_ros/scripts/gazebo @@ -1,19 +1,24 @@ #!/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\.so.*'` -eq 0 ] +if [ `expr "$final" : ".*libgazebo_ros_paths_plugin\.$EXT.*"` -eq 0 ] then - final="$final -s `catkin_find --first-only libgazebo_ros_paths_plugin.so`" + final="$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\.so.*'` -eq 0 ] +if [ `expr "$final" : ".*libgazebo_ros_api_plugin\.$EXT.*"` -eq 0 ] then - final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.so`" + final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.$EXT`" fi -client_final="-g `catkin_find --first-only libgazebo_ros_paths_plugin.so`" +client_final="-g `catkin_find --first-only libgazebo_ros_paths_plugin.$EXT`" # Combine the commands setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/ diff --git a/gazebo_ros/scripts/gdbrun b/gazebo_ros/scripts/gdbrun index 04fc9d69c..9a503846c 100755 --- a/gazebo_ros/scripts/gdbrun +++ b/gazebo_ros/scripts/gdbrun @@ -1,6 +1,6 @@ #!/bin/bash extra_text="" -if [ "$1" == "--break-main" ]; then +if [ "$1" = "--break-main" ]; then extra_text="break main" shift fi diff --git a/gazebo_ros/scripts/gzclient b/gazebo_ros/scripts/gzclient index fe5ee86aa..b56c7a9b6 100755 --- a/gazebo_ros/scripts/gzclient +++ b/gazebo_ros/scripts/gzclient @@ -1,10 +1,15 @@ #!/bin/sh final="$@" +EXT=so +if [ $(uname) = "Darwin" ]; then + EXT=dylib +fi + # add ros plugin if does not exist -if [ `expr "$final" : '.*libgazebo_ros_paths_plugin\.so.*'` -eq 0 ] +if [ `expr "$final" : ".*libgazebo_ros_paths_plugin\.$EXT.*"` -eq 0 ] then - final="$final -g `catkin_find --first-only libgazebo_ros_paths_plugin.so`" + final="$final -g `catkin_find --first-only libgazebo_ros_paths_plugin.$EXT`" fi # Combine the commands diff --git a/gazebo_ros/scripts/gzserver b/gazebo_ros/scripts/gzserver index 5f60a4692..c45a5658a 100755 --- a/gazebo_ros/scripts/gzserver +++ b/gazebo_ros/scripts/gzserver @@ -1,16 +1,21 @@ #!/bin/sh final="$@" +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\.so.*'` -eq 0 ] +if [ `expr "$final" : ".*libgazebo_ros_paths_plugin\.$EXT.*"` -eq 0 ] then - final="$final -s `catkin_find --first-only libgazebo_ros_paths_plugin.so`" + final="$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\.so.*'` -eq 0 ] +if [ `expr "$final" : ".*libgazebo_ros_api_plugin\.$EXT.*"` -eq 0 ] then - final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.so`" + final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.$EXT`" fi setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/ diff --git a/gazebo_ros/scripts/perf b/gazebo_ros/scripts/perf index 71ec5b01f..85b63b30f 100755 --- a/gazebo_ros/scripts/perf +++ b/gazebo_ros/scripts/perf @@ -1,15 +1,20 @@ #!/bin/sh final="$@" +EXT=so +if [ $(uname) = "Darwin" ]; then + EXT=dylib +fi + # add ros plugin if does not exist -if [ `expr "$final" : '.*libgazebo_ros_paths_plugin\.so.*'` -eq 0 ] +if [ `expr "$final" : ".*libgazebo_ros_paths_plugin\.$EXT.*"` -eq 0 ] then - final="$final -s `catkin_find --first-only libgazebo_ros_paths_plugin.so`" + final="$final -s `catkin_find --first-only libgazebo_ros_paths_plugin.$EXT`" fi -if [ `expr "$final" : '.*libgazebo\_ros\_api\_plugin\.so.*'` -eq 0 ] +if [ `expr "$final" : ".*libgazebo_ros_api_plugin\.$EXT.*"` -eq 0 ] then - final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.so`" + final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.$EXT`" fi setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/ diff --git a/gazebo_ros/scripts/spawn_model b/gazebo_ros/scripts/spawn_model index 1b12418c3..d1e94fca9 100755 --- a/gazebo_ros/scripts/spawn_model +++ b/gazebo_ros/scripts/spawn_model @@ -18,7 +18,7 @@ # Author: John Hsu, Dave Coleman # -import rospy, sys, os +import rospy, sys, os, time import string import warnings @@ -198,8 +198,9 @@ class SpawnModel(): if not self.wait_for_model == "": rospy.Subscriber("%s/model_states"%(self.gazebo_namespace), ModelStates, self.checkForModel) + r= rospy.Rate(10) while not rospy.is_shutdown() and not self.wait_for_model_exists: - time.sleep(0.1) + r.sleep() if rospy.is_shutdown(): sys.exit(0) diff --git a/gazebo_ros/src/gazebo_ros_api_plugin.cpp b/gazebo_ros/src/gazebo_ros_api_plugin.cpp index 81b5dd259..4decd7e63 100644 --- a/gazebo_ros/src/gazebo_ros_api_plugin.cpp +++ b/gazebo_ros/src/gazebo_ros_api_plugin.cpp @@ -21,6 +21,7 @@ */ #include +#include #include "gazebo_ros_api_plugin.h" namespace gazebo @@ -30,7 +31,9 @@ GazeboRosApiPlugin::GazeboRosApiPlugin() : physics_reconfigure_initialized_(false), world_created_(false), stop_(false), - plugin_loaded_(false) + plugin_loaded_(false), + pub_link_states_connection_count_(0), + pub_model_states_connection_count_(0) { robot_namespace_.clear(); } @@ -83,14 +86,16 @@ GazeboRosApiPlugin::~GazeboRosApiPlugin() for (std::vector::iterator iter=force_joint_jobs_.begin();iter!=force_joint_jobs_.end();) { delete (*iter); - force_joint_jobs_.erase(iter); + iter = force_joint_jobs_.erase(iter); } + force_joint_jobs_.clear(); ROS_DEBUG_STREAM_NAMED("api_plugin","ForceJointJobs deleted"); for (std::vector::iterator iter=wrench_body_jobs_.begin();iter!=wrench_body_jobs_.end();) { delete (*iter); - wrench_body_jobs_.erase(iter); + iter = wrench_body_jobs_.erase(iter); } + wrench_body_jobs_.clear(); lock_.unlock(); ROS_DEBUG_STREAM_NAMED("api_plugin","WrenchBodyJobs deleted"); @@ -117,9 +122,9 @@ void GazeboRosApiPlugin::Load(int argc, char** argv) ROS_ERROR("Something other than this gazebo_ros_api plugin started ros::init(...), command line arguments may not be parsed properly."); // check if the ros master is available - required - while(!ros::master::check()) + while(!ros::master::check()) { - ROS_WARN_STREAM_NAMED("api_plugin","No ROS master - start roscore to continue..."); + ROS_WARN_STREAM_NAMED("api_plugin","No ROS master - start roscore to continue..."); // wait 0.5 second usleep(500*1000); // can't use ROS Time here b/c node handle is not yet initialized @@ -522,9 +527,6 @@ bool GazeboRosApiPlugin::spawnURDFModel(gazebo_msgs::SpawnModel::Request &req, // get name space for the corresponding model plugins robot_namespace_ = req.robot_namespace; - // incoming robot name - std::string model_name = req.model_name; - // incoming robot model string std::string model_xml = req.model_xml; @@ -647,20 +649,20 @@ bool GazeboRosApiPlugin::spawnSDFModel(gazebo_msgs::SpawnModel::Request &req, if (isSDF(model_xml)) { updateSDFAttributes(gazebo_model_xml, model_name, initial_xyz, initial_q); - + // Walk recursively through the entire SDF, locate plugin tags and // add robotNamespace as a child with the correct namespace - if (!this->robot_namespace_.empty()) + if (!this->robot_namespace_.empty()) { // Get root element for SDF TiXmlNode* model_tixml = gazebo_model_xml.FirstChild("sdf"); - model_tixml = (!model_tixml) ? + model_tixml = (!model_tixml) ? gazebo_model_xml.FirstChild("gazebo") : model_tixml; - if (model_tixml) + if (model_tixml) { walkChildAddRobotNamespace(model_tixml); - } - else + } + else { ROS_WARN("Unable to add robot namespace to xml"); } @@ -670,18 +672,18 @@ bool GazeboRosApiPlugin::spawnSDFModel(gazebo_msgs::SpawnModel::Request &req, { updateURDFModelPose(gazebo_model_xml, initial_xyz, initial_q); updateURDFName(gazebo_model_xml, model_name); - + // Walk recursively through the entire URDF, locate plugin tags and // add robotNamespace as a child with the correct namespace - if (!this->robot_namespace_.empty()) + if (!this->robot_namespace_.empty()) { // Get root element for URDF TiXmlNode* model_tixml = gazebo_model_xml.FirstChild("robot"); - if (model_tixml) + if (model_tixml) { walkChildAddRobotNamespace(model_tixml); - } - else + } + else { ROS_WARN("Unable to add robot namespace to xml"); } @@ -731,8 +733,6 @@ bool GazeboRosApiPlugin::deleteModel(gazebo_msgs::DeleteModel::Request &req, clearJointForces(joints[i]->GetName()); } - // clear entity from selection @todo: need to clear links if selected individually - gazebo::event::Events::setSelectedEntity(req.model_name, "normal"); // send delete model request gazebo::msgs::Request *msg = gazebo::msgs::CreateRequest("entity_delete",req.model_name); request_pub_->Publish(*msg,true); @@ -1087,27 +1087,50 @@ bool GazeboRosApiPlugin::setPhysicsProperties(gazebo_msgs::SetPhysicsProperties: world_->SetPaused(true); // supported updates - gazebo::physics::PhysicsEnginePtr ode_pe = (world_->GetPhysicsEngine()); - ode_pe->SetMaxStepSize(req.time_step); - ode_pe->SetRealTimeUpdateRate(req.max_update_rate); - ode_pe->SetGravity(gazebo::math::Vector3(req.gravity.x,req.gravity.y,req.gravity.z)); - - // stuff only works in ODE right now - ode_pe->SetAutoDisableFlag(req.ode_config.auto_disable_bodies); - ode_pe->SetSORPGSPreconIters(req.ode_config.sor_pgs_precon_iters); - ode_pe->SetSORPGSIters(req.ode_config.sor_pgs_iters); - ode_pe->SetSORPGSW(req.ode_config.sor_pgs_w); - ode_pe->SetWorldCFM(req.ode_config.cfm); - ode_pe->SetWorldERP(req.ode_config.erp); - ode_pe->SetContactSurfaceLayer(req.ode_config.contact_surface_layer); - ode_pe->SetContactMaxCorrectingVel(req.ode_config.contact_max_correcting_vel); - ode_pe->SetMaxContacts(req.ode_config.max_contacts); + gazebo::physics::PhysicsEnginePtr pe = (world_->GetPhysicsEngine()); + pe->SetMaxStepSize(req.time_step); + pe->SetRealTimeUpdateRate(req.max_update_rate); + pe->SetGravity(gazebo::math::Vector3(req.gravity.x,req.gravity.y,req.gravity.z)); + + if (world_->GetPhysicsEngine()->GetType() == "ode") + { + // stuff only works in ODE right now + pe->SetAutoDisableFlag(req.ode_config.auto_disable_bodies); +#if GAZEBO_MAJOR_VERSION >= 3 + pe->SetParam("precon_iters", req.ode_config.sor_pgs_precon_iters); + pe->SetParam("iters", req.ode_config.sor_pgs_iters); + pe->SetParam("sor", req.ode_config.sor_pgs_w); + pe->SetParam("cfm", req.ode_config.cfm); + pe->SetParam("erp", req.ode_config.erp); + pe->SetParam("contact_surface_layer", + req.ode_config.contact_surface_layer); + pe->SetParam("contact_max_correcting_vel", + req.ode_config.contact_max_correcting_vel); + pe->SetParam("max_contacts", req.ode_config.max_contacts); +#else + pe->SetSORPGSPreconIters(req.ode_config.sor_pgs_precon_iters); + pe->SetSORPGSIters(req.ode_config.sor_pgs_iters); + pe->SetSORPGSW(req.ode_config.sor_pgs_w); + pe->SetWorldCFM(req.ode_config.cfm); + pe->SetWorldERP(req.ode_config.erp); + pe->SetContactSurfaceLayer(req.ode_config.contact_surface_layer); + pe->SetContactMaxCorrectingVel(req.ode_config.contact_max_correcting_vel); + pe->SetMaxContacts(req.ode_config.max_contacts); +#endif - world_->SetPaused(is_paused); + world_->SetPaused(is_paused); - res.success = true; - res.status_message = "physics engine updated"; - return true; + res.success = true; + res.status_message = "physics engine updated"; + } + else + { + /// \TODO: add support for simbody, dart and bullet physics properties. + ROS_ERROR("ROS set_physics_properties service call does not yet support physics engine [%s].", world_->GetPhysicsEngine()->GetType().c_str()); + res.success = false; + res.status_message = "Physics engine [" + world_->GetPhysicsEngine()->GetType() + "]: set_physics_properties not supported."; + } + return res.success; } bool GazeboRosApiPlugin::getPhysicsProperties(gazebo_msgs::GetPhysicsProperties::Request &req, @@ -1123,19 +1146,49 @@ bool GazeboRosApiPlugin::getPhysicsProperties(gazebo_msgs::GetPhysicsProperties: res.gravity.z = gravity.z; // stuff only works in ODE right now - res.ode_config.auto_disable_bodies = world_->GetPhysicsEngine()->GetAutoDisableFlag(); - res.ode_config.sor_pgs_precon_iters = world_->GetPhysicsEngine()->GetSORPGSPreconIters(); - res.ode_config.sor_pgs_iters = world_->GetPhysicsEngine()->GetSORPGSIters(); - res.ode_config.sor_pgs_w = world_->GetPhysicsEngine()->GetSORPGSW(); - res.ode_config.contact_surface_layer = world_->GetPhysicsEngine()->GetContactSurfaceLayer(); - res.ode_config.contact_max_correcting_vel = world_->GetPhysicsEngine()->GetContactMaxCorrectingVel(); - res.ode_config.cfm = world_->GetPhysicsEngine()->GetWorldCFM(); - res.ode_config.erp = world_->GetPhysicsEngine()->GetWorldERP(); - res.ode_config.max_contacts = world_->GetPhysicsEngine()->GetMaxContacts(); + if (world_->GetPhysicsEngine()->GetType() == "ode") + { + res.ode_config.auto_disable_bodies = + world_->GetPhysicsEngine()->GetAutoDisableFlag(); +#if GAZEBO_MAJOR_VERSION >= 3 + res.ode_config.sor_pgs_precon_iters = boost::any_cast( + world_->GetPhysicsEngine()->GetParam("precon_iters")); + res.ode_config.sor_pgs_iters = boost::any_cast( + world_->GetPhysicsEngine()->GetParam("iters")); + res.ode_config.sor_pgs_w = boost::any_cast( + world_->GetPhysicsEngine()->GetParam("sor")); + res.ode_config.contact_surface_layer = boost::any_cast( + world_->GetPhysicsEngine()->GetParam("contact_surface_layer")); + res.ode_config.contact_max_correcting_vel = boost::any_cast( + world_->GetPhysicsEngine()->GetParam("contact_max_correcting_vel")); + res.ode_config.cfm = boost::any_cast( + world_->GetPhysicsEngine()->GetParam("cfm")); + res.ode_config.erp = boost::any_cast( + world_->GetPhysicsEngine()->GetParam("erp")); + res.ode_config.max_contacts = boost::any_cast( + world_->GetPhysicsEngine()->GetParam("max_contacts")); +#else + res.ode_config.sor_pgs_precon_iters = world_->GetPhysicsEngine()->GetSORPGSPreconIters(); + res.ode_config.sor_pgs_iters = world_->GetPhysicsEngine()->GetSORPGSIters(); + res.ode_config.sor_pgs_w = world_->GetPhysicsEngine()->GetSORPGSW(); + res.ode_config.contact_surface_layer = world_->GetPhysicsEngine()->GetContactSurfaceLayer(); + res.ode_config.contact_max_correcting_vel = world_->GetPhysicsEngine()->GetContactMaxCorrectingVel(); + res.ode_config.cfm = world_->GetPhysicsEngine()->GetWorldCFM(); + res.ode_config.erp = world_->GetPhysicsEngine()->GetWorldERP(); + res.ode_config.max_contacts = world_->GetPhysicsEngine()->GetMaxContacts(); +#endif - res.success = true; - res.status_message = "GetPhysicsProperties: got properties"; - return true; + res.success = true; + res.status_message = "GetPhysicsProperties: got properties"; + } + else + { + /// \TODO: add support for simbody, dart and bullet physics properties. + ROS_ERROR("ROS get_physics_properties service call does not yet support physics engine [%s].", world_->GetPhysicsEngine()->GetType().c_str()); + res.success = false; + res.status_message = "Physics engine [" + world_->GetPhysicsEngine()->GetType() + "]: get_physics_properties not supported."; + } + return res.success; } bool GazeboRosApiPlugin::setJointProperties(gazebo_msgs::SetJointProperties::Request &req, @@ -1159,6 +1212,26 @@ bool GazeboRosApiPlugin::setJointProperties(gazebo_msgs::SetJointProperties::Req { for(unsigned int i=0;i< req.ode_joint_config.damping.size();i++) joint->SetDamping(i,req.ode_joint_config.damping[i]); +#if GAZEBO_MAJOR_VERSION >= 4 + for(unsigned int i=0;i< req.ode_joint_config.hiStop.size();i++) + joint->SetParam("hi_stop",i,req.ode_joint_config.hiStop[i]); + for(unsigned int i=0;i< req.ode_joint_config.loStop.size();i++) + joint->SetParam("lo_stop",i,req.ode_joint_config.loStop[i]); + for(unsigned int i=0;i< req.ode_joint_config.erp.size();i++) + joint->SetParam("erp",i,req.ode_joint_config.erp[i]); + for(unsigned int i=0;i< req.ode_joint_config.cfm.size();i++) + joint->SetParam("cfm",i,req.ode_joint_config.cfm[i]); + for(unsigned int i=0;i< req.ode_joint_config.stop_erp.size();i++) + joint->SetParam("stop_erp",i,req.ode_joint_config.stop_erp[i]); + for(unsigned int i=0;i< req.ode_joint_config.stop_cfm.size();i++) + joint->SetParam("stop_cfm",i,req.ode_joint_config.stop_cfm[i]); + for(unsigned int i=0;i< req.ode_joint_config.fudge_factor.size();i++) + joint->SetParam("fudge_factor",i,req.ode_joint_config.fudge_factor[i]); + for(unsigned int i=0;i< req.ode_joint_config.fmax.size();i++) + joint->SetParam("fmax",i,req.ode_joint_config.fmax[i]); + for(unsigned int i=0;i< req.ode_joint_config.vel.size();i++) + joint->SetParam("vel",i,req.ode_joint_config.vel[i]); +#else for(unsigned int i=0;i< req.ode_joint_config.hiStop.size();i++) joint->SetAttribute("hi_stop",i,req.ode_joint_config.hiStop[i]); for(unsigned int i=0;i< req.ode_joint_config.loStop.size();i++) @@ -1177,6 +1250,7 @@ bool GazeboRosApiPlugin::setJointProperties(gazebo_msgs::SetJointProperties::Req joint->SetAttribute("fmax",i,req.ode_joint_config.fmax[i]); for(unsigned int i=0;i< req.ode_joint_config.vel.size();i++) joint->SetAttribute("vel",i,req.ode_joint_config.vel[i]); +#endif res.success = true; res.status_message = "SetJointProperties: properties set"; @@ -1323,7 +1397,7 @@ bool GazeboRosApiPlugin::clearJointForces(std::string joint_name) while(search) { search = false; - for (std::vector::iterator iter=force_joint_jobs_.begin();iter!=force_joint_jobs_.end();iter++) + for (std::vector::iterator iter=force_joint_jobs_.begin();iter!=force_joint_jobs_.end();++iter) { if ((*iter)->joint->GetName() == joint_name) { @@ -1351,7 +1425,7 @@ bool GazeboRosApiPlugin::clearBodyWrenches(std::string body_name) while(search) { search = false; - for (std::vector::iterator iter=wrench_body_jobs_.begin();iter!=wrench_body_jobs_.end();iter++) + for (std::vector::iterator iter=wrench_body_jobs_.begin();iter!=wrench_body_jobs_.end();++iter) { //ROS_ERROR("search %s %s",(*iter)->body->GetScopedName().c_str(), body_name.c_str()); if ((*iter)->body->GetScopedName() == body_name) @@ -1497,7 +1571,6 @@ void GazeboRosApiPlugin::transformWrench( gazebo::math::Vector3 &target_force, g target_torque = target_to_reference.rot.RotateVector(reference_torque); // target force is the refence force rotated by the target->reference transform - target_force = target_force; target_torque = target_torque + target_to_reference.pos.Cross(target_force); } @@ -1661,10 +1734,10 @@ void GazeboRosApiPlugin::wrenchBodySchedulerSlot() { // remove from queue once expires delete (*iter); - wrench_body_jobs_.erase(iter); + iter = wrench_body_jobs_.erase(iter); } else - iter++; + ++iter; } lock_.unlock(); } @@ -1691,10 +1764,10 @@ void GazeboRosApiPlugin::forceJointSchedulerSlot() (*iter)->duration.toSec() >= 0.0) { // remove from queue once expires - force_joint_jobs_.erase(iter); + iter = force_joint_jobs_.erase(iter); } else - iter++; + ++iter; } lock_.unlock(); } @@ -1875,7 +1948,7 @@ void GazeboRosApiPlugin::physicsReconfigureThread() physics_reconfigure_set_client_ = nh_->serviceClient("/gazebo/set_physics_properties"); physics_reconfigure_get_client_ = nh_->serviceClient("/gazebo/get_physics_properties"); - // Wait until the rest of this plugin is loaded and the services are being offered + // Wait until the rest of this plugin is loaded and the services are being offered physics_reconfigure_set_client_.waitForExistence(); physics_reconfigure_get_client_.waitForExistence(); @@ -1904,7 +1977,7 @@ void GazeboRosApiPlugin::stripXmlDeclaration(std::string &model_xml) void GazeboRosApiPlugin::updateSDFAttributes(TiXmlDocument &gazebo_model_xml, std::string model_name, gazebo::math::Vector3 initial_xyz, gazebo::math::Quaternion initial_q) { - // This function can handle both regular SDF files and SDFs that are used with the + // This function can handle both regular SDF files and SDFs that are used with the // Gazebo Model Database TiXmlElement* pose_element; // This is used by both reguar and database SDFs @@ -1929,75 +2002,135 @@ void GazeboRosApiPlugin::updateSDFAttributes(TiXmlDocument &gazebo_model_xml, st } // replace with user specified name model_tixml->SetAttribute("name",model_name); - - // Check for the pose element - pose_element = model_tixml->FirstChildElement("pose"); - - // Create the pose element if it doesn't exist - if (!pose_element) - { - pose_element = new TiXmlElement("pose"); - model_tixml->LinkEndChild(pose_element); - } - - // Pose is set at bottom of function } else { // Check SDF for world element TiXmlElement* world_tixml = gazebo_tixml->FirstChildElement("world"); if (!world_tixml) - { + { ROS_WARN("Could not find or element in sdf, so name and initial position cannot be applied"); return; } - // Check SDF for required include element - TiXmlElement* include_tixml = world_tixml->FirstChildElement("include"); - if (!include_tixml) - { + // If not element, check SDF for required include element + model_tixml = world_tixml->FirstChildElement("include"); + if (!model_tixml) + { ROS_WARN("Could not find element in sdf, so name and initial position cannot be applied"); return; } // Check for name element - TiXmlElement* name_tixml = include_tixml->FirstChildElement("name"); + TiXmlElement* name_tixml = model_tixml->FirstChildElement("name"); if (!name_tixml) - { + { // Create the name element name_tixml = new TiXmlElement("name"); - include_tixml->LinkEndChild(name_tixml); - } + model_tixml->LinkEndChild(name_tixml); + } // Set the text within the name element TiXmlText* text = new TiXmlText(model_name); - name_tixml->LinkEndChild( text ); + name_tixml->LinkEndChild( text ); + } - // Check for the pose element - pose_element = include_tixml->FirstChildElement("pose"); - // Create the pose element if it doesn't exist - if (!pose_element) - { - pose_element = new TiXmlElement("pose"); - include_tixml->LinkEndChild(pose_element); - } - // Pose is set at bottom of function - } + // Check for the pose element + pose_element = model_tixml->FirstChildElement("pose"); + gazebo::math::Pose model_pose; - // Set the pose value for both SDFs types here + // Create the pose element if it doesn't exist + // Remove it if it exists, since we are inserting a new one if (pose_element) { + // save pose_element in math::Pose and remove child + model_pose = this->parsePose(pose_element->GetText()); + model_tixml->RemoveChild(pose_element); + } + + // Set and link the pose element after adding initial pose + { + // add pose_element Pose to initial pose + gazebo::math::Pose new_model_pose = model_pose + gazebo::math::Pose(initial_xyz, initial_q); + // Create the string of 6 numbers std::ostringstream pose_stream; - gazebo::math::Vector3 initial_rpy = initial_q.GetAsEuler(); // convert to Euler angles for Gazebo XML - pose_stream << initial_xyz.x << " " << initial_xyz.y << " " << initial_xyz.z << " " - << initial_rpy.x << " " << initial_rpy.y << " " << initial_rpy.z; + gazebo::math::Vector3 model_rpy = new_model_pose.rot.GetAsEuler(); // convert to Euler angles for Gazebo XML + pose_stream << new_model_pose.pos.x << " " << new_model_pose.pos.y << " " << new_model_pose.pos.z << " " + << model_rpy.x << " " << model_rpy.y << " " << model_rpy.z; // Add value to pose element - TiXmlText* text = new TiXmlText(pose_stream.str()); - pose_element->LinkEndChild( text ); + TiXmlText* text = new TiXmlText(pose_stream.str()); + TiXmlElement* new_pose_element = new TiXmlElement("pose"); + new_pose_element->LinkEndChild(text); + model_tixml->LinkEndChild(new_pose_element); } +} +gazebo::math::Pose GazeboRosApiPlugin::parsePose(const std::string &str) +{ + std::vector pieces; + std::vector vals; + + boost::split(pieces, str, boost::is_any_of(" ")); + for (unsigned int i = 0; i < pieces.size(); ++i) + { + if (pieces[i] != "") + { + try + { + vals.push_back(boost::lexical_cast(pieces[i].c_str())); + } + catch(boost::bad_lexical_cast &e) + { + sdferr << "xml key [" << str + << "][" << i << "] value [" << pieces[i] + << "] is not a valid double from a 3-tuple\n"; + return gazebo::math::Pose(); + } + } + } + + if (vals.size() == 6) + return gazebo::math::Pose(vals[0], vals[1], vals[2], vals[3], vals[4], vals[5]); + else + { + ROS_ERROR("Beware: failed to parse string [%s] as gazebo::math::Pose, returning zeros.", str.c_str()); + return gazebo::math::Pose(); + } +} + +gazebo::math::Vector3 GazeboRosApiPlugin::parseVector3(const std::string &str) +{ + std::vector pieces; + std::vector vals; + + boost::split(pieces, str, boost::is_any_of(" ")); + for (unsigned int i = 0; i < pieces.size(); ++i) + { + if (pieces[i] != "") + { + try + { + vals.push_back(boost::lexical_cast(pieces[i].c_str())); + } + catch(boost::bad_lexical_cast &e) + { + sdferr << "xml key [" << str + << "][" << i << "] value [" << pieces[i] + << "] is not a valid double from a 3-tuple\n"; + return gazebo::math::Vector3(); + } + } + } + + if (vals.size() == 3) + return gazebo::math::Vector3(vals[0], vals[1], vals[2]); + else + { + ROS_ERROR("Beware: failed to parse string [%s] as gazebo::math::Vector3, returning zeros.", str.c_str()); + return gazebo::math::Vector3(); + } } void GazeboRosApiPlugin::updateURDFModelPose(TiXmlDocument &gazebo_model_xml, gazebo::math::Vector3 initial_xyz, gazebo::math::Quaternion initial_q) @@ -2015,17 +2148,28 @@ void GazeboRosApiPlugin::updateURDFModelPose(TiXmlDocument &gazebo_model_xml, ga model_tixml->LinkEndChild(origin_key); } + gazebo::math::Vector3 xyz; + gazebo::math::Vector3 rpy; if (origin_key->Attribute("xyz")) + { + xyz = this->parseVector3(origin_key->Attribute("xyz")); origin_key->RemoveAttribute("xyz"); + } if (origin_key->Attribute("rpy")) + { + rpy = this->parseVector3(origin_key->Attribute("rpy")); origin_key->RemoveAttribute("rpy"); + } + + // add xyz, rpy to initial pose + gazebo::math::Pose model_pose = gazebo::math::Pose(xyz, rpy) + gazebo::math::Pose(initial_xyz, initial_q); std::ostringstream xyz_stream; - xyz_stream << initial_xyz.x << " " << initial_xyz.y << " " << initial_xyz.z; + xyz_stream << model_pose.pos.x << " " << model_pose.pos.y << " " << model_pose.pos.z; std::ostringstream rpy_stream; - gazebo::math::Vector3 initial_rpy = initial_q.GetAsEuler(); // convert to Euler angles for Gazebo XML - rpy_stream << initial_rpy.x << " " << initial_rpy.y << " " << initial_rpy.z; + gazebo::math::Vector3 model_rpy = model_pose.rot.GetAsEuler(); // convert to Euler angles for Gazebo XML + rpy_stream << model_rpy.x << " " << model_rpy.y << " " << model_rpy.z; origin_key->SetAttribute("xyz",xyz_stream.str()); origin_key->SetAttribute("rpy",rpy_stream.str()); @@ -2079,20 +2223,20 @@ void GazeboRosApiPlugin::walkChildAddRobotNamespace(TiXmlNode* robot_xml) } } -bool GazeboRosApiPlugin::spawnAndConform(TiXmlDocument &gazebo_model_xml, std::string model_name, +bool GazeboRosApiPlugin::spawnAndConform(TiXmlDocument &gazebo_model_xml, std::string model_name, gazebo_msgs::SpawnModel::Response &res) { // push to factory iface std::ostringstream stream; stream << gazebo_model_xml; std::string gazebo_model_xml_string = stream.str(); - //ROS_DEBUG("Gazebo Model XML\n\n%s\n\n ",gazebo_model_xml_string.c_str()); + ROS_DEBUG("Gazebo Model XML\n\n%s\n\n ",gazebo_model_xml_string.c_str()); // publish to factory topic gazebo::msgs::Factory msg; gazebo::msgs::Init(msg, "spawn_model"); msg.set_sdf( gazebo_model_xml_string ); - + //ROS_ERROR("attempting to spawn model name [%s] [%s]", model_name.c_str(),gazebo_model_xml_string.c_str()); // FIXME: should use entity_info or add lock to World::receiveMutex @@ -2132,11 +2276,11 @@ bool GazeboRosApiPlugin::spawnAndConform(TiXmlDocument &gazebo_model_xml, std::s { //boost::recursive_mutex::scoped_lock lock(*world->GetMRMutex()); - if (world_->GetModel(model_name)) + if (world_->GetModel(model_name)) break; } - ROS_DEBUG_STREAM_ONCE_NAMED("api_plugin","Waiting for " << timeout - ros::Time::now() + ROS_DEBUG_STREAM_ONCE_NAMED("api_plugin","Waiting for " << timeout - ros::Time::now() << " for model " << model_name << " to spawn"); usleep(2000); diff --git a/gazebo_ros/src/gazebo_ros_api_plugin.h b/gazebo_ros/src/gazebo_ros_api_plugin.h index 7305bbf5a..76adbf3df 100644 --- a/gazebo_ros/src/gazebo_ros_api_plugin.h +++ b/gazebo_ros/src/gazebo_ros_api_plugin.h @@ -1,28 +1,23 @@ /* - * Gazebo - Outdoor Multi-Robot Simulator - * Copyright (C) 2003 - * Nate Koenig & Andrew Howard + * Copyright (C) 2012-2014 Open Source Robotics Foundation * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. + * 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 * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. + * http://www.apache.org/licenses/LICENSE-2.0 * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * 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: External interfaces for Gazebo +*/ +/* + * Desc: External interfaces for Gazebo * Author: Nate Koenig, John Hsu, Dave Coleman * Date: 25 Apr 2010 - * SVN: $Id: main.cc 8598 2010-03-22 21:59:24Z hsujohnhsu $ */ #ifndef __GAZEBO_ROS_API_PLUGIN_HH__ @@ -251,11 +246,11 @@ class GazeboRosApiPlugin : public SystemPlugin void updateSDFAttributes(TiXmlDocument &gazebo_model_xml, std::string model_name, gazebo::math::Vector3 initial_xyz, gazebo::math::Quaternion initial_q); - /// \brief Update the model name and pose of the URDF file before sending to Gazebo + /// \brief Update the model pose of the URDF file before sending to Gazebo void updateURDFModelPose(TiXmlDocument &gazebo_model_xml, gazebo::math::Vector3 initial_xyz, gazebo::math::Quaternion initial_q); - /// \brief + /// \brief Update the model name of the URDF file before sending to Gazebo void updateURDFName(TiXmlDocument &gazebo_model_xml, std::string model_name); /// \brief @@ -289,6 +284,12 @@ class GazeboRosApiPlugin : public SystemPlugin /// \brief Connect to Gazebo via its plugin interface, get a pointer to the world, start events void loadGazeboRosApiPlugin(std::string world_name); + /// \brief convert xml to Pose + gazebo::math::Pose parsePose(const std::string &str); + + /// \brief convert xml to Pose + gazebo::math::Vector3 parseVector3(const std::string &str); + // track if the desconstructor event needs to occur bool plugin_loaded_; diff --git a/gazebo_ros/src/gazebo_ros_paths_plugin.cpp b/gazebo_ros/src/gazebo_ros_paths_plugin.cpp index 38362e55f..8bff3f4ed 100644 --- a/gazebo_ros/src/gazebo_ros_paths_plugin.cpp +++ b/gazebo_ros/src/gazebo_ros_paths_plugin.cpp @@ -1,38 +1,19 @@ -/********************************************************************* - * Software License Agreement (BSD License) +/* + * Copyright (C) 2012-2014 Open Source Robotics Foundation * - * Copyright (c) 2013, Open Source Robotics Foundation - * All rights reserved. + * 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 * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: + * http://www.apache.org/licenses/LICENSE-2.0 * - * * 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. + * 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. * - * 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: John Hsu, Nate Koenig, Dave Coleman * Desc: External interfaces for Gazebo diff --git a/gazebo_ros_control/CHANGELOG.rst b/gazebo_ros_control/CHANGELOG.rst index c19477eb8..ee034b9ca 100644 --- a/gazebo_ros_control/CHANGELOG.rst +++ b/gazebo_ros_control/CHANGELOG.rst @@ -2,6 +2,91 @@ Changelog for package gazebo_ros_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.4.6 (2014-09-01) +------------------ +* Update default_robot_hw_sim.cpp +* Reduced changes +* Fix to work with gazebo3 +* Fix build with gazebo4 and indigo +* Update package.xml + Add new maintainer. +* Contributors: Adolfo Rodriguez Tsouroukdissian, Jose Luis Rivero, Nate Koenig, hsu + +2.4.5 (2014-08-18) +------------------ +* Fix typo: GAZEBO_VERSION_MAJOR -> GAZEBO_MAJOR_VERSION +* Port fix_build branch for indigo-devel + See pull request `#221 `_ +* Contributors: Jose Luis Rivero, Steven Peters + +2.4.4 (2014-07-18) +------------------ +* Update package.xml + Add new maintainer. +* Should fix build error for binary releases. + See: http://www.ros.org/debbuild/indigo.html?q=gazebo_ros_control +* Updated package.xml +* gazebo_ros_control: default_robot_hw_sim: Suppressing pid error message + Depends on `ros-controls/control_toolbox#21 `_ +* Revert 4776545, as it belongs in indigo-devel. +* Fix repo names in package.xml's +* gazebo_ros_control: default_robot_hw_sim: Suppressing pid error message, depends on `ros-controls/control_toolbox#21 `_ +* gazebo_ros_control: Add dependency on angles +* gazebo_ros_control: Add build-time dependency on gazebo + This fixes a regression caused by a889ef8b768861231a67b78781514d834f631b8e +* Contributors: Adolfo Rodriguez Tsouroukdissian, Alexander Bubeck, Dave Coleman, Jon Binney, Jonathan Bohren, Scott K Logan + +2.4.3 (2014-05-12) +------------------ +* Compatibility with Indigo's ros_control. + Also fixes `#184 `_. +* Remove build-time dependency on gazebo_ros. +* Fix broken build due to wrong rosconsole macro use +* Contributors: Adolfo Rodriguez Tsouroukdissian + +2.4.2 (2014-03-27) +------------------ +* merging from hydro-devel +* bump patch version for indigo-devel to 2.4.1 +* merging from indigo-devel after 2.3.4 release +* Merge branch 'hydro-devel' of github.com:ros-simulation/gazebo_ros_pkgs into indigo-devel +* "2.4.0" +* catkin_generate_changelog +* Contributors: John Hsu + +2.4.1 (2013-11-13) +------------------ + +2.3.5 (2014-03-26) +------------------ +* Removed some debugging code. +* joint->SetAngle() and joint->SetVelocity() are now used to control + position-controlled joints and velocity-controlled joints that do not + have PID gain values stored on the Parameter Server. +* Position-controlled and velocity-controlled joints now use PID controllers + instead of calling SetAngle() or SetVelocity(). readSim() now longer calls + angles::shortest_angular_distance() when a joint is prismatic. + PLUGINLIB_EXPORT_CLASS is now used to register the plugin. +* gazebo_ros_control now depends on control_toolbox. +* Added support for the position hardware interface. Completed support for the + velocity hardware interface. +* Removed the "support more hardware interfaces" line. +* Contributors: Jim Rothrock + +2.3.4 (2013-11-13) +------------------ +* rerelease because sdformat became libsdformat, but we also based change on 2.3.4 in hydro-devel. +* Merge pull request `#144 `_ from meyerj/fix-125 + Fixed `#125 `_: ``gazebo_ros_control``: controlPeriod greater than the simulation period causes unexpected results +* Merge pull request `#134 `_ from meyerj/gazebo-ros-control-use-model-nh + ``gazebo_ros_control``: Use the model NodeHandle to get the ``robot_description`` parameter +* ``gazebo_ros_control``: added GazeboRosControlPlugin::Reset() method that resets the timestamps on world reset +* ``gazebo_ros_control``: call writeSim() for each Gazebo world update independent of the control period +* ``gazebo_ros_pkgs``: use GetMaxStepSize() for the Gazebo simulation period +* ``gazebo_ros_control``: use the model NodeHandle to get the ``robot_description`` parameter +* Add missing ``run_depend`` to urdf in ``gazebo_ros_control`` +* Remove dependency to meta-package ``ros_controllers`` + 2.4.0 (2013-10-14) ------------------ diff --git a/gazebo_ros_control/CMakeLists.txt b/gazebo_ros_control/CMakeLists.txt index 3969d1e8d..3bd395a3d 100644 --- a/gazebo_ros_control/CMakeLists.txt +++ b/gazebo_ros_control/CMakeLists.txt @@ -4,13 +4,14 @@ project(gazebo_ros_control) # Load catkin and all dependencies required for this package find_package(catkin REQUIRED COMPONENTS roscpp - gazebo_ros + control_toolbox controller_manager hardware_interface transmission_interface pluginlib joint_limits_interface urdf + angles ) # Depend on system install of Gazebo @@ -19,11 +20,11 @@ find_package(gazebo REQUIRED) catkin_package( CATKIN_DEPENDS roscpp - gazebo_ros controller_manager pluginlib transmission_interface INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} default_robot_hw_sim DEPENDS gazebo ) diff --git a/gazebo_ros_control/README.md b/gazebo_ros_control/README.md index 036198b33..01ccb5935 100644 --- a/gazebo_ros_control/README.md +++ b/gazebo_ros_control/README.md @@ -10,5 +10,4 @@ controller manager and connects it to a Gazebo model. ## Future Direction - - Implement tranmissions - - In the default plugin support more hardware interfaces + - Implement transmissions diff --git a/gazebo_ros_control/include/gazebo_ros_control/default_robot_hw_sim.h b/gazebo_ros_control/include/gazebo_ros_control/default_robot_hw_sim.h new file mode 100644 index 000000000..ea65641d3 --- /dev/null +++ b/gazebo_ros_control/include/gazebo_ros_control/default_robot_hw_sim.h @@ -0,0 +1,139 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Open Source Robotics Foundation + * Copyright (c) 2013, The Johns Hopkins University + * 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: Dave Coleman, Johnathan Bohren + Desc: Hardware Interface for any simulated robot in Gazebo +*/ + +#ifndef _GAZEBO_ROS_CONTROL___DEFAULT_ROBOT_HW_SIM_H_ +#define _GAZEBO_ROS_CONTROL___DEFAULT_ROBOT_HW_SIM_H_ + +// ros_control +#include +#include +#include +#include +#include +#include +#include + +// Gazebo +#include +#include +#include + +// ROS +#include +#include +#include + +// gazebo_ros_control +#include + +// URDF +#include + + + +namespace gazebo_ros_control +{ + +class DefaultRobotHWSim : public gazebo_ros_control::RobotHWSim +{ +public: + + virtual bool initSim( + const std::string& robot_namespace, + ros::NodeHandle model_nh, + gazebo::physics::ModelPtr parent_model, + const urdf::Model *const urdf_model, + std::vector transmissions); + + virtual void readSim(ros::Time time, ros::Duration period); + + virtual void writeSim(ros::Time time, ros::Duration period); + +protected: + // Methods used to control a joint. + enum ControlMethod {EFFORT, POSITION, POSITION_PID, VELOCITY, VELOCITY_PID}; + + // Register the limits of the joint specified by joint_name and joint_handle. The limits are + // retrieved from joint_limit_nh. If urdf_model is not NULL, limits are retrieved from it also. + // Return the joint's type, lower position limit, upper position limit, and effort limit. + void registerJointLimits(const std::string& joint_name, + const hardware_interface::JointHandle& joint_handle, + const ControlMethod ctrl_method, + const ros::NodeHandle& joint_limit_nh, + const urdf::Model *const urdf_model, + int *const joint_type, double *const lower_limit, + double *const upper_limit, double *const effort_limit); + + unsigned int n_dof_; + + hardware_interface::JointStateInterface js_interface_; + hardware_interface::EffortJointInterface ej_interface_; + hardware_interface::PositionJointInterface pj_interface_; + hardware_interface::VelocityJointInterface vj_interface_; + + joint_limits_interface::EffortJointSaturationInterface ej_sat_interface_; + joint_limits_interface::EffortJointSoftLimitsInterface ej_limits_interface_; + joint_limits_interface::PositionJointSaturationInterface pj_sat_interface_; + joint_limits_interface::PositionJointSoftLimitsInterface pj_limits_interface_; + joint_limits_interface::VelocityJointSaturationInterface vj_sat_interface_; + joint_limits_interface::VelocityJointSoftLimitsInterface vj_limits_interface_; + + std::vector joint_names_; + std::vector joint_types_; + std::vector joint_lower_limits_; + std::vector joint_upper_limits_; + std::vector joint_effort_limits_; + std::vector joint_control_methods_; + std::vector pid_controllers_; + std::vector joint_position_; + std::vector joint_velocity_; + std::vector joint_effort_; + std::vector joint_effort_command_; + std::vector joint_position_command_; + std::vector joint_velocity_command_; + + std::vector sim_joints_; +}; + +typedef boost::shared_ptr DefaultRobotHWSimPtr; + +} + +#endif // #ifndef __GAZEBO_ROS_CONTROL_PLUGIN_DEFAULT_ROBOT_HW_SIM_H_ diff --git a/gazebo_ros_control/include/gazebo_ros_control/gazebo_ros_control_plugin.h b/gazebo_ros_control/include/gazebo_ros_control/gazebo_ros_control_plugin.h index e9a9fdfa3..320b5fc8c 100644 --- a/gazebo_ros_control/include/gazebo_ros_control/gazebo_ros_control_plugin.h +++ b/gazebo_ros_control/include/gazebo_ros_control/gazebo_ros_control_plugin.h @@ -72,6 +72,9 @@ class GazeboRosControlPlugin : public gazebo::ModelPlugin // Called by the world update start event void Update(); + // Called on world reset + virtual void Reset(); + // Get the URDF XML from the parameter server std::string getURDF(std::string param_name) const; @@ -81,7 +84,6 @@ class GazeboRosControlPlugin : public gazebo::ModelPlugin protected: // Node Handles - ros::NodeHandle nh_; // no namespace ros::NodeHandle model_nh_; // namespaces to robot name // Pointer to the model @@ -114,7 +116,8 @@ class GazeboRosControlPlugin : public gazebo::ModelPlugin // Timing ros::Duration control_period_; - ros::Time last_sim_time_ros_; + ros::Time last_update_sim_time_ros_; + ros::Time last_write_sim_time_ros_; }; diff --git a/gazebo_ros_control/package.xml b/gazebo_ros_control/package.xml index 01f5864e9..44d12ade3 100644 --- a/gazebo_ros_control/package.xml +++ b/gazebo_ros_control/package.xml @@ -1,16 +1,16 @@ gazebo_ros_control - 2.4.0 + 2.4.6 gazebo_ros_control Jonathan Bohren - Dave Coleman + Adolfo Rodriguez Tsouroukdissian BSD http://ros.org/wiki/gazebo_ros_control - https://github.com/osrf/gazebo_ros_pkgs/issues - https://github.com/osrf/gazebo_ros_pkgs + https://github.com/ros-simulation/gazebo_ros_pkgs/issues + https://github.com/ros-simulation/gazebo_ros_pkgs Jonathan Bohren Dave Coleman @@ -18,19 +18,24 @@ catkin roscpp - gazebo_ros + gazebo + control_toolbox controller_manager pluginlib transmission_interface joint_limits_interface urdf + angles - roscpp + roscpp + gazebo gazebo_ros + control_toolbox controller_manager pluginlib - ros_controllers transmission_interface + urdf + angles diff --git a/gazebo_ros_control/src/default_robot_hw_sim.cpp b/gazebo_ros_control/src/default_robot_hw_sim.cpp index c4b4332b8..e7eb7b762 100644 --- a/gazebo_ros_control/src/default_robot_hw_sim.cpp +++ b/gazebo_ros_control/src/default_robot_hw_sim.cpp @@ -38,265 +38,414 @@ Desc: Hardware Interface for any simulated robot in Gazebo */ -#ifndef _GAZEBO_ROS_CONTROL___DEFAULT_ROBOT_HW_SIM_H_ -#define _GAZEBO_ROS_CONTROL___DEFAULT_ROBOT_HW_SIM_H_ -// ros_control -#include -#include -#include -#include -#include -#include +#include -// Gazebo -#include -#include -#include -// ROS -#include -#include -#include +namespace +{ -// gazebo_ros_control -#include +double clamp(const double val, const double min_val, const double max_val) +{ + return std::min(std::max(val, min_val), max_val); +} -// URDF -#include +} namespace gazebo_ros_control { -class DefaultRobotHWSim : public gazebo_ros_control::RobotHWSim + +bool DefaultRobotHWSim::initSim( + const std::string& robot_namespace, + ros::NodeHandle model_nh, + gazebo::physics::ModelPtr parent_model, + const urdf::Model *const urdf_model, + std::vector transmissions) { -public: - - bool initSim( - const std::string& robot_namespace, - ros::NodeHandle model_nh, - gazebo::physics::ModelPtr parent_model, - const urdf::Model *const urdf_model, - std::vector transmissions) + // getJointLimits() searches joint_limit_nh for joint limit parameters. The format of each + // parameter's name is "joint_limits/". An example is "joint_limits/axle_joint". + const ros::NodeHandle joint_limit_nh(model_nh, robot_namespace); + + // Resize vectors to our DOF + n_dof_ = transmissions.size(); + joint_names_.resize(n_dof_); + joint_types_.resize(n_dof_); + joint_lower_limits_.resize(n_dof_); + joint_upper_limits_.resize(n_dof_); + joint_effort_limits_.resize(n_dof_); + joint_control_methods_.resize(n_dof_); + pid_controllers_.resize(n_dof_); + joint_position_.resize(n_dof_); + joint_velocity_.resize(n_dof_); + joint_effort_.resize(n_dof_); + joint_effort_command_.resize(n_dof_); + joint_position_command_.resize(n_dof_); + joint_velocity_command_.resize(n_dof_); + + // Initialize values + for(unsigned int j=0; j < n_dof_; j++) { - // getJointLimits() searches joint_limit_nh for joint limit parameters. The format of each - // parameter's name is "joint_limits/". An example is "joint_limits/axle_joint". - const ros::NodeHandle joint_limit_nh(model_nh, robot_namespace); - - // Resize vectors to our DOF - n_dof_ = transmissions.size(); - joint_names_.resize(n_dof_); - joint_position_.resize(n_dof_); - joint_velocity_.resize(n_dof_); - joint_effort_.resize(n_dof_); - joint_effort_command_.resize(n_dof_); - joint_velocity_command_.resize(n_dof_); - - // Initialize values - for(unsigned int j=0; j < n_dof_; j++) + // Check that this transmission has one joint + if(transmissions[j].joints_.size() == 0) { - // Check that this transmission has one joint - if(transmissions[j].joints_.size() == 0) - { - ROS_WARN_STREAM_NAMED("default_robot_hw_sim","Transmission " << transmissions[j].name_ - << " has no associated joints."); - continue; - } - else if(transmissions[j].joints_.size() > 1) - { - ROS_WARN_STREAM_NAMED("default_robot_hw_sim","Transmission " << transmissions[j].name_ - << " has more than one joint. Currently the default robot hardware simulation " - << " interface only supports one."); - continue; - } + ROS_WARN_STREAM_NAMED("default_robot_hw_sim","Transmission " << transmissions[j].name_ + << " has no associated joints."); + continue; + } + else if(transmissions[j].joints_.size() > 1) + { + ROS_WARN_STREAM_NAMED("default_robot_hw_sim","Transmission " << transmissions[j].name_ + << " has more than one joint. Currently the default robot hardware simulation " + << " interface only supports one."); + continue; + } - // Check that this transmission has one actuator - if(transmissions[j].actuators_.size() == 0) - { - ROS_WARN_STREAM_NAMED("default_robot_hw_sim","Transmission " << transmissions[j].name_ - << " has no associated actuators."); - continue; - } - else if(transmissions[j].actuators_.size() > 1) - { - ROS_WARN_STREAM_NAMED("default_robot_hw_sim","Transmission " << transmissions[j].name_ - << " has more than one actuator. Currently the default robot hardware simulation " - << " interface only supports one."); - continue; - } + std::vector joint_interfaces = transmissions[j].joints_[0].hardware_interfaces_; + if (joint_interfaces.empty() && + !(transmissions[j].actuators_.empty()) && + !(transmissions[j].actuators_[0].hardware_interfaces_.empty())) + { + // TODO: Deprecate HW interface specification in actuators in ROS J + joint_interfaces = transmissions[j].actuators_[0].hardware_interfaces_; + ROS_WARN_STREAM_NAMED("default_robot_hw_sim", "The element of tranmission " << + transmissions[j].name_ << " should be nested inside the element, not . " << + "The transmission will be properly loaded, but please update " << + "your robot model to remain compatible with future versions of the plugin."); + } + if (joint_interfaces.empty()) + { + ROS_WARN_STREAM_NAMED("default_robot_hw_sim", "Joint " << transmissions[j].joints_[0].name_ << + " of transmission " << transmissions[j].name_ << " does not specify any hardware interface. " << + "Not adding it to the robot hardware simulation."); + continue; + } + else if (joint_interfaces.size() > 1) + { + ROS_WARN_STREAM_NAMED("default_robot_hw_sim", "Joint " << transmissions[j].joints_[0].name_ << + " of transmission " << transmissions[j].name_ << " specifies multiple hardware interfaces. " << + "Currently the default robot hardware simulation interface only supports one. Using the first entry!"); + //continue; + } - // Add data from transmission - joint_names_[j] = transmissions[j].joints_[0].name_; - joint_position_[j] = 1.0; - joint_velocity_[j] = 0.0; - joint_effort_[j] = 1.0; // N/m for continuous joints - joint_effort_command_[j] = 0.0; - joint_velocity_command_[j] = 0.0; + // Add data from transmission + joint_names_[j] = transmissions[j].joints_[0].name_; + joint_position_[j] = 1.0; + joint_velocity_[j] = 0.0; + joint_effort_[j] = 1.0; // N/m for continuous joints + joint_effort_command_[j] = 0.0; + joint_position_command_[j] = 0.0; + joint_velocity_command_[j] = 0.0; - const std::string& hardware_interface = transmissions[j].actuators_[0].hardware_interface_; + const std::string& hardware_interface = joint_interfaces.front(); - // Debug - ROS_DEBUG_STREAM_NAMED("default_robot_hw_sim","Loading joint '" << joint_names_[j] - << "' of type '" << hardware_interface << "'"); + // Debug + ROS_DEBUG_STREAM_NAMED("default_robot_hw_sim","Loading joint '" << joint_names_[j] + << "' of type '" << hardware_interface << "'"); - // Create joint state interface for all joints - js_interface_.registerHandle(hardware_interface::JointStateHandle( - joint_names_[j], &joint_position_[j], &joint_velocity_[j], &joint_effort_[j])); + // Create joint state interface for all joints + js_interface_.registerHandle(hardware_interface::JointStateHandle( + joint_names_[j], &joint_position_[j], &joint_velocity_[j], &joint_effort_[j])); - // Decide what kind of command interface this actuator/joint has - if(hardware_interface == "EffortJointInterface") - { - // Create effort joint interface - hardware_interface::JointHandle joint_handle(js_interface_.getHandle(joint_names_[j]), + // Decide what kind of command interface this actuator/joint has + hardware_interface::JointHandle joint_handle; + if(hardware_interface == "EffortJointInterface") + { + // Create effort joint interface + joint_control_methods_[j] = EFFORT; + joint_handle = hardware_interface::JointHandle(js_interface_.getHandle(joint_names_[j]), &joint_effort_command_[j]); - ej_interface_.registerHandle(joint_handle); - registerEffortJointLimits(joint_names_[j], joint_handle, joint_limit_nh, urdf_model); - } - else if(hardware_interface == "VelocityJointInterface") - { - // Create velocity joint interface - vj_interface_.registerHandle(hardware_interface::JointHandle( - js_interface_.getHandle(joint_names_[j]),&joint_velocity_command_[j])); - } - else - { - ROS_FATAL_STREAM_NAMED("default_robot_hw_sim","No matching hardware interface found for '" - << hardware_interface ); - return false; - } + ej_interface_.registerHandle(joint_handle); + } + else if(hardware_interface == "PositionJointInterface") + { + // Create position joint interface + joint_control_methods_[j] = POSITION; + joint_handle = hardware_interface::JointHandle(js_interface_.getHandle(joint_names_[j]), + &joint_position_command_[j]); + pj_interface_.registerHandle(joint_handle); + } + else if(hardware_interface == "VelocityJointInterface") + { + // Create velocity joint interface + joint_control_methods_[j] = VELOCITY; + joint_handle = hardware_interface::JointHandle(js_interface_.getHandle(joint_names_[j]), + &joint_velocity_command_[j]); + vj_interface_.registerHandle(joint_handle); + } + else + { + ROS_FATAL_STREAM_NAMED("default_robot_hw_sim","No matching hardware interface found for '" + << hardware_interface ); + return false; } - // Register interfaces - registerInterface(&js_interface_); - registerInterface(&ej_interface_); - registerInterface(&vj_interface_); + // Get the gazebo joint that corresponds to the robot joint. + //ROS_DEBUG_STREAM_NAMED("default_robot_hw_sim", "Getting pointer to gazebo joint: " + // << joint_names_[j]); + gazebo::physics::JointPtr joint = parent_model->GetJoint(joint_names_[j]); + if (!joint) + { + ROS_ERROR_STREAM("This robot has a joint named \"" << joint_names_[j] + << "\" which is not in the gazebo model."); + return false; + } + sim_joints_.push_back(joint); - // Get the gazebo joints that correspond to the robot joints - for(unsigned int j=0; j < n_dof_; j++) + registerJointLimits(joint_names_[j], joint_handle, joint_control_methods_[j], + joint_limit_nh, urdf_model, + &joint_types_[j], &joint_lower_limits_[j], &joint_upper_limits_[j], + &joint_effort_limits_[j]); + if (joint_control_methods_[j] != EFFORT) { - //ROS_DEBUG_STREAM_NAMED("default_robot_hw_sim", "Getting pointer to gazebo joint: " - // << joint_names_[j]); - gazebo::physics::JointPtr joint = parent_model->GetJoint(joint_names_[j]); - if (joint) + // Initialize the PID controller. If no PID gain values are found, use joint->SetAngle() or + // joint->SetVelocity() to control the joint. + const ros::NodeHandle nh(model_nh, robot_namespace + "/gazebo_ros_control/pid_gains/" + + joint_names_[j]); + if (pid_controllers_[j].init(nh, true)) { - sim_joints_.push_back(joint); + switch (joint_control_methods_[j]) + { + case POSITION: + joint_control_methods_[j] = POSITION_PID; + break; + case VELOCITY: + joint_control_methods_[j] = VELOCITY_PID; + break; + } } else { - ROS_ERROR_STREAM("This robot has a joint named \"" << joint_names_[j] - << "\" which is not in the gazebo model."); - return false; + // joint->SetMaxForce() must be called if joint->SetAngle() or joint->SetVelocity() are + // going to be called. joint->SetMaxForce() must *not* be called if joint->SetForce() is + // going to be called. + joint->SetMaxForce(0, joint_effort_limits_[j]); } } - - return true; } - void readSim(ros::Time time, ros::Duration period) + // Register interfaces + registerInterface(&js_interface_); + registerInterface(&ej_interface_); + registerInterface(&pj_interface_); + registerInterface(&vj_interface_); + + return true; +} + +void DefaultRobotHWSim::readSim(ros::Time time, ros::Duration period) +{ + for(unsigned int j=0; j < n_dof_; j++) { - for(unsigned int j=0; j < n_dof_; j++) + // Gazebo has an interesting API... + if (joint_types_[j] == urdf::Joint::PRISMATIC) + { + joint_position_[j] = sim_joints_[j]->GetAngle(0).Radian(); + } + else { - // Gazebo has an interesting API... - // \todo If the joint is a slider joint, do not call shortest_angular_distance(). joint_position_[j] += angles::shortest_angular_distance(joint_position_[j], sim_joints_[j]->GetAngle(0).Radian()); - joint_velocity_[j] = sim_joints_[j]->GetVelocity(0); - joint_effort_[j] = sim_joints_[j]->GetForce((unsigned int)(0)); } + joint_velocity_[j] = sim_joints_[j]->GetVelocity(0); + joint_effort_[j] = sim_joints_[j]->GetForce((unsigned int)(0)); } +} - void writeSim(ros::Time time, ros::Duration period) +void DefaultRobotHWSim::writeSim(ros::Time time, ros::Duration period) +{ + ej_sat_interface_.enforceLimits(period); + ej_limits_interface_.enforceLimits(period); + pj_sat_interface_.enforceLimits(period); + pj_limits_interface_.enforceLimits(period); + vj_sat_interface_.enforceLimits(period); + vj_limits_interface_.enforceLimits(period); + + for(unsigned int j=0; j < n_dof_; j++) { - ej_sat_interface_.enforceLimits(period); - ej_limits_interface_.enforceLimits(period); + switch (joint_control_methods_[j]) + { + case EFFORT: + { + const double effort = joint_effort_command_[j]; + sim_joints_[j]->SetForce(0, effort); + } + break; + + case POSITION: +#if GAZEBO_MAJOR_VERSION >= 4 + sim_joints_[j]->SetPosition(0, joint_position_command_[j]); +#else + sim_joints_[j]->SetAngle(0, joint_position_command_[j]); +#endif + break; + + case POSITION_PID: + { + double error; + switch (joint_types_[j]) + { + case urdf::Joint::REVOLUTE: + angles::shortest_angular_distance_with_limits(joint_position_[j], + joint_position_command_[j], + joint_lower_limits_[j], + joint_upper_limits_[j], + error); + break; + case urdf::Joint::CONTINUOUS: + error = angles::shortest_angular_distance(joint_position_[j], + joint_position_command_[j]); + break; + default: + error = joint_position_command_[j] - joint_position_[j]; + } + + const double effort_limit = joint_effort_limits_[j]; + const double effort = clamp(pid_controllers_[j].computeCommand(error, period), + -effort_limit, effort_limit); + sim_joints_[j]->SetForce(0, effort); + } + break; + + case VELOCITY: + sim_joints_[j]->SetVelocity(0, joint_velocity_command_[j]); + break; + + case VELOCITY_PID: + const double error = joint_velocity_command_[j] - joint_velocity_[j]; + const double effort_limit = joint_effort_limits_[j]; + const double effort = clamp(pid_controllers_[j].computeCommand(error, period), + -effort_limit, effort_limit); + sim_joints_[j]->SetForce(0, effort); + break; + } + } +} - // \todo check if this joint is using a position, velocity, or effort hardware interface - // and set gazebo accordingly - for(unsigned int j=0; j < n_dof_; j++) + +// Register the limits of the joint specified by joint_name and joint_handle. The limits are +// retrieved from joint_limit_nh. If urdf_model is not NULL, limits are retrieved from it also. +// Return the joint's type, lower position limit, upper position limit, and effort limit. +void DefaultRobotHWSim::registerJointLimits(const std::string& joint_name, + const hardware_interface::JointHandle& joint_handle, + const ControlMethod ctrl_method, + const ros::NodeHandle& joint_limit_nh, + const urdf::Model *const urdf_model, + int *const joint_type, double *const lower_limit, + double *const upper_limit, double *const effort_limit) +{ + *joint_type = urdf::Joint::UNKNOWN; + *lower_limit = -std::numeric_limits::max(); + *upper_limit = std::numeric_limits::max(); + *effort_limit = std::numeric_limits::max(); + + joint_limits_interface::JointLimits limits; + bool has_limits = false; + joint_limits_interface::SoftJointLimits soft_limits; + bool has_soft_limits = false; + + if (urdf_model != NULL) + { + const boost::shared_ptr urdf_joint = urdf_model->getJoint(joint_name); + if (urdf_joint != NULL) { - // Gazebo has an interesting API... - sim_joints_[j]->SetForce(0,joint_effort_command_[j]); - - // Output debug every nth msg - if( !(j % 10) && false) - { - ROS_DEBUG_STREAM_NAMED("robot_hw_sim","SetForce " << joint_effort_command_[j]); - } + *joint_type = urdf_joint->type; + // Get limits from the URDF file. + if (joint_limits_interface::getJointLimits(urdf_joint, limits)) + has_limits = true; + if (joint_limits_interface::getSoftJointLimits(urdf_joint, soft_limits)) + has_soft_limits = true; } } + // Get limits from the parameter server. + if (joint_limits_interface::getJointLimits(joint_name, joint_limit_nh, limits)) + has_limits = true; + + if (!has_limits) + return; -private: - // Register the limits of the joint specified by joint_name and joint_handle. The limits are - // retrieved from joint_limit_nh. If urdf_model is not NULL, limits are retrieved from it also. - void registerEffortJointLimits(const std::string& joint_name, - const hardware_interface::JointHandle& joint_handle, - const ros::NodeHandle& joint_limit_nh, - const urdf::Model *const urdf_model) + if (*joint_type == urdf::Joint::UNKNOWN) { - joint_limits_interface::JointLimits limits; - bool has_limits = false; - joint_limits_interface::SoftJointLimits soft_limits; - bool has_soft_limits = false; + // Infer the joint type. - if (urdf_model != NULL) + if (limits.has_position_limits) { - const boost::shared_ptr urdf_joint = urdf_model->getJoint(joint_name); - if (urdf_joint != NULL) - { - // Get limits from the URDF file. - if (joint_limits_interface::getJointLimits(urdf_joint, limits)) - has_limits = true; - if (joint_limits_interface::getSoftJointLimits(urdf_joint, soft_limits)) - has_soft_limits = true; - } + *joint_type = urdf::Joint::REVOLUTE; } - // Get limits from the parameter server. - if (joint_limits_interface::getJointLimits(joint_name, joint_limit_nh, limits)) - has_limits = true; - - if (has_limits) + else { - if (has_soft_limits) - { - const joint_limits_interface::EffortJointSoftLimitsHandle - limits_handle(joint_handle, limits, soft_limits); - ej_limits_interface_.registerHandle(limits_handle); - } + if (limits.angle_wraparound) + *joint_type = urdf::Joint::CONTINUOUS; else - { - const joint_limits_interface::EffortJointSaturationHandle sat_handle(joint_handle, limits); - ej_sat_interface_.registerHandle(sat_handle); - } + *joint_type = urdf::Joint::PRISMATIC; } } - unsigned int n_dof_; - - hardware_interface::JointStateInterface js_interface_; - hardware_interface::EffortJointInterface ej_interface_; - hardware_interface::VelocityJointInterface vj_interface_; - - joint_limits_interface::EffortJointSaturationInterface ej_sat_interface_; - joint_limits_interface::EffortJointSoftLimitsInterface ej_limits_interface_; - - std::vector joint_names_; - std::vector joint_position_; - std::vector joint_velocity_; - std::vector joint_effort_; - std::vector joint_effort_command_; - std::vector joint_velocity_command_; + if (limits.has_position_limits) + { + *lower_limit = limits.min_position; + *upper_limit = limits.max_position; + } + if (limits.has_effort_limits) + *effort_limit = limits.max_effort; - std::vector sim_joints_; -}; + if (has_soft_limits) + { + switch (ctrl_method) + { + case EFFORT: + { + const joint_limits_interface::EffortJointSoftLimitsHandle + limits_handle(joint_handle, limits, soft_limits); + ej_limits_interface_.registerHandle(limits_handle); + } + break; + case POSITION: + { + const joint_limits_interface::PositionJointSoftLimitsHandle + limits_handle(joint_handle, limits, soft_limits); + pj_limits_interface_.registerHandle(limits_handle); + } + break; + case VELOCITY: + { + const joint_limits_interface::VelocityJointSoftLimitsHandle + limits_handle(joint_handle, limits, soft_limits); + vj_limits_interface_.registerHandle(limits_handle); + } + break; + } + } + else + { + switch (ctrl_method) + { + case EFFORT: + { + const joint_limits_interface::EffortJointSaturationHandle + sat_handle(joint_handle, limits); + ej_sat_interface_.registerHandle(sat_handle); + } + break; + case POSITION: + { + const joint_limits_interface::PositionJointSaturationHandle + sat_handle(joint_handle, limits); + pj_sat_interface_.registerHandle(sat_handle); + } + break; + case VELOCITY: + { + const joint_limits_interface::VelocityJointSaturationHandle + sat_handle(joint_handle, limits); + vj_sat_interface_.registerHandle(sat_handle); + } + break; + } + } +} -typedef boost::shared_ptr DefaultRobotHWSimPtr; } -// \todo PLUGINLIB_DECLARE_CLASS has been deprecated. Replace it with PLUGINLIB_EXPORT_CLASS. -PLUGINLIB_DECLARE_CLASS(gazebo_ros_control, - DefaultRobotHWSim, - gazebo_ros_control::DefaultRobotHWSim, - gazebo_ros_control::RobotHWSim) - -#endif // #ifndef __GAZEBO_ROS_CONTROL_PLUGIN_DEFAULT_ROBOT_HW_SIM_H_ +PLUGINLIB_EXPORT_CLASS(gazebo_ros_control::DefaultRobotHWSim, gazebo_ros_control::RobotHWSim) diff --git a/gazebo_ros_control/src/gazebo_ros_control_plugin.cpp b/gazebo_ros_control/src/gazebo_ros_control_plugin.cpp index 093334b97..120432e38 100644 --- a/gazebo_ros_control/src/gazebo_ros_control_plugin.cpp +++ b/gazebo_ros_control/src/gazebo_ros_control_plugin.cpp @@ -111,7 +111,7 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element } // Get the Gazebo simulation period - ros::Duration gazebo_period(parent_model_->GetWorld()->GetPhysicsEngine()->GetUpdatePeriod()); + ros::Duration gazebo_period(parent_model_->GetWorld()->GetPhysicsEngine()->GetMaxStepSize()); // Decide the plugin control period if(sdf_->HasElement("controlPeriod")) @@ -140,7 +140,6 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element // Get parameters/settings for controllers from ROS param server model_nh_ = ros::NodeHandle(robot_namespace_); - nh_ = ros::NodeHandle(); ROS_INFO_NAMED("gazebo_ros_control", "Starting gazebo_ros_control plugin in namespace: %s", robot_namespace_.c_str()); // Read urdf from ros parameter server then @@ -149,7 +148,7 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element const std::string urdf_string = getURDF(robot_description_); if (!parseTransmissionsFromURDF(urdf_string)) { - ROS_ERROR("gazebo_ros_control", "Error parsing URDF in gazebo_ros_control plugin, plugin not active.\n"); + ROS_ERROR_NAMED("gazebo_ros_control", "Error parsing URDF in gazebo_ros_control plugin, plugin not active.\n"); return; } @@ -196,23 +195,32 @@ void GazeboRosControlPlugin::Update() // Get the simulation time and period gazebo::common::Time gz_time_now = parent_model_->GetWorld()->GetSimTime(); ros::Time sim_time_ros(gz_time_now.sec, gz_time_now.nsec); - ros::Duration sim_period = sim_time_ros - last_sim_time_ros_; + ros::Duration sim_period = sim_time_ros - last_update_sim_time_ros_; // Check if we should update the controllers if(sim_period >= control_period_) { // Store this simulation time - last_sim_time_ros_ = sim_time_ros; + last_update_sim_time_ros_ = sim_time_ros; // Update the robot simulation with the state of the gazebo model robot_hw_sim_->readSim(sim_time_ros, sim_period); // Compute the controller commands controller_manager_->update(sim_time_ros, sim_period); - - // Update the gazebo model with the result of the controller - // computation - robot_hw_sim_->writeSim(sim_time_ros, sim_period); } + + // Update the gazebo model with the result of the controller + // computation + robot_hw_sim_->writeSim(sim_time_ros, sim_time_ros - last_write_sim_time_ros_); + last_write_sim_time_ros_ = sim_time_ros; +} + +// Called on world reset +void GazeboRosControlPlugin::Reset() +{ + // Reset timing variables to not pass negative update periods to controllers on world reset + last_update_sim_time_ros_ = ros::Time(); + last_write_sim_time_ros_ = ros::Time(); } // Get the URDF XML from the parameter server @@ -224,19 +232,19 @@ std::string GazeboRosControlPlugin::getURDF(std::string param_name) const while (urdf_string.empty()) { std::string search_param_name; - if (nh_.searchParam(param_name, search_param_name)) + if (model_nh_.searchParam(param_name, search_param_name)) { ROS_INFO_ONCE_NAMED("gazebo_ros_control", "gazebo_ros_control plugin is waiting for model" " URDF in parameter [%s] on the ROS param server.", search_param_name.c_str()); - nh_.getParam(search_param_name, urdf_string); + model_nh_.getParam(search_param_name, urdf_string); } else { ROS_INFO_ONCE_NAMED("gazebo_ros_control", "gazebo_ros_control plugin is waiting for model" " URDF in parameter [%s] on the ROS param server.", robot_description_.c_str()); - nh_.getParam(param_name, urdf_string); + model_nh_.getParam(param_name, urdf_string); } usleep(100000); diff --git a/gazebo_ros_pkgs/CHANGELOG.rst b/gazebo_ros_pkgs/CHANGELOG.rst index 123f67bab..5c1762418 100644 --- a/gazebo_ros_pkgs/CHANGELOG.rst +++ b/gazebo_ros_pkgs/CHANGELOG.rst @@ -2,9 +2,43 @@ Changelog for package gazebo_ros_pkgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.4.6 (2014-09-01) +------------------ + +2.4.5 (2014-08-18) +------------------ + +2.4.4 (2014-07-18) +------------------ +* Updated package.xml +* Fix repo names in package.xml's +* Contributors: Dave Coleman, Jon Binney + +2.4.3 (2014-05-12) +------------------ + +2.4.2 (2014-03-27) +------------------ +* merging from hydro-devel +* bump patch version for indigo-devel to 2.4.1 +* merging from indigo-devel after 2.3.4 release +* "2.4.0" +* catkin_generate_changelog +* Contributors: John Hsu + +2.4.1 (2013-11-13) +------------------ +* rerelease because sdformat became libsdformat, but we also based change on 2.3.4 in hydro-devel. + 2.4.0 (2013-10-14) ------------------ +2.3.5 (2014-03-26) +------------------ + +2.3.4 (2013-11-13) +------------------ + 2.3.3 (2013-10-10) ------------------ diff --git a/gazebo_ros_pkgs/package.xml b/gazebo_ros_pkgs/package.xml index 75ee87432..19e4c2d0d 100644 --- a/gazebo_ros_pkgs/package.xml +++ b/gazebo_ros_pkgs/package.xml @@ -1,17 +1,16 @@ gazebo_ros_pkgs - 2.4.0 + 2.4.6 Interface for using ROS with the Gazebo simulator. John Hsu - Dave Coleman BSD,LGPL,Apache 2.0 http://gazebosim.org/wiki/Tutorials#ROS_Integration - https://github.com/osrf/gazebo_ros_pkgs/issues - https://github.com/osrf/gazebo_ros_pkgs + https://github.com/ros-simulation/gazebo_ros_pkgs/issues + https://github.com/ros-simulation/gazebo_ros_pkgs John Hsu, Nate Koenig, Dave Coleman>