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change we control #111

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change we control #111

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ea1e44b
change we control
May 15, 2020
5c55d3e
change the code format
May 15, 2020
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4 changes: 3 additions & 1 deletion ..._controller_gazebo/include/hector_quadrotor_controller_gazebo/quadrotor_hardware_gazebo.h
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Original file line number Diff line number Diff line change
Expand Up @@ -41,12 +41,14 @@
#include <hector_uav_msgs/MotorStatus.h>
#include <hector_uav_msgs/EnableMotors.h>

#include <gazebo_ros_control/default_robot_hw_sim.h>

namespace hector_quadrotor_controller_gazebo
{

using namespace hector_quadrotor_interface;

class QuadrotorHardwareSim : public gazebo_ros_control::RobotHWSim
class QuadrotorHardwareSim : public gazebo_ros_control::DefaultRobotHWSim
{
public:
QuadrotorHardwareSim();
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3 changes: 3 additions & 0 deletions hector_quadrotor_controller_gazebo/src/quadrotor_hardware_gazebo.cpp
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Expand Up @@ -59,6 +59,7 @@ bool QuadrotorHardwareSim::initSim(
std::vector<transmission_interface::TransmissionInfo> transmissions)
{
// store parent model pointer
gazebo_ros_control::DefaultRobotHWSim::initSim(robot_namespace,model_nh,parent_model,urdf_model,transmissions);
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model_ = parent_model;
link_ = model_->GetLink();
#if (GAZEBO_MAJOR_VERSION >= 8)
Expand Down Expand Up @@ -118,6 +119,7 @@ bool QuadrotorHardwareSim::initSim(
void QuadrotorHardwareSim::readSim(ros::Time time, ros::Duration period)
{
// read state from Gazebo
gazebo_ros_control::DefaultRobotHWSim::readSim(time,period);
const double acceleration_time_constant = 0.1;
#if (GAZEBO_MAJOR_VERSION >= 8)
gz_acceleration_ = ((link_->WorldLinearVel() - gz_velocity_) + acceleration_time_constant * gz_acceleration_) /
Expand Down Expand Up @@ -232,6 +234,7 @@ void QuadrotorHardwareSim::readSim(ros::Time time, ros::Duration period)

void QuadrotorHardwareSim::writeSim(ros::Time time, ros::Duration period)
{
gazebo_ros_control::DefaultRobotHWSim::writeSim(time,period);
bool result_written = false;

if (motor_output_->connected() && motor_output_->enabled()) {
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