////////////////////////////////////////////////////////////////////////////////
// Load the controller
void GazeboTreasure::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
model_ = _model;
world_ = _model->GetWorld();
link_ = _model->GetLink();
link_name_ = link_->GetName();
namespace_.clear();
vel_x = vel_y = vel_yaw = 0;
static_object_ = false;
last_time_ = world_->GetSimTime();
terminated_ = false;
// load parameters from sdf
if (_sdf->HasElement("robotNamespace")) namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>();
if (_sdf->HasElement("bodyName") && _sdf->GetElement("bodyName")->GetValue())
{
link_name_ = _sdf->GetElement("bodyName")->Get<std::string>();
link_ = _model->GetLink(link_name_);
}
if (_sdf->HasElement("staticObject") && _sdf->GetElement("staticObject")->GetValue())
{
static_object_ = _sdf->GetElement("staticObject")->Get<std::string>() == "true"?true:false;
}
// boost::random::mt19937 rng;
boost::random::random_device rng;
boost::random::uniform_int_distribution<> x_rand(-40, 40);
boost::random::uniform_int_distribution<> y_rand(-20, 20);
double x = x_rand(rng);
double y = y_rand(rng);
model_->SetLinkWorldPose(math::Pose(x, y, 0.2, 0, 0, 0), link_);
if (!link)
{
ROS_FATAL("gazebo_ros_baro plugin error: bodyName: %s does not exist\n", link_name_.c_str());
return;
}
// 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;
}
node_handle_ = new ros::NodeHandle(namespace_);
pub_score_ = node_handle_->advertise<std_msgs::String>("score", 1, true); // set latch true
ros::NodeHandle param_handle(*node_handle_, "controller");
update_connection_ = event::Events::ConnectWorldUpdateBegin(
boost::bind(&GazeboTreasure::Update, this));
}
////////////////////////////////////////////////////////////////////////////////
// Load the controller
void GazeboPanel::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
gzwarn << "The GazeboPanel plugin is DEPRECATED in ROS hydro." << std::endl;
model_ = _model;
world_ = _model->GetWorld();
link_ = _model->GetLink();
link_name_ = link_->GetName();
namespace_.clear();
terminated_ = false;
// load parameters from sdf
if (_sdf->HasElement("robotNamespace")) namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>();
if (_sdf->HasElement("bodyName") && _sdf->GetElement("bodyName")->GetValue())
{
link_name_ = _sdf->GetElement("bodyName")->Get<std::string>();
link_ = _model->GetLink(link_name_);
}
if (_sdf->HasElement("jointName") && _sdf->GetElement("jointName")->GetValue())
{
std::string joint_name_ = _sdf->GetElement("jointName")->Get<std::string>();
joint_ = _model->GetJoint(joint_name_);
}
else
{
joint_ = _model->GetJoint("stem_joint");
}
if (!link)
{
ROS_FATAL("gazebo_ros_baro plugin error: bodyName: %s does not exist\n", link_name_.c_str());
return;
}
// 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;
}
node_handle_ = new ros::NodeHandle(namespace_);
pub_score_ = node_handle_->advertise<std_msgs::String>("score", 1, true); // set latch true
pub_time_ = node_handle_->advertise<std_msgs::String>("remaining_time", 1);
ros::NodeHandle param_handle(*node_handle_, "controller");
update_connection_ = event::Events::ConnectWorldUpdateBegin(
boost::bind(&GazeboPanel::Update, this));
}
private: void updateMaximumHic(bool drain) {
// Get the current velocity for the head link.
physics::LinkPtr head = model->GetLink("head_neck");
assert(head);
if (!drain) {
headLinearAcc.push_back(head->GetWorldLinearAccel());
}
if(headLinearAcc.size() > ACC_HISTORY_MAX || drain) {
headLinearAcc.erase(headLinearAcc.begin(), headLinearAcc.begin() + 1);
}
assert(headLinearAcc.size() <= ACC_HISTORY_MAX);
// Now search for maximum value across all size dimensions
for (unsigned int i = 0; i < headLinearAcc.size(); ++i) {
for (unsigned int j = i + MIN_HIC_ACC_TIME; j < headLinearAcc.size(); ++j) {
double hicCurrMax = hic(static_cast<double>(i) / SEC_TO_MSEC, static_cast<double>(j) / SEC_TO_MSEC, accMean(headLinearAcc.begin() + i, headLinearAcc.begin() + j + 1));
if (hicCurrMax >= maximumHic) {
maximumHic = hicCurrMax;
maximumHicTime = world->GetSimTime();
}
}
}
}
private: void worldUpdate(){
physics::LinkPtr head = model->GetLink("head_neck");
#if(PRINT_DEBUG)
cout << "Updating HIC for time " << world->GetSimTime() << endl;
#endif
updateMaximumHic(false);
if(world->GetSimTime().Float() >= 2.0){
#if(PRINT_DEBUG)
cout << "Scenario completed. Updating results" << endl;
#endif
event::Events::DisconnectWorldUpdateBegin(this->connection);
// Drain the HIC calculation
for (unsigned int i = 0; i < ACC_HISTORY_MAX; ++i) {
updateMaximumHic(true);
}
// Disconnect the sensors
for(unsigned int i = 0; i < boost::size(contacts); ++i){
sensors::SensorPtr sensor = sensors::SensorManager::Instance()->GetSensor(world->GetName() + "::" + model->GetScopedName()
+ "::" + contacts[i]);
if(sensor == nullptr){
cout << "Could not find sensor " << contacts[i] << endl;
continue;
}
sensor->SetActive(false);
sensor->DisconnectUpdated(sensorConnections[i]);
}
sensorConnections.clear();
printResults();
exit(0);
}
}
public: void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf){
world = _model->GetWorld();
model = _model;
#if(PRINT_DEBUG)
cout << "Loading the angular momentum over time plugin" << endl;
#endif
connection = event::Events::ConnectWorldUpdateBegin(boost::bind(&AngularMomentumOverTimePlugin::worldUpdate, this));
// Get the name of the folder to store the result in
const char* resultsFolder = std::getenv("RESULTS_FOLDER");
if(resultsFolder == nullptr){
cout << "Results folder not set. Using current directory." << endl;
resultsFolder = "./";
}
const string resultsFileName = string(resultsFolder) + "/" + "angular_momentum.csv";
outputCSV.open(resultsFileName, ios::out);
assert(outputCSV.is_open());
writeHeader(outputCSV);
math::Vector3 angularMomentum;
for (unsigned int i = 0; i < boost::size(links); ++i) {
const physics::LinkPtr link = model->GetLink(links[i]);
angularMomentum += link->GetWorldInertiaMatrix() * link->GetWorldAngularVel();
}
// Write out t0
outputCSV << world->GetSimTime().Double() << ", " << angularMomentum.x / 10.0
<< ", " << angularMomentum.y / 10.0 << ", " << angularMomentum.z / 10.0 << endl;
}
////////////////////////////////////////////////////////////////////////////////
// Load the controller
void GazeboRosForce::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
// Get the world name.
this->world_ = _model->GetWorld();
// load parameters
this->robot_namespace_ = "";
if (_sdf->HasElement("robotNamespace"))
this->robot_namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>() + "/";
if (!_sdf->HasElement("bodyName"))
{
ROS_FATAL("force plugin missing <bodyName>, cannot proceed");
return;
}
else
this->link_name_ = _sdf->GetElement("bodyName")->Get<std::string>();
this->link_ = _model->GetLink(this->link_name_);
if (!this->link_)
{
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("force plugin missing <topicName>, cannot proceed");
return;
}
else
this->topic_name_ = _sdf->GetElement("topicName")->Get<std::string>();
// 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_);
// Custom Callback Queue
ros::SubscribeOptions so = ros::SubscribeOptions::create<geometry_msgs::Wrench>(
this->topic_name_,1,
boost::bind( &GazeboRosForce::UpdateObjectForce,this,_1),
ros::VoidPtr(), &this->queue_);
this->sub_ = this->rosnode_->subscribe(so);
// Custom Callback Queue
this->callback_queue_thread_ = boost::thread( boost::bind( &GazeboRosForce::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(&GazeboRosForce::UpdateChild, this));
}
bool findLinkByName(physics::ModelPtr model, physics::LinkPtr &link, const std::string name) {
link = model->GetLink(name);
if (!link) {
gzerr << "link by name [" << name << "] not found in model\n";
return false;
}
return true;
}
public: void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf){
world = _model->GetWorld();
model = _model;
trunk = model->GetLink("trunk");
#if(PRINT_DEBUG)
cout << "Loading the velocity over time plugin" << endl;
#endif
connection = event::Events::ConnectWorldUpdateBegin(boost::bind(&VelocityOverTimePlugin::worldUpdate, this));
// Get the name of the folder to store the result in
const char* resultsFolder = std::getenv("RESULTS_FOLDER");
if(resultsFolder == nullptr){
cout << "Results folder not set. Using current directory." << endl;
resultsFolder = "./";
}
{
const string resultsXFileName = string(resultsFolder) + "/" + "velocities_x.csv";
bool exists = boost::filesystem::exists(resultsXFileName);
outputCSVX.open(resultsXFileName, ios::out | ios::app);
assert(outputCSVX.is_open());
if (!exists) {
writeHeader(outputCSVX);
}
}
{
const string resultsYFileName = string(resultsFolder) + "/" + "velocities_y.csv";
bool exists = boost::filesystem::exists(resultsYFileName);
outputCSVY.open(resultsYFileName, ios::out | ios::app);
assert(outputCSVY.is_open());
if (!exists) {
writeHeader(outputCSVY);
}
}
{
const string resultsZFileName = string(resultsFolder) + "/" + "velocities_z.csv";
bool exists = boost::filesystem::exists(resultsZFileName);
outputCSVZ.open(resultsZFileName, ios::out | ios::app);
assert(outputCSVZ.is_open());
if (!exists) {
writeHeader(outputCSVZ);
}
}
// Write out t0
outputCSVX << "Velocity X (m/s), " << trunk->GetWorldCoGLinearVel().x << ", ";
outputCSVY << "Velocity Y (m/s), " << trunk->GetWorldCoGLinearVel().y << ", ";
outputCSVZ << "Velocity Z (m/s), " << trunk->GetWorldCoGLinearVel().z << ", ";
}
void worldUpdate() {
#if(PRINT_DEBUG)
cout << "Updating the world for time: " << world->GetSimTime().Float() << endl;
#endif
outputCSV << world->GetSimTime().Float() << ", ";
for(unsigned int i = 0; i < boost::size(links); ++i) {
outputCSV << model->GetLink(links[i])->GetWorldLinearAccel().GetLength() << ", ";
}
outputCSV << endl;
if(world->GetSimTime().Float() >= MAX_TIME) {
#if(PRINT_DEBUG)
cout << "Scenario completed. Updating results" << endl;
#endif
event::Events::DisconnectWorldUpdateBegin(this->connection);
outputCSV << endl;
outputCSV.close();
}
}
void Gyro::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
this->model = model;
// Parse SDF properties
link = model->GetLink(sdf->Get<std::string>("link"));
if (sdf->HasElement("topic")) {
topic = sdf->Get<std::string>("topic");
} else {
topic = "~/"+sdf->GetAttribute("name")->GetAsString();
}
std::string axisString = sdf->Get<std::string>("axis");
if (axisString == "roll") axis = Roll;
if (axisString == "pitch") axis = Pitch;
if (axisString == "yaw") axis = Yaw;
if (sdf->HasElement("units")) {
radians = sdf->Get<std::string>("units") != "degrees";
} else {
radians = true;
}
zero = GetAngle();
gzmsg << "Initializing gyro: " << topic << " link=" << link->GetName()
<< " axis=" << axis << " radians=" << radians << std::endl;
// Connect to Gazebo transport for messaging
std::string scoped_name = model->GetWorld()->GetName()+"::"+model->GetScopedName();
boost::replace_all(scoped_name, "::", "/");
node = transport::NodePtr(new transport::Node());
node->Init(scoped_name);
command_sub = node->Subscribe(topic+"/control", &Gyro::Callback, this);
pos_pub = node->Advertise<msgs::Float64>(topic+"/position");
vel_pub = node->Advertise<msgs::Float64>(topic+"/velocity");
// Connect to the world update event.
// This will trigger the Update function every Gazebo iteration
updateConn = event::Events::ConnectWorldUpdateBegin(boost::bind(&Gyro::Update, this, _1));
}
void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) {
world = _model->GetWorld();
model = _model;
trunk = model->GetLink("trunk");
#if(PRINT_DEBUG)
cout << "Loading the link acceleration over time plugin" << endl;
#endif
connection = event::Events::ConnectWorldUpdateBegin(boost::bind(&LinkAccelerationOverTimePlugin
::worldUpdate, this));
// Get the name of the folder to store the result in
const char* resultsFolder = std::getenv("RESULTS_FOLDER");
if(resultsFolder == nullptr) {
cout << "Results folder not set. Using current directory." << endl;
resultsFolder = "./";
}
const string resultsFileName = string(resultsFolder) + "/" + "link_accelerations.csv";
outputCSV.open(resultsFileName, ios::out);
assert(outputCSV.is_open());
writeHeader(outputCSV);
}
private: void worldUpdate(){
#if(PRINT_DEBUG)
cout << "Updating the world for time: " << world->GetSimTime().Float() << endl;
#endif
for (unsigned int i = 0; i < boost::size(links); ++i) {
const physics::LinkPtr link = model->GetLink(links[i]);
averageAngularMomentum += link->GetWorldInertiaMatrix() * link->GetWorldAngularVel();
}
if (world->GetSimTime().nsec % (10 * 1000000) == 0) {
outputCSV << world->GetSimTime().Double() << ", " << averageAngularMomentum.x / 10.0
<< ", " << averageAngularMomentum.y / 10.0 << ", " << averageAngularMomentum.z / 10.0 << endl;
averageAngularMomentum = math::Vector3();
}
if(world->GetSimTime().Float() >= MAX_TIME){
#if(PRINT_DEBUG)
cout << "Scenario completed. Updating results" << endl;
#endif
event::Events::DisconnectWorldUpdateBegin(this->connection);
outputCSV << endl;
outputCSV.close();
}
}
////////////////////////////////////////////////////////////////////////////////
// Load the controller
void GazeboRosMagnetic::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
world = _model->GetWorld();
// load parameters
if (!_sdf->HasElement("robotNamespace"))
namespace_.clear();
else
namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/";
if (!_sdf->HasElement("topicName"))
topic_ = "magnetic";
else
topic_ = _sdf->GetElement("topicName")->GetValueString();
if (!_sdf->HasElement("bodyName"))
{
link = _model->GetLink();
link_name_ = link->GetName();
}
else {
link_name_ = _sdf->GetElement("bodyName")->GetValueString();
link = boost::shared_dynamic_cast<physics::Link>(world->GetEntity(link_name_));
}
if (!link)
{
ROS_FATAL("GazeboRosMagnetic plugin error: bodyName: %s does not exist\n", link_name_.c_str());
return;
}
double update_rate = 0.0;
if (_sdf->HasElement("updateRate")) update_rate = _sdf->GetElement("updateRate")->GetValueDouble();
update_period = update_rate > 0.0 ? 1.0/update_rate : 0.0;
if (!_sdf->HasElement("frameId"))
frame_id_ = link_name_;
else
frame_id_ = _sdf->GetElement("frameId")->GetValueString();
if (!_sdf->HasElement("magnitude"))
magnitude_ = DEFAULT_MAGNITUDE;
else
magnitude_ = _sdf->GetElement("magnitude")->GetValueDouble();
if (!_sdf->HasElement("referenceHeading"))
reference_heading_ = DEFAULT_REFERENCE_HEADING * M_PI/180.0;
else
reference_heading_ = _sdf->GetElement("referenceHeading")->GetValueDouble() * M_PI/180.0;
if (!_sdf->HasElement("declination"))
declination_ = DEFAULT_DECLINATION * M_PI/180.0;
else
declination_ = _sdf->GetElement("declination")->GetValueDouble() * M_PI/180.0;
if (!_sdf->HasElement("inclination"))
inclination_ = DEFAULT_INCLINATION * M_PI/180.0;
else
inclination_ = _sdf->GetElement("inclination")->GetValueDouble() * M_PI/180.0;
// Note: Gazebo uses NorthWestUp coordinate system, heading and declination are compass headings
magnetic_field_.header.frame_id = frame_id_;
magnetic_field_world_.x = magnitude_ * cos(inclination_) * cos(reference_heading_ - declination_);
magnetic_field_world_.y = magnitude_ * sin(reference_heading_ - declination_);
magnetic_field_world_.z = magnitude_ * -sin(inclination_) * cos(reference_heading_ - declination_);
sensor_model_.Load(_sdf);
// start ros node
if (!ros::isInitialized())
{
int argc = 0;
char** argv = NULL;
ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName);
}
node_handle_ = new ros::NodeHandle(namespace_);
publisher_ = node_handle_->advertise<geometry_msgs::Vector3Stamped>(topic_, 1);
Reset();
// New Mechanism for Updating every World Cycle
// Listen to the update event. This event is broadcast every
// simulation iteration.
updateConnection = event::Events::ConnectWorldUpdateStart(
boost::bind(&GazeboRosMagnetic::Update, this));
}
////////////////////////////////////////////////////////////////////////////////
// Load the controller
void GazeboQuadrotorStateController::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
world = _model->GetWorld();
// load parameters
if (!_sdf->HasElement("robotNamespace"))
namespace_.clear();
else
namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/";
if (!_sdf->HasElement("topicName"))
velocity_topic_ = "cmd_vel";
else
velocity_topic_ = _sdf->GetElement("topicName")->GetValueString();
if (!_sdf->HasElement("takeoffTopic"))
takeoff_topic_ = "/ardrone/takeoff";
else
takeoff_topic_ = _sdf->GetElement("takeoffTopic")->GetValueString();
if (!_sdf->HasElement("/ardrone/land"))
land_topic_ = "/ardrone/land";
else
land_topic_ = _sdf->GetElement("landTopic")->GetValueString();
if (!_sdf->HasElement("resetTopic"))
reset_topic_ = "/ardrone/reset";
else
reset_topic_ = _sdf->GetElement("resetTopic")->GetValueString();
if (!_sdf->HasElement("navdataTopic"))
navdata_topic_ = "/ardrone/navdata";
else
navdata_topic_ = _sdf->GetElement("navdataTopic")->GetValueString();
if (!_sdf->HasElement("imuTopic"))
imu_topic_.clear();
else
imu_topic_ = _sdf->GetElement("imuTopic")->GetValueString();
if (!_sdf->HasElement("sonarTopic"))
sonar_topic_.clear();
else
sonar_topic_ = _sdf->GetElement("sonarTopic")->GetValueString();
if (!_sdf->HasElement("stateTopic"))
state_topic_.clear();
else
state_topic_ = _sdf->GetElement("stateTopic")->GetValueString();
if (!_sdf->HasElement("bodyName"))
{
link = _model->GetLink();
link_name_ = link->GetName();
}
else {
link_name_ = _sdf->GetElement("bodyName")->GetValueString();
link = boost::shared_dynamic_cast<physics::Link>(world->GetEntity(link_name_));
}
if (!link)
{
ROS_FATAL("gazebo_ros_baro plugin error: bodyName: %s does not exist\n", link_name_.c_str());
return;
}
node_handle_ = new ros::NodeHandle(namespace_);
// subscribe command: velocity control command
if (!velocity_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<geometry_msgs::Twist>(
velocity_topic_, 1,
boost::bind(&GazeboQuadrotorStateController::VelocityCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
velocity_subscriber_ = node_handle_->subscribe(ops);
}
// subscribe command: take off command
if (!takeoff_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<std_msgs::Empty>(
takeoff_topic_, 1,
boost::bind(&GazeboQuadrotorStateController::TakeoffCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
takeoff_subscriber_ = node_handle_->subscribe(ops);
}
// subscribe command: take off command
if (!land_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<std_msgs::Empty>(
land_topic_, 1,
boost::bind(&GazeboQuadrotorStateController::LandCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
land_subscriber_ = node_handle_->subscribe(ops);
}
// subscribe command: take off command
if (!reset_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<std_msgs::Empty>(
reset_topic_, 1,
boost::bind(&GazeboQuadrotorStateController::ResetCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
reset_subscriber_ = node_handle_->subscribe(ops);
}
m_navdataPub = node_handle_->advertise< ardrone_autonomy::Navdata >( navdata_topic_ , 25 );
// subscribe imu
if (!imu_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<sensor_msgs::Imu>(
imu_topic_, 1,
boost::bind(&GazeboQuadrotorStateController::ImuCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
imu_subscriber_ = node_handle_->subscribe(ops);
ROS_INFO_NAMED("quadrotor_state_controller", "Using imu information on topic %s as source of orientation and angular velocity.", imu_topic_.c_str());
}
// subscribe sonar senor info
if (!sonar_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<sensor_msgs::Range>(
sonar_topic_, 1,
boost::bind(&GazeboQuadrotorStateController::SonarCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
sonar_subscriber_ = node_handle_->subscribe(ops);
ROS_INFO_NAMED("quadrotor_state_controller", "Using sonar information on topic %s as source of altitude.", sonar_topic_.c_str());
}
// subscribe state
if (!state_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<nav_msgs::Odometry>(
state_topic_, 1,
boost::bind(&GazeboQuadrotorStateController::StateCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
state_subscriber_ = node_handle_->subscribe(ops);
ROS_INFO_NAMED("quadrotor_state_controller", "Using state information on topic %s as source of state information.", state_topic_.c_str());
}
// for camera control
// switch camera server
std::string toggleCam_topic = "ardrone/togglecam";
ros::AdvertiseServiceOptions toggleCam_ops = ros::AdvertiseServiceOptions::create<std_srvs::Empty>(
toggleCam_topic,
boost::bind(&GazeboQuadrotorStateController::toggleCamCallback, this, _1,_2),
ros::VoidPtr(),
&callback_queue_);
toggleCam_service = node_handle_->advertiseService(toggleCam_ops);
// camera image data
std::string cam_out_topic = "/ardrone/image_raw";
std::string cam_front_in_topic = "/ardrone/front/image_raw";
std::string cam_bottom_in_topic = "/ardrone/bottom/image_raw";
std::string in_transport = "raw";
camera_it_ = new image_transport::ImageTransport(*node_handle_);
camera_publisher_ = camera_it_->advertise(cam_out_topic, 1);
camera_front_subscriber_ = camera_it_->subscribe(
cam_front_in_topic, 1,
boost::bind(&GazeboQuadrotorStateController::CameraFrontCallback, this, _1),
ros::VoidPtr(), in_transport);
camera_bottom_subscriber_ = camera_it_->subscribe(
cam_bottom_in_topic, 1,
boost::bind(&GazeboQuadrotorStateController::CameraBottomCallback, this, _1),
ros::VoidPtr(), in_transport);
// camera image data
std::string cam_info_out_topic = "/ardrone/camera_info";
std::string cam_info_front_in_topic = "/ardrone/front/camera_info";
std::string cam_info_bottom_in_topic = "/ardrone/bottom/camera_info";
camera_info_publisher_ = node_handle_->advertise<sensor_msgs::CameraInfo>(cam_info_out_topic,1);
ros::SubscribeOptions cam_info_front_ops = ros::SubscribeOptions::create<sensor_msgs::CameraInfo>(
cam_info_front_in_topic, 1,
boost::bind(&GazeboQuadrotorStateController::CameraInfoFrontCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
camera_info_front_subscriber_ = node_handle_->subscribe(cam_info_front_ops);
ros::SubscribeOptions cam_info_bottom_ops = ros::SubscribeOptions::create<sensor_msgs::CameraInfo>(
cam_info_bottom_in_topic, 1,
boost::bind(&GazeboQuadrotorStateController::CameraInfoBottomCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
camera_info_bottom_subscriber_ = node_handle_->subscribe(cam_info_bottom_ops);
// callback_queue_thread_ = boost::thread( boost::bind( &GazeboQuadrotorStateController::CallbackQueueThread,this ) );
Reset();
// New Mechanism for Updating every World Cycle
// Listen to the update event. This event is broadcast every
// simulation iteration.
updateConnection = event::Events::ConnectWorldUpdateStart(
boost::bind(&GazeboQuadrotorStateController::Update, this));
robot_current_state = LANDED_MODEL;
}
////////////////////////////////////////////////////////////////////////////////
// Load the controller
void GazeboRosP3D::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
{
// Get the world name.
this->world_ = _parent->GetWorld();
this->model_ = _parent;
// load parameters
this->robot_namespace_ = "";
if (_sdf->HasElement("robotNamespace"))
this->robot_namespace_ =
_sdf->GetElement("robotNamespace")->Get<std::string>() + "/";
if (!_sdf->HasElement("bodyName"))
{
ROS_FATAL("p3d plugin missing <bodyName>, cannot proceed");
return;
}
else
this->link_name_ = _sdf->GetElement("bodyName")->Get<std::string>();
this->link_ = _parent->GetLink(this->link_name_);
if (!this->link_)
{
ROS_FATAL("gazebo_ros_p3d plugin error: bodyName: %s does not exist\n",
this->link_name_.c_str());
return;
}
if (!_sdf->HasElement("topicName"))
{
ROS_FATAL("p3d plugin missing <topicName>, cannot proceed");
return;
}
else
this->topic_name_ = _sdf->GetElement("topicName")->Get<std::string>();
if (!_sdf->HasElement("frameName"))
{
ROS_DEBUG("p3d plugin missing <frameName>, defaults to world");
this->frame_name_ = "world";
}
else
this->frame_name_ = _sdf->GetElement("frameName")->Get<std::string>();
if (!_sdf->HasElement("xyzOffset"))
{
ROS_DEBUG("p3d plugin missing <xyzOffset>, defaults to 0s");
this->offset_.pos = math::Vector3(0, 0, 0);
}
else
this->offset_.pos = _sdf->GetElement("xyzOffset")->Get<math::Vector3>();
if (!_sdf->HasElement("rpyOffset"))
{
ROS_DEBUG("p3d plugin missing <rpyOffset>, defaults to 0s");
this->offset_.rot = math::Vector3(0, 0, 0);
}
else
this->offset_.rot = _sdf->GetElement("rpyOffset")->Get<math::Vector3>();
if (!_sdf->HasElement("gaussianNoise"))
{
ROS_DEBUG("p3d plugin missing <gaussianNoise>, defaults to 0.0");
this->gaussian_noise_ = 0;
}
else
this->gaussian_noise_ = _sdf->GetElement("gaussianNoise")->Get<double>();
if (!_sdf->HasElement("updateRate"))
{
ROS_DEBUG("p3d plugin missing <updateRate>, defaults to 0.0"
" (as fast as possible)");
this->update_rate_ = 0;
}
else
this->update_rate_ = _sdf->GetElement("updateRate")->Get<double>();
// 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_);
// publish multi queue
this->pmq.startServiceThread();
// resolve tf prefix
std::string prefix;
this->rosnode_->getParam(std::string("tf_prefix"), prefix);
this->tf_frame_name_ = tf::resolve(prefix, this->frame_name_);
if (this->topic_name_ != "")
{
this->pub_Queue = this->pmq.addPub<nav_msgs::Odometry>();
this->pub_ =
this->rosnode_->advertise<nav_msgs::Odometry>(this->topic_name_, 1);
}
this->last_time_ = this->world_->GetSimTime();
// initialize body
this->last_vpos_ = this->link_->GetWorldLinearVel();
this->last_veul_ = this->link_->GetWorldAngularVel();
this->apos_ = 0;
this->aeul_ = 0;
// if frameName specified is "world", "/map" or "map" report
// back inertial values in the gazebo world
if (this->frame_name_ != "world" &&
this->frame_name_ != "/map" &&
this->frame_name_ != "map")
{
this->reference_link_ = this->model_->GetLink(this->frame_name_);
if (!this->reference_link_)
{
ROS_ERROR("gazebo_ros_p3d plugin: frameName: %s does not exist, will"
" not publish pose\n", this->frame_name_.c_str());
return;
}
}
// init reference frame state
if (this->reference_link_)
{
ROS_DEBUG("got body %s", this->reference_link_->GetName().c_str());
this->frame_apos_ = 0;
this->frame_aeul_ = 0;
this->last_frame_vpos_ = this->reference_link_->GetWorldLinearVel();
this->last_frame_veul_ = this->reference_link_->GetWorldAngularVel();
}
// start custom queue for p3d
this->callback_queue_thread_ = boost::thread(
boost::bind(&GazeboRosP3D::P3DQueueThread, 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(&GazeboRosP3D::UpdateChild, this));
}
// Load necessary data from the .sdf file
void GazeboUUVPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) {
namespace_.clear();
getSdfParam<std::string>(
_sdf, "robotNamespace", namespace_, namespace_, true);
node_handle_ = transport::NodePtr(new transport::Node());
node_handle_->Init(namespace_);
getSdfParam<std::string>(_sdf, "linkName", link_name_, link_name_, true);
// get the base link, thus the base hippocampus model
link_ = _model->GetLink(link_name_);
// get the child links, these are the links which represents the rotors of the hippocampus
rotor_links_ = link_->GetChildJointsLinks();
for(int i = 0; i < rotor_links_.size(); i++) {
std::cout << "Rotor Link:" << rotor_links_[i]->GetScopedName() << "\n";
command_[i] = 0.0;
}
getSdfParam<std::string>(
_sdf, "commandSubTopic", command_sub_topic_, command_sub_topic_);
// subscribe to the commands (actuator outputs from the mixer from PX4)
command_sub_ = node_handle_->Subscribe<mav_msgs::msgs::CommandMotorSpeed>(
"~/" + _model->GetName() + command_sub_topic_, &GazeboUUVPlugin::CommandCallback, this);
update_connection_ = event::Events::ConnectWorldUpdateBegin(
boost::bind(&GazeboUUVPlugin::OnUpdate, this, _1));
// get force and torque parameters for force and torque calculations of the rotors from motor_speed
getSdfParam<double>(
_sdf, "motorForceConstant", motor_force_constant_, motor_force_constant_);
getSdfParam<double>(
_sdf, "motorTorqueConstant", motor_torque_constant_, motor_torque_constant_);
// parameters for added mass and damping
ignition::math::Vector3d added_mass_linear(0,0,0);
getSdfParam<ignition::math::Vector3d>(
_sdf, "addedMassLinear", added_mass_linear, added_mass_linear);
X_udot_ = added_mass_linear[0];
Y_vdot_ = added_mass_linear[1];
Z_wdot_ = added_mass_linear[2];
ignition::math::Vector3d added_mass_angular(0,0,0);
getSdfParam<ignition::math::Vector3d>(
_sdf, "addedMassAngular", added_mass_angular, added_mass_angular);
K_pdot_ = added_mass_angular[0];
M_qdot_ = added_mass_angular[1];
N_rdot_ = added_mass_angular[2];
ignition::math::Vector3d damping_linear(0,0,0);
getSdfParam<ignition::math::Vector3d>(
_sdf, "dampingLinear", damping_linear, damping_linear);
X_u_ = damping_linear[0];
Y_v_ = damping_linear[1];
Z_w_ = damping_linear[2];
ignition::math::Vector3d damping_angular(0,0,0);
getSdfParam<ignition::math::Vector3d>(
_sdf, "dampingAngular", damping_angular, damping_angular);
K_p_ = damping_angular[0];
M_q_ = damping_angular[1];
N_r_ = damping_angular[2];
// variables for debugging
time_ = 0.0;
counter_ = 0.0;
}
////////////////////////////////////////////////////////////////////////////////
// Load the controller
void BonebrakerController::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
std::cerr << std::endl << std::endl << "Cargando plugin" << std::endl << std::endl;
world = _model->GetWorld();
// load parameters
if (!_sdf->HasElement("robotNamespace") || !_sdf->GetElement("robotNamespace")->GetValue())
namespace_.clear();
else
namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>() + "/";
if (!_sdf->HasElement("controlReferencesRW") || !_sdf->GetElement("controlReferencesRW")->GetValue())
control_ref_rw_topic_ = "/bonebraker/control_ref_gazebo";
else
control_ref_rw_topic_ = _sdf->GetElement("control_ref_gazebo")->Get<std::string>();
if (!_sdf->HasElement("joystickTopic") || !_sdf->GetElement("joystickTopic")->GetValue())
joystick_topic_ = "/bonebraker/joystick_control";
else
joystick_topic_ = _sdf->GetElement("joystickTopic")->Get<std::string>();
if (!_sdf->HasElement("jointsState") || !_sdf->GetElement("jointsState")->GetValue())
joint_state_subscriber_topic_ = "/bonebraker/joints_state";
else
joint_state_subscriber_topic_ = _sdf->GetElement("jointsState")->Get<std::string>();
if (!_sdf->HasElement("armControlReference") || !_sdf->GetElement("armControlReference")->GetValue())
arm_control_ref_topic_ = "/bonebraker/arm_control_ref_gazebo";
else
arm_control_ref_topic_ = _sdf->GetElement("armControlReference")->Get<std::string>();
if (!_sdf->HasElement("jointPosition_gazebo") || !_sdf->GetElement("jointPosition_gazebo")->GetValue())
joint_position_publisher_topic_ = "/bonebraker/set_joint_position";
else
joint_position_publisher_topic_ = _sdf->GetElement("jointPosition_gazebo")->Get<std::string>();
if (!_sdf->HasElement("imuTopic") || !_sdf->GetElement("imuTopic")->GetValue())
imu_topic_.clear();
else
imu_topic_ = _sdf->GetElement("imuTopic")->Get<std::string>();
if (!_sdf->HasElement("stateTopic") || !_sdf->GetElement("stateTopic")->GetValue())
state_topic_.clear();
else
state_topic_ = _sdf->GetElement("stateTopic")->Get<std::string>();
if (!_sdf->HasElement("bodyName") || !_sdf->GetElement("bodyName")->GetValue())
{
link = _model->GetLink();
link_name_ = link->GetName();
}
else {
link_name_ = _sdf->GetElement("bodyName")->Get<std::string>();
link = _model->GetLink(link_name_);
}
if (!link)
{
ROS_FATAL("gazebo_ros_baro plugin error: bodyName: %s does not exist\n", link_name_.c_str());
return;
}
if (!_sdf->HasElement("maxForce") || !_sdf->GetElement("maxForce")->GetValue())
max_force_ = -1;
else
max_force_ = _sdf->GetElement("maxForce")->Get<double>();
// Get inertia and mass of quadrotor body
inertia = link->GetInertial()->GetPrincipalMoments();
mass = link->GetInertial()->GetMass();
node_handle_ = new ros::NodeHandle(namespace_);
// joystick command
if (!joystick_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<arcas_msgs::Joystick>(
joystick_topic_, 1,
boost::bind(&BonebrakerController::Joystick_Callback, this, _1),
ros::VoidPtr(), &callback_queue_);
joystick_subscriber_ = node_handle_->subscribe(ops);
}
// joints State
if (!joint_state_subscriber_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<sensor_msgs::JointState>(
joint_state_subscriber_topic_, 15,
boost::bind(&BonebrakerController::JointsState_Callback, this, _1),
ros::VoidPtr(), &callback_queue_);
joint_state_subscriber_ = node_handle_->subscribe(ops);
}
// subscribe command
if (!control_ref_rw_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<arcas_msgs::QuadControlReferencesStamped>(
control_ref_rw_topic_, 1,
boost::bind(&BonebrakerController::QuadControlRefRW_Callback, this, _1),
ros::VoidPtr(), &callback_queue_);
control_ref_rw_subscriber_ = node_handle_->subscribe(ops);
}
// subscribe command
if (!arm_control_ref_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<arcas_msgs::ArmControlReferencesStamped>(
arm_control_ref_topic_, 1,
boost::bind(&BonebrakerController::ArmControlRef_Callback, this, _1),
ros::VoidPtr(), &callback_queue_);
arm_control_ref_subscriber_ = node_handle_->subscribe(ops);
}
// subscribe imu
if (!imu_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<sensor_msgs::Imu>(
imu_topic_, 1,
boost::bind(&BonebrakerController::ImuCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
imu_subscriber_ = node_handle_->subscribe(ops);
ROS_INFO_NAMED("quadrotor_simple_controller", "Using imu information on topic %s as source of orientation and angular velocity.", imu_topic_.c_str());
}
// subscribe state
if (!state_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<nav_msgs::Odometry>(
state_topic_, 1,
boost::bind(&BonebrakerController::StateCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
state_subscriber_ = node_handle_->subscribe(ops);
ROS_INFO_NAMED("quadrotor_simple_controller", "Using state information on topic %s as source of state information.", state_topic_.c_str());
}
if(!joint_position_publisher_topic_.empty())
{
joint_position_publisher_ = node_handle_->advertise<arcas_msgs::JointControl>(joint_position_publisher_topic_,0);
}
// callback_queue_thread_ = boost::thread( boost::bind( &GazeboQuadrotorSimpleController::CallbackQueueThread,this ) );
Reset();
// New Mechanism for Updating every World Cycle
// Listen to the update event. This event is broadcast every
// simulation iteration.
controlTimer.Load(world, _sdf);
updateConnection = event::Events::ConnectWorldUpdateBegin(
boost::bind(&BonebrakerController::Update, this));
//Initialize matlab model
/* External mode */
char *argv[3];
char arg0[32],arg1[32],arg2[32];
argv[0] = arg0;
argv[1] = arg1;
argv[2] = arg2;
sprintf(argv[0],"exec");
std::cerr << std::endl << std::endl << "Initialize Ext Mode" << std::endl << std::endl;
rtERTExtModeParseArgs(1, (const char **)argv);
/* Initialize model */
std::cerr << std::endl << std::endl << "Initialize Matlab Model" << std::endl << std::endl;
quadrotor_controller_initialize();
std::cerr << std::endl << std::endl << "Matlab Initicializado" << std::endl << std::endl;
}
////////////////////////////////////////////////////////////////////////////////
// Load the controller
void GazeboQuadrotorSimpleController::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
world = _model->GetWorld();
// load parameters
if (!_sdf->HasElement("robotNamespace") || !_sdf->GetElement("robotNamespace")->GetValue())
namespace_.clear();
else
namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/";
if (!_sdf->HasElement("topicName") || !_sdf->GetElement("topicName")->GetValue())
velocity_topic_ = "cmd_vel";
else
velocity_topic_ = _sdf->GetElement("topicName")->GetValueString();
if (!_sdf->HasElement("imuTopic") || !_sdf->GetElement("imuTopic")->GetValue())
imu_topic_.clear();
else
imu_topic_ = _sdf->GetElement("imuTopic")->GetValueString();
if (!_sdf->HasElement("stateTopic") || !_sdf->GetElement("stateTopic")->GetValue())
state_topic_.clear();
else
state_topic_ = _sdf->GetElement("stateTopic")->GetValueString();
if (!_sdf->HasElement("bodyName") || !_sdf->GetElement("bodyName")->GetValue())
{
link = _model->GetLink();
link_name_ = link->GetName();
}
else {
link_name_ = _sdf->GetElement("bodyName")->GetValueString();
link = _model->GetLink(link_name_);
}
if (!link)
{
ROS_FATAL("gazebo_ros_baro plugin error: bodyName: %s does not exist\n", link_name_.c_str());
return;
}
if (!_sdf->HasElement("maxForce") || !_sdf->GetElement("maxForce")->GetValue())
max_force_ = -1;
else
max_force_ = _sdf->GetElement("maxForce")->GetValueDouble();
controllers_.roll.Load(_sdf, "rollpitch");
controllers_.pitch.Load(_sdf, "rollpitch");
controllers_.yaw.Load(_sdf, "yaw");
controllers_.velocity_x.Load(_sdf, "velocityXY");
controllers_.velocity_y.Load(_sdf, "velocityXY");
controllers_.velocity_z.Load(_sdf, "velocityZ");
// Get inertia and mass of quadrotor body
inertia = link->GetInertial()->GetPrincipalMoments();
mass = link->GetInertial()->GetMass();
node_handle_ = new ros::NodeHandle(namespace_);
// subscribe command
if (!velocity_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<geometry_msgs::Twist>(
velocity_topic_, 1,
boost::bind(&GazeboQuadrotorSimpleController::VelocityCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
velocity_subscriber_ = node_handle_->subscribe(ops);
}
// subscribe imu
if (!imu_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<sensor_msgs::Imu>(
imu_topic_, 1,
boost::bind(&GazeboQuadrotorSimpleController::ImuCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
imu_subscriber_ = node_handle_->subscribe(ops);
ROS_INFO_NAMED("quadrotor_simple_controller", "Using imu information on topic %s as source of orientation and angular velocity.", imu_topic_.c_str());
}
// subscribe state
if (!state_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<nav_msgs::Odometry>(
state_topic_, 1,
boost::bind(&GazeboQuadrotorSimpleController::StateCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
state_subscriber_ = node_handle_->subscribe(ops);
ROS_INFO_NAMED("quadrotor_simple_controller", "Using state information on topic %s as source of state information.", state_topic_.c_str());
}
// callback_queue_thread_ = boost::thread( boost::bind( &GazeboQuadrotorSimpleController::CallbackQueueThread,this ) );
Reset();
// New Mechanism for Updating every World Cycle
// Listen to the update event. This event is broadcast every
// simulation iteration.
controlTimer.Load(world, _sdf);
updateConnection = event::Events::ConnectWorldUpdateBegin(
boost::bind(&GazeboQuadrotorSimpleController::Update, this));
}
////////////////////////////////////////////////////////////////////////////////
// Load the controller
void GazeboRosGps::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
world = _model->GetWorld();
// load parameters
if (!_sdf->HasElement("robotNamespace"))
namespace_.clear();
else
namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/";
if (!_sdf->HasElement("bodyName"))
{
link = _model->GetLink();
link_name_ = link->GetName();
}
else {
link_name_ = _sdf->GetElement("bodyName")->GetValueString();
link = boost::shared_dynamic_cast<physics::Link>(world->GetEntity(link_name_));
}
if (!link)
{
ROS_FATAL("GazeboRosGps plugin error: bodyName: %s does not exist\n", link_name_.c_str());
return;
}
double update_rate = 4.0;
if (_sdf->HasElement("updateRate")) update_rate = _sdf->GetElement("updateRate")->GetValueDouble();
update_period = update_rate > 0.0 ? 1.0/update_rate : 0.0;
if (!_sdf->HasElement("frameId"))
frame_id_ = link_name_;
else
frame_id_ = _sdf->GetElement("frameId")->GetValueString();
if (!_sdf->HasElement("topicName"))
fix_topic_ = "fix";
else
fix_topic_ = _sdf->GetElement("topicName")->GetValueString();
if (!_sdf->HasElement("velocityTopicName"))
velocity_topic_ = "fix_velocity";
else
velocity_topic_ = _sdf->GetElement("velocityTopicName")->GetValueString();
if (!_sdf->HasElement("referenceLatitude"))
reference_latitude_ = DEFAULT_REFERENCE_LATITUDE;
else
reference_latitude_ = _sdf->GetElement("referenceLatitude")->GetValueDouble();
if (!_sdf->HasElement("referenceLongitude"))
reference_longitude_ = DEFAULT_REFERENCE_LONGITUDE;
else
reference_longitude_ = _sdf->GetElement("referenceLongitude")->GetValueDouble();
if (!_sdf->HasElement("referenceHeading"))
reference_heading_ = DEFAULT_REFERENCE_HEADING * M_PI/180.0;
else
reference_heading_ = _sdf->GetElement("referenceLatitude")->GetValueDouble() * M_PI/180.0;
if (!_sdf->HasElement("referenceAltitude"))
reference_altitude_ = DEFAULT_REFERENCE_ALTITUDE;
else
reference_altitude_ = _sdf->GetElement("referenceLatitude")->GetValueDouble();
if (!_sdf->HasElement("status"))
status_ = sensor_msgs::NavSatStatus::STATUS_FIX;
else
status_ = _sdf->GetElement("status")->GetValueUInt();
if (!_sdf->HasElement("service"))
service_ = sensor_msgs::NavSatStatus::SERVICE_GPS;
else
service_ = _sdf->GetElement("service")->GetValueUInt();
fix_.header.frame_id = frame_id_;
fix_.status.status = status_;
fix_.status.service = service_;
velocity_.header.frame_id = frame_id_;
position_error_model_.Load(_sdf);
velocity_error_model_.Load(_sdf, "velocity");
// start ros node
if (!ros::isInitialized())
{
int argc = 0;
char** argv = NULL;
ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName);
}
node_handle_ = new ros::NodeHandle(namespace_);
fix_publisher_ = node_handle_->advertise<sensor_msgs::NavSatFix>(fix_topic_, 10);
velocity_publisher_ = node_handle_->advertise<geometry_msgs::Vector3Stamped>(velocity_topic_, 10);
Reset();
// New Mechanism for Updating every World Cycle
// Listen to the update event. This event is broadcast every
// simulation iteration.
updateConnection = event::Events::ConnectWorldUpdateStart(
boost::bind(&GazeboRosGps::Update, this));
}
////////////////////////////////////////////////////////////////////////////////
// Load the controller
void GazeboRosBaro::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
world = _model->GetWorld();
// load parameters
if (!_sdf->HasElement("robotNamespace"))
namespace_.clear();
else
namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/";
if (!_sdf->HasElement("bodyName"))
{
link = _model->GetLink();
link_name_ = link->GetName();
}
else {
link_name_ = _sdf->GetElement("bodyName")->GetValueString();
link = _model->GetLink( link_name_ );
}
ROS_INFO_NAMED( "gazebo_ros_baro", "got link %s for model %s for baro", link->GetName().c_str(), link->GetModel()->GetName().c_str() );
if (!link)
{
ROS_FATAL("gazebo_ros_baro plugin error: bodyName: %s does not exist\n", link_name_.c_str());
return;
}
double update_rate = 0.0;
if (_sdf->HasElement("updateRate")) update_rate = _sdf->GetElement("updateRate")->GetValueDouble();
update_period = update_rate > 0.0 ? 1.0/update_rate : 0.0;
if (!_sdf->HasElement("frameId"))
frame_id_ = link->GetName();
else
frame_id_ = _sdf->GetElement("frameId")->GetValueString();
if (!_sdf->HasElement("topicName"))
height_topic_ = "pressure_height";
else
height_topic_ = _sdf->GetElement("topicName")->GetValueString();
if (!_sdf->HasElement("altimeterTopicName"))
altimeter_topic_ = "altimeter";
else
altimeter_topic_ = _sdf->GetElement("altimeterTopicName")->GetValueString();
if (!_sdf->HasElement("elevation"))
elevation_ = DEFAULT_ELEVATION;
else
elevation_ = _sdf->GetElement("elevation")->GetValueDouble();
if (!_sdf->HasElement("qnh"))
qnh_ = DEFAULT_QNH;
else
qnh_ = _sdf->GetElement("qnh")->GetValueDouble();
sensor_model_.Load(_sdf);
height_.header.frame_id = frame_id_;
// start ros node
if (!ros::isInitialized())
{
int argc = 0;
char **argv = NULL;
ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName);
}
node_handle_ = new ros::NodeHandle(namespace_);
if (!height_topic_.empty()) {
#ifdef USE_MAV_MSGS
height_publisher_ = node_handle_->advertise<mav_msgs::Height>(height_topic_, 10);
#else
height_publisher_ = node_handle_->advertise<geometry_msgs::PointStamped>(height_topic_, 10);
#endif
}
if (!altimeter_topic_.empty()) {
altimeter_publisher_ = node_handle_->advertise<hector_uav_msgs::Altimeter>(altimeter_topic_, 10);
}
Reset();
// New Mechanism for Updating every World Cycle
// Listen to the update event. This event is broadcast every
// simulation iteration.
updateConnection = event::Events::ConnectWorldUpdateStart(
boost::bind(&GazeboRosBaro::Update, this));
}
////////////////////////////////////////////////////////////////////////////////
// Load the controller
void GazeboRosF3D::Load( physics::ModelPtr _parent, sdf::ElementPtr _sdf )
{
// Get the world name.
this->world_ = _parent->GetWorld();
// load parameters
this->robot_namespace_ = "";
if (_sdf->HasElement("robotNamespace"))
this->robot_namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>() + "/";
if (!_sdf->HasElement("bodyName"))
{
ROS_FATAL("f3d plugin missing <bodyName>, cannot proceed");
return;
}
else
this->link_name_ = _sdf->GetElement("bodyName")->Get<std::string>();
this->link_ = _parent->GetLink(this->link_name_);
if (!this->link_)
{
ROS_FATAL("gazebo_ros_f3d plugin error: bodyName: %s does not exist\n",this->link_name_.c_str());
return;
}
if (!_sdf->HasElement("topicName"))
{
ROS_FATAL("f3d plugin missing <topicName>, cannot proceed");
return;
}
else
this->topic_name_ = _sdf->GetElement("topicName")->Get<std::string>();
if (!_sdf->HasElement("frameName"))
{
ROS_INFO("f3d plugin missing <frameName>, defaults to world");
this->frame_name_ = "world";
}
else
{
this->frame_name_ = _sdf->GetElement("frameName")->Get<std::string>();
// todo: frameName not used
ROS_INFO("f3d plugin specifies <frameName> [%s], not used, default to world",this->frame_name_.c_str());
}
// 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<geometry_msgs::WrenchStamped>(
this->topic_name_,1,
boost::bind( &GazeboRosF3D::F3DConnect,this),
boost::bind( &GazeboRosF3D::F3DDisconnect,this), ros::VoidPtr(), &this->queue_);
this->pub_ = this->rosnode_->advertise(ao);
// Custom Callback Queue
this->callback_queue_thread_ = boost::thread( boost::bind( &GazeboRosF3D::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(&GazeboRosF3D::UpdateChild, this));
}
////////////////////////////////////////////////////////////////////////////////
// Load the controller
void GazeboRosVacuumGripper::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
ROS_INFO("Loading gazebo_ros_vacuum_gripper");
// Set attached model;
parent_ = _model;
// Get the world name.
world_ = _model->GetWorld();
// load parameters
robot_namespace_ = "";
if (_sdf->HasElement("robotNamespace"))
robot_namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>() + "/";
if (!_sdf->HasElement("bodyName"))
{
ROS_FATAL("vacuum_gripper plugin missing <bodyName>, cannot proceed");
return;
}
else
link_name_ = _sdf->GetElement("bodyName")->Get<std::string>();
link_ = _model->GetLink(link_name_);
if (!link_)
{
std::string found;
physics::Link_V links = _model->GetLinks();
for (size_t i = 0; i < links.size(); i++) {
found += std::string(" ") + links[i]->GetName();
}
ROS_FATAL("gazebo_ros_vacuum_gripper plugin error: link named: %s does not exist", link_name_.c_str());
ROS_FATAL("gazebo_ros_vacuum_gripper plugin error: You should check it exists and is not connected with fixed joint");
ROS_FATAL("gazebo_ros_vacuum_gripper plugin error: Found links are: %s", found.c_str());
return;
}
if (!_sdf->HasElement("topicName"))
{
ROS_FATAL("vacuum_gripper plugin missing <serviceName>, cannot proceed");
return;
}
else
topic_name_ = _sdf->GetElement("topicName")->Get<std::string>();
// 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;
}
rosnode_ = new ros::NodeHandle(robot_namespace_);
// Custom Callback Queue
ros::AdvertiseOptions ao = ros::AdvertiseOptions::create<std_msgs::Bool>(
topic_name_, 1,
boost::bind(&GazeboRosVacuumGripper::Connect, this),
boost::bind(&GazeboRosVacuumGripper::Disconnect, this),
ros::VoidPtr(), &queue_);
pub_ = rosnode_->advertise(ao);
// Custom Callback Queue
ros::AdvertiseServiceOptions aso1 =
ros::AdvertiseServiceOptions::create<std_srvs::Empty>(
"on", boost::bind(&GazeboRosVacuumGripper::OnServiceCallback,
this, _1, _2), ros::VoidPtr(), &queue_);
srv1_ = rosnode_->advertiseService(aso1);
ros::AdvertiseServiceOptions aso2 =
ros::AdvertiseServiceOptions::create<std_srvs::Empty>(
"off", boost::bind(&GazeboRosVacuumGripper::OffServiceCallback,
this, _1, _2), ros::VoidPtr(), &queue_);
srv2_ = rosnode_->advertiseService(aso2);
// Custom Callback Queue
callback_queue_thread_ = boost::thread( boost::bind( &GazeboRosVacuumGripper::QueueThread,this ) );
// New Mechanism for Updating every World Cycle
// Listen to the update event. This event is broadcast every
// simulation iteration.
update_connection_ = event::Events::ConnectWorldUpdateBegin(
boost::bind(&GazeboRosVacuumGripper::UpdateChild, this));
ROS_INFO("Loaded gazebo_ros_vacuum_gripper");
}
////////////////////////////////////////////////////////////////////////////////
// Load the controller
void GazeboRosGps::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
world = _model->GetWorld();
// load parameters
if (!_sdf->HasElement("robotNamespace"))
namespace_.clear();
else
namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString();
if (!_sdf->HasElement("bodyName"))
{
link = _model->GetLink();
link_name_ = link->GetName();
}
else {
link_name_ = _sdf->GetElement("bodyName")->GetValue()->GetAsString();
link = _model->GetLink(link_name_);
}
if (!link)
{
ROS_FATAL("GazeboRosGps plugin error: bodyName: %s does not exist\n", link_name_.c_str());
return;
}
// default parameters
frame_id_ = "/world";
fix_topic_ = "fix";
velocity_topic_ = "fix_velocity";
reference_latitude_ = DEFAULT_REFERENCE_LATITUDE;
reference_longitude_ = DEFAULT_REFERENCE_LONGITUDE;
reference_heading_ = DEFAULT_REFERENCE_HEADING * M_PI/180.0;
reference_altitude_ = DEFAULT_REFERENCE_ALTITUDE;
status_ = sensor_msgs::NavSatStatus::STATUS_FIX;
service_ = sensor_msgs::NavSatStatus::SERVICE_GPS;
fix_.header.frame_id = frame_id_;
fix_.status.status = status_;
fix_.status.service = service_;
velocity_.header.frame_id = frame_id_;
if (_sdf->HasElement("frameId"))
frame_id_ = _sdf->GetElement("frameId")->GetValue()->GetAsString();
if (_sdf->HasElement("topicName"))
fix_topic_ = _sdf->GetElement("topicName")->GetValue()->GetAsString();
if (_sdf->HasElement("velocityTopicName"))
velocity_topic_ = _sdf->GetElement("velocityTopicName")->GetValue()->GetAsString();
if (_sdf->HasElement("referenceLatitude"))
_sdf->GetElement("referenceLatitude")->GetValue()->Get(reference_latitude_);
if (_sdf->HasElement("referenceLongitude"))
_sdf->GetElement("referenceLongitude")->GetValue()->Get(reference_longitude_);
if (_sdf->HasElement("referenceHeading"))
if (_sdf->GetElement("referenceHeading")->GetValue()->Get(reference_heading_))
reference_heading_ *= M_PI/180.0;
if (_sdf->HasElement("referenceAltitude"))
_sdf->GetElement("referenceAltitude")->GetValue()->Get(reference_altitude_);
if (_sdf->HasElement("status"))
_sdf->GetElement("status")->GetValue()->Get(status_);
if (_sdf->HasElement("service"))
_sdf->GetElement("service")->GetValue()->Get(service_);
fix_.header.frame_id = frame_id_;
fix_.status.status = status_;
fix_.status.service = service_;
velocity_.header.frame_id = frame_id_;
position_error_model_.Load(_sdf);
velocity_error_model_.Load(_sdf, "velocity");
// calculate earth radii
double temp = 1.0 / (1.0 - excentrity2 * sin(reference_latitude_ * M_PI/180.0) * sin(reference_latitude_ * M_PI/180.0));
double prime_vertical_radius = equatorial_radius * sqrt(temp);
radius_north_ = prime_vertical_radius * (1 - excentrity2) * temp;
radius_east_ = prime_vertical_radius * cos(reference_latitude_ * M_PI/180.0);
// 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;
}
node_handle_ = new ros::NodeHandle(namespace_);
fix_publisher_ = node_handle_->advertise<sensor_msgs::NavSatFix>(fix_topic_, 10);
velocity_publisher_ = node_handle_->advertise<geometry_msgs::Vector3Stamped>(velocity_topic_, 10);
Reset();
// connect Update function
updateTimer.setUpdateRate(4.0);
updateTimer.Load(world, _sdf);
updateConnection = updateTimer.Connect(boost::bind(&GazeboRosGps::Update, this));
}
void GazeboRosPulson::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
world_ = _model->GetWorld();
// namespace
if (!_sdf->HasElement("robotNamespace"))
{
namespace_.clear();
}
else
{
namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString();
}
// body name
if (!_sdf->HasElement("bodyName"))
{
link_ = _model->GetLink();
link_name_ = link_->GetName();
}
else
{
link_name_ = _sdf->GetElement("bodyName")->GetValue()->GetAsString();
link_ = _model->GetLink(link_name_);
}
if (!link)
{
ROS_FATAL("GazeboRosPulson plugin error bodyName: %s does not exist\n", link_name_.c_str());
return;
}
// get topic
if (_sdf->HasElement("topicName"))
{
range_topic_ = _sdf->GetElement("topicName")->GetValue()->GetAsString();
}
else
{
range_topic_ = "ranges";
}
// get update rate
double rate;
if (_sdf->HasElement("updateRate"))
{
_sdf->GetElement("updateRate")->GetValue()->Get(rate);
}
else
{
rate = 120.0;
}
// get node id
if (_sdf->HasElement("nodeId"))
{
_sdf->GetElement("nodeId")->GetValue()->Get(node_id_);
}
else
{
node_id_ = 100;
}
// set counter
counter_ = 0;
// get beacon file
std::string beacon_map_file;
if (_sdf->HasElement("beaconMapFile"))
{
beacon_map_file = _sdf->GetElement("beaconMapFile")->GetValue()->GetAsString();
}
else
{
ROS_FATAL("GazeboRosPulson plugin requires a beaconMapFile\n");
return;
}
// get package path
std::string path = ros::package::getPath("gazebo_ros_pulson");
// parse beacon map
int r = ParseBeaconMapFile(path + "/" + "config/" + beacon_map_file);
if (r != 0)
{
ROS_ERROR("GazeboRosPulson plugin can not open beaconMapFile\n");
return;
}
// ensure ros is initialized
if (!ros::isInitialized())
{
ROS_FATAL("A ROS node for Gazebo has not been initialized, unable to load plugin.\n");
return;
}
// init node handle
nh_ = new ros::NodeHandle(namespace_);
// publishers
range_pub_ = nh_->advertise<pulson_ros::RangeMeasurement>(range_topic_, 1000);
// reset plugin
Reset();
// set rates
updateTimer_.setUpdateRate(rate);
updateTimer_.Load(world_, _sdf);
// initialize callback
updateConnection_ = updateTimer_.Connect(boost::bind(&GazeboRosPulson::Update, this));
ROS_INFO("GazeboRosPulson plugin loaded!");
}
////////////////////////////////////////////////////////////////////////////////
// Load the controller
void GazeboRosMagnetic::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
world = _model->GetWorld();
// load parameters
if (_sdf->HasElement("robotNamespace"))
namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString();
else
namespace_.clear();
if (!_sdf->HasElement("topicName"))
topic_ = "magnetic";
else
topic_ = _sdf->GetElement("topicName")->Get<std::string>();
if (_sdf->HasElement("bodyName"))
{
link_name_ = _sdf->GetElement("bodyName")->GetValue()->GetAsString();
link = _model->GetLink(link_name_);
}
else
{
link = _model->GetLink();
link_name_ = link->GetName();
}
if (!link)
{
ROS_FATAL("GazeboRosMagnetic plugin error: bodyName: %s does not exist\n", link_name_.c_str());
return;
}
// default parameters
frame_id_ = link_name_;
magnitude_ = DEFAULT_MAGNITUDE;
reference_heading_ = DEFAULT_REFERENCE_HEADING * M_PI/180.0;
declination_ = DEFAULT_DECLINATION * M_PI/180.0;
inclination_ = DEFAULT_INCLINATION * M_PI/180.0;
if (_sdf->HasElement("frameId"))
frame_id_ = _sdf->GetElement("frameId")->GetValue()->GetAsString();
if (_sdf->HasElement("magnitude"))
_sdf->GetElement("magnitude")->GetValue()->Get(magnitude_);
if (_sdf->HasElement("referenceHeading"))
if (_sdf->GetElement("referenceHeading")->GetValue()->Get(reference_heading_))
reference_heading_ *= M_PI/180.0;
if (_sdf->HasElement("declination"))
if (_sdf->GetElement("declination")->GetValue()->Get(declination_))
declination_ *= M_PI/180.0;
if (_sdf->HasElement("inclination"))
if (_sdf->GetElement("inclination")->GetValue()->Get(inclination_))
inclination_ *= M_PI/180.0;
// Note: Gazebo uses NorthWestUp coordinate system, heading and declination are compass headings
magnetic_field_.header.frame_id = frame_id_;
magnetic_field_world_.x = magnitude_ * cos(inclination_) * cos(reference_heading_ - declination_);
magnetic_field_world_.y = magnitude_ * sin(reference_heading_ - declination_);
magnetic_field_world_.z = magnitude_ * -sin(inclination_) * cos(reference_heading_ - declination_);
sensor_model_.Load(_sdf);
// start ros node
if (!ros::isInitialized())
{
int argc = 0;
char** argv = NULL;
ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName);
}
node_handle_ = new ros::NodeHandle(namespace_);
publisher_ = node_handle_->advertise<geometry_msgs::Vector3Stamped>(topic_, 1);
Reset();
// connect Update function
updateTimer.Load(world, _sdf);
updateConnection = updateTimer.Connect(boost::bind(&GazeboRosMagnetic::Update, this));
}
private: void updateContacts(sensors::SensorPtr sensor, const string& sensorName){
// Get all the contacts.
msgs::Contacts contacts = boost::dynamic_pointer_cast<sensors::ContactSensor>(sensor)->GetContacts();
physics::LinkPtr trunk = model->GetLink("trunk");
for (unsigned int i = 0; i < contacts.contact_size(); ++i){
#if(PRINT_SENSORS)
cout << "Collision between[" << contacts.contact(i).collision1()
<< "] and [" << contacts.contact(i).collision2() << "]\n";
cout << " t[" << this->world->GetSimTime()
<< "] i[" << i
<< "] s[" << contacts.contact(i).time().sec()
<< "] n[" << contacts.contact(i).time().nsec()
<< "] size[" << contacts.contact(i).position_size()
<< "]\n";
#endif
math::Vector3 fTotal;
math::Vector3 tTotal;
for(unsigned int j = 0; j < contacts.contact(i).position_size(); ++j){
#if(PRINT_SENSORS)
cout << j << " Position:"
<< contacts.contact(i).position(j).x() << " "
<< contacts.contact(i).position(j).y() << " "
<< contacts.contact(i).position(j).z() << "\n";
cout << " Normal:"
<< contacts.contact(i).normal(j).x() << " "
<< contacts.contact(i).normal(j).y() << " "
<< contacts.contact(i).normal(j).z() << "\n";
cout << " Wrench 1:"
<< contacts.contact(i).wrench(j).body_1_wrench().force().x() << " "
<< contacts.contact(i).wrench(j).body_1_wrench().force().y() << " "
<< contacts.contact(i).wrench(j).body_1_wrench().force().z() << "\n";
cout << " Wrench 2:"
<< contacts.contact(i).wrench(j).body_2_wrench().force().x() << " "
<< contacts.contact(i).wrench(j).body_2_wrench().force().y() << " "
<< contacts.contact(i).wrench(j).body_2_wrench().force().z() << "\n";
cout << " Depth:" << contacts.contact(i).depth(j) << "\n";
#endif
fTotal += math::Vector3(
contacts.contact(i).wrench(j).body_1_wrench().force().x(),
contacts.contact(i).wrench(j).body_1_wrench().force().y(),
contacts.contact(i).wrench(j).body_1_wrench().force().z());
tTotal += math::Vector3(
contacts.contact(i).wrench(j).body_1_wrench().torque().x(),
contacts.contact(i).wrench(j).body_1_wrench().torque().y(),
contacts.contact(i).wrench(j).body_1_wrench().torque().z());
}
#if(PRINT_SENSORS)
cout << "Total Force: " << fTotal.GetLength() << endl;
cout << "Total Torque: " << tTotal.GetLength() << endl;
#endif
if(fTotal.GetLength() > maxForces[sensorName]){
maxForces[sensorName] = fTotal.GetLength();
maxForceTimes[sensorName] = this->world->GetSimTime();
// We want the link it collides with
vector<string> strs;
boost::split(strs, sensorName, boost::is_any_of("::"));
collidingLink[sensorName] = !boost::contains(contacts.contact(i).collision1(), strs[0]) ? contacts.contact(i).collision1() : contacts.contact(i).collision2();
#if PRINT_DEBUG
cout << "Colliding link is: " << collidingLink[sensorName] << ". Options were: " << contacts.contact(i).collision1() << " and " << contacts.contact(i).collision2() << endl;
#endif
maxForceVelocities[sensorName] = trunk->GetWorldLinearVel();
maxForceAccs[sensorName] = trunk->GetWorldLinearAccel();
}
if(tTotal.GetLength() > maxTorques[sensorName]){
maxTorques[sensorName] = tTotal.GetLength();
}
}
}
// Load the controller
void ServoPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
// Get the world name.
world = _model->GetWorld();
// default parameters
topicName = "drive";
jointStateName = "joint_states";
robotNamespace.clear();
controlPeriod = 0;
proportionalControllerGain = 8.0;
derivativeControllerGain = 0.0;
maximumVelocity = 0.0;
maximumTorque = 0.0;
// load parameters
if (_sdf->HasElement("robotNamespace")) robotNamespace = _sdf->Get<std::string>("robotNamespace");
if (_sdf->HasElement("topicName")) topicName = _sdf->Get<std::string>("topicName");
if (_sdf->HasElement("jointStateName")) jointStateName = _sdf->Get<std::string>("jointStateName");
if (_sdf->HasElement("firstServoName")) servo[FIRST].name = _sdf->Get<std::string>("firstServoName");
if (_sdf->HasElement("firstServoAxis")) servo[FIRST].axis = _sdf->Get<math::Vector3>("firstServoAxis");
if (_sdf->HasElement("secondServoName")) servo[SECOND].name = _sdf->Get<std::string>("secondServoName");
if (_sdf->HasElement("secondServoAxis")) servo[SECOND].axis = _sdf->Get<math::Vector3>("secondServoAxis");
if (_sdf->HasElement("thirdServoName")) servo[THIRD].name = _sdf->Get<std::string>("thirdServoName");
if (_sdf->HasElement("thirdServoAxis")) servo[THIRD].axis = _sdf->Get<math::Vector3>("thirdServoAxis");
if (_sdf->HasElement("proportionalControllerGain")) proportionalControllerGain = _sdf->Get<double>("proportionalControllerGain");
if (_sdf->HasElement("derivativeControllerGain")) derivativeControllerGain = _sdf->Get<double>("derivativeControllerGain");
if (_sdf->HasElement("maxVelocity")) maximumVelocity = _sdf->Get<double>("maxVelocity");
if (_sdf->HasElement("torque")) maximumTorque = _sdf->Get<double>("torque");
double controlRate = 0.0;
if (_sdf->HasElement("controlRate")) controlRate = _sdf->Get<double>("controlRate");
controlPeriod = controlRate > 0.0 ? 1.0/controlRate : 0.0;
servo[FIRST].joint = _model->GetJoint(servo[FIRST].name);
servo[SECOND].joint = _model->GetJoint(servo[SECOND].name);
servo[THIRD].joint = _model->GetJoint(servo[THIRD].name);
if (!servo[FIRST].joint)
gzthrow("The controller couldn't get first joint");
countOfServos = 1;
if (servo[SECOND].joint) {
countOfServos = 2;
if (servo[THIRD].joint) {
countOfServos = 3;
}
}
else {
if (servo[THIRD].joint) {
gzthrow("The controller couldn't get second joint, but third joint was loaded");
}
}
if (!ros::isInitialized()) {
int argc = 0;
char** argv = NULL;
ros::init(argc, argv, "gazebo", ros::init_options::NoSigintHandler | ros::init_options::AnonymousName);
}
rosnode_ = new ros::NodeHandle(robotNamespace);
transform_listener_ = new tf::TransformListener();
transform_listener_->setExtrapolationLimit(ros::Duration(1.0));
if (!topicName.empty()) {
ros::SubscribeOptions so = ros::SubscribeOptions::create<geometry_msgs::QuaternionStamped>(topicName, 1,
boost::bind(&ServoPlugin::cmdCallback, this, _1),
ros::VoidPtr(), &queue_);
sub_ = rosnode_->subscribe(so);
}
if (!jointStateName.empty()) {
jointStatePub_ = rosnode_->advertise<sensor_msgs::JointState>(jointStateName, 10);
}
joint_state.header.frame_id = transform_listener_->resolve(_model->GetLink()->GetName());
// New Mechanism for Updating every World Cycle
// Listen to the update event. This event is broadcast every
// simulation iteration.
updateConnection = event::Events::ConnectWorldUpdateBegin(
boost::bind(&ServoPlugin::Update, this));
}
