DifferentialCPG::DifferentialCPG(
const ::gazebo::physics::ModelPtr &_model,
const sdf::ElementPtr _settings,
const std::vector< revolve::gazebo::MotorPtr > &_motors,
const std::vector< revolve::gazebo::SensorPtr > &_sensors)
: nextState_(nullptr)
, input_(new double[_sensors.size()])
, output_(new double[_motors.size()])
{
// Create transport node
this->node_.reset(new gz::transport::Node());
this->node_->Init();
auto name = _model->GetName();
// Listen to network modification requests
// alterSub_ = node_->Subscribe(
// "~/" + name + "/modify_diff_cpg", &DifferentialCPG::Modify,
// this);
if (not _settings->HasElement("rv:brain"))
{
std::cerr << "No robot brain detected, this is probably an error."
<< std::endl;
throw std::runtime_error("DifferentialCPG brain did not receive settings");
}
std::cout << _settings->GetDescription() << std::endl;
auto motor = _settings->HasElement("rv:motor")
? _settings->GetElement("rv:motor")
: sdf::ElementPtr();
while(motor)
{
if (not motor->HasAttribute("x") or not motor->HasAttribute("y"))
{
std::cerr << "Missing required motor attributes (x- and/or y- coordinate)"
<< std::endl;
throw std::runtime_error("Robot brain error");
}
auto motorId = motor->GetAttribute("part_id")->GetAsString();
auto coordX = std::atoi(motor->GetAttribute("x")->GetAsString().c_str());
auto coordY = std::atoi(motor->GetAttribute("y")->GetAsString().c_str());
this->positions_[motorId] = {coordX, coordY};
this->neurons_[{coordX, coordY, 1}] = {1.f, 0.f, 0.f};
this->neurons_[{coordX, coordY, -1}] = {1.f, 0.f, 0.f};
// TODO: Add check for duplicate coordinates
motor = motor->GetNextElement("rv:motor");
}
// Add connections between neighbouring neurons
for (const auto &position : this->positions_)
{
auto name = position.first;
int x, y; std::tie(x, y) = position.second;
if (this->connections_.count({x, y, 1, x, y, -1}))
{
continue;
}
if (this->connections_.count({x, y, -1, x, y, 1}))
{
continue;
}
this->connections_[{x, y, 1, x, y, -1}] = 1.f;
this->connections_[{x, y, -1, x, y, 1}] = 1.f;
for (const auto &neighbour : this->positions_)
{
int nearX, nearY;
std::tie(nearX, nearY) = neighbour.second;
if ((x+1) == nearX or (y+1) == nearY or (x-1) == nearX or (y-1) == nearY)
{
this->connections_[{x, y, 1, nearX, nearY, 1}] = 1.f;
this->connections_[{nearX, nearY, 1, x, y, 1}] = 1.f;
}
}
}
// Initialise array of neuron states for Update() method
this->nextState_ = new double[this->neurons_.size()];
}
//Here we already have the model!
bool robotSim::gazeboConfigureHook(gazebo::physics::ModelPtr model) {
if (model.get() == NULL) {
RTT::log(RTT::Error) << "No model could be loaded" << RTT::endlog();
return false;
}
if (!_models_loaded) {
RTT::log(RTT::Error) << "URDF and SRDF models has not been passed. Call loadURDFAndSRDF(URDF_path, SRDF_path)" << RTT::endlog();
return false;
}
// Get the joints
gazebo_joints_ = model->GetJoints();
model_links_ = model->GetLinks();
RTT::log(RTT::Info) << "Model name "<< model->GetName() << RTT::endlog();
RTT::log(RTT::Info) << "Model has " << gazebo_joints_.size() << " joints" << RTT::endlog();
RTT::log(RTT::Info) << "Model has " << model_links_.size() << " links" << RTT::endlog();
for(unsigned int i = 0; i < _xbotcore_model.get_chain_names().size(); ++i){
std::string chain_name = _xbotcore_model.get_chain_names()[i];
std::vector<std::string> enabled_joints_in_chain;
_xbotcore_model.get_enabled_joints_in_chain(chain_name,enabled_joints_in_chain);
kinematic_chains.insert(std::pair<std::string, boost::shared_ptr<KinematicChain>>(
chain_name, boost::shared_ptr<KinematicChain>(
new KinematicChain(chain_name, enabled_joints_in_chain, *(this->ports()), model
#ifdef USE_INTROSPECTION
,this
#endif
))));
}
RTT::log(RTT::Info) << "Kinematic Chains map created!" << RTT::endlog();
for(std::map<std::string, boost::shared_ptr<KinematicChain>>::iterator it = kinematic_chains.begin();
it != kinematic_chains.end(); it++){
if(!(it->second->initKinematicChain(gains.Gains))){
RTT::log(RTT::Warning) << "Problem Init Kinematic Chain" <<
it->second->getKinematicChainName() << RTT::endlog();
return false;
}
}
RTT::log(RTT::Info) << "Kinematic Chains Initialized!" << RTT::endlog();
RTT::log(RTT::Info) << "Checking Sensors (URDF/SRDF)"<<RTT::endlog();
std::map<std::string,int> ft_srdf = _xbotcore_model.get_ft_sensors();
std::map<std::string,int> imu_srdf = _xbotcore_model.get_imu_sensors();
RTT::log(RTT::Info) << "Force Update of SensorManager (before accessing sensors)!" << RTT::endlog();
gazebo::sensors::SensorManager::Instance()->Update(true);
RTT::log(RTT::Info) << "Checking Sensors (Gazebo)"<<RTT::endlog();
gazebo::sensors::Sensor_V sensors = gazebo::sensors::SensorManager::Instance()->GetSensors();
gazebo::sensors::Sensor_V sensors_attached_to_robot;
for(unsigned int i = 0; i < sensors.size(); ++i){
if(sensors[i]->ScopedName().find("::"+model->GetName()+"::") != std::string::npos)
sensors_attached_to_robot.push_back(sensors[i]);
}
for(std::map<std::string,int>::iterator i = ft_srdf.begin(); i != ft_srdf.end(); i++)
{
force_torque_sensor ft(i->first, model, _xbotcore_model.get_urdf_model(),
sensors_attached_to_robot,
*(this->ports())
#ifdef USE_INTROSPECTION
,this
#endif
);
if(ft.isInited())
force_torque_sensors.push_back(ft);
}
for(std::map<std::string,int>::iterator i = imu_srdf.begin(); i != imu_srdf.end(); ++i){
imu_sensor imu_(i->first,sensors_attached_to_robot,*(this->ports()));
if(imu_.isInited())
imu_sensors.push_back(imu_);
}
RTT::log(RTT::Warning) << "Done Configuring Component" << RTT::endlog();
return true;
}