Exemplo n.º 1
0
gazebo::physics::LinkPtr WorldProxy::HELPER_getLinkInModel(gazebo::physics::ModelPtr model, std::string link_name)
{
    gazebo::physics::Link_V model_links = model->GetLinks();
    for(int i=0; i < model_links.size(); i++ )
    {
        std::string candidate_link = model_links[i]->GetScopedName();
        if( HELPER_hasEnding(candidate_link,"::"+link_name) )
	{
            return model_links[i];
        }
    }
    return gazebo::physics::LinkPtr();
}
//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;
}