////////////////////////////////////////////////////////////////////////////////
// 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));
}
/**
* Saves the gazebo pointer, creates the device driver
*/
void GazeboYarpTripod::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
{
yarp::os::Network::init();
if (!yarp::os::Network::checkNetwork(GazeboYarpPlugins::yarpNetworkInitializationTimeout)) {
std::cerr << "GazeboYarpTripod::Load error: yarp network does not seem to be available, is the yarpserver running?"<<std::endl;
return;
}
std::cout<<"*** GazeboYarpTripod plugin started ***"<<std::endl;
if (!_parent) {
gzerr << "GazeboYarpTripod plugin requires a parent.\n";
return;
}
m_robotName = _parent->GetScopedName();
GazeboYarpPlugins::Handler::getHandler()->setRobot(get_pointer(_parent));
// Add the gazebo_controlboard device driver to the factory.
yarp::dev::Drivers::factory().add(new yarp::dev::DriverCreatorOf<cer::dev::GazeboTripodMotionControl>("gazebo_tripod", "controlboardwrapper2", "GazeboTripodMotionControl"));
//Getting .ini configuration file from sdf
bool configuration_loaded = false;
yarp::os::Bottle wrapper_group;
yarp::os::Bottle driver_group;
if (_sdf->HasElement("yarpConfigurationFile")) {
std::string ini_file_name = _sdf->Get<std::string>("yarpConfigurationFile");
std::string ini_file_path = gazebo::common::SystemPaths::Instance()->FindFileURI(ini_file_name);
GazeboYarpPlugins::addGazeboEnviromentalVariablesModel(_parent,_sdf,m_parameters);
bool wipe = false;
if (ini_file_path != "" && m_parameters.fromConfigFile(ini_file_path.c_str(),wipe))
{
std::cout << "GazeboYarpTripod: Found yarpConfigurationFile: loading from " << ini_file_path << std::endl;
m_parameters.put("gazebo_ini_file_path",ini_file_path.c_str());
wrapper_group = m_parameters.findGroup("WRAPPER");
if(wrapper_group.isNull()) {
printf("GazeboYarpTripod::Load Error: [WRAPPER] group not found in config file\n");
return;
}
if(m_parameters.check("ROS"))
{
yarp::os::ConstString ROS;
ROS = yarp::os::ConstString ("(") + m_parameters.findGroup("ROS").toString() + yarp::os::ConstString (")");
wrapper_group.append(yarp::os::Bottle(ROS));
}
configuration_loaded = true;
}
}
if (!configuration_loaded) {
std::cout << "GazeboYarpTripod: File .ini not found, quitting\n" << std::endl;
return;
}
m_wrapper.open(wrapper_group);
if (!m_wrapper.isValid())
fprintf(stderr, "GazeboYarpTripod: wrapper did not open\n");
else
fprintf(stderr, "GazeboYarpTripod: wrapper opened correctly\n");
if (!m_wrapper.view(m_iWrap)) {
printf("Wrapper interface not found\n");
}
yarp::os::Bottle *netList = wrapper_group.find("networks").asList();
if (netList->isNull()) {
printf("GazeboYarpTripod ERROR, net list to attach to was not found, exiting\n");
m_wrapper.close();
// m_controlBoard.close();
return;
}
for (int n = 0; n < netList->size(); n++)
{
yarp::dev::PolyDriverDescriptor newPoly;
newPoly.key = netList->get(n).asString();
std::string scopedDeviceName = m_robotName + "::" + newPoly.key.c_str();
newPoly.poly = GazeboYarpPlugins::Handler::getHandler()->getDevice(scopedDeviceName);
if( newPoly.poly != NULL)
{
// device already exists, use it, setting it againg to increment the usage counter.
printf("controlBoard %s already opened\n", newPoly.key.c_str());
}
else
{
driver_group = m_parameters.findGroup(newPoly.key.c_str());
if (driver_group.isNull()) {
fprintf(stderr, "GazeboYarpTripod::Load Error: [%s] group not found in config file. Closing wrapper \n", newPoly.key.c_str());
m_wrapper.close();
return;
}
m_parameters.put("name", newPoly.key.c_str());
m_parameters.fromString(driver_group.toString(), false);
m_parameters.put("robotScopedName", m_robotName);
std::cout << "GazeboYarpTripod: setting robotScopedName " << m_robotName << std::endl;
//std::cout << "before open: params are " << m_parameters.toString() << std::endl;
if (_sdf->HasElement("initialConfiguration")) {
std::string configuration_s = _sdf->Get<std::string>("initialConfiguration");
m_parameters.put("initialConfiguration", configuration_s.c_str());
}
newPoly.poly = new yarp::dev::PolyDriver;
if(! newPoly.poly->open(m_parameters) || ! newPoly.poly->isValid())
{
std::cerr << "controlBoard <" << newPoly.key << "> did not open!!";
for(int idx=0; idx<m_controlBoards.size(); idx++)
{
m_controlBoards[idx]->poly->close();
}
m_wrapper.close();
return;
}
else
{
printf("controlBoard %s opened correctly\n", newPoly.key.c_str());
}
}
GazeboYarpPlugins::Handler::getHandler()->setDevice(scopedDeviceName, newPoly.poly);
m_controlBoards.push(newPoly);
}
if (!m_iWrap || !m_iWrap->attachAll(m_controlBoards))
{
printf("GazeboYarpTripod: Error while attaching wrapper to device\n");
m_wrapper.close();
for (int n = 0; n < netList->size(); n++) {
std::string scopedDeviceName = m_robotName + "::" + m_controlBoards[n]->key.c_str();
GazeboYarpPlugins::Handler::getHandler()->removeDevice(scopedDeviceName);
}
return;
}
printf("Device initialized correctly, now sitting and waiting cause I am just the main of the yarp device, and the robot is linked to the onUpdate event of gazebo\n");
std::cout<<"Loaded GazeboYarpTripod Plugin"<<std::endl;
}
////////////////////////////////////////////////////////////////////////////////
// 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 GazeboQuadrotorAerodynamics::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
model = _model;
world = _model->GetWorld();
// load parameters
if (!_sdf->HasElement("robotNamespace"))
namespace_.clear();
else
namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/";
if (!_sdf->HasElement("paramNamespace"))
param_namespace_ = "~/quadrotor_aerodynamics/";
else
param_namespace_ = _sdf->GetElement("paramNamespace")->GetValueString() + "/";
if (!_sdf->HasElement("voltageTopicName"))
voltage_topic_ = "motor_pwm";
else
voltage_topic_ = _sdf->GetElement("voltageTopicName")->GetValueString();
if (!_sdf->HasElement("windTopicName"))
wind_topic_ = "wind";
else
wind_topic_ = _sdf->GetElement("windTopicName")->GetValueString();
if (!_sdf->HasElement("wrenchTopic"))
wrench_topic_ = "wrench_out";
else
wrench_topic_ = _sdf->GetElement("wrenchTopic")->GetValueString();
if (!_sdf->HasElement("statusTopic"))
status_topic_ = "motor_status";
else
status_topic_ = _sdf->GetElement("statusTopic")->GetValueString();
// set control timing parameters
control_rate_ = 100.0;
if (_sdf->HasElement("controlRate")) control_rate_ = _sdf->GetElement("controlRate")->GetValueDouble();
control_period_ = (control_rate_ > 0) ? (1.0 / control_rate_) : 0.0;
control_tolerance_ = control_period_ / 2.0;
if (_sdf->HasElement("controlTolerance")) control_tolerance_ = _sdf->GetElement("controlTolerance")->GetValueDouble();
control_delay_ = Time();
if (_sdf->HasElement("controlDelay")) control_delay_ = _sdf->GetElement("controlDelay")->GetValueDouble();
// 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_);
// subscribe command
if (!voltage_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<hector_uav_msgs::MotorPWM>(
voltage_topic_, 1,
boost::bind(&GazeboQuadrotorAerodynamics::CommandCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
voltage_subscriber_ = node_handle_->subscribe(ops);
}
// subscribe command
if (!wind_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<geometry_msgs::Vector3>(
wind_topic_, 1,
boost::bind(&GazeboQuadrotorAerodynamics::WindCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
wind_subscriber_ = node_handle_->subscribe(ops);
}
// publish wrench
if (!wrench_topic_.empty())
{
ros::AdvertiseOptions ops = ros::AdvertiseOptions::create<geometry_msgs::Wrench>(
wrench_topic_, 10,
ros::SubscriberStatusCallback(), ros::SubscriberStatusCallback(),
ros::VoidConstPtr(), &callback_queue_);
wrench_publisher_ = node_handle_->advertise(ops);
}
// publish motor_status
if (!status_topic_.empty())
{
ros::AdvertiseOptions ops = ros::AdvertiseOptions::create<hector_uav_msgs::MotorStatus>(
status_topic_, 10,
ros::SubscriberStatusCallback(), ros::SubscriberStatusCallback(),
ros::VoidConstPtr(), &callback_queue_);
motor_status_publisher_ = node_handle_->advertise(ops);
}
callback_queue_thread_ = boost::thread( boost::bind( &GazeboQuadrotorAerodynamics::QueueThread,this ) );
Reset();
// get model parameters
ros::NodeHandle param(param_namespace_);
param.getParam("k_t", propulsion_model_->parameters_.k_t);
param.getParam("CT0s", propulsion_model_->parameters_.CT0s);
param.getParam("CT1s", propulsion_model_->parameters_.CT1s);
param.getParam("CT2s", propulsion_model_->parameters_.CT2s);
param.getParam("J_M", propulsion_model_->parameters_.J_M);
param.getParam("l_m", propulsion_model_->parameters_.l_m);
param.getParam("Psi", propulsion_model_->parameters_.Psi);
param.getParam("R_A", propulsion_model_->parameters_.R_A);
param.getParam("C_wxy", drag_model_->parameters_.C_wxy);
param.getParam("C_wz", drag_model_->parameters_.C_wz);
param.getParam("C_mxy", drag_model_->parameters_.C_mxy);
param.getParam("C_mz", drag_model_->parameters_.C_mz);
std::cout << "Loaded the following quadrotor propulsion model parameters from namespace " << param.getNamespace() << ":" << std::endl;
std::cout << "k_t = " << propulsion_model_->parameters_.k_t << std::endl;
std::cout << "CT2s = " << propulsion_model_->parameters_.CT2s << std::endl;
std::cout << "CT1s = " << propulsion_model_->parameters_.CT1s << std::endl;
std::cout << "CT0s = " << propulsion_model_->parameters_.CT0s << std::endl;
std::cout << "Psi = " << propulsion_model_->parameters_.Psi << std::endl;
std::cout << "J_M = " << propulsion_model_->parameters_.J_M << std::endl;
std::cout << "R_A = " << propulsion_model_->parameters_.R_A << std::endl;
std::cout << "l_m = " << propulsion_model_->parameters_.l_m << std::endl;
std::cout << "Loaded the following quadrotor drag model parameters from namespace " << param.getNamespace() << ":" << std::endl;
std::cout << "C_wxy = " << drag_model_->parameters_.C_wxy << std::endl;
std::cout << "C_wz = " << drag_model_->parameters_.C_wz << std::endl;
std::cout << "C_mxy = " << drag_model_->parameters_.C_mxy << std::endl;
std::cout << "C_mz = " << drag_model_->parameters_.C_mz << std::endl;
// 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(&GazeboQuadrotorAerodynamics::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 GazeboRosMagnetic::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
world = _model->GetWorld();
// load parameters
if (!_sdf->HasElement("robotNamespace"))
namespace_.clear();
else
namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>() + "/";
if (!_sdf->HasElement("topicName"))
topic_ = "magnetic";
else
topic_ = _sdf->GetElement("topicName")->Get<std::string>();
link = _model->GetChildLink("base_link");
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")->Get<double>();
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")->Get<std::string>();
if (!_sdf->HasElement("magnitude"))
magnitude_ = DEFAULT_MAGNITUDE;
else
magnitude_ = _sdf->GetElement("magnitude")->Get<double>();
if (!_sdf->HasElement("referenceHeading"))
reference_heading_ = DEFAULT_REFERENCE_HEADING * M_PI/180.0;
else
reference_heading_ = _sdf->GetElement("referenceHeading")->Get<double>() * M_PI/180.0;
if (!_sdf->HasElement("declination"))
declination_ = DEFAULT_DECLINATION * M_PI/180.0;
else
declination_ = _sdf->GetElement("declination")->Get<double>() * M_PI/180.0;
if (!_sdf->HasElement("inclination"))
inclination_ = DEFAULT_INCLINATION * M_PI/180.0;
else
inclination_ = _sdf->GetElement("inclination")->Get<double>() * 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::ConnectWorldUpdateBegin(
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();
}
}
}
void GazeboRosKobuki::Load(physics::ModelPtr parent, sdf::ElementPtr sdf)
{
model_ = parent;
if (!model_)
{
ROS_ERROR_STREAM("Invalid model pointer! [" << node_name_ << "]");
return;
}
// Get then name of the parent model and use it as node name
std::string model_name = sdf->GetParent()->GetValueString("name");
gzdbg << "Plugin model name: " << model_name << "\n";
nh_ = ros::NodeHandle("");
// creating a private name pace until Gazebo implements topic remappings
nh_priv_ = ros::NodeHandle("/" + model_name);
node_name_ = model_name;
world_ = parent->GetWorld();
// TODO: use when implementing subs
// ros_spinner_thread_ = new boost::thread(boost::bind(&GazeboRosKobuki::spin, this));
//
// this->node_namespace_ = "";
// if (_sdf->HasElement("node_namespace"))
// this->node_namespace_ = _sdf->GetElement("node_namespace")->GetValueString() + "/";
/*
* Prepare receiving motor power commands
*/
motor_power_sub_ = nh_priv_.subscribe("commands/motor_power", 10, &GazeboRosKobuki::motorPowerCB, this);
motors_enabled_ = true;
/*
* Prepare joint state publishing
*/
if (sdf->HasElement("left_wheel_joint_name"))
{
left_wheel_joint_name_ = sdf->GetElement("left_wheel_joint_name")->GetValueString();
}
else
{
ROS_ERROR_STREAM("Couldn't find left wheel joint in the model description!"
<< " Did you specify the correct joint name?" << " [" << node_name_ <<"]");
return;
}
if (sdf->HasElement("right_wheel_joint_name"))
{
right_wheel_joint_name_ = sdf->GetElement("right_wheel_joint_name")->GetValueString();
}
else
{
ROS_ERROR_STREAM("Couldn't find right wheel joint in the model description!"
<< " Did you specify the correct joint name?" << " [" << node_name_ <<"]");
return;
}
joints_[LEFT] = parent->GetJoint(left_wheel_joint_name_);
joints_[RIGHT] = parent->GetJoint(right_wheel_joint_name_);
if (!joints_[LEFT] || !joints_[RIGHT])
{
ROS_ERROR_STREAM("Couldn't find specified wheel joints in the model! [" << node_name_ <<"]");
return;
}
joint_state_.header.frame_id = "Joint States";
joint_state_.name.push_back(left_wheel_joint_name_);
joint_state_.position.push_back(0);
joint_state_.velocity.push_back(0);
joint_state_.effort.push_back(0);
joint_state_.name.push_back(right_wheel_joint_name_);
joint_state_.position.push_back(0);
joint_state_.velocity.push_back(0);
joint_state_.effort.push_back(0);
joint_state_pub_ = nh_.advertise<sensor_msgs::JointState>("joint_states", 1);
/*
* Prepare publishing odometry data
*/
if (sdf->HasElement("wheel_separation"))
{
wheel_sep_ = sdf->GetElement("wheel_separation")->GetValueDouble();
}
else
{
ROS_ERROR_STREAM("Couldn't find the wheel separation parameter in the model description!"
<< " Did you specify it?" << " [" << node_name_ <<"]");
return;
}
if (sdf->HasElement("wheel_diameter"))
{
wheel_diam_ = sdf->GetElement("wheel_diameter")->GetValueDouble();
}
else
{
ROS_ERROR_STREAM("Couldn't find the wheel diameter parameter in the model description!"
<< " Did you specify it?" << " [" << node_name_ <<"]");
return;
}
if (sdf->HasElement("torque"))
{
torque_ = sdf->GetElement("torque")->GetValueDouble();
}
else
{
ROS_ERROR_STREAM("Couldn't find the torque parameter in the model description!"
<< " Did you specify it?" << " [" << node_name_ <<"]");
return;
}
odom_pub_ = nh_.advertise<nav_msgs::Odometry>("odom", 1);
/*
* Prepare receiving velocity commands
*/
if (sdf->HasElement("velocity_command_timeout"))
{
cmd_vel_timeout_ = sdf->GetElement("velocity_command_timeout")->GetValueDouble();
}
else
{
ROS_ERROR_STREAM("Couldn't find the wheel separation parameter in the model description!"
<< " Did you specify it?" << " [" << node_name_ <<"]");
return;
}
last_cmd_vel_time_ = world_->GetSimTime();
cmd_vel_sub_ = nh_priv_.subscribe("commands/velocity", 100, &GazeboRosKobuki::cmdVelCB, this);
/*
* Prepare cliff sensors
*/
std::string cliff_sensor_left_name, cliff_sensor_front_name, cliff_sensor_right_name;
if (sdf->HasElement("cliff_sensor_left_name"))
{
cliff_sensor_left_name = sdf->GetElement("cliff_sensor_left_name")->GetValueString();
}
else
{
ROS_ERROR_STREAM("Couldn't find the name of left cliff sensor in the model description!"
<< " Did you specify it?" << " [" << node_name_ <<"]");
return;
}
if (sdf->HasElement("cliff_sensor_front_name"))
{
cliff_sensor_front_name = sdf->GetElement("cliff_sensor_front_name")->GetValueString();
}
else
{
ROS_ERROR_STREAM("Couldn't find the name of frontal cliff sensor in the model description!"
<< " Did you specify it?" << " [" << node_name_ <<"]");
return;
}
if (sdf->HasElement("cliff_sensor_right_name"))
{
cliff_sensor_right_name = sdf->GetElement("cliff_sensor_right_name")->GetValueString();
}
else
{
ROS_ERROR_STREAM("Couldn't find the name of right cliff sensor in the model description!"
<< " Did you specify it?" << " [" << node_name_ <<"]");
return;
}
cliff_sensor_left_ = boost::shared_dynamic_cast<sensors::RaySensor>(
sensors::SensorManager::Instance()->GetSensor(cliff_sensor_left_name));
cliff_sensor_front_ = boost::shared_dynamic_cast<sensors::RaySensor>(
sensors::SensorManager::Instance()->GetSensor(cliff_sensor_front_name));
cliff_sensor_right_ = boost::shared_dynamic_cast<sensors::RaySensor>(
sensors::SensorManager::Instance()->GetSensor(cliff_sensor_right_name));
if (!cliff_sensor_left_)
{
ROS_ERROR_STREAM("Couldn't find the left cliff sensor in the model! [" << node_name_ <<"]");
return;
}
if (!cliff_sensor_front_)
{
ROS_ERROR_STREAM("Couldn't find the frontal cliff sensor in the model! [" << node_name_ <<"]");
return;
}
if (!cliff_sensor_right_)
{
ROS_ERROR_STREAM("Couldn't find the right cliff sensor in the model! [" << node_name_ <<"]");
return;
}
if (sdf->HasElement("cliff_detection_threshold"))
{
cliff_detection_threshold_ = sdf->GetElement("cliff_detection_threshold")->GetValueDouble();
}
else
{
ROS_ERROR_STREAM("Couldn't find the cliff detection threshold parameter in the model description!"
<< " Did you specify it?" << " [" << node_name_ <<"]");
return;
}
cliff_sensor_left_->SetActive(true);
cliff_sensor_front_->SetActive(true);
cliff_sensor_right_->SetActive(true);
cliff_event_pub_ = nh_priv_.advertise<kobuki_msgs::CliffEvent>("events/cliff", 1);
/*
* Prepare bumper
*/
std::string bumper_name;
if (sdf->HasElement("bumper_name"))
{
bumper_name = sdf->GetElement("bumper_name")->GetValueString();
}
else
{
ROS_ERROR_STREAM("Couldn't find the name of bumper sensor in the model description!"
<< " Did you specify it?" << " [" << node_name_ <<"]");
return;
}
bumper_ = boost::shared_dynamic_cast<sensors::ContactSensor>(
sensors::SensorManager::Instance()->GetSensor(bumper_name));
bumper_->SetActive(true);
bumper_event_pub_ = nh_priv_.advertise<kobuki_msgs::BumperEvent>("events/bumper", 1);
prev_update_time_ = world_->GetSimTime();
ROS_INFO_STREAM("GazeboRosKobuki plugin ready to go! [" << node_name_ << "]");
update_connection_ = event::Events::ConnectWorldUpdateStart(boost::bind(&GazeboRosKobuki::OnUpdate, 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")->Get<std::string>() + "/";
if (!_sdf->HasElement("topicName"))
velocity_topic_ = "cmd_vel";
else
velocity_topic_ = _sdf->GetElement("topicName")->Get<std::string>();
if (!_sdf->HasElement("takeoffTopic"))
takeoff_topic_ = "/ardrone/takeoff";
else
takeoff_topic_ = _sdf->GetElement("takeoffTopic")->Get<std::string>();
if (!_sdf->HasElement("/ardrone/land"))
land_topic_ = "/ardrone/land";
else
land_topic_ = _sdf->GetElement("landTopic")->Get<std::string>();
if (!_sdf->HasElement("resetTopic"))
reset_topic_ = "/ardrone/reset";
else
reset_topic_ = _sdf->GetElement("resetTopic")->Get<std::string>();
if (!_sdf->HasElement("navdataTopic"))
navdata_topic_ = "/ardrone/navdata";
else
navdata_topic_ = _sdf->GetElement("navdataTopic")->Get<std::string>();
if (!_sdf->HasElement("imuTopic"))
imu_topic_.clear();
else
imu_topic_ = _sdf->GetElement("imuTopic")->Get<std::string>();
if (!_sdf->HasElement("sonarTopic"))
sonar_topic_.clear();
else
sonar_topic_ = _sdf->GetElement("sonarTopic")->Get<std::string>();
if (!_sdf->HasElement("contactTopic"))
contact_topic_.clear();
else
contact_topic_ = _sdf->GetElement("contactTopic")->Get<std::string>();
if (!_sdf->HasElement("stateTopic"))
state_topic_.clear();
else
state_topic_ = _sdf->GetElement("stateTopic")->Get<std::string>();
if (!_sdf->HasElement("bodyName"))
{
link = _model->GetLink();
link_name_ = link->GetName();
}
else {
link_name_ = _sdf->GetElement("bodyName")->Get<std::string>();
link = boost::dynamic_pointer_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 contact senor info
if (!contact_topic_.empty())
{
ros::SubscribeOptions ops = ros::SubscribeOptions::create<std_msgs::Int32>(
contact_topic_, 1,
boost::bind(&GazeboQuadrotorStateController::ContactCallback, this, _1),
ros::VoidPtr(), &callback_queue_);
contact_subscriber_ = node_handle_->subscribe(ops);
ROS_INFO_NAMED("quadrotor_state_controller", "Using contact information on topic %s as source of collisions.", contact_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::ConnectWorldUpdateBegin(
boost::bind(&GazeboQuadrotorStateController::Update, this));
robot_current_state = LANDED_MODEL;
}
void GazeboJointStateClient::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 joint names from parameters
std::string armNamespace = _parent->GetName();
if (_sdf->HasElement("robot_components_namespace"))
{
sdf::ElementPtr armParamElem = _sdf->GetElement("robot_components_namespace");
armNamespace = armParamElem->Get<std::string>();
}
else
{
ROS_WARN("SDF Element 'robot_components_namespace' not defined, so using robot name as namespace for components.");
}
// ROS_INFO_STREAM("GazeboJointStateClient loading joints from components namespace '"<<armNamespace<<"'");
ROS_INFO_STREAM("GazeboJointStateClient: Loading arm component parameters from "<< armNamespace);
joints = ArmComponentsNameManagerPtr(new ArmComponentsNameManager(armNamespace,false));
if (!joints->waitToLoadParameters(1, 3, 0.5))
{
ROS_FATAL_STREAM("Cannot load arm components for robot "<<_parent->GetName()<<" from namespace "<<armNamespace);
return;
}
physics::BasePtr jcChild = _parent->GetChild(physics::JointControllerThreadsafe::UniqueName());
if (!jcChild.get())
{
ROS_ERROR("Cannot load GazeboJointStateClient if no default JointControllerThreadsafe is set for the model");
throw std::string("Cannot load GazeboJointStateClient if no default JointController is set for the model");
}
physics::JointControllerThreadsafePtr ptr =
boost::dynamic_pointer_cast<physics::JointControllerThreadsafe>(jcChild);
if (!ptr.get())
{
ROS_ERROR_STREAM("Cannot load GazeboJointStateClient if child '"
<< physics::JointControllerThreadsafe::UniqueName()
<< "' is not of class JointControllerThreadsafe");
throw std::string("Cannot load GazeboJointStateClient if child '"
+ physics::JointControllerThreadsafe::UniqueName()
+ "' is not of class JointControllerThreadsafe");
}
jointController = ptr;
// get joint names from parameters
std::vector<std::string> joint_names;
joints->getJointNames(joint_names, true);
const std::vector<float>& arm_init = joints->getArmJointsInitPose();
const std::vector<float>& gripper_init = joints->getGripperJointsInitPose();
// Print the joint names to help debugging
std::map<std::string, physics::JointPtr > jntMap = jointController->GetJoints();
for (std::map<std::string, physics::JointPtr>::iterator it = jntMap.begin(); it != jntMap.end(); ++it)
{
physics::JointPtr j = it->second;
ROS_INFO_STREAM("Gazebo joint: '"<<j->GetName()<<"' is registered as '"<<it->first<<"'");
}
// check if the joint names maintained in 'joints' match the names in gazebo,
// that the joints can be used by this class, and if yes, load PID controllers.
int i = 0;
for (std::vector<std::string>::iterator it = joint_names.begin();
it != joint_names.end(); ++it)
{
// ROS_INFO_STREAM("Local joint name: '"<<*it<<"'");
physics::JointPtr joint = _parent->GetJoint(*it);
if (!joint.get())
{
ROS_FATAL_STREAM("Joint name " << *it << " not found as robot joint");
throw std::string("Joint not found");
}
std::string scopedName = joint->GetScopedName();
std::map<std::string, physics::JointPtr >::iterator jit = jntMap.find(scopedName);
if (jit == jntMap.end())
{
ROS_ERROR_STREAM("Joint name " << *it << " not found in joint controller joints");
throw std::string("Joint not found");
}
++i;
}
model = _parent;
jsSub = nh.subscribe(jointStateTopic, 1, &GazeboJointStateClient::JointStateCallback, this);
}
private: 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(contacts); ++i){
outputCSV << contactForces[contacts[i]].GetLength() << ", ";
}
outputCSV << endl;
if(world->GetSimTime().Float() >= MAX_TIME){
#if(PRINT_DEBUG)
cout << "Scenario completed. Updating results" << endl;
#endif
event::Events::DisconnectWorldUpdateBegin(this->connection);
// 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();
outputCSV << endl;
outputCSV.close();
}
}
////////////////////////////////////////////////////////////////////////////////
// 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", "world", "/map" or "map" report
// back inertial values in the gazebo world
if (this->frame_name_ != "/world" &&
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));
}
void GazeboPressurePlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) {
if (kPrintOnPluginLoad) {
gzdbg << __FUNCTION__ << "() called." << std::endl;
}
gzdbg << "_model = " << _model->GetName() << std::endl;
// Store the pointer to the model and the world.
model_ = _model;
world_ = model_->GetWorld();
//==============================================//
//========== READ IN PARAMS FROM SDF ===========//
//==============================================//
// Use the robot namespace to create the node handle.
if (_sdf->HasElement("robotNamespace"))
namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>();
else
gzerr << "[gazebo_pressure_plugin] Please specify a robotNamespace.\n";
// Get node handle.
node_handle_ = transport::NodePtr(new transport::Node());
// Initialise with default namespace (typically /gazebo/default/).
node_handle_->Init();
std::string link_name;
if (_sdf->HasElement("linkName"))
link_name = _sdf->GetElement("linkName")->Get<std::string>();
else
gzerr << "[gazebo_pressure_plugin] Please specify a linkName.\n";
// Get the pointer to the link.
link_ = model_->GetLink(link_name);
if (link_ == NULL)
gzthrow("[gazebo_pressure_plugin] Couldn't find specified link \"" << link_name << "\".");
frame_id_ = link_name;
// Retrieve the rest of the SDF parameters.
getSdfParam<std::string>(_sdf, "pressureTopic", pressure_topic_, kDefaultPressurePubTopic);
getSdfParam<double>(_sdf, "referenceAltitude", ref_alt_, kDefaultRefAlt);
getSdfParam<double>(_sdf, "pressureVariance", pressure_var_, kDefaultPressureVar);
CHECK(pressure_var_ >= 0.0);
// Initialize the normal distribution for pressure.
double mean = 0.0;
pressure_n_[0] = NormalDistribution(mean, sqrt(pressure_var_));
// Listen to the update event. This event is broadcast every simulation
// iteration.
this->updateConnection_ = event::Events::ConnectWorldUpdateBegin(
boost::bind(&GazeboPressurePlugin::OnUpdate, this, _1));
//==============================================//
//=== POPULATE STATIC PARTS OF PRESSURE MSG ====//
//==============================================//
pressure_message_.mutable_header()->set_frame_id(frame_id_);
pressure_message_.set_variance(pressure_var_);
}
////////////////////////////////////////////////////////////////////////////////
// Load the controller
void DRCVehicleROSPlugin::Load(physics::ModelPtr _parent,
sdf::ElementPtr _sdf)
{
DRCVehiclePlugin::Load(_parent, _sdf);
// initialize ros
if (!ros::isInitialized())
{
gzerr << "Not loading plugin since ROS hasn't been "
<< "properly initialized. Try starting gazebo with ros plugin:\n"
<< " gazebo -s libgazebo_ros_api_plugin.so\n";
return;
}
// ros stuff
this->rosNode = new ros::NodeHandle("");
// Get the world name.
this->world = _parent->GetWorld();
this->model = _parent;
ros::SubscribeOptions hand_wheel_cmd_so =
ros::SubscribeOptions::create<std_msgs::Float64>(
this->model->GetName() + "/hand_wheel/cmd", 100,
boost::bind(static_cast<void (DRCVehicleROSPlugin::*)
(const std_msgs::Float64::ConstPtr&)>(
&DRCVehicleROSPlugin::SetHandWheelState), this, _1),
ros::VoidPtr(), &this->queue);
this->subHandWheelCmd = this->rosNode->subscribe(hand_wheel_cmd_so);
ros::SubscribeOptions hand_brake_cmd_so =
ros::SubscribeOptions::create<std_msgs::Float64>(
this->model->GetName() + "/hand_brake/cmd", 100,
boost::bind(static_cast<void (DRCVehicleROSPlugin::*)
(const std_msgs::Float64::ConstPtr&)>(
&DRCVehicleROSPlugin::SetHandBrakeState), this, _1),
ros::VoidPtr(), &this->queue);
this->subHandBrakeCmd = this->rosNode->subscribe(hand_brake_cmd_so);
ros::SubscribeOptions gas_pedal_cmd_so =
ros::SubscribeOptions::create<std_msgs::Float64>(
this->model->GetName() + "/gas_pedal/cmd", 100,
boost::bind(static_cast<void (DRCVehicleROSPlugin::*)
(const std_msgs::Float64::ConstPtr&)>(
&DRCVehicleROSPlugin::SetGasPedalState), this, _1),
ros::VoidPtr(), &this->queue);
this->subGasPedalCmd = this->rosNode->subscribe(gas_pedal_cmd_so);
ros::SubscribeOptions brake_pedal_cmd_so =
ros::SubscribeOptions::create<std_msgs::Float64>(
this->model->GetName() + "/brake_pedal/cmd", 100,
boost::bind(static_cast<void (DRCVehicleROSPlugin::*)
(const std_msgs::Float64::ConstPtr&)>(
&DRCVehicleROSPlugin::SetBrakePedalState), this, _1),
ros::VoidPtr(), &this->queue);
this->subBrakePedalCmd = this->rosNode->subscribe(brake_pedal_cmd_so);
ros::SubscribeOptions key_cmd_so =
ros::SubscribeOptions::create<std_msgs::Int8>(
this->model->GetName() + "/key/cmd", 100,
boost::bind(static_cast<void (DRCVehicleROSPlugin::*)
(const std_msgs::Int8::ConstPtr&)>(
&DRCVehicleROSPlugin::SetKeyState), this, _1),
ros::VoidPtr(), &this->queue);
this->subKeyCmd = this->rosNode->subscribe(key_cmd_so);
ros::SubscribeOptions direction_cmd_so =
ros::SubscribeOptions::create<std_msgs::Int8>(
this->model->GetName() + "/direction/cmd", 100,
boost::bind(static_cast<void (DRCVehicleROSPlugin::*)
(const std_msgs::Int8::ConstPtr&)>(
&DRCVehicleROSPlugin::SetDirectionState), this, _1),
ros::VoidPtr(), &this->queue);
this->subDirectionCmd = this->rosNode->subscribe(direction_cmd_so);
this->pubHandWheelState = this->rosNode->advertise<std_msgs::Float64>(
this->model->GetName() + "/hand_wheel/state", 10);
this->pubHandBrakeState = this->rosNode->advertise<std_msgs::Float64>(
this->model->GetName() + "/hand_brake/state", 10);
this->pubGasPedalState = this->rosNode->advertise<std_msgs::Float64>(
this->model->GetName() + "/gas_pedal/state", 10);
this->pubBrakePedalState = this->rosNode->advertise<std_msgs::Float64>(
this->model->GetName() + "/brake_pedal/state", 10);
this->pubKeyState = this->rosNode->advertise<std_msgs::Int8>(
this->model->GetName() + "/key/state", 10);
this->pubDirectionState = this->rosNode->advertise<std_msgs::Int8>(
this->model->GetName() + "/direction/state", 10);
// ros callback queue for processing subscription
this->callbackQueueThread = boost::thread(
boost::bind(&DRCVehicleROSPlugin::QueueThread, this));
this->ros_publish_connection_ = event::Events::ConnectWorldUpdateBegin(
boost::bind(&DRCVehicleROSPlugin::RosPublishStates, 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")->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));
}
////////////////////////////////////////////////////////////////////////////////
// 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;
}
void GazeboFwDynamicsPlugin::Load(physics::ModelPtr _model,
sdf::ElementPtr _sdf) {
if (kPrintOnPluginLoad) {
gzdbg << __FUNCTION__ << "() called." << std::endl;
}
gzdbg << "_model = " << _model->GetName() << std::endl;
// Store the pointer to the model.
model_ = _model;
world_ = model_->GetWorld();
namespace_.clear();
// Get the robot namespace.
if (_sdf->HasElement("robotNamespace"))
namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>();
else
gzerr << "[gazebo_fw_dynamics_plugin] Please specify a robotNamespace.\n";
// Create the node handle.
node_handle_ = transport::NodePtr(new transport::Node());
// Initialise with default namespace (typically /gazebo/default/).
node_handle_->Init();
// Get the link name.
std::string link_name;
if (_sdf->HasElement("linkName"))
link_name = _sdf->GetElement("linkName")->Get<std::string>();
else
gzerr << "[gazebo_fw_dynamics_plugin] Please specify a linkName.\n";
// Get the pointer to the link.
link_ = model_->GetLink(link_name);
if (link_ == NULL) {
gzthrow("[gazebo_fw_dynamics_plugin] Couldn't find specified link \""
<< link_name << "\".");
}
// Get the path to fixed-wing aerodynamics parameters YAML file. If not
// provided, default Techpod parameters are used.
if (_sdf->HasElement("aeroParamsYAML")) {
std::string aero_params_yaml =
_sdf->GetElement("aeroParamsYAML")->Get<std::string>();
aero_params_.LoadAeroParamsYAML(aero_params_yaml);
} else {
gzwarn << "[gazebo_fw_dynamics_plugin] No aerodynamic paramaters YAML file"
<< " specified, using default Techpod parameters.\n";
}
// Get the path to fixed-wing vehicle parameters YAML file. If not provided,
// default Techpod parameters are used.
if (_sdf->HasElement("vehicleParamsYAML")) {
std::string vehicle_params_yaml =
_sdf->GetElement("vehicleParamsYAML")->Get<std::string>();
vehicle_params_.LoadVehicleParamsYAML(vehicle_params_yaml);
} else {
gzwarn << "[gazebo_fw_dynamics_plugin] No vehicle paramaters YAML file"
<< " specified, using default Techpod parameters.\n";
}
// Get the rest of the sdf parameters.
getSdfParam<bool>(_sdf, "isInputJoystick", is_input_joystick_,
kDefaultIsInputJoystick);
getSdfParam<std::string>(_sdf, "actuatorsSubTopic",
actuators_sub_topic_,
mav_msgs::default_topics::COMMAND_ACTUATORS);
getSdfParam<std::string>(_sdf, "rollPitchYawrateThrustSubTopic",
roll_pitch_yawrate_thrust_sub_topic_,
mav_msgs::default_topics::
COMMAND_ROLL_PITCH_YAWRATE_THRUST);
getSdfParam<std::string>(_sdf, "windSpeedSubTopic",
wind_speed_sub_topic_,
mav_msgs::default_topics::WIND_SPEED);
// Listen to the update event. This event is broadcast every
// simulation iteration.
this->updateConnection_ = event::Events::ConnectWorldUpdateBegin(
boost::bind(&GazeboFwDynamicsPlugin::OnUpdate, this, _1));
}
void GazeboRosControllerManager::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
{
// Get then name of the parent model
std::string modelName = _sdf->GetParent()->GetValueString("name");
// Get the world name.
this->world = _parent->GetWorld();
// Get a pointer to the model
this->parent_model_ = _parent;
// Error message if the model couldn't be found
if (!this->parent_model_)
gzerr << "Unable to get parent model\n";
// Listen to the update event. This event is broadcast every
// simulation iteration.
this->updateConnection = event::Events::ConnectWorldUpdateStart(
boost::bind(&GazeboRosControllerManager::UpdateChild, this));
gzdbg << "plugin model name: " << modelName << "\n";
physics_ = false;
this->world->EnablePhysicsEngine(physics_); //TODO should be false
if (getenv("CHECK_SPEEDUP"))
{
wall_start_ = this->world->GetRealTime().Double();
sim_start_ = this->world->GetSimTime().Double();
}
// check update rate against world physics update rate
// should be equal or higher to guarantee the wrench applied is not "diluted"
//if (this->updatePeriod > 0 &&
// (this->world->GetPhysicsEngine()->GetUpdateRate() > 1.0/this->updatePeriod))
// ROS_ERROR("gazebo_ros_force controller update rate is less than physics update rate, wrench applied will be diluted (applied intermittently)");
// get parameter name
this->robotNamespace = "";
if (_sdf->HasElement("robotNamespace"))
this->robotNamespace = _sdf->GetElement("robotNamespace")->GetValueString();
this->robotParam = "robot_description";
if (_sdf->HasElement("robotParam"))
this->robotParam = _sdf->GetElement("robotParam")->GetValueString();
this->robotParam = this->robotNamespace+"/" + this->robotParam;
if (!ros::isInitialized())
{
int argc = 0;
char** argv = NULL;
ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName);
}
this->rosnode_ = new ros::NodeHandle(this->robotNamespace);
ROS_INFO("starting gazebo_ros_controller_manager plugin in ns: %s",this->robotNamespace.c_str());
// pr2_etherCAT calls ros::spin(), we'll thread out one spinner here to mimic that
this->ros_spinner_thread_ = boost::thread( boost::bind( &GazeboRosControllerManager::ControllerManagerROSThread,this ) );
// load a controller manager
this->cm_ = new pr2_controller_manager::ControllerManager(&hw_,*this->rosnode_);
this->hw_.current_time_ = ros::Time(this->world->GetSimTime().Double());
if (this->hw_.current_time_ < ros::Time(0.001)) this->hw_.current_time_ == ros::Time(0.001); // hardcoded to minimum of 1ms on start up
this->rosnode_->param("gazebo/start_robot_calibrated",this->fake_calibration_,true);
// read pr2 urdf
// setup actuators, then setup mechanism control node
ReadPr2Xml();
// Initializes the fake state (for running the transmissions backwards).
this->fake_state_ = new pr2_mechanism_model::RobotState(&this->cm_->model_);
// The gazebo joints and mechanism joints should match up.
if (this->cm_->state_ != NULL) // could be NULL if ReadPr2Xml is unsuccessful
{
for (unsigned int i = 0; i < this->cm_->state_->joint_states_.size(); ++i)
{
std::string joint_name = this->cm_->state_->joint_states_[i].joint_->name;
// fill in gazebo joints pointer
gazebo::physics::JointPtr joint = this->parent_model_->GetJoint(joint_name);
if (joint)
{
this->joints_.push_back(joint);
}
else
{
//ROS_WARN("A joint named \"%s\" is not part of Mechanism Controlled joints.\n", joint_name.c_str());
//this->joints_.push_back(NULL); // FIXME: cannot be null, must be an empty boost shared pointer
this->joints_.push_back(gazebo::physics::JointPtr()); // FIXME: cannot be null, must be an empty boost shared pointer
ROS_ERROR("A joint named \"%s\" is not part of Mechanism Controlled joints.\n", joint_name.c_str());
}
}
}
#ifdef USE_CBQ
// start custom queue for controller manager
this->controller_manager_callback_queue_thread_ = boost::thread( boost::bind( &GazeboRosControllerManager::ControllerManagerQueueThread,this ) );
#endif
}
////////////////////////////////////////////////////////////////////////////////
// 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));
}
void GazeboRosEklavya::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf )
{
this->my_world_ = _parent->GetWorld();
this->my_parent_ = _parent;
if (!this->my_parent_)
{
ROS_FATAL("Gazebo_ROS_Eklavya controller requires a Model as its parent");
return;
}
this->node_namespace_ = "";
if (_sdf->HasElement("node_namespace"))
this->node_namespace_ = _sdf->GetElement("node_namespace")->GetValueString() + "/";
left_wheel_joint_name_ = "left_wheel_joint";
if (_sdf->HasElement("left_wheel_joint"))
left_wheel_joint_name_ = _sdf->GetElement("left_wheel_joint")->GetValueString();
right_wheel_joint_name_ = "right_wheel_joint";
if (_sdf->HasElement("right_wheel_joint"))
right_wheel_joint_name_ = _sdf->GetElement("right_wheel_joint")->GetValueString();
front_castor_wheel_joint_name_ = "front_castor_wheel_joint";
if (_sdf->HasElement("front_castor_wheel_joint"))
front_castor_wheel_joint_name_ = _sdf->GetElement("front_castor_wheel_joint")->GetValueString();
front_castor_swivel_joint_name_ = "front_castor_swivel_joint";
if (_sdf->HasElement("front_castor_swivel_joint"))
front_castor_swivel_joint_name_ = _sdf->GetElement("front_castor_swivel_joint")->GetValueString();
wheel_sep_ = 0.34;
if (_sdf->HasElement("wheel_separation"))
wheel_sep_ = _sdf->GetElement("wheel_separation")->GetValueDouble();
wheel_sep_ = 0.34;
if (_sdf->HasElement("wheel_separation"))
wheel_sep_ = _sdf->GetElement("wheel_separation")->GetValueDouble();
wheel_diam_ = 0.15;
if (_sdf->HasElement("wheel_diameter"))
wheel_diam_ = _sdf->GetElement("wheel_diameter")->GetValueDouble();
torque_ = 10.0;
if (_sdf->HasElement("torque"))
torque_ = _sdf->GetElement("torque")->GetValueDouble();
// Get then name of the parent model
std::string modelName = _sdf->GetParent()->GetValueString("name");
// Listen to the update event. This event is broadcast every
// simulation iteration.
this->updateConnection = event::Events::ConnectWorldUpdateStart(
boost::bind(&GazeboRosEklavya::UpdateChild, this));
gzdbg << "plugin model name: " << modelName << "\n";
if (!ros::isInitialized())
{
int argc = 0;
char** argv = NULL;
ros::init(argc, argv, "gazebo_eklavya", ros::init_options::NoSigintHandler|ros::init_options::AnonymousName);
}
rosnode_ = new ros::NodeHandle( node_namespace_ );
cmd_vel_sub_ = rosnode_->subscribe("/cmd_vel", 1, &GazeboRosEklavya::OnCmdVel, this );
odom_pub_ = rosnode_->advertise<nav_msgs::Odometry>("/odom", 1);
joint_state_pub_ = rosnode_->advertise<sensor_msgs::JointState>("/joint_states", 1);
js_.name.push_back( left_wheel_joint_name_ );
js_.position.push_back(0);
js_.velocity.push_back(0);
js_.effort.push_back(0);
js_.name.push_back( right_wheel_joint_name_ );
js_.position.push_back(0);
js_.velocity.push_back(0);
js_.effort.push_back(0);
js_.name.push_back( front_castor_wheel_joint_name_ );
js_.position.push_back(0);
js_.velocity.push_back(0);
js_.effort.push_back(0);
js_.name.push_back( front_castor_swivel_joint_name_ );
js_.position.push_back(0);
js_.velocity.push_back(0);
js_.effort.push_back(0);
prev_update_time_ = 0;
last_cmd_vel_time_ = 0;
//TODO: fix this
joints_[LEFT] = my_parent_->GetJoint(left_wheel_joint_name_);
joints_[RIGHT] = my_parent_->GetJoint(right_wheel_joint_name_);
joints_[FRONT_CASTOR_WHEEL] = my_parent_->GetJoint(front_castor_wheel_joint_name_);
joints_[FRONT_CASTOR_SWIVEL] = my_parent_->GetJoint(front_castor_swivel_joint_name_);
if (joints_[LEFT]) set_joints_[LEFT] = true;
if (joints_[RIGHT]) set_joints_[RIGHT] = true;
if (joints_[FRONT_CASTOR_WHEEL]) set_joints_[FRONT_CASTOR_WHEEL] = true;
if (joints_[FRONT_CASTOR_SWIVEL]) set_joints_[FRONT_CASTOR_SWIVEL] = true;
//initialize time and odometry position
prev_update_time_ = last_cmd_vel_time_ = this->my_world_->GetSimTime();
odom_pose_[0] = 0.0;
odom_pose_[1] = 0.0;
odom_pose_[2] = 0.0;
}
////////////////////////////////////////////////////////////////////////////////
// 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 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 DRCVehicleROSPlugin::Load(physics::ModelPtr _parent,
sdf::ElementPtr _sdf)
{
// By default, cheats are off. Allow override via environment variable.
char* cheatsEnabledString = getenv("VRC_CHEATS_ENABLED");
if (cheatsEnabledString && (std::string(cheatsEnabledString) == "1"))
this->cheatsEnabled = true;
else
this->cheatsEnabled = false;
try
{
DRCVehiclePlugin::Load(_parent, _sdf);
}
catch(gazebo::common::Exception &_e)
{
gzerr << "Error loading plugin."
<< "Please ensure that your vehicle model is correct and up-to-date."
<< '\n';
return;
}
// initialize ros
if (!ros::isInitialized())
{
gzerr << "Not loading plugin since ROS hasn't been "
<< "properly initialized. Try starting gazebo with ros plugin:\n"
<< " gazebo -s libgazebo_ros_api_plugin.so\n";
return;
}
// ros stuff
this->rosNode = new ros::NodeHandle("");
// Get the world name.
this->world = _parent->GetWorld();
this->model = _parent;
if (this->cheatsEnabled)
{
ros::SubscribeOptions hand_wheel_cmd_so =
ros::SubscribeOptions::create<std_msgs::Float64>(
this->model->GetName() + "/hand_wheel/cmd", 100,
boost::bind(static_cast< void (DRCVehicleROSPlugin::*)
(const std_msgs::Float64::ConstPtr&) >(
&DRCVehicleROSPlugin::SetHandWheelState), this, _1),
ros::VoidPtr(), &this->queue);
this->subHandWheelCmd = this->rosNode->subscribe(hand_wheel_cmd_so);
ros::SubscribeOptions hand_brake_cmd_so =
ros::SubscribeOptions::create< std_msgs::Float64 >(
this->model->GetName() + "/hand_brake/cmd", 100,
boost::bind(static_cast< void (DRCVehicleROSPlugin::*)
(const std_msgs::Float64::ConstPtr&) >(
&DRCVehicleROSPlugin::SetHandBrakePercent), this, _1),
ros::VoidPtr(), &this->queue);
this->subHandBrakeCmd = this->rosNode->subscribe(hand_brake_cmd_so);
ros::SubscribeOptions gas_pedal_cmd_so =
ros::SubscribeOptions::create< std_msgs::Float64 >(
this->model->GetName() + "/gas_pedal/cmd", 100,
boost::bind(static_cast< void (DRCVehicleROSPlugin::*)
(const std_msgs::Float64::ConstPtr&) >(
&DRCVehicleROSPlugin::SetGasPedalPercent), this, _1),
ros::VoidPtr(), &this->queue);
this->subGasPedalCmd = this->rosNode->subscribe(gas_pedal_cmd_so);
ros::SubscribeOptions brake_pedal_cmd_so =
ros::SubscribeOptions::create< std_msgs::Float64 >(
this->model->GetName() + "/brake_pedal/cmd", 100,
boost::bind(static_cast< void (DRCVehicleROSPlugin::*)
(const std_msgs::Float64::ConstPtr&) >(
&DRCVehicleROSPlugin::SetBrakePedalPercent), this, _1),
ros::VoidPtr(), &this->queue);
this->subBrakePedalCmd = this->rosNode->subscribe(brake_pedal_cmd_so);
ros::SubscribeOptions key_cmd_so =
ros::SubscribeOptions::create< std_msgs::Int8 >(
this->model->GetName() + "/key/cmd", 100,
boost::bind(static_cast< void (DRCVehicleROSPlugin::*)
(const std_msgs::Int8::ConstPtr&) >(
&DRCVehicleROSPlugin::SetKeyState), this, _1),
ros::VoidPtr(), &this->queue);
this->subKeyCmd = this->rosNode->subscribe(key_cmd_so);
ros::SubscribeOptions direction_cmd_so =
ros::SubscribeOptions::create< std_msgs::Int8 >(
this->model->GetName() + "/direction/cmd", 100,
boost::bind(static_cast< void (DRCVehicleROSPlugin::*)
(const std_msgs::Int8::ConstPtr&) >(
&DRCVehicleROSPlugin::SetDirectionState), this, _1),
ros::VoidPtr(), &this->queue);
this->subDirectionCmd = this->rosNode->subscribe(direction_cmd_so);
this->pubHandWheelState = this->rosNode->advertise<std_msgs::Float64>(
this->model->GetName() + "/hand_wheel/state", 10);
this->pubHandBrakeState = this->rosNode->advertise<std_msgs::Float64>(
this->model->GetName() + "/hand_brake/state", 10);
this->pubGasPedalState = this->rosNode->advertise<std_msgs::Float64>(
this->model->GetName() + "/gas_pedal/state", 10);
this->pubBrakePedalState = this->rosNode->advertise<std_msgs::Float64>(
this->model->GetName() + "/brake_pedal/state", 10);
this->pubKeyState = this->rosNode->advertise<std_msgs::Int8>(
this->model->GetName() + "/key/state", 10);
this->pubDirectionState = this->rosNode->advertise<std_msgs::Int8>(
this->model->GetName() + "/direction/state", 10);
// ros callback queue for processing subscription
this->callbackQueueThread = boost::thread(
boost::bind(&DRCVehicleROSPlugin::QueueThread, this));
this->ros_publish_connection_ = event::Events::ConnectWorldUpdateBegin(
boost::bind(&DRCVehicleROSPlugin::RosPublishStates, this));
}
}
// 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));
}