diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml index d4f24d8..9419204 100644 --- a/.github/workflows/main.yaml +++ b/.github/workflows/main.yaml @@ -1,30 +1,30 @@ -name: main +name: jazzy-devel on: pull_request: branches: - - humble-devel + - jazzy-devel push: branches: - - humble-devel + - jazyy-devel jobs: build-and-test: runs-on: ${{ matrix.os }} strategy: matrix: - os: [ubuntu-22.04] + os: [ubuntu-24.04] fail-fast: false steps: - uses: actions/checkout@v2 - name: Setup ROS 2 - uses: ros-tooling/setup-ros@0.7.1 + uses: ros-tooling/setup-ros@0.7.9 with: - required-ros-distributions: humble + required-ros-distributions: jazzy - name: build and test - uses: ros-tooling/action-ros-ci@0.3.6 + uses: ros-tooling/action-ros-ci@0.3.15 with: - package-name: gazebo_mocap4r2_plugin mocap_interfaces mocap4r2_control mocap4r2_control_msgs rqt_mocap4r2_control - target-ros2-distro: humble + package-name: mocap4r2_gz_plugin mocap_interfaces mocap4r2_control mocap4r2_control_msgs rqt_mocap4r2_control + target-ros2-distro: jazzy vcs-repo-file-url: ${GITHUB_WORKSPACE}/dependency_repos.repos - name: Codecov uses: codecov/codecov-action@v1.1.0 diff --git a/CHANGELOG.rst b/CHANGELOG.rst deleted file mode 100644 index 02e1c22..0000000 --- a/CHANGELOG.rst +++ /dev/null @@ -1 +0,0 @@ -Void diff --git a/CMakeLists.txt b/CMakeLists.txt index e2933b8..5324d62 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,106 +1,50 @@ -cmake_minimum_required(VERSION 3.5) -project(gazebo_mocap4r2_plugin) +cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR) -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - # we dont use add_compile_options with pedantic in message packages - # because the Python C extensions dont comply with it - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic") -endif() - -if(WIN32) - add_compile_definitions( - # For math constants - _USE_MATH_DEFINES - # Minimize Windows namespace collision - NOMINMAX - WIN32_LEAN_AND_MEAN - ) -endif() +project(mocap4r2_gz_plugin) find_package(ament_cmake REQUIRED) -find_package(gazebo_dev REQUIRED) -find_package(gazebo_msgs REQUIRED) -find_package(gazebo_ros REQUIRED) +find_package(gz-cmake3 REQUIRED) find_package(geometry_msgs REQUIRED) find_package(mocap_interfaces REQUIRED) find_package(mocap4r2_control REQUIRED) find_package(rclcpp REQUIRED) -link_directories(${gazebo_dev_LIBRARY_DIRS}) - -option(ENABLE_PROFILER "Enable Ignition Profiler" FALSE) -if(ENABLE_PROFILER) - find_package(ignition-common3 QUIET COMPONENTS profiler) - if(ignition-common3_FOUND) - add_definitions("-DIGN_PROFILER_ENABLE=1" "-DIGN_PROFILER_REMOTERY=1") - message(STATUS "Profiler is active") - else() - message(WARNING "Can't find Ignition common3. Profiler will not be actived") - add_definitions("-DIGN_PROFILER_ENABLE=0" "-DIGN_PROFILER_REMOTERY=0") - endif() -endif() +gz_find_package(gz-plugin2 REQUIRED COMPONENTS register) +gz_find_package(gz-sim8 REQUIRED) +gz_find_package(gz-rendering8 REQUIRED) +gz_find_package(gz-sensors8 REQUIRED) -# gazebo_ros_mocap -add_library(gazebo_ros_mocap SHARED - src/gazebo_ros_mocap.cpp -) -target_include_directories(gazebo_ros_mocap PUBLIC include) -ament_target_dependencies(gazebo_ros_mocap - "gazebo_dev" - "gazebo_ros" - "rclcpp" - "mocap_interfaces" - "mocap4r2_control" - "geometry_msgs" -) -ament_export_libraries(gazebo_ros_mocap) +set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR}) +set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR}) +set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR}) +set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR}) +include_directories(include) -ament_export_include_directories(include) -ament_export_dependencies(rclcpp) -ament_export_dependencies(gazebo_dev) -ament_export_dependencies(gazebo_msgs) -ament_export_dependencies(gazebo_ros) -ament_export_dependencies(mocap_msgs) -ament_export_dependencies(mocap_control) -ament_export_dependencies(geometry_msgs) +add_library(mocap_gz_ros SHARED src/mocap_gz_ros.cpp) -if(BUILD_TESTING) - add_subdirectory(test) - find_package(ament_lint_auto REQUIRED) - set(ament_cmake_copyright_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -if(NOT WIN32) - if(NOT APPLE) - set( - AMENT_CMAKE_ENVIRONMENT_HOOKS_DESC_gazebo_plugins - "prepend-non-duplicate;LD_LIBRARY_PATH;${GAZEBO_PLUGIN_PATH}") - else() - set( - AMENT_CMAKE_ENVIRONMENT_HOOKS_DESC_gazebo_plugins - "prepend-non-duplicate;DYLD_LIBRARY_PATH;${GAZEBO_PLUGIN_PATH}") - endif() -endif() -ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/gazebo_plugins.sh.in") - -ament_package() +set_target_properties(mocap_gz_ros PROPERTIES OUTPUT_NAME mocap-gz-ros SUFFIX "" PREFIX "") -install(DIRECTORY include/ - DESTINATION include) +ament_target_dependencies(mocap_gz_ros + rclcpp + geometry_msgs + mocap_interfaces + mocap4r2_control +) -install(TARGETS - gazebo_ros_mocap - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin) +target_link_libraries(mocap_gz_ros + gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} + gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER} +) install(DIRECTORY - launch urdf rviz models + launch urdf DESTINATION share/${PROJECT_NAME}/ ) + +install(TARGETS mocap_gz_ros DESTINATION $ENV{HOME}/.gz/sim/plugins) + +ament_export_libraries(mocap_gz_ros) +ament_export_dependencies(gz-cmake3 gz-plugin2 gz-sim8 geometry_msgs mocap_interfaces mocap4r2_control rclcpp) + +ament_package() diff --git a/colcon.pkg b/colcon.pkg deleted file mode 100644 index 6f9c7e0..0000000 --- a/colcon.pkg +++ /dev/null @@ -1,8 +0,0 @@ -# Configuration file for colcon (https://colcon.readthedocs.io). -# -# Please see the doc for the details of the spec: -# - https://colcon.readthedocs.io/en/released/user/configuration.html#colcon-pkg-files - -{ - "dependencies": ["Gazebo"], -} diff --git a/dependency_repos.repos b/dependency_repos.repos index 35f3eaa..49de581 100644 --- a/dependency_repos.repos +++ b/dependency_repos.repos @@ -6,4 +6,4 @@ repositories: mocap4r2: type: git url: https://github.com/MOCAP4ROS2-Project/mocap4r2.git - version: rep-mocap-humble + version: rep-mocap-jazzy diff --git a/env-hooks/gazebo_plugins.sh.in b/env-hooks/gazebo_plugins.sh.in deleted file mode 100644 index 0869eb1..0000000 --- a/env-hooks/gazebo_plugins.sh.in +++ /dev/null @@ -1,17 +0,0 @@ -# generated from gazebo_plugins/env-hooks/gazebo_plugins.sh.in - -# detect if running on Darwin platform -_UNAME=`uname -s` -_IS_DARWIN=0 -if [ "$_UNAME" = "Darwin" ]; then - _IS_DARWIN=1 -fi -unset _UNAME - -if [ $_IS_DARWIN -eq 0 ]; then - ament_prepend_unique_value LD_LIBRARY_PATH @GAZEBO_PLUGIN_PATH@ -else - ament_prepend_unique_value DYLD_LIBRARY_PATH @GAZEBO_PLUGIN_PATH@ -fi -unset _IS_DARWIN - diff --git a/include/gazebo_plugins/gazebo_ros_mocap.hpp b/include/gazebo_plugins/gazebo_ros_mocap.hpp deleted file mode 100644 index ce9f484..0000000 --- a/include/gazebo_plugins/gazebo_ros_mocap.hpp +++ /dev/null @@ -1,52 +0,0 @@ -// Copyright 2022 Intelligent Robotics Lab -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef GAZEBO_PLUGINS__GAZEBO_ROS_MOCAP_HPP_ -#define GAZEBO_PLUGINS__GAZEBO_ROS_MOCAP_HPP_ - -// For std::unique_ptr, could be removed -#include - -#include "gazebo/physics/physics.hh" -#include "gazebo/common/common.hh" -#include "gazebo/gazebo.hh" - - -namespace gazebo -{ - -// Forward declaration of private data class. -class GazeboRosMocapPrivate; - -class GazeboRosMocap : public ModelPlugin -{ -public: - GazeboRosMocap(); - - virtual ~GazeboRosMocap(); - - void Load(physics::ModelPtr _parent, sdf::ElementPtr sdf); - -protected: - virtual void OnUpdate(); - -private: - /// Recommended PIMPL pattern. This variable should hold all private - /// data members. - std::unique_ptr impl_; -}; - -} // namespace gazebo - -#endif // GAZEBO_PLUGINS__GAZEBO_ROS_MOCAP_HPP_ diff --git a/include/mocap4r2_gz_plugin/mocap_gz_ros.hpp b/include/mocap4r2_gz_plugin/mocap_gz_ros.hpp new file mode 100644 index 0000000..f76b1a6 --- /dev/null +++ b/include/mocap4r2_gz_plugin/mocap_gz_ros.hpp @@ -0,0 +1,73 @@ +// Copyright 2024 Intelligent Robotics Lab +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef GZ_PLUGINS__MOCAP_GZ_ROS_HPP_ +#define GZ_PLUGINS__MOCAP_GZ_ROS_HPP_ + +#include +#include +#include +#include +#include +#include "gz/sim/components/ParentEntity.hh" +#include "gz/sim/components/World.hh" +#include "gz/sim/components/Model.hh" +#include "gz/sim/components/Link.hh" +#include "gz/sim/components/Name.hh" + +#include "mocap_interfaces/msg/marker_array.hpp" +#include "mocap_interfaces/msg/rigid_body_array.hpp" +#include "mocap_interfaces/srv/create_rigid_body.hpp" +#include "lifecycle_msgs/msg/state.hpp" +#include "rclcpp/rclcpp.hpp" +#include "mocap4r2_control/ControlledLifecycleNode.hpp" + +namespace gz +{ +namespace sim +{ +// Inline bracket to help doxygen filtering. +inline namespace GZ_SIM_VERSION_NAMESPACE +{ +namespace systems +{ +class MocapGzRosPrivate; + +class MocapGzRos + : public gz::sim::System, + public gz::sim::ISystemConfigure, + public gz::sim::ISystemPostUpdate +{ +public: + MocapGzRos(); + ~MocapGzRos() override = default; + void Configure( + const gz::sim::Entity & _entity, + const std::shared_ptr & _sdf, + gz::sim::EntityComponentManager & _ecm, + gz::sim::EventManager & _eventMgr) override; + + void PostUpdate( + const gz::sim::v8::UpdateInfo & _info, + const gz::sim::v8::EntityComponentManager & _ecm) override; + +private: + std::unique_ptr impl_; +}; +} // namespace systems +} // inline namespace GZ_SIM_VERSION_NAMESPACE +} // namespace sim +} // namespace gz + +#endif // GZ_PLUGINS__MOCAP_GZ_ROS_HPP_ diff --git a/launch/tb3_simulation_launch.py b/launch/tb3_simulation_launch.py index 7bb732b..828640b 100644 --- a/launch/tb3_simulation_launch.py +++ b/launch/tb3_simulation_launch.py @@ -1,4 +1,4 @@ -# Copyright (c) 2018 Intel Corporation +# Copyright (C) 2024 Intelligent Robotics Lab # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -12,242 +12,36 @@ # See the License for the specific language governing permissions and # limitations under the License. -"""This is all-in-one launch script intended for use by nav2 developers.""" import os - from ament_index_python.packages import get_package_share_directory - from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription -from launch.conditions import IfCondition +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration, PythonExpression -from launch_ros.actions import Node - +from launch.substitutions import LaunchConfiguration def generate_launch_description(): - # Get the launch directory + bringup_dir = get_package_share_directory('nav2_bringup') - mocap_dir = get_package_share_directory('gazebo_mocap4r2_plugin') launch_dir = os.path.join(bringup_dir, 'launch') - - # Create the launch configuration variables - slam = LaunchConfiguration('slam') - namespace = LaunchConfiguration('namespace') - use_namespace = LaunchConfiguration('use_namespace') - map_yaml_file = LaunchConfiguration('map') - use_sim_time = LaunchConfiguration('use_sim_time') - params_file = LaunchConfiguration('params_file') - autostart = LaunchConfiguration('autostart') - use_composition = LaunchConfiguration('use_composition') - use_respawn = LaunchConfiguration('use_respawn') - - # Launch configuration variables specific to simulation - rviz_config_file = LaunchConfiguration('rviz_config_file') - use_simulator = LaunchConfiguration('use_simulator') - use_robot_state_pub = LaunchConfiguration('use_robot_state_pub') - use_rviz = LaunchConfiguration('use_rviz') - headless = LaunchConfiguration('headless') - world = LaunchConfiguration('world') - pose = {'x': LaunchConfiguration('x_pose', default='-2.00'), - 'y': LaunchConfiguration('y_pose', default='-0.50'), - 'z': LaunchConfiguration('z_pose', default='0.01'), - 'R': LaunchConfiguration('roll', default='0.00'), - 'P': LaunchConfiguration('pitch', default='0.00'), - 'Y': LaunchConfiguration('yaw', default='0.00')} - robot_name = LaunchConfiguration('robot_name') - robot_sdf = LaunchConfiguration('robot_sdf') - - # Map fully qualified names to relative ones so the node's namespace can be prepended. - # In case of the transforms (tf), currently, there doesn't seem to be a better alternative - # https://github.com/ros/geometry2/issues/32 - # https://github.com/ros/robot_state_publisher/pull/30 - # TODO(orduno) Substitute with `PushNodeRemapping` - # https://github.com/ros2/launch_ros/issues/56 - remappings = [('/tf', 'tf'), - ('/tf_static', 'tf_static')] - - # Declare the launch arguments - declare_namespace_cmd = DeclareLaunchArgument( - 'namespace', - default_value='', - description='Top-level namespace') - - declare_use_namespace_cmd = DeclareLaunchArgument( - 'use_namespace', - default_value='false', - description='Whether to apply a namespace to the navigation stack') - - declare_slam_cmd = DeclareLaunchArgument( - 'slam', - default_value='False', - description='Whether run a SLAM') - - declare_map_yaml_cmd = DeclareLaunchArgument( - 'map', - default_value=os.path.join( - bringup_dir, 'maps', 'turtlebot3_world.yaml'), - description='Full path to map file to load') - - declare_use_sim_time_cmd = DeclareLaunchArgument( - 'use_sim_time', - default_value='true', - description='Use simulation (Gazebo) clock if true') - - declare_params_file_cmd = DeclareLaunchArgument( - 'params_file', - default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), - description='Full path to the ROS2 parameters file to use for all launched nodes') - - declare_autostart_cmd = DeclareLaunchArgument( - 'autostart', default_value='true', - description='Automatically startup the nav2 stack') - - declare_use_composition_cmd = DeclareLaunchArgument( - 'use_composition', default_value='True', - description='Whether to use composed bringup') - - declare_use_respawn_cmd = DeclareLaunchArgument( - 'use_respawn', default_value='False', - description='Whether to respawn if a node crashes. Applied when composition is disabled.') - - declare_rviz_config_file_cmd = DeclareLaunchArgument( - 'rviz_config_file', - default_value=os.path.join( - bringup_dir, 'rviz', 'nav2_default_view.rviz'), - description='Full path to the RVIZ config file to use') - - declare_use_simulator_cmd = DeclareLaunchArgument( - 'use_simulator', - default_value='True', - description='Whether to start the simulator') - - declare_use_robot_state_pub_cmd = DeclareLaunchArgument( - 'use_robot_state_pub', - default_value='True', - description='Whether to start the robot state publisher') - - declare_use_rviz_cmd = DeclareLaunchArgument( - 'use_rviz', - default_value='True', - description='Whether to start RVIZ') - - declare_simulator_cmd = DeclareLaunchArgument( - 'headless', - default_value='True', - description='Whether to execute gzclient)') - - declare_world_cmd = DeclareLaunchArgument( - 'world', - # TODO(orduno) Switch back once ROS argument passing has been fixed upstream - # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91 - # default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'), - # worlds/turtlebot3_worlds/waffle.model') - default_value=os.path.join(mocap_dir, 'models', 'world_only.model'), - description='Full path to world model file to load') - - declare_robot_name_cmd = DeclareLaunchArgument( - 'robot_name', - default_value='turtlebot3_waffle', - description='name of the robot') + mocap_dir = get_package_share_directory('mocap4r2_gz_plugin') declare_robot_sdf_cmd = DeclareLaunchArgument( 'robot_sdf', - default_value=os.path.join(mocap_dir, 'models', 'waffle.model'), - description='Full path to robot sdf file to spawn the robot in gazebo') - - # Specify the actions - start_gazebo_server_cmd = ExecuteProcess( - condition=IfCondition(use_simulator), - cmd=['gzserver', '-s', 'libgazebo_ros_init.so', - '-s', 'libgazebo_ros_factory.so', world], - cwd=[launch_dir], output='screen') + default_value=os.path.join(mocap_dir, 'urdf', 'gz_waffle.sdf.xacro'), + description='Full path to robot sdf file to spawn the robot in gazebo', + ) - start_gazebo_client_cmd = ExecuteProcess( - condition=IfCondition(PythonExpression( - [use_simulator, ' and not ', headless])), - cmd=['gzclient'], - cwd=[launch_dir], output='screen') + tb3_simulation_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(launch_dir, 'tb3_simulation_launch.py')), + launch_arguments={ + 'robot_sdf': LaunchConfiguration('robot_sdf') + }.items(), + ) - urdf = os.path.join(mocap_dir, 'urdf', 'turtlebot3_waffle.urdf') - with open(urdf, 'r') as infp: - robot_description = infp.read() - - start_robot_state_publisher_cmd = Node( - condition=IfCondition(use_robot_state_pub), - package='robot_state_publisher', - executable='robot_state_publisher', - name='robot_state_publisher', - namespace=namespace, - output='screen', - parameters=[{'use_sim_time': use_sim_time, - 'robot_description': robot_description}], - remappings=remappings) - - start_gazebo_spawner_cmd = Node( - package='gazebo_ros', - executable='spawn_entity.py', - output='screen', - arguments=[ - '-entity', robot_name, - '-file', robot_sdf, - '-robot_namespace', namespace, - '-x', pose['x'], '-y', pose['y'], '-z', pose['z'], - '-R', pose['R'], '-P', pose['P'], '-Y', pose['Y']]) - - rviz_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_dir, 'rviz_launch.py')), - condition=IfCondition(use_rviz), - launch_arguments={'namespace': namespace, - 'use_namespace': use_namespace, - 'rviz_config': rviz_config_file}.items()) - - bringup_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_dir, 'bringup_launch.py')), - launch_arguments={'namespace': namespace, - 'use_namespace': use_namespace, - 'slam': slam, - 'map': map_yaml_file, - 'use_sim_time': use_sim_time, - 'params_file': params_file, - 'autostart': autostart, - 'use_composition': use_composition, - 'use_respawn': use_respawn}.items()) - - # Create the launch description and populate ld = LaunchDescription() - # Declare the launch options - ld.add_action(declare_namespace_cmd) - ld.add_action(declare_use_namespace_cmd) - ld.add_action(declare_slam_cmd) - ld.add_action(declare_map_yaml_cmd) - ld.add_action(declare_use_sim_time_cmd) - ld.add_action(declare_params_file_cmd) - ld.add_action(declare_autostart_cmd) - ld.add_action(declare_use_composition_cmd) - - ld.add_action(declare_rviz_config_file_cmd) - ld.add_action(declare_use_simulator_cmd) - ld.add_action(declare_use_robot_state_pub_cmd) - ld.add_action(declare_use_rviz_cmd) - ld.add_action(declare_simulator_cmd) - ld.add_action(declare_world_cmd) - ld.add_action(declare_robot_name_cmd) ld.add_action(declare_robot_sdf_cmd) - ld.add_action(declare_use_respawn_cmd) - - # Add any conditioned actions - ld.add_action(start_gazebo_server_cmd) - ld.add_action(start_gazebo_client_cmd) - ld.add_action(start_gazebo_spawner_cmd) - - # Add the actions to launch all of the navigation nodes - ld.add_action(start_robot_state_publisher_cmd) - ld.add_action(rviz_cmd) - ld.add_action(bringup_cmd) + ld.add_action(tb3_simulation_launch) return ld diff --git a/models/gazebo_mocap_plugin/meshes/mocap.dae b/models/gazebo_mocap_plugin/meshes/mocap.dae deleted file mode 100644 index 6616d9e..0000000 --- a/models/gazebo_mocap_plugin/meshes/mocap.dae +++ /dev/null @@ -1,188 +0,0 @@ - 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120 132 396 134 132 397 135 132 398 127 133 399 143 133 400 128 133 401 121 134 402 135 134 403 136 134 404 128 135 405 144 135 406 129 135 407 122 136 408 136 136 409 137 136 410 115 137 411 325 137 412 130 137 413 481 138 414 129 138 415 144 138 416 122 139 417 138 139 418 123 139 419 116 140 420 130 140 421 131 140 422 123 141 423 139 141 424 124 141 425 117 142 426 131 142 427 132 142 428 124 143 429 140 143 430 125 143 431 137 144 432 151 144 433 152 144 434 130 145 435 325 145 436 145 145 437 481 146 438 144 146 439 159 146 440 137 147 441 153 147 442 138 147 443 131 148 444 145 148 445 146 148 446 138 149 447 154 149 448 139 149 449 132 150 450 146 150 451 147 150 452 139 151 453 155 151 454 140 151 455 133 152 456 147 152 457 148 152 458 140 153 459 156 153 460 141 153 461 134 154 462 148 154 463 149 154 464 141 155 465 157 155 466 142 155 467 135 156 468 149 156 469 150 156 470 142 157 471 158 157 472 143 157 473 136 158 474 150 158 475 151 158 476 143 159 477 159 159 478 144 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812 239 271 813 255 271 814 240 271 815 251 272 816 267 272 817 252 272 818 260 273 819 274 273 820 275 273 821 252 274 822 268 274 823 253 274 824 261 275 825 275 275 826 276 275 827 253 276 828 269 276 829 254 276 830 262 277 831 276 277 832 277 277 833 254 278 834 270 278 835 255 278 836 263 279 837 277 279 838 278 279 839 255 280 840 271 280 841 256 280 842 264 281 843 278 281 844 279 281 845 256 282 846 272 282 847 257 282 848 250 283 849 325 283 850 265 283 851 481 284 852 264 284 853 279 284 854 258 285 855 272 285 856 273 285 857 250 286 858 266 286 859 251 286 860 259 287 861 273 287 862 274 287 863 270 288 864 286 288 865 271 288 866 279 289 867 293 289 868 294 289 869 271 290 870 287 290 871 272 290 872 265 291 873 325 291 874 280 291 875 481 292 876 279 292 877 294 292 878 273 293 879 287 293 880 288 293 881 265 294 882 281 294 883 266 294 884 274 295 885 288 295 886 289 295 887 266 296 888 282 296 889 267 296 890 275 297 891 289 297 892 290 297 893 267 298 894 283 298 895 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- - - - - - - - 10 0 0 0 0 8.705814 0 0 0 0 0.7 50 0 0 0 1 - - - - 10 0 0 20 0 8.705814 0 0 0 0 0.7 30 0 0 0 1 - - - - 10 0 0 0 0 8.705814 0 15 0 0 0.7 30 0 0 0 1 - - - - 9.55343e-15 14.94752 7.29306e-8 0 -2.18557e-7 1.96013e-6 -0.5561526 7.64108 -5 -5.712e-14 2.43102e-8 30 0 0 0 1 - - - - -2.18557e-7 1.30675e-6 -0.6 8 0 -14.94752 -5.24537e-8 0 -5 -5.712e-14 2.62268e-8 30 0 0 0 1 - - - - 5 0 0 0 0 -14.94752 -1.54314e-7 0 0 1.30675e-6 -1.765144 25 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.055189 0.6045247 0.7946723 5.903862 0 0 0 1 - - - - 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1 - - - - 14.57103 0 0 0 0 14.57103 0 0 0 0 4.196483 -0.4915363 0 0 0 1 - - - - 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/models/world_only.model b/models/world_only.model deleted file mode 100644 index 4c45d4e..0000000 --- a/models/world_only.model +++ /dev/null @@ -1,54 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_world - - - - - diff --git a/package.xml b/package.xml index 9ebe7be..6cf642d 100644 --- a/package.xml +++ b/package.xml @@ -1,34 +1,29 @@ - gazebo_mocap4r2_plugin + mocap4r2_gz_plugin 0.0.0 - - Gazebo plugins for mocap - - + GZ mocap plugin for ROS 2 + Francisco Martín Rico + Juan Carlos Manzanares Serrano - Apache 2.0 - - Francisco Martín Rico + Apache-2.0 ament_cmake - + + gz_cmake_vendor + gz_plugin_vendor + gz_sim_vendor rclcpp geometry_msgs mocap_interfaces mocap4r2_control - gazebo_dev - gazebo_msgs - gazebo_ros - - nav2_bringup ament_cmake_gtest ament_lint_auto ament_lint_common - + ament_cmake diff --git a/rviz/config.rviz b/rviz/config.rviz deleted file mode 100644 index 00cc60a..0000000 --- a/rviz/config.rviz +++ /dev/null @@ -1,257 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /LaserScan1 - Splitter Ratio: 0.5 - Tree Height: 549 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz_common/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: LaserScan -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Class: rviz_default_plugins/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - base_footprint: - Value: true - base_link: - Value: true - base_scan: - Value: true - camera_depth_frame: - Value: true - camera_depth_optical_frame: - Value: true - camera_link: - Value: true - camera_rgb_frame: - Value: true - camera_rgb_optical_frame: - Value: true - caster_back_left_link: - Value: true - caster_back_right_link: - Value: true - imu_link: - Value: true - odom: - Value: true - wheel_left_link: - Value: true - wheel_right_link: - Value: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: false - Tree: - odom: - base_footprint: - base_link: - base_scan: - {} - camera_link: - camera_depth_frame: - camera_depth_optical_frame: - {} - camera_rgb_frame: - camera_rgb_optical_frame: - {} - caster_back_left_link: - {} - caster_back_right_link: - {} - imu_link: - {} - wheel_left_link: - {} - wheel_right_link: - {} - Update Interval: 0 - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/LaserScan - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 0 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: LaserScan - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /scan - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: "" - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: "" - Mass Properties: - Inertia: false - Mass: false - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: odom - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Covariance x: 0.25 - Covariance y: 0.25 - Covariance yaw: 0.06853891909122467 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 8.77619457244873 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.2559927999973297 - Y: -0.6165896654129028 - Z: -0.08181840926408768 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.8853978514671326 - Target Frame: - Value: Orbit (rviz) - Yaw: 2.95039701461792 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 846 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1200 - X: 1723 - Y: 216 diff --git a/src/gazebo_ros_mocap.cpp b/src/mocap_gz_ros.cpp similarity index 54% rename from src/gazebo_ros_mocap.cpp rename to src/mocap_gz_ros.cpp index 03a6009..0e8bb5f 100644 --- a/src/gazebo_ros_mocap.cpp +++ b/src/mocap_gz_ros.cpp @@ -1,4 +1,4 @@ -// Copyright 2022 Intelligent Robotics Lab +// Copyright 2024 Intelligent Robotics Lab // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,39 +12,21 @@ // See the License for the specific language governing permissions and // limitations under the License. -// Author: Jose Miguel Guerrero Hernandez -// Modified by: Juan Carlos Manzanares Serrano - - -#include -#include -#include - -#include -#include -#include - -#include "mocap_interfaces/msg/marker_array.hpp" -#include "mocap_interfaces/msg/rigid_body_array.hpp" -#include "mocap_interfaces/srv/create_rigid_body.hpp" -#include "lifecycle_msgs/msg/state.hpp" - -#include "rclcpp/rclcpp.hpp" +#include "mocap4r2_gz_plugin/mocap_gz_ros.hpp" #include "mocap4r2_control/ControlledLifecycleNode.hpp" -namespace gazebo -{ - -GZ_REGISTER_MODEL_PLUGIN(GazeboRosMocap) +using namespace gz; +using namespace sim; +using namespace systems; using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn; -/// Class to hold private data members (PIMPL pattern) -class GazeboRosMocapPrivate : public mocap4r2_control::ControlledLifecycleNode +class gz::sim::systems::MocapGzRosPrivate : public mocap4r2_control::ControlledLifecycleNode { public: - GazeboRosMocapPrivate(); + MocapGzRosPrivate(); + ~MocapGzRosPrivate() = default; CallbackReturnT on_configure(const rclcpp_lifecycle::State & state) override; CallbackReturnT on_activate(const rclcpp_lifecycle::State & state) override; @@ -58,18 +40,15 @@ class GazeboRosMocapPrivate : public mocap4r2_control::ControlledLifecycleNode const std::shared_ptr request, const std::shared_ptr response); - /// Connection to world update event. Callback is called while this is alive. - gazebo::event::ConnectionPtr update_connection_; - physics::WorldPtr world_; - std::vector rigid_links_; - std::vector marker_links_; - std::vector rigid_link_names_; - std::vector marker_link_names_; + std::vector rigid_links_; + std::vector marker_links_; + std::vector rigid_links_names_; + std::vector marker_links_names_; std::map markers_; std::map> rigid_body_markers_; std::map rigid_body_orientation; + Model model{kNullEntity}; - /// ROS communication. rclcpp_lifecycle::LifecyclePublisher::SharedPtr mocap_markers_pub_; rclcpp_lifecycle::LifecyclePublisher::SharedPtr @@ -79,15 +58,14 @@ class GazeboRosMocapPrivate : public mocap4r2_control::ControlledLifecycleNode int seq_{0}; }; -GazeboRosMocapPrivate::GazeboRosMocapPrivate() -: ControlledLifecycleNode("gazebo_control") +MocapGzRosPrivate::MocapGzRosPrivate() +: ControlledLifecycleNode("gz_control") { trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE); } - CallbackReturnT -GazeboRosMocapPrivate::on_configure(const rclcpp_lifecycle::State & state) +MocapGzRosPrivate::on_configure(const rclcpp_lifecycle::State & state) { mocap_markers_pub_ = create_publisher( "markers", rclcpp::QoS(1000)); @@ -96,14 +74,14 @@ GazeboRosMocapPrivate::on_configure(const rclcpp_lifecycle::State & state) mocap_create_rigid_body_service_ = create_service( "create_rigid_body", std::bind( - &GazeboRosMocapPrivate::handleCreateRigidBody, this, std::placeholders::_1, + &MocapGzRosPrivate::handleCreateRigidBody, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); return ControlledLifecycleNode::on_configure(state); } CallbackReturnT -GazeboRosMocapPrivate::on_activate(const rclcpp_lifecycle::State & state) +MocapGzRosPrivate::on_activate(const rclcpp_lifecycle::State & state) { (void)state; @@ -114,7 +92,7 @@ GazeboRosMocapPrivate::on_activate(const rclcpp_lifecycle::State & state) } CallbackReturnT -GazeboRosMocapPrivate::on_deactivate(const rclcpp_lifecycle::State & state) +MocapGzRosPrivate::on_deactivate(const rclcpp_lifecycle::State & state) { (void)state; @@ -125,18 +103,18 @@ GazeboRosMocapPrivate::on_deactivate(const rclcpp_lifecycle::State & state) } void -GazeboRosMocapPrivate::control_start(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) +MocapGzRosPrivate::control_start(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) { RCLCPP_INFO(get_logger(), "Starting mocap gazebo"); } void -GazeboRosMocapPrivate::control_stop(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) +MocapGzRosPrivate::control_stop(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) { RCLCPP_INFO(get_logger(), "Stopping mocap gazebo"); } -void GazeboRosMocapPrivate::handleCreateRigidBody( +void MocapGzRosPrivate::handleCreateRigidBody( const std::shared_ptr request_header, const std::shared_ptr request, const std::shared_ptr response) @@ -150,119 +128,58 @@ void GazeboRosMocapPrivate::handleCreateRigidBody( response->success = true; } -GazeboRosMocap::GazeboRosMocap() -: impl_(std::make_unique()) +MocapGzRos::MocapGzRos() { + rclcpp::init(0, nullptr); + impl_ = std::make_unique(); } -GazeboRosMocap::~GazeboRosMocap() +void MocapGzRos::Configure( + const gz::sim::Entity & _entity, + const std::shared_ptr & _sdf, + gz::sim::EntityComponentManager & _ecm, + gz::sim::EventManager & _eventMgr) { - impl_->update_connection_.reset(); -} + impl_->model = Model(_entity); -physics::LinkPtr find_link(gazebo::physics::Link_V & links, const std::string & name) -{ - if (links.empty()) { - return nullptr; - } + auto sdf_element = _sdf->FindElement("rigid_link"); - for (const auto & link : links) { - std::cerr << "Link: " << link->GetName() << std::endl; - if (link->GetName() == name) { - return link; + while (sdf_element) { + if (!sdf_element->Get().empty()) { + impl_->rigid_links_names_.push_back(sdf_element->Get()); } else { - auto child_links = link->GetChildJointsLinks(); - std::cerr << "And has " << child_links.size() << "childs:"; - for (const auto & child_link : child_links) { - std::cerr << " " << child_link->GetName(); - } - std::cerr << std::endl; - - auto found_link = find_link(child_links, name); - if (found_link != nullptr) { - return found_link; - } - } - } - - return nullptr; -} - -void GazeboRosMocap::Load(physics::ModelPtr _parent, sdf::ElementPtr sdf) -{ - impl_->update_connection_ = gazebo::event::Events::ConnectWorldUpdateBegin( - std::bind(&GazeboRosMocap::OnUpdate, this)); - - auto logger = impl_->get_logger(); - - if (sdf->HasElement("rigid_link")) { - auto link_name_element = sdf->GetElement("rigid_link"); - while (link_name_element) { - impl_->rigid_link_names_.push_back(link_name_element->Get()); - link_name_element = link_name_element->GetNextElement("rigid_link"); + gzerr << "Empty rigid_link name" << std::endl; } - } - if (sdf->HasElement("marker_link")) { - auto link_name_element = sdf->GetElement("marker_link"); - while (link_name_element) { - impl_->marker_link_names_.push_back(link_name_element->Get()); - link_name_element = link_name_element->GetNextElement("marker_link"); - } + sdf_element = sdf_element->GetNextElement("rigid_link"); } - impl_->world_ = _parent->GetWorld(); - - for (const auto & link_name : impl_->rigid_link_names_) { - for (const auto & model : impl_->world_->Models()) { - auto links = model->GetLinks(); - auto link = find_link(links, link_name); + sdf_element = _sdf->FindElement("marker_link"); - if (link != nullptr) { - impl_->rigid_links_.push_back(link); - RCLCPP_INFO(logger, "Plugin MOCAP loaded for rigid link [%s]", link_name.c_str()); - break; - } + while (sdf_element) { + if (!sdf_element->Get().empty()) { + impl_->marker_links_names_.push_back(sdf_element->Get()); + } else { + gzerr << "Empty marker_link name" << std::endl; } - } - for (const auto & link_name : impl_->marker_link_names_) { - for (const auto & model : impl_->world_->Models()) { - auto links = model->GetLinks(); - auto link = find_link(links, link_name); - - if (link != nullptr) { - impl_->marker_links_.push_back(link); - RCLCPP_INFO(logger, "Plugin MOCAP loaded for marker link [%s]", link_name.c_str()); - break; - } - } + sdf_element = sdf_element->GetNextElement("marker_link"); } - for (const auto & link_name : impl_->rigid_link_names_) { - if (std::find_if( - impl_->rigid_links_.begin(), impl_->rigid_links_.end(), - [&](const physics::LinkPtr & link) { - return link->GetName() == link_name; - }) == impl_->rigid_links_.end()) - { - RCLCPP_ERROR(logger, "No rigid link [%s] found for Plugin MOCAP", link_name.c_str()); - } + for (const auto & link_name : impl_->rigid_links_names_) { + auto link = impl_->model.LinkByName(_ecm, link_name); + impl_->rigid_links_.push_back(link); } - for (const auto & link_name : impl_->marker_link_names_) { - if (std::find_if( - impl_->marker_links_.begin(), impl_->marker_links_.end(), - [&](const physics::LinkPtr & link) { - return link->GetName() == link_name; - }) == impl_->marker_links_.end()) - { - RCLCPP_ERROR(logger, "No marker link [%s] found for Plugin MOCAP", link_name.c_str()); - } + for (const auto & link_name : impl_->marker_links_names_) { + auto link = impl_->model.LinkByName(_ecm, link_name); + impl_->marker_links_.push_back(link); } } -void GazeboRosMocap::OnUpdate() +void MocapGzRos::PostUpdate( + const gz::sim::v8::UpdateInfo & _info, + const gz::sim::v8::EntityComponentManager & _ecm) { rclcpp::spin_some(impl_->get_node_base_interface()); @@ -283,8 +200,9 @@ void GazeboRosMocap::OnUpdate() impl_->seq_; int index = 1; - for (const auto & link : impl_->rigid_links_) { - ignition::math::v6::Pose3d pose = link->WorldPose(); + for (int i = 0; i < impl_->rigid_links_.size(); i++) { + auto link = impl_->rigid_links_[i]; + math::Pose3d pose = worldPose(link, _ecm); auto & pos = pose.Pos(); auto & rot = pose.Rot(); @@ -315,7 +233,7 @@ void GazeboRosMocap::OnUpdate() mocap_interfaces::msg::RigidBody rb; rb.header.stamp = impl_->now(); - rb.rigid_body_name = "rigid_body_" + link->GetName(); + rb.rigid_body_name = impl_->rigid_links_names_[i]; rb.pose.position.x = pos.X(); rb.pose.position.y = pos.Y(); rb.pose.position.z = pos.Z(); @@ -337,7 +255,7 @@ void GazeboRosMocap::OnUpdate() } for (const auto & link : impl_->marker_links_) { - ignition::math::v6::Pose3d pose = link->WorldPose(); + math::Pose3d pose = worldPose(link, _ecm); auto & pos = pose.Pos(); @@ -376,20 +294,16 @@ void GazeboRosMocap::OnUpdate() rb.pose.position = centroid; - for (const auto & model : impl_->world_->Models()) { - auto links = model->GetLinks(); - auto link = find_link(links, impl_->rigid_body_orientation[rigid_body_name]); - - if (link != nullptr) { - ignition::math::v6::Pose3d pose = link->WorldPose(); - auto & rot = pose.Rot(); - - rb.pose.orientation.x = rot.X(); - rb.pose.orientation.y = rot.Y(); - rb.pose.orientation.z = rot.Z(); - rb.pose.orientation.w = rot.W(); - break; - } + if (impl_->rigid_body_orientation.find(rigid_body_name) != + impl_->rigid_body_orientation.end()) + { + auto link = impl_->model.LinkByName(_ecm, impl_->rigid_body_orientation[rigid_body_name]); + math::Pose3d pose = worldPose(link, _ecm); + auto & rot = pose.Rot(); + rb.pose.orientation.x = rot.X(); + rb.pose.orientation.y = rot.Y(); + rb.pose.orientation.z = rot.Z(); + rb.pose.orientation.w = rot.W(); } rbs.rigid_bodies.push_back(rb); @@ -404,4 +318,9 @@ void GazeboRosMocap::OnUpdate() } } -} // namespace gazebo +GZ_ADD_PLUGIN(MocapGzRos, gz::sim::System, + MocapGzRos::ISystemConfigure, + MocapGzRos::ISystemPostUpdate +) + +GZ_ADD_PLUGIN_ALIAS(MocapGzRos, "gz::sim::systems::MocapGzRos") diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt deleted file mode 100644 index af6382c..0000000 --- a/test/CMakeLists.txt +++ /dev/null @@ -1,34 +0,0 @@ -find_package(ament_cmake_gtest REQUIRED) - -option(ENABLE_DISPLAY_TESTS "Enable the building of tests that requires a display" OFF) - - -# Tests -set(tests - test_gazebo_ros_mocap -) - -foreach(test ${tests}) - ament_add_gtest(${test} - ${test}.cpp - WORKING_DIRECTORY - ${CMAKE_CURRENT_BINARY_DIR} - # Long timeout because has to run gazebo several times - TIMEOUT - 120 - ) - target_link_libraries(${test} - gazebo_test_fixture - ) - ament_target_dependencies(${test} - "gazebo_dev" - "gazebo_msgs" - "gazebo_ros" - "geometry_msgs" - "rclcpp" - ) - if(ENABLE_PROFILER) - target_include_directories(${test} PUBLIC ${ignition-common3_INCLUDE_DIRS}) - target_link_libraries(${test} ${ignition-common3_LIBRARIES}) - endif() -endforeach() diff --git a/test/test_gazebo_ros_mocap.cpp b/test/test_gazebo_ros_mocap.cpp deleted file mode 100644 index a581d25..0000000 --- a/test/test_gazebo_ros_mocap.cpp +++ /dev/null @@ -1,35 +0,0 @@ -// Copyright 2022 Intelligent Robotics Lab -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - - -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -using namespace std::chrono_literals; - - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - ::testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/models/waffle.model b/urdf/gz_waffle.sdf.xacro similarity index 66% rename from models/waffle.model rename to urdf/gz_waffle.sdf.xacro index 5c9cb7d..c1c2c24 100644 --- a/models/waffle.model +++ b/urdf/gz_waffle.sdf.xacro @@ -1,5 +1,7 @@ - + + + 0.0 0.0 0.0 0.0 0.0 0.0 @@ -33,10 +35,13 @@ -0.064 0 0 0 0 0 - model://turtlebot3_common/meshes/waffle_base.dae + package://nav2_minimal_tb3_sim/models/turtlebot3_model/meshes/waffle_base.dae 0.001 0.001 0.001 + + 1 1 1 + @@ -44,6 +49,8 @@ true 200 + $(arg namespace)/imu + imu_link @@ -86,56 +93,12 @@ - - false - - - ~/out:=imu - - - - -0.052 0 0.141 0 0 0 - - -0.052 0 0.141 0 0 0 - - 0.001 - 0.000 - 0.000 - 0.001 - 0.000 - 0.001 - - 0.125 - - - - - - - - -0.052 0 0.121 0 0 0 - -0.052 0 0.121 0 0 0 + -0.064 0 0.121 0 0 0 0.001 0.000 @@ -148,7 +111,7 @@ - -0.052 0 0.131 0 0 0 + -0.052 0 0.111 0 0 0 0.0508 @@ -158,20 +121,25 @@ - -0.064 0 0.131 0 0 0 + -0.064 0 0.121 0 0 0 - model://turtlebot3_common/meshes/lds.dae + package://nav2_minimal_tb3_sim/models/turtlebot3_model/meshes/lds.dae 0.001 0.001 0.001 + + 1 1 1 + - + true true - -0.064 0 0.131 0 0 0 + -0.064 0 0.15 0 0 0 5 + $(arg namespace)/scan + base_scan @@ -182,8 +150,8 @@ - 0.120000 - 3.5 + 0.00001 + 20.0 0.015000 @@ -192,14 +160,6 @@ 0.01 - - - - ~/out:=scan - - sensor_msgs/LaserScan - base_scan - @@ -227,14 +187,13 @@ - - 100000.0 - 100000.0 - 0 0 0 - 0.0 - 0.0 + 1 + 1 + 0.035 + 0 + 0 0 1 @@ -254,10 +213,13 @@ 0.0 0.144 0.023 0 0 0 - model://turtlebot3_common/meshes/tire.dae + package://nav2_minimal_tb3_sim/models/turtlebot3_model/meshes/tire.dae 0.001 0.001 0.001 + + 1 1 1 + @@ -285,14 +247,13 @@ - - 100000.0 - 100000.0 - 0 0 0 - 0.0 - 0.0 + 1 + 1 + 0.035 + 0 + 0 0 1 @@ -312,10 +273,13 @@ 0.0 -0.144 0.023 0 0 0 - model://turtlebot3_common/meshes/tire.dae + package://nav2_minimal_tb3_sim/models/turtlebot3_model/meshes/tire.dae 0.001 0.001 0.001 + + 1 1 1 + @@ -388,7 +352,6 @@ - 0.069 -0.047 0.107 0 0 0 0.069 -0.047 0.107 0 0 0 @@ -416,28 +379,28 @@ 1 5 0.064 -0.047 0.107 0 0 0 + camera_depth_frame + 1.047 + + 320 + 240 + + + + + + 19.4 + + + + + 0.001 + 5.0 + + - - - - intel_realsense_r200_depth - camera_depth_frame - 0.07 - 0.001 - 5.0 - - - - 0 0.047 -0.005 0 0 0 - - - 0.008 0.130 0.022 - - - - 0.069 -0.047 0.107 0 0 0 @@ -474,15 +437,6 @@ caster_back_left_link - - base_link - base_mocap - -0.064 0 0.141 0 0 0 - - 0 0 1 - - - base_link base_scan @@ -501,66 +455,44 @@ - - camera_link - camera_rgb_frame - 0.005 0.018 0.013 0 0 0 - - 0 0 1 - - - - - - - - - /tf:=tf - - - 30 - + wheel_left_joint wheel_right_joint - - 0.287 - 0.066 - - - 20 - 1.0 - - cmd_vel - - - true - true - false - - odom - odom - base_footprint - + 0.033 + 1 + -1 + 2 + -2 + 0.46 + -0.46 + 1.9 + -1.9 + $(arg namespace)/cmd_vel + $(arg namespace)/odom + $(arg namespace)/tf + odom + base_footprint + 30 - - - - ~/out:=joint_states - - 30 + wheel_left_joint wheel_right_joint + $(arg namespace)/joint_states + 30 - - base_link - base_mocap - camera_link + base_footprint - + + - + \ No newline at end of file diff --git a/urdf/turtlebot3_waffle.urdf b/urdf/turtlebot3_waffle.urdf deleted file mode 100644 index 0a71acc..0000000 --- a/urdf/turtlebot3_waffle.urdf +++ /dev/null @@ -1,324 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -