From e605306c1f36356c4257a9686c3ab99af2d92911 Mon Sep 17 00:00:00 2001 From: Juancams Date: Wed, 13 Nov 2024 13:58:05 +0100 Subject: [PATCH 1/6] Jazzy & gz8 support Signed-off-by: Juancams --- .github/workflows/main.yaml | 12 +- CHANGELOG.rst | 1 - CMakeLists.txt | 120 +--- colcon.pkg | 8 - dependency_repos.repos | 2 +- env-hooks/gazebo_plugins.sh.in | 17 - include/gazebo_plugins/gazebo_ros_mocap.hpp | 52 -- include/gz_mocap4r2_plugin/gz_ros_mocap.hpp | 71 +++ launch/tb3_simulation_launch.py | 236 +------- models/gazebo_mocap_plugin/meshes/mocap.dae | 188 ------ .../meshes/rigid_body.blend | Bin 1086068 -> 0 bytes .../meshes/rigid_body.blend1 | Bin 1086068 -> 0 bytes .../gazebo_mocap_plugin/meshes/rigid_body.dae | 565 ------------------ models/world_only.model | 54 -- package.xml | 25 +- rviz/config.rviz | 257 -------- src/gazebo_ros_mocap.cpp | 405 ------------- src/gz_ros_mocap.cpp | 323 ++++++++++ test/CMakeLists.txt | 34 -- test/test_gazebo_ros_mocap.cpp | 35 -- .../waffle.model => urdf/gz_waffle.sdf.xacro | 244 +++----- urdf/turtlebot3_waffle.urdf | 324 ---------- 22 files changed, 545 insertions(+), 2428 deletions(-) delete mode 100644 CHANGELOG.rst delete mode 100644 colcon.pkg delete mode 100644 env-hooks/gazebo_plugins.sh.in delete mode 100644 include/gazebo_plugins/gazebo_ros_mocap.hpp create mode 100644 include/gz_mocap4r2_plugin/gz_ros_mocap.hpp delete mode 100644 models/gazebo_mocap_plugin/meshes/mocap.dae delete mode 100644 models/gazebo_mocap_plugin/meshes/rigid_body.blend delete mode 100644 models/gazebo_mocap_plugin/meshes/rigid_body.blend1 delete mode 100644 models/gazebo_mocap_plugin/meshes/rigid_body.dae delete mode 100644 models/world_only.model delete mode 100644 rviz/config.rviz delete mode 100644 src/gazebo_ros_mocap.cpp create mode 100644 src/gz_ros_mocap.cpp delete mode 100644 test/CMakeLists.txt delete mode 100644 test/test_gazebo_ros_mocap.cpp rename models/waffle.model => urdf/gz_waffle.sdf.xacro (66%) delete mode 100644 urdf/turtlebot3_waffle.urdf diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml index 0318bd4..d18f202 100644 --- a/.github/workflows/main.yaml +++ b/.github/workflows/main.yaml @@ -1,12 +1,12 @@ -name: main +name: jazzy-devel on: pull_request: branches: - - main + - jazzy-devel push: branches: - - main + - jazyy-devel jobs: build-and-test: runs-on: ${{ matrix.os }} @@ -19,12 +19,12 @@ jobs: - name: Setup ROS 2 uses: ros-tooling/setup-ros@0.7.1 with: - required-ros-distributions: humble + required-ros-distributions: jazzy - name: build and test uses: ros-tooling/action-ros-ci@0.3.6 with: - package-name: gazebo_mocap4r2_plugin mocap4r2_msgs mocap4r2_control mocap4r2_control_msgs rqt_mocap4r2_control - target-ros2-distro: humble + package-name: gazebo_mocap4r2_plugin mocap_interfaces mocap4r2_control mocap4r2_control_msgs rqt_mocap4r2_control + target-ros2-distro: jazzy vcs-repo-file-url: ${GITHUB_WORKSPACE}/dependency_repos.repos - name: Codecov uses: codecov/codecov-action@v1.1.0 diff --git a/CHANGELOG.rst b/CHANGELOG.rst deleted file mode 100644 index 02e1c22..0000000 --- a/CHANGELOG.rst +++ /dev/null @@ -1 +0,0 @@ -Void diff --git a/CMakeLists.txt b/CMakeLists.txt index e2933b8..34e0743 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,106 +1,48 @@ -cmake_minimum_required(VERSION 3.5) -project(gazebo_mocap4r2_plugin) +cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR) -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - # we dont use add_compile_options with pedantic in message packages - # because the Python C extensions dont comply with it - set(CMAKE_CXX_FLAGS "${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(gz_mocap4r2_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() - -# 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) - - -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) +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) -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() +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 ${gz-sensors8_VERSION_MAJOR}) -if(NOT WIN32) - if(NOT APPLE) - set( - AMENT_CMAKE_ENVIRONMENT_HOOKS_DESC_gazebo_plugins - "prepend-non-duplicate;LD_LIBRARY_PATH;${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") +include_directories(include) -ament_package() +add_library(gz_ros_mocap SHARED src/gz_ros_mocap.cpp) -install(DIRECTORY include/ - DESTINATION include) +ament_target_dependencies(gz_ros_mocap + rclcpp + geometry_msgs + mocap_interfaces + mocap4r2_control +) -install(TARGETS - gazebo_ros_mocap - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin) +target_link_libraries(gz_ros_mocap + 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/${PROJECT_NAME}/ ) + +install(TARGETS gz_ros_mocap DESTINATION lib/gz_ros_mocap) + +ament_export_libraries(gz_ros_mocap) +ament_export_dependencies(gz-cmake3 gz-plugin2 gz-sim8 geometry_msgs mocap_interfaces mocap4r2_control rclcpp) + +ament_package() diff --git a/colcon.pkg b/colcon.pkg deleted file mode 100644 index 6f9c7e0..0000000 --- a/colcon.pkg +++ /dev/null @@ -1,8 +0,0 @@ -# Configuration file for colcon (https://colcon.readthedocs.io). -# -# Please see the doc for the details of the spec: -# - https://colcon.readthedocs.io/en/released/user/configuration.html#colcon-pkg-files - -{ - "dependencies": ["Gazebo"], -} diff --git a/dependency_repos.repos b/dependency_repos.repos index f3c93fb..49de581 100644 --- a/dependency_repos.repos +++ b/dependency_repos.repos @@ -6,4 +6,4 @@ repositories: mocap4r2: type: git url: https://github.com/MOCAP4ROS2-Project/mocap4r2.git - version: rep-mocap + version: rep-mocap-jazzy diff --git a/env-hooks/gazebo_plugins.sh.in b/env-hooks/gazebo_plugins.sh.in deleted file mode 100644 index 0869eb1..0000000 --- a/env-hooks/gazebo_plugins.sh.in +++ /dev/null @@ -1,17 +0,0 @@ -# generated from gazebo_plugins/env-hooks/gazebo_plugins.sh.in - -# detect if running on Darwin platform -_UNAME=`uname -s` -_IS_DARWIN=0 -if [ "$_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/gz_mocap4r2_plugin/gz_ros_mocap.hpp b/include/gz_mocap4r2_plugin/gz_ros_mocap.hpp new file mode 100644 index 0000000..928c63f --- /dev/null +++ b/include/gz_mocap4r2_plugin/gz_ros_mocap.hpp @@ -0,0 +1,71 @@ +// 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__GZ_ROS_MOCAP_HPP_ +#define GZ_PLUGINS__GZ_ROS_MOCAP_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 GzRosMocapPrivate; + + class GzRosMocap: + public gz::sim::System, + public gz::sim::ISystemConfigure, + public gz::sim::ISystemPostUpdate + { + public: + GzRosMocap(); + ~GzRosMocap() 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__GZ_ROS_MOCAP_HPP_ + diff --git a/launch/tb3_simulation_launch.py b/launch/tb3_simulation_launch.py index 7bb732b..7f1fa71 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('gz_mocap4r2_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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- - - - - - - - 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..84491f3 100644 --- a/package.xml +++ b/package.xml @@ -1,34 +1,29 @@ - gazebo_mocap4r2_plugin + gz_mocap4r2_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-cmake3 + gz-plugin2 + gz-sim8 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/gazebo_ros_mocap.cpp deleted file mode 100644 index c2355c8..0000000 --- a/src/gazebo_ros_mocap.cpp +++ /dev/null @@ -1,405 +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. - -// 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_control/ControlledLifecycleNode.hpp" - -namespace gazebo -{ - -GZ_REGISTER_MODEL_PLUGIN(GazeboRosMocap) - -using CallbackReturnT = - rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn; - -/// Class to hold private data members (PIMPL pattern) -class GazeboRosMocapPrivate : public mocap4r2_control::ControlledLifecycleNode -{ -public: - GazeboRosMocapPrivate(); - - CallbackReturnT on_configure(const rclcpp_lifecycle::State & state) override; - CallbackReturnT on_activate(const rclcpp_lifecycle::State & state) override; - CallbackReturnT on_deactivate(const rclcpp_lifecycle::State & state) override; - - void control_start(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) override; - void control_stop(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) override; - - void handleCreateRigidBody( - const std::shared_ptr request_header, - 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::map markers_; - std::map> rigid_body_markers_; - std::map rigid_body_orientation; - - /// ROS communication. - rclcpp_lifecycle::LifecyclePublisher::SharedPtr mocap_markers_pub_; - rclcpp_lifecycle::LifecyclePublisher::SharedPtr - mocap_rigid_body_pub_; - rclcpp::Service::SharedPtr mocap_create_rigid_body_service_; - int seq_{0}; -}; - -GazeboRosMocapPrivate::GazeboRosMocapPrivate() -: ControlledLifecycleNode("gazebo_control") -{ - trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE); -} - - -CallbackReturnT -GazeboRosMocapPrivate::on_configure(const rclcpp_lifecycle::State & state) -{ - mocap_markers_pub_ = create_publisher( - "markers", rclcpp::QoS(1000)); - mocap_rigid_body_pub_ = create_publisher( - "rigid_bodies", rclcpp::QoS(1000)); - mocap_create_rigid_body_service_ = create_service( - "create_rigid_body", - std::bind( - &GazeboRosMocapPrivate::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) -{ - (void)state; - - mocap_markers_pub_->on_activate(); - mocap_rigid_body_pub_->on_activate(); - - return ControlledLifecycleNode::on_activate(state); -} - -CallbackReturnT -GazeboRosMocapPrivate::on_deactivate(const rclcpp_lifecycle::State & state) -{ - (void)state; - - mocap_markers_pub_->on_deactivate(); - mocap_rigid_body_pub_->on_deactivate(); - - return ControlledLifecycleNode::on_deactivate(state); -} - -void -GazeboRosMocapPrivate::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) -{ - RCLCPP_INFO(get_logger(), "Stopping mocap gazebo"); -} - -void GazeboRosMocapPrivate::handleCreateRigidBody( - const std::shared_ptr request_header, - const std::shared_ptr request, - const std::shared_ptr response) -{ - (void)request_header; - - RCLCPP_INFO(get_logger(), "Creating rigid body [%s]", request->rigid_body_name.c_str()); - rigid_body_markers_[request->rigid_body_name] = request->markers; - rigid_body_orientation[request->rigid_body_name] = request->link_parent; - - response->success = true; -} - -GazeboRosMocap::GazeboRosMocap() -: impl_(std::make_unique()) -{ -} - -GazeboRosMocap::~GazeboRosMocap() -{ - impl_->update_connection_.reset(); -} - -physics::LinkPtr find_link(gazebo::physics::Link_V & links, const std::string & name) -{ - if (links.empty()) { - return nullptr; - } - - for (const auto & link : links) { - std::cerr << "Link: " << link->GetName() << std::endl; - if (link->GetName() == name) { - return link; - } 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"); - } - } - - 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"); - } - } - - 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); - - if (link != nullptr) { - impl_->rigid_links_.push_back(link); - RCLCPP_INFO(logger, "Plugin MOCAP loaded for rigid link [%s]", link_name.c_str()); - break; - } - } - } - - 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; - } - } - } - - 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_->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()); - } - } -} - -void GazeboRosMocap::OnUpdate() -{ - rclcpp::spin_some(impl_->get_node_base_interface()); - - if (impl_->get_current_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) { - return; - } - - mocap_interfaces::msg::MarkerArray ms; - ms.header.stamp = impl_->now(); - ms.seq = impl_->seq_; - ms.header.frame_id = "map"; - - mocap_interfaces::msg::RigidBodyArray rbs; - rbs.header.stamp = impl_->now(); - rbs.seq = impl_->seq_; - rbs.header.frame_id = "map"; - - impl_->seq_; - int index = 1; - - for (const auto & link : impl_->rigid_links_) { - ignition::math::v6::Pose3d pose = link->WorldPose(); - - auto & pos = pose.Pos(); - auto & rot = pose.Rot(); - - mocap_interfaces::msg::Marker m1; - m1.header.stamp = impl_->now(); - m1.id_type = mocap_interfaces::msg::Marker::USE_INDEX; - m1.marker_index = index++; - m1.translation.x = pos.X(); - m1.translation.y = pos.Y(); - m1.translation.z = pos.Z() + 0.05; - - mocap_interfaces::msg::Marker m2; - m2.header.stamp = impl_->now(); - m2.id_type = mocap_interfaces::msg::Marker::USE_INDEX; - m2.marker_index = index++; - m2.translation.x = pos.X() + 0.02; - m2.translation.y = pos.Y(); - m2.translation.z = pos.Z() + 0.03; - - mocap_interfaces::msg::Marker m3; - m3.header.stamp = impl_->now(); - m3.id_type = mocap_interfaces::msg::Marker::USE_INDEX; - m3.marker_index = index++; - m3.translation.x = pos.X(); - m3.translation.y = pos.Y() + 0.015; - m3.translation.z = pos.Z() + 0.03; - - mocap_interfaces::msg::RigidBody rb; - rb.header.stamp = impl_->now(); - rb.rigid_body_name = "rigid_body_" + link->GetName(); - rb.pose.position.x = pos.X(); - rb.pose.position.y = pos.Y(); - rb.pose.position.z = pos.Z(); - rb.pose.orientation.x = rot.X(); - rb.pose.orientation.y = rot.Y(); - rb.pose.orientation.z = rot.Z(); - rb.pose.orientation.w = rot.W(); - - rb.markers = {m1, m2, m3}; - - ms.markers.push_back(m1); - ms.markers.push_back(m2); - ms.markers.push_back(m3); - rbs.rigid_bodies.push_back(rb); - - impl_->markers_[m1.marker_index] = m1; - impl_->markers_[m2.marker_index] = m2; - impl_->markers_[m3.marker_index] = m3; - } - - for (const auto & link : impl_->marker_links_) { - ignition::math::v6::Pose3d pose = link->WorldPose(); - - auto & pos = pose.Pos(); - - mocap_interfaces::msg::Marker m1; - m1.header.stamp = impl_->now(); - m1.id_type = mocap_interfaces::msg::Marker::USE_INDEX; - m1.marker_index = index++; - m1.translation.x = pos.X(); - m1.translation.y = pos.Y(); - m1.translation.z = pos.Z(); - - ms.markers.push_back(m1); - impl_->markers_[m1.marker_index] = m1; - } - - for (const auto & [rigid_body_name, markers] : impl_->rigid_body_markers_) { - mocap_interfaces::msg::RigidBody rb; - geometry_msgs::msg::Point rigid_body_pose; - rb.header.stamp = impl_->now(); - rb.rigid_body_name = rigid_body_name; - - for (const auto & marker_index : markers) { - auto it = impl_->markers_.find(marker_index); - if (it != impl_->markers_.end()) { - rb.markers.push_back(it->second); - rigid_body_pose.x += it->second.translation.x; - rigid_body_pose.y += it->second.translation.y; - rigid_body_pose.z += it->second.translation.z; - } - } - - geometry_msgs::msg::Point centroid; - centroid.x = rigid_body_pose.x / rb.markers.size(); - centroid.y = rigid_body_pose.y / rb.markers.size(); - centroid.z = rigid_body_pose.z / rb.markers.size(); - - 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; - } - } - - rbs.rigid_bodies.push_back(rb); - } - - if (impl_->mocap_markers_pub_->get_subscription_count() > 0) { - impl_->mocap_markers_pub_->publish(ms); - } - - if (impl_->mocap_rigid_body_pub_->get_subscription_count() > 0) { - impl_->mocap_rigid_body_pub_->publish(rbs); - } -} - -} // namespace gazebo diff --git a/src/gz_ros_mocap.cpp b/src/gz_ros_mocap.cpp new file mode 100644 index 0000000..3fd9fbe --- /dev/null +++ b/src/gz_ros_mocap.cpp @@ -0,0 +1,323 @@ +// 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. + +#include "gz_mocap4r2_plugin/gz_ros_mocap.hpp" +#include "mocap4r2_control/ControlledLifecycleNode.hpp" + +using namespace gz; +using namespace sim; +using namespace systems; + +using CallbackReturnT = + rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn; + +class gz::sim::systems::GzRosMocapPrivate : public mocap4r2_control::ControlledLifecycleNode +{ + public: + GzRosMocapPrivate(); + ~GzRosMocapPrivate() = default; + + CallbackReturnT on_configure(const rclcpp_lifecycle::State & state) override; + CallbackReturnT on_activate(const rclcpp_lifecycle::State & state) override; + CallbackReturnT on_deactivate(const rclcpp_lifecycle::State & state) override; + + void control_start(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) override; + void control_stop(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) override; + + void handleCreateRigidBody( + const std::shared_ptr request_header, + const std::shared_ptr request, + const std::shared_ptr response); + + 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}; + + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + mocap_markers_pub_; + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + mocap_rigid_body_pub_; + rclcpp::Service::SharedPtr + mocap_create_rigid_body_service_; + int seq_{0}; +}; + +GzRosMocapPrivate::GzRosMocapPrivate() +: ControlledLifecycleNode("gz_control") +{ + + trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE); +} + +CallbackReturnT +GzRosMocapPrivate::on_configure(const rclcpp_lifecycle::State & state) +{ + mocap_markers_pub_ = create_publisher( + "markers", rclcpp::QoS(1000)); + mocap_rigid_body_pub_ = create_publisher( + "rigid_bodies", rclcpp::QoS(1000)); + mocap_create_rigid_body_service_ = create_service( + "create_rigid_body", + std::bind( + &GzRosMocapPrivate::handleCreateRigidBody, this, std::placeholders::_1, + std::placeholders::_2, std::placeholders::_3)); + + return ControlledLifecycleNode::on_configure(state); +} + +CallbackReturnT +GzRosMocapPrivate::on_activate(const rclcpp_lifecycle::State & state) +{ + (void)state; + + mocap_markers_pub_->on_activate(); + mocap_rigid_body_pub_->on_activate(); + + return ControlledLifecycleNode::on_activate(state); +} + +CallbackReturnT +GzRosMocapPrivate::on_deactivate(const rclcpp_lifecycle::State & state) +{ + (void)state; + + mocap_markers_pub_->on_deactivate(); + mocap_rigid_body_pub_->on_deactivate(); + + return ControlledLifecycleNode::on_deactivate(state); +} + +void +GzRosMocapPrivate::control_start(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) +{ + RCLCPP_INFO(get_logger(), "Starting mocap gazebo"); +} + +void +GzRosMocapPrivate::control_stop(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) +{ + RCLCPP_INFO(get_logger(), "Stopping mocap gazebo"); +} + +void GzRosMocapPrivate::handleCreateRigidBody( + const std::shared_ptr request_header, + const std::shared_ptr request, + const std::shared_ptr response) +{ + (void)request_header; + + RCLCPP_INFO(get_logger(), "Creating rigid body [%s]", request->rigid_body_name.c_str()); + rigid_body_markers_[request->rigid_body_name] = request->markers; + rigid_body_orientation[request->rigid_body_name] = request->link_parent; + + response->success = true; +} + +GzRosMocap::GzRosMocap() +{ + rclcpp::init(0, nullptr); + impl_ = std::make_unique(); +} + +void GzRosMocap::Configure(const gz::sim::Entity &_entity, + const std::shared_ptr &_sdf, + gz::sim::EntityComponentManager &_ecm, + gz::sim::EventManager &_eventMgr) +{ + impl_->model = Model(_entity); + + auto sdf_element = _sdf->FindElement("rigid_link"); + + while (sdf_element) { + if (!sdf_element->Get().empty()) { + impl_->rigid_links_names_.push_back(sdf_element->Get()); + } else { + gzerr << "Empty rigid_link name" << std::endl; + } + + sdf_element = sdf_element->GetNextElement("rigid_link"); + } + + sdf_element = _sdf->FindElement("marker_link"); + + 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; + } + + sdf_element = sdf_element->GetNextElement("marker_link"); + } + + 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_links_names_) { + auto link = impl_->model.LinkByName(_ecm, link_name); + impl_->marker_links_.push_back(link); + } +} + +void GzRosMocap::PostUpdate(const gz::sim::v8::UpdateInfo &_info, + const gz::sim::v8::EntityComponentManager &_ecm) +{ + rclcpp::spin_some(impl_->get_node_base_interface()); + + if (impl_->get_current_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) { + return; + } + + mocap_interfaces::msg::MarkerArray ms; + ms.header.stamp = impl_->now(); + ms.seq = impl_->seq_; + ms.header.frame_id = "map"; + + mocap_interfaces::msg::RigidBodyArray rbs; + rbs.header.stamp = impl_->now(); + rbs.seq = impl_->seq_; + rbs.header.frame_id = "map"; + + impl_->seq_; + int index = 1; + + 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(); + + mocap_interfaces::msg::Marker m1; + m1.header.stamp = impl_->now(); + m1.id_type = mocap_interfaces::msg::Marker::USE_INDEX; + m1.marker_index = index++; + m1.translation.x = pos.X(); + m1.translation.y = pos.Y(); + m1.translation.z = pos.Z() + 0.05; + + mocap_interfaces::msg::Marker m2; + m2.header.stamp = impl_->now(); + m2.id_type = mocap_interfaces::msg::Marker::USE_INDEX; + m2.marker_index = index++; + m2.translation.x = pos.X() + 0.02; + m2.translation.y = pos.Y(); + m2.translation.z = pos.Z() + 0.03; + + mocap_interfaces::msg::Marker m3; + m3.header.stamp = impl_->now(); + m3.id_type = mocap_interfaces::msg::Marker::USE_INDEX; + m3.marker_index = index++; + m3.translation.x = pos.X(); + m3.translation.y = pos.Y() + 0.015; + m3.translation.z = pos.Z() + 0.03; + + mocap_interfaces::msg::RigidBody rb; + rb.header.stamp = impl_->now(); + 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(); + rb.pose.orientation.x = rot.X(); + rb.pose.orientation.y = rot.Y(); + rb.pose.orientation.z = rot.Z(); + rb.pose.orientation.w = rot.W(); + + rb.markers = {m1, m2, m3}; + + ms.markers.push_back(m1); + ms.markers.push_back(m2); + ms.markers.push_back(m3); + rbs.rigid_bodies.push_back(rb); + + impl_->markers_[m1.marker_index] = m1; + impl_->markers_[m2.marker_index] = m2; + impl_->markers_[m3.marker_index] = m3; + } + + for (const auto & link : impl_->marker_links_) { + math::Pose3d pose = worldPose(link, _ecm); + + auto & pos = pose.Pos(); + + mocap_interfaces::msg::Marker m1; + m1.header.stamp = impl_->now(); + m1.id_type = mocap_interfaces::msg::Marker::USE_INDEX; + m1.marker_index = index++; + m1.translation.x = pos.X(); + m1.translation.y = pos.Y(); + m1.translation.z = pos.Z(); + + ms.markers.push_back(m1); + impl_->markers_[m1.marker_index] = m1; + } + + for (const auto & [rigid_body_name, markers] : impl_->rigid_body_markers_) { + mocap_interfaces::msg::RigidBody rb; + geometry_msgs::msg::Point rigid_body_pose; + rb.header.stamp = impl_->now(); + rb.rigid_body_name = rigid_body_name; + + for (const auto & marker_index : markers) { + auto it = impl_->markers_.find(marker_index); + if (it != impl_->markers_.end()) { + rb.markers.push_back(it->second); + rigid_body_pose.x += it->second.translation.x; + rigid_body_pose.y += it->second.translation.y; + rigid_body_pose.z += it->second.translation.z; + } + } + + geometry_msgs::msg::Point centroid; + centroid.x = rigid_body_pose.x / rb.markers.size(); + centroid.y = rigid_body_pose.y / rb.markers.size(); + centroid.z = rigid_body_pose.z / rb.markers.size(); + + rb.pose.position = centroid; + + 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); + } + + if (impl_->mocap_markers_pub_->get_subscription_count() > 0) { + impl_->mocap_markers_pub_->publish(ms); + } + + if (impl_->mocap_rigid_body_pub_->get_subscription_count() > 0) { + impl_->mocap_rigid_body_pub_->publish(rbs); + } +} + +GZ_ADD_PLUGIN(GzRosMocap, gz::sim::System, + GzRosMocap::ISystemConfigure, + GzRosMocap::ISystemPostUpdate +) + +GZ_ADD_PLUGIN_ALIAS(GzRosMocap, "gz::sim::systems::GzRosMocap") 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..8d12716 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 + $(arg namespace)/joint_states + 30 - - base_link - base_mocap - camera_link + base_footprint - + + - + \ No newline at end of file diff --git a/urdf/turtlebot3_waffle.urdf b/urdf/turtlebot3_waffle.urdf deleted file mode 100644 index 0a71acc..0000000 --- a/urdf/turtlebot3_waffle.urdf +++ /dev/null @@ -1,324 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - From f6641b0a5aeb3ff7edd17e8c6cb66f21c4695bcf Mon Sep 17 00:00:00 2001 From: Juancams Date: Fri, 15 Nov 2024 09:25:55 +0100 Subject: [PATCH 2/6] Changed library name Signed-off-by: Juancams --- CMakeLists.txt | 4 +++- urdf/gz_waffle.sdf.xacro | 2 +- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 34e0743..3ce1c26 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -23,6 +23,8 @@ include_directories(include) add_library(gz_ros_mocap SHARED src/gz_ros_mocap.cpp) +set_target_properties(gz_ros_mocap PROPERTIES OUTPUT_NAME gz-ros-mocap SUFFIX "" PREFIX "") + ament_target_dependencies(gz_ros_mocap rclcpp geometry_msgs @@ -40,7 +42,7 @@ install(DIRECTORY DESTINATION share/${PROJECT_NAME}/ ) -install(TARGETS gz_ros_mocap DESTINATION lib/gz_ros_mocap) +install(TARGETS gz_ros_mocap DESTINATION $ENV{HOME}/.gz/sim/plugins) ament_export_libraries(gz_ros_mocap) ament_export_dependencies(gz-cmake3 gz-plugin2 gz-sim8 geometry_msgs mocap_interfaces mocap4r2_control rclcpp) diff --git a/urdf/gz_waffle.sdf.xacro b/urdf/gz_waffle.sdf.xacro index 8d12716..cc06579 100644 --- a/urdf/gz_waffle.sdf.xacro +++ b/urdf/gz_waffle.sdf.xacro @@ -489,7 +489,7 @@ base_footprint From 5e567d90bf3c04db5585fcbb93d516b5c055d056 Mon Sep 17 00:00:00 2001 From: Juancams Date: Fri, 15 Nov 2024 10:00:29 +0100 Subject: [PATCH 3/6] Uncrustify Signed-off-by: Juancams --- include/gz_mocap4r2_plugin/gz_ros_mocap.hpp | 42 +++++----- src/gz_ros_mocap.cpp | 86 +++++++++++---------- 2 files changed, 67 insertions(+), 61 deletions(-) diff --git a/include/gz_mocap4r2_plugin/gz_ros_mocap.hpp b/include/gz_mocap4r2_plugin/gz_ros_mocap.hpp index 928c63f..3fbd852 100644 --- a/include/gz_mocap4r2_plugin/gz_ros_mocap.hpp +++ b/include/gz_mocap4r2_plugin/gz_ros_mocap.hpp @@ -38,34 +38,36 @@ namespace gz namespace sim { // Inline bracket to help doxygen filtering. -inline namespace GZ_SIM_VERSION_NAMESPACE { +inline namespace GZ_SIM_VERSION_NAMESPACE +{ namespace systems { - class GzRosMocapPrivate; +class GzRosMocapPrivate; - class GzRosMocap: - public gz::sim::System, - public gz::sim::ISystemConfigure, - public gz::sim::ISystemPostUpdate - { - public: - GzRosMocap(); - ~GzRosMocap() override = default; - void Configure(const gz::sim::Entity &_entity, - const std::shared_ptr &_sdf, - gz::sim::EntityComponentManager &_ecm, - gz::sim::EventManager &_eventMgr) override; +class GzRosMocap + : public gz::sim::System, + public gz::sim::ISystemConfigure, + public gz::sim::ISystemPostUpdate +{ +public: + GzRosMocap(); + ~GzRosMocap() 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; + void PostUpdate( + const gz::sim::v8::UpdateInfo & _info, + const gz::sim::v8::EntityComponentManager & _ecm) override; - private: - std::unique_ptr impl_; - }; +private: + std::unique_ptr impl_; +}; } // namespace systems } // inline namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz #endif // GZ_PLUGINS__GZ_ROS_MOCAP_HPP_ - diff --git a/src/gz_ros_mocap.cpp b/src/gz_ros_mocap.cpp index 3fd9fbe..f642cfd 100644 --- a/src/gz_ros_mocap.cpp +++ b/src/gz_ros_mocap.cpp @@ -24,44 +24,44 @@ using CallbackReturnT = class gz::sim::systems::GzRosMocapPrivate : public mocap4r2_control::ControlledLifecycleNode { - public: - GzRosMocapPrivate(); - ~GzRosMocapPrivate() = default; - - CallbackReturnT on_configure(const rclcpp_lifecycle::State & state) override; - CallbackReturnT on_activate(const rclcpp_lifecycle::State & state) override; - CallbackReturnT on_deactivate(const rclcpp_lifecycle::State & state) override; - - void control_start(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) override; - void control_stop(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) override; - - void handleCreateRigidBody( - const std::shared_ptr request_header, - const std::shared_ptr request, - const std::shared_ptr response); - - 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}; - - rclcpp_lifecycle::LifecyclePublisher::SharedPtr - mocap_markers_pub_; - rclcpp_lifecycle::LifecyclePublisher::SharedPtr - mocap_rigid_body_pub_; - rclcpp::Service::SharedPtr - mocap_create_rigid_body_service_; - int seq_{0}; +public: + GzRosMocapPrivate(); + ~GzRosMocapPrivate() = default; + + CallbackReturnT on_configure(const rclcpp_lifecycle::State & state) override; + CallbackReturnT on_activate(const rclcpp_lifecycle::State & state) override; + CallbackReturnT on_deactivate(const rclcpp_lifecycle::State & state) override; + + void control_start(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) override; + void control_stop(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) override; + + void handleCreateRigidBody( + const std::shared_ptr request_header, + const std::shared_ptr request, + const std::shared_ptr response); + + 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}; + + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + mocap_markers_pub_; + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + mocap_rigid_body_pub_; + rclcpp::Service::SharedPtr + mocap_create_rigid_body_service_; + int seq_{0}; }; GzRosMocapPrivate::GzRosMocapPrivate() : ControlledLifecycleNode("gz_control") { - + trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE); } @@ -135,10 +135,11 @@ GzRosMocap::GzRosMocap() impl_ = std::make_unique(); } -void GzRosMocap::Configure(const gz::sim::Entity &_entity, - const std::shared_ptr &_sdf, - gz::sim::EntityComponentManager &_ecm, - gz::sim::EventManager &_eventMgr) +void GzRosMocap::Configure( + const gz::sim::Entity & _entity, + const std::shared_ptr & _sdf, + gz::sim::EntityComponentManager & _ecm, + gz::sim::EventManager & _eventMgr) { impl_->model = Model(_entity); @@ -177,8 +178,9 @@ void GzRosMocap::Configure(const gz::sim::Entity &_entity, } } -void GzRosMocap::PostUpdate(const gz::sim::v8::UpdateInfo &_info, - const gz::sim::v8::EntityComponentManager &_ecm) +void GzRosMocap::PostUpdate( + const gz::sim::v8::UpdateInfo & _info, + const gz::sim::v8::EntityComponentManager & _ecm) { rclcpp::spin_some(impl_->get_node_base_interface()); @@ -232,7 +234,7 @@ void GzRosMocap::PostUpdate(const gz::sim::v8::UpdateInfo &_info, mocap_interfaces::msg::RigidBody rb; rb.header.stamp = impl_->now(); - rb.rigid_body_name = impl_->rigid_links_names_[i]; + 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(); @@ -293,7 +295,9 @@ void GzRosMocap::PostUpdate(const gz::sim::v8::UpdateInfo &_info, rb.pose.position = centroid; - if (impl_->rigid_body_orientation.find(rigid_body_name) != impl_->rigid_body_orientation.end()) { + 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(); From 6eaeff67dee3e4cced7d6ccb8b91736d2fac1419 Mon Sep 17 00:00:00 2001 From: Juancams Date: Fri, 15 Nov 2024 10:01:14 +0100 Subject: [PATCH 4/6] Update CI Signed-off-by: Juancams --- .github/workflows/main.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml index a45017c..e4a2312 100644 --- a/.github/workflows/main.yaml +++ b/.github/workflows/main.yaml @@ -23,7 +23,7 @@ jobs: - name: build and test 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 + package-name: gz_mocap4r2_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 From 3908f5ee7da80e56c0a71f98cd0e541be1856b28 Mon Sep 17 00:00:00 2001 From: Juancams Date: Fri, 15 Nov 2024 10:27:40 +0100 Subject: [PATCH 5/6] Update dependencies Signed-off-by: Juancams --- package.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/package.xml b/package.xml index 84491f3..3d520a9 100644 --- a/package.xml +++ b/package.xml @@ -12,9 +12,9 @@ ament_cmake - gz-cmake3 - gz-plugin2 - gz-sim8 + gz_cmake_vendor + gz_plugin_vendor + gz_sim_vendor rclcpp geometry_msgs mocap_interfaces From c3e9b8d3268eb02bc9d73e00a484cf4918e742fe Mon Sep 17 00:00:00 2001 From: Juancams Date: Fri, 15 Nov 2024 13:50:46 +0100 Subject: [PATCH 6/6] Renamed package, classes, files & plugin Signed-off-by: Juancams --- .github/workflows/main.yaml | 2 +- CMakeLists.txt | 14 +- .../mocap_gz_ros.hpp} | 16 +- launch/tb3_simulation_launch.py | 2 +- package.xml | 2 +- src/gazebo_ros_mocap.cpp | 407 ------------------ src/{gz_ros_mocap.cpp => mocap_gz_ros.cpp} | 41 +- urdf/gz_waffle.sdf.xacro | 4 +- 8 files changed, 40 insertions(+), 448 deletions(-) rename include/{gz_mocap4r2_plugin/gz_ros_mocap.hpp => mocap4r2_gz_plugin/mocap_gz_ros.hpp} (88%) delete mode 100644 src/gazebo_ros_mocap.cpp rename src/{gz_ros_mocap.cpp => mocap_gz_ros.cpp} (91%) diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml index e4a2312..9419204 100644 --- a/.github/workflows/main.yaml +++ b/.github/workflows/main.yaml @@ -23,7 +23,7 @@ jobs: - name: build and test uses: ros-tooling/action-ros-ci@0.3.15 with: - package-name: gz_mocap4r2_plugin mocap_interfaces mocap4r2_control mocap4r2_control_msgs rqt_mocap4r2_control + 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 diff --git a/CMakeLists.txt b/CMakeLists.txt index 3ce1c26..5324d62 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,6 +1,6 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR) -project(gz_mocap4r2_plugin) +project(mocap4r2_gz_plugin) find_package(ament_cmake REQUIRED) find_package(gz-cmake3 REQUIRED) @@ -21,18 +21,18 @@ set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR}) include_directories(include) -add_library(gz_ros_mocap SHARED src/gz_ros_mocap.cpp) +add_library(mocap_gz_ros SHARED src/mocap_gz_ros.cpp) -set_target_properties(gz_ros_mocap PROPERTIES OUTPUT_NAME gz-ros-mocap SUFFIX "" PREFIX "") +set_target_properties(mocap_gz_ros PROPERTIES OUTPUT_NAME mocap-gz-ros SUFFIX "" PREFIX "") -ament_target_dependencies(gz_ros_mocap +ament_target_dependencies(mocap_gz_ros rclcpp geometry_msgs mocap_interfaces mocap4r2_control ) -target_link_libraries(gz_ros_mocap +target_link_libraries(mocap_gz_ros gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER} ) @@ -42,9 +42,9 @@ install(DIRECTORY DESTINATION share/${PROJECT_NAME}/ ) -install(TARGETS gz_ros_mocap DESTINATION $ENV{HOME}/.gz/sim/plugins) +install(TARGETS mocap_gz_ros DESTINATION $ENV{HOME}/.gz/sim/plugins) -ament_export_libraries(gz_ros_mocap) +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/include/gz_mocap4r2_plugin/gz_ros_mocap.hpp b/include/mocap4r2_gz_plugin/mocap_gz_ros.hpp similarity index 88% rename from include/gz_mocap4r2_plugin/gz_ros_mocap.hpp rename to include/mocap4r2_gz_plugin/mocap_gz_ros.hpp index 3fbd852..f76b1a6 100644 --- a/include/gz_mocap4r2_plugin/gz_ros_mocap.hpp +++ b/include/mocap4r2_gz_plugin/mocap_gz_ros.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef GZ_PLUGINS__GZ_ROS_MOCAP_HPP_ -#define GZ_PLUGINS__GZ_ROS_MOCAP_HPP_ +#ifndef GZ_PLUGINS__MOCAP_GZ_ROS_HPP_ +#define GZ_PLUGINS__MOCAP_GZ_ROS_HPP_ #include #include @@ -42,16 +42,16 @@ inline namespace GZ_SIM_VERSION_NAMESPACE { namespace systems { -class GzRosMocapPrivate; +class MocapGzRosPrivate; -class GzRosMocap +class MocapGzRos : public gz::sim::System, public gz::sim::ISystemConfigure, public gz::sim::ISystemPostUpdate { public: - GzRosMocap(); - ~GzRosMocap() override = default; + MocapGzRos(); + ~MocapGzRos() override = default; void Configure( const gz::sim::Entity & _entity, const std::shared_ptr & _sdf, @@ -63,11 +63,11 @@ class GzRosMocap const gz::sim::v8::EntityComponentManager & _ecm) override; private: - std::unique_ptr impl_; + std::unique_ptr impl_; }; } // namespace systems } // inline namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz -#endif // GZ_PLUGINS__GZ_ROS_MOCAP_HPP_ +#endif // GZ_PLUGINS__MOCAP_GZ_ROS_HPP_ diff --git a/launch/tb3_simulation_launch.py b/launch/tb3_simulation_launch.py index 7f1fa71..828640b 100644 --- a/launch/tb3_simulation_launch.py +++ b/launch/tb3_simulation_launch.py @@ -24,7 +24,7 @@ def generate_launch_description(): bringup_dir = get_package_share_directory('nav2_bringup') launch_dir = os.path.join(bringup_dir, 'launch') - mocap_dir = get_package_share_directory('gz_mocap4r2_plugin') + mocap_dir = get_package_share_directory('mocap4r2_gz_plugin') declare_robot_sdf_cmd = DeclareLaunchArgument( 'robot_sdf', diff --git a/package.xml b/package.xml index 3d520a9..6cf642d 100644 --- a/package.xml +++ b/package.xml @@ -1,7 +1,7 @@ - gz_mocap4r2_plugin + mocap4r2_gz_plugin 0.0.0 GZ mocap plugin for ROS 2 diff --git a/src/gazebo_ros_mocap.cpp b/src/gazebo_ros_mocap.cpp deleted file mode 100644 index 03a6009..0000000 --- a/src/gazebo_ros_mocap.cpp +++ /dev/null @@ -1,407 +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. - -// 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_control/ControlledLifecycleNode.hpp" - -namespace gazebo -{ - -GZ_REGISTER_MODEL_PLUGIN(GazeboRosMocap) - -using CallbackReturnT = - rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn; - -/// Class to hold private data members (PIMPL pattern) -class GazeboRosMocapPrivate : public mocap4r2_control::ControlledLifecycleNode -{ -public: - GazeboRosMocapPrivate(); - - CallbackReturnT on_configure(const rclcpp_lifecycle::State & state) override; - CallbackReturnT on_activate(const rclcpp_lifecycle::State & state) override; - CallbackReturnT on_deactivate(const rclcpp_lifecycle::State & state) override; - - void control_start(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) override; - void control_stop(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) override; - - void handleCreateRigidBody( - const std::shared_ptr request_header, - 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::map markers_; - std::map> rigid_body_markers_; - std::map rigid_body_orientation; - - /// ROS communication. - rclcpp_lifecycle::LifecyclePublisher::SharedPtr - mocap_markers_pub_; - rclcpp_lifecycle::LifecyclePublisher::SharedPtr - mocap_rigid_body_pub_; - rclcpp::Service::SharedPtr - mocap_create_rigid_body_service_; - int seq_{0}; -}; - -GazeboRosMocapPrivate::GazeboRosMocapPrivate() -: ControlledLifecycleNode("gazebo_control") -{ - trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE); -} - - -CallbackReturnT -GazeboRosMocapPrivate::on_configure(const rclcpp_lifecycle::State & state) -{ - mocap_markers_pub_ = create_publisher( - "markers", rclcpp::QoS(1000)); - mocap_rigid_body_pub_ = create_publisher( - "rigid_bodies", rclcpp::QoS(1000)); - mocap_create_rigid_body_service_ = create_service( - "create_rigid_body", - std::bind( - &GazeboRosMocapPrivate::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) -{ - (void)state; - - mocap_markers_pub_->on_activate(); - mocap_rigid_body_pub_->on_activate(); - - return ControlledLifecycleNode::on_activate(state); -} - -CallbackReturnT -GazeboRosMocapPrivate::on_deactivate(const rclcpp_lifecycle::State & state) -{ - (void)state; - - mocap_markers_pub_->on_deactivate(); - mocap_rigid_body_pub_->on_deactivate(); - - return ControlledLifecycleNode::on_deactivate(state); -} - -void -GazeboRosMocapPrivate::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) -{ - RCLCPP_INFO(get_logger(), "Stopping mocap gazebo"); -} - -void GazeboRosMocapPrivate::handleCreateRigidBody( - const std::shared_ptr request_header, - const std::shared_ptr request, - const std::shared_ptr response) -{ - (void)request_header; - - RCLCPP_INFO(get_logger(), "Creating rigid body [%s]", request->rigid_body_name.c_str()); - rigid_body_markers_[request->rigid_body_name] = request->markers; - rigid_body_orientation[request->rigid_body_name] = request->link_parent; - - response->success = true; -} - -GazeboRosMocap::GazeboRosMocap() -: impl_(std::make_unique()) -{ -} - -GazeboRosMocap::~GazeboRosMocap() -{ - impl_->update_connection_.reset(); -} - -physics::LinkPtr find_link(gazebo::physics::Link_V & links, const std::string & name) -{ - if (links.empty()) { - return nullptr; - } - - for (const auto & link : links) { - std::cerr << "Link: " << link->GetName() << std::endl; - if (link->GetName() == name) { - return link; - } 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"); - } - } - - 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"); - } - } - - 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); - - if (link != nullptr) { - impl_->rigid_links_.push_back(link); - RCLCPP_INFO(logger, "Plugin MOCAP loaded for rigid link [%s]", link_name.c_str()); - break; - } - } - } - - 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; - } - } - } - - 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_->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()); - } - } -} - -void GazeboRosMocap::OnUpdate() -{ - rclcpp::spin_some(impl_->get_node_base_interface()); - - if (impl_->get_current_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) { - return; - } - - mocap_interfaces::msg::MarkerArray ms; - ms.header.stamp = impl_->now(); - ms.seq = impl_->seq_; - ms.header.frame_id = "map"; - - mocap_interfaces::msg::RigidBodyArray rbs; - rbs.header.stamp = impl_->now(); - rbs.seq = impl_->seq_; - rbs.header.frame_id = "map"; - - impl_->seq_; - int index = 1; - - for (const auto & link : impl_->rigid_links_) { - ignition::math::v6::Pose3d pose = link->WorldPose(); - - auto & pos = pose.Pos(); - auto & rot = pose.Rot(); - - mocap_interfaces::msg::Marker m1; - m1.header.stamp = impl_->now(); - m1.id_type = mocap_interfaces::msg::Marker::USE_INDEX; - m1.marker_index = index++; - m1.translation.x = pos.X(); - m1.translation.y = pos.Y(); - m1.translation.z = pos.Z() + 0.05; - - mocap_interfaces::msg::Marker m2; - m2.header.stamp = impl_->now(); - m2.id_type = mocap_interfaces::msg::Marker::USE_INDEX; - m2.marker_index = index++; - m2.translation.x = pos.X() + 0.02; - m2.translation.y = pos.Y(); - m2.translation.z = pos.Z() + 0.03; - - mocap_interfaces::msg::Marker m3; - m3.header.stamp = impl_->now(); - m3.id_type = mocap_interfaces::msg::Marker::USE_INDEX; - m3.marker_index = index++; - m3.translation.x = pos.X(); - m3.translation.y = pos.Y() + 0.015; - m3.translation.z = pos.Z() + 0.03; - - mocap_interfaces::msg::RigidBody rb; - rb.header.stamp = impl_->now(); - rb.rigid_body_name = "rigid_body_" + link->GetName(); - rb.pose.position.x = pos.X(); - rb.pose.position.y = pos.Y(); - rb.pose.position.z = pos.Z(); - rb.pose.orientation.x = rot.X(); - rb.pose.orientation.y = rot.Y(); - rb.pose.orientation.z = rot.Z(); - rb.pose.orientation.w = rot.W(); - - rb.markers = {m1, m2, m3}; - - ms.markers.push_back(m1); - ms.markers.push_back(m2); - ms.markers.push_back(m3); - rbs.rigid_bodies.push_back(rb); - - impl_->markers_[m1.marker_index] = m1; - impl_->markers_[m2.marker_index] = m2; - impl_->markers_[m3.marker_index] = m3; - } - - for (const auto & link : impl_->marker_links_) { - ignition::math::v6::Pose3d pose = link->WorldPose(); - - auto & pos = pose.Pos(); - - mocap_interfaces::msg::Marker m1; - m1.header.stamp = impl_->now(); - m1.id_type = mocap_interfaces::msg::Marker::USE_INDEX; - m1.marker_index = index++; - m1.translation.x = pos.X(); - m1.translation.y = pos.Y(); - m1.translation.z = pos.Z(); - - ms.markers.push_back(m1); - impl_->markers_[m1.marker_index] = m1; - } - - for (const auto & [rigid_body_name, markers] : impl_->rigid_body_markers_) { - mocap_interfaces::msg::RigidBody rb; - geometry_msgs::msg::Point rigid_body_pose; - rb.header.stamp = impl_->now(); - rb.rigid_body_name = rigid_body_name; - - for (const auto & marker_index : markers) { - auto it = impl_->markers_.find(marker_index); - if (it != impl_->markers_.end()) { - rb.markers.push_back(it->second); - rigid_body_pose.x += it->second.translation.x; - rigid_body_pose.y += it->second.translation.y; - rigid_body_pose.z += it->second.translation.z; - } - } - - geometry_msgs::msg::Point centroid; - centroid.x = rigid_body_pose.x / rb.markers.size(); - centroid.y = rigid_body_pose.y / rb.markers.size(); - centroid.z = rigid_body_pose.z / rb.markers.size(); - - 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; - } - } - - rbs.rigid_bodies.push_back(rb); - } - - if (impl_->mocap_markers_pub_->get_subscription_count() > 0) { - impl_->mocap_markers_pub_->publish(ms); - } - - if (impl_->mocap_rigid_body_pub_->get_subscription_count() > 0) { - impl_->mocap_rigid_body_pub_->publish(rbs); - } -} - -} // namespace gazebo diff --git a/src/gz_ros_mocap.cpp b/src/mocap_gz_ros.cpp similarity index 91% rename from src/gz_ros_mocap.cpp rename to src/mocap_gz_ros.cpp index f642cfd..0e8bb5f 100644 --- a/src/gz_ros_mocap.cpp +++ b/src/mocap_gz_ros.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "gz_mocap4r2_plugin/gz_ros_mocap.hpp" +#include "mocap4r2_gz_plugin/mocap_gz_ros.hpp" #include "mocap4r2_control/ControlledLifecycleNode.hpp" using namespace gz; @@ -22,11 +22,11 @@ using namespace systems; using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn; -class gz::sim::systems::GzRosMocapPrivate : public mocap4r2_control::ControlledLifecycleNode +class gz::sim::systems::MocapGzRosPrivate : public mocap4r2_control::ControlledLifecycleNode { public: - GzRosMocapPrivate(); - ~GzRosMocapPrivate() = default; + MocapGzRosPrivate(); + ~MocapGzRosPrivate() = default; CallbackReturnT on_configure(const rclcpp_lifecycle::State & state) override; CallbackReturnT on_activate(const rclcpp_lifecycle::State & state) override; @@ -58,15 +58,14 @@ class gz::sim::systems::GzRosMocapPrivate : public mocap4r2_control::ControlledL int seq_{0}; }; -GzRosMocapPrivate::GzRosMocapPrivate() +MocapGzRosPrivate::MocapGzRosPrivate() : ControlledLifecycleNode("gz_control") { - trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE); } CallbackReturnT -GzRosMocapPrivate::on_configure(const rclcpp_lifecycle::State & state) +MocapGzRosPrivate::on_configure(const rclcpp_lifecycle::State & state) { mocap_markers_pub_ = create_publisher( "markers", rclcpp::QoS(1000)); @@ -75,14 +74,14 @@ GzRosMocapPrivate::on_configure(const rclcpp_lifecycle::State & state) mocap_create_rigid_body_service_ = create_service( "create_rigid_body", std::bind( - &GzRosMocapPrivate::handleCreateRigidBody, this, std::placeholders::_1, + &MocapGzRosPrivate::handleCreateRigidBody, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); return ControlledLifecycleNode::on_configure(state); } CallbackReturnT -GzRosMocapPrivate::on_activate(const rclcpp_lifecycle::State & state) +MocapGzRosPrivate::on_activate(const rclcpp_lifecycle::State & state) { (void)state; @@ -93,7 +92,7 @@ GzRosMocapPrivate::on_activate(const rclcpp_lifecycle::State & state) } CallbackReturnT -GzRosMocapPrivate::on_deactivate(const rclcpp_lifecycle::State & state) +MocapGzRosPrivate::on_deactivate(const rclcpp_lifecycle::State & state) { (void)state; @@ -104,18 +103,18 @@ GzRosMocapPrivate::on_deactivate(const rclcpp_lifecycle::State & state) } void -GzRosMocapPrivate::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 -GzRosMocapPrivate::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 GzRosMocapPrivate::handleCreateRigidBody( +void MocapGzRosPrivate::handleCreateRigidBody( const std::shared_ptr request_header, const std::shared_ptr request, const std::shared_ptr response) @@ -129,13 +128,13 @@ void GzRosMocapPrivate::handleCreateRigidBody( response->success = true; } -GzRosMocap::GzRosMocap() +MocapGzRos::MocapGzRos() { rclcpp::init(0, nullptr); - impl_ = std::make_unique(); + impl_ = std::make_unique(); } -void GzRosMocap::Configure( +void MocapGzRos::Configure( const gz::sim::Entity & _entity, const std::shared_ptr & _sdf, gz::sim::EntityComponentManager & _ecm, @@ -178,7 +177,7 @@ void GzRosMocap::Configure( } } -void GzRosMocap::PostUpdate( +void MocapGzRos::PostUpdate( const gz::sim::v8::UpdateInfo & _info, const gz::sim::v8::EntityComponentManager & _ecm) { @@ -319,9 +318,9 @@ void GzRosMocap::PostUpdate( } } -GZ_ADD_PLUGIN(GzRosMocap, gz::sim::System, - GzRosMocap::ISystemConfigure, - GzRosMocap::ISystemPostUpdate +GZ_ADD_PLUGIN(MocapGzRos, gz::sim::System, + MocapGzRos::ISystemConfigure, + MocapGzRos::ISystemPostUpdate ) -GZ_ADD_PLUGIN_ALIAS(GzRosMocap, "gz::sim::systems::GzRosMocap") +GZ_ADD_PLUGIN_ALIAS(MocapGzRos, "gz::sim::systems::MocapGzRos") diff --git a/urdf/gz_waffle.sdf.xacro b/urdf/gz_waffle.sdf.xacro index cc06579..c1c2c24 100644 --- a/urdf/gz_waffle.sdf.xacro +++ b/urdf/gz_waffle.sdf.xacro @@ -489,8 +489,8 @@ + filename="mocap-gz-ros" + name="gz::sim::systems::MocapGzRos"> base_footprint