From bc8a10a669895a7d1e1540852500dae6de38181f Mon Sep 17 00:00:00 2001 From: suraj Date: Tue, 26 May 2020 23:40:30 +0530 Subject: [PATCH 01/11] started the work ,given credits to the original work in readme --- README.md | 6 + cvg_sim_gazebo/CMakeLists.txt | 161 ++ .../models/120m_landscape_smooth_tri.dae | 170 ++ .../models/120m_landscape_smooth_tri.jpg | Bin 0 -> 317486 bytes .../models/120m_landscape_smooth_tri.stl | Bin 0 -> 1020184 bytes cvg_sim_gazebo/Media/models/3boxes_room.dae | 318 ++++ cvg_sim_gazebo/Media/models/Marker1.dae | 138 ++ cvg_sim_gazebo/Media/models/Marker2.dae | 138 ++ cvg_sim_gazebo/Media/models/coke_can.dae | 137 ++ cvg_sim_gazebo/Media/models/coke_can.jpg | Bin 0 -> 121825 bytes .../Media/models/competition/end.dae | 107 ++ .../Media/models/competition/end.jpg | Bin 0 -> 25264 bytes .../Media/models/competition/start.dae | 107 ++ .../Media/models/competition/start.jpg | Bin 0 -> 24405 bytes cvg_sim_gazebo/Media/models/cube.dae | 141 ++ cvg_sim_gazebo/Media/models/cvg_logo.dae | 107 ++ cvg_sim_gazebo/Media/models/cylinder.dae | 138 ++ .../Media/models/garching_kitchen.dae | 1543 +++++++++++++++++ .../Media/models/garching_kitchen2.dae | 619 +++++++ cvg_sim_gazebo/Media/models/grass_ground.dae | 107 ++ cvg_sim_gazebo/Media/models/marker/alpha.dae | 107 ++ cvg_sim_gazebo/Media/models/marker/beta.dae | 107 ++ cvg_sim_gazebo/Media/models/marker/cent.dae | 107 ++ cvg_sim_gazebo/Media/models/marker/delta.dae | 107 ++ cvg_sim_gazebo/Media/models/marker/dollar.dae | 107 ++ .../Media/models/marker/epsilon.dae | 107 ++ cvg_sim_gazebo/Media/models/marker/eta.dae | 107 ++ cvg_sim_gazebo/Media/models/marker/iota.dae | 107 ++ cvg_sim_gazebo/Media/models/marker/kappa.dae | 107 ++ cvg_sim_gazebo/Media/models/marker/marker.dae | 107 ++ .../Media/models/marker/marker/Marker1.png | Bin 0 -> 58862 bytes .../Media/models/marker/marker/alpha.png | Bin 0 -> 11142 bytes .../Media/models/marker/marker/beta.png | Bin 0 -> 10515 bytes 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Bin 0 -> 152619 bytes .../Media/models/textures/Marker1.png | Bin 0 -> 58862 bytes .../Media/models/textures/Marker2.png | Bin 0 -> 56466 bytes cvg_sim_gazebo/Media/models/textures/Milk.tga | Bin 0 -> 72076 bytes cvg_sim_gazebo/Media/models/textures/cube.png | Bin 0 -> 34617 bytes .../Media/models/textures/cvg_logo.png | Bin 0 -> 157067 bytes .../Media/models/textures/cylinder.png | Bin 0 -> 16310 bytes .../garching_kitchen_texture (copy).jpg | Bin 0 -> 1203313 bytes .../textures/garching_kitchen_texture.jpg | Bin 0 -> 1168842 bytes .../Media/models/textures/grass_texture.jpg | Bin 0 -> 1129675 bytes .../Media/models/textures/milkboxlayout.jpeg | Bin 0 -> 127598 bytes .../models/textures/wall-texture-surface.jpg | Bin 0 -> 1315048 bytes .../textures/wood-floorboards-texture.jpg | Bin 0 -> 887516 bytes cvg_sim_gazebo/Media/models/tum_kitchen.dae | 1387 +++++++++++++++ .../textures/wood-floorboards-texture.jpg | Bin 0 -> 887516 bytes cvg_sim_gazebo/Media/models/wood_floor.dae | 107 ++ .../launch/ardrone_testworld.launch | 13 + cvg_sim_gazebo/launch/empty_world.launch | 8 + cvg_sim_gazebo/launch/land_station1.launch | 5 + cvg_sim_gazebo/launch/land_station2.launch | 5 + cvg_sim_gazebo/launch/outdoor_flight.launch | 16 + .../launch/rolling_landscape_120m.launch | 15 + cvg_sim_gazebo/launch/spawn_quadrotor.launch | 41 + .../launch/spawn_quadrotor_2.launch | 33 + cvg_sim_gazebo/launch/test.launch | 15 + .../blender/hokuyo_utm30lx.blend | Bin 0 -> 356780 bytes .../meshes/hokuyo_utm30lx/hokuyo_utm_30lx.dae | 155 ++ .../meshes/hokuyo_utm30lx/hokuyo_utm_30lx.stl | Bin 0 -> 3484 bytes .../hokuyo_utm_30lxTEST_SELF_FILTER.dae | 181 ++ .../kinect_camera/kinect_camera_simple.dae | 151 ++ .../kinect_camera/kinect_camera_simple.stl | Bin 0 -> 684 bytes .../quadrotor/blender/quadrotor_2.blend | Bin 0 -> 439008 bytes .../quadrotor/blender/quadrotor_2.blend1 | Bin 0 -> 462664 bytes .../quadrotor/blender/quadrotor_3.blend1 | Bin 0 -> 486024 bytes 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.../thermaleye_camera_hector_v2.dae | 151 ++ .../thermaleye_camera_hector_v2.stl | Bin 0 -> 684 bytes cvg_sim_gazebo/models/banner_alpha.model | 17 + cvg_sim_gazebo/models/banner_beta.model | 17 + cvg_sim_gazebo/models/banner_cent.model | 17 + cvg_sim_gazebo/models/banner_delta.model | 17 + cvg_sim_gazebo/models/banner_dollar.model | 17 + cvg_sim_gazebo/models/banner_epsilon.model | 17 + cvg_sim_gazebo/models/banner_eta.model | 17 + cvg_sim_gazebo/models/banner_iota.model | 17 + cvg_sim_gazebo/models/banner_kappa.model | 17 + cvg_sim_gazebo/models/banner_theta.model | 17 + cvg_sim_gazebo/models/banner_upsilon.model | 17 + cvg_sim_gazebo/models/banner_zeta.model | 17 + cvg_sim_gazebo/models/competition_end.model | 17 + cvg_sim_gazebo/models/competition_start.model | 17 + cvg_sim_gazebo/models/cvg_logo.model | 17 + cvg_sim_gazebo/models/cylinder.model | 37 + cvg_sim_gazebo/models/grass_ground.model | 17 + cvg_sim_gazebo/models/marker.model | 17 + cvg_sim_gazebo/models/marker_1.model | 17 + cvg_sim_gazebo/models/station_marker1.model | 37 + cvg_sim_gazebo/models/table.model | 79 + cvg_sim_gazebo/models/wood_floor.model | 17 + cvg_sim_gazebo/objects/milk.urdf | 24 + cvg_sim_gazebo/objects/station_marker1.model | 37 + cvg_sim_gazebo/objects/station_marker2.model | 37 + cvg_sim_gazebo/package.xml | 50 + cvg_sim_gazebo/urdf/quadrotor.urdf.xacro | 15 + cvg_sim_gazebo/urdf/quadrotor_base.urdf.xacro | 45 + .../urdf/quadrotor_sensors.urdf.xacro | 45 + .../urdf/sensors/generic_camera.urdf.xacro | 100 ++ .../urdf/sensors/hokuyo_utm30lx.urdf.xacro | 68 + .../urdf/sensors/sonar_sensor.urdf.xacro | 67 + cvg_sim_gazebo/worlds/ardrone_testworld.world | 792 +++++++++ .../worlds_backup/3boxes_room.world | 54 + .../worlds_backup/competition.world | 190 ++ cvg_sim_gazebo/worlds_backup/empty.world | 53 + .../worlds_backup/garching_kitchen.world | 79 + .../rolling_landscape_120m.world | 53 + .../worlds_backup/tum_kitchen.world | 74 + cvg_sim_gazebo/worlds_backup/wg_collada.world | 66 + cvg_sim_gazebo_plugins/CMakeLists.txt | 193 +++ .../diffdrive_plugin_6w.h | 121 ++ .../hector_gazebo_plugins/gazebo_ros_gps.h | 94 + .../hector_gazebo_plugins/gazebo_ros_imu.h | 165 ++ .../gazebo_ros_magnetic.h | 88 + .../hector_gazebo_plugins/gazebo_ros_sonar.h | 81 + .../hector_gazebo_plugins/reset_plugin.h | 56 + .../hector_gazebo_plugins/sensor_model.h | 162 ++ .../quadrotor_simple_controller.h | 170 ++ .../quadrotor_state_controller.h | 165 ++ .../gazebo_ros_baro.h | 98 ++ cvg_sim_gazebo_plugins/package.xml | 66 + .../src/cvg_sim_gazebo_plugins/__init__.py | 1 + .../src/diffdrive_plugin_6w.cpp | 339 ++++ .../src/gazebo_ros_baro.cpp | 189 ++ cvg_sim_gazebo_plugins/src/gazebo_ros_gps.cpp | 203 +++ cvg_sim_gazebo_plugins/src/gazebo_ros_imu.cpp | 369 ++++ .../src/gazebo_ros_magnetic.cpp | 174 ++ .../src/gazebo_ros_sonar.cpp | 154 ++ .../src/quadrotor_simple_controller.cpp | 451 +++++ .../src/quadrotor_state_controller.cpp | 548 ++++++ cvg_sim_gazebo_plugins/src/reset_plugin.cpp | 75 + .../src/test_trajectory.cpp | 95 + cvg_sim_gazebo_plugins/srv/SetBias.srv | 2 + .../urdf/quadrotor_plugins.urdf.xacro | 13 + .../urdf/quadrotor_sensors.urdf.xacro | 76 + .../quadrotor_simple_controller.urdf.xacro | 47 + cvg_sim_msgs/CMakeLists.txt | 182 ++ .../include/cvg_sim_msgs/ControlSource.h | 56 + .../include/cvg_sim_msgs/RC/functions.h | 103 ++ cvg_sim_msgs/msg/Altimeter.msg | 4 + cvg_sim_msgs/msg/Altitude.msg | 5 + cvg_sim_msgs/msg/AttitudeCommand.msg | 3 + cvg_sim_msgs/msg/Compass.msg | 4 + cvg_sim_msgs/msg/ControllerState.msg | 14 + cvg_sim_msgs/msg/HeadingCommand.msg | 2 + cvg_sim_msgs/msg/HeightCommand.msg | 2 + cvg_sim_msgs/msg/MotorCommand.msg | 5 + cvg_sim_msgs/msg/MotorPWM.msg | 2 + cvg_sim_msgs/msg/MotorStatus.msg | 5 + cvg_sim_msgs/msg/PositionXYCommand.msg | 3 + cvg_sim_msgs/msg/RC.msg | 18 + cvg_sim_msgs/msg/RawImu.msg | 3 + cvg_sim_msgs/msg/RawMagnetic.msg | 2 + cvg_sim_msgs/msg/RawRC.msg | 3 + cvg_sim_msgs/msg/RuddersCommand.msg | 4 + cvg_sim_msgs/msg/ServoCommand.msg | 2 + cvg_sim_msgs/msg/Supply.msg | 3 + cvg_sim_msgs/msg/ThrustCommand.msg | 2 + cvg_sim_msgs/msg/VelocityXYCommand.msg | 3 + cvg_sim_msgs/msg/VelocityZCommand.msg | 2 + cvg_sim_msgs/msg/YawrateCommand.msg | 2 + cvg_sim_msgs/package.xml | 21 + cvg_sim_msgs/src/cvg_sim_msgs/__init__.py | 1 + cvg_sim_msgs/src/cvg_sim_msgs/__init__.pyc | Bin 0 -> 198 bytes message_to_tf/CMakeLists.txt | 165 ++ message_to_tf/package.xml | 23 + message_to_tf/src/message_to_tf.cpp | 147 ++ readme.txt | 44 + tum_simulator/CMakeLists.txt | 4 + tum_simulator/package.xml | 17 + 203 files changed, 17325 insertions(+) create mode 100644 README.md create mode 100644 cvg_sim_gazebo/CMakeLists.txt create mode 100644 cvg_sim_gazebo/Media/models/120m_landscape_smooth_tri.dae create mode 100644 cvg_sim_gazebo/Media/models/120m_landscape_smooth_tri.jpg create mode 100644 cvg_sim_gazebo/Media/models/120m_landscape_smooth_tri.stl create mode 100644 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cvg_sim_gazebo/models/competition_start.model create mode 100644 cvg_sim_gazebo/models/cvg_logo.model create mode 100644 cvg_sim_gazebo/models/cylinder.model create mode 100644 cvg_sim_gazebo/models/grass_ground.model create mode 100644 cvg_sim_gazebo/models/marker.model create mode 100644 cvg_sim_gazebo/models/marker_1.model create mode 100644 cvg_sim_gazebo/models/station_marker1.model create mode 100644 cvg_sim_gazebo/models/table.model create mode 100644 cvg_sim_gazebo/models/wood_floor.model create mode 100644 cvg_sim_gazebo/objects/milk.urdf create mode 100644 cvg_sim_gazebo/objects/station_marker1.model create mode 100644 cvg_sim_gazebo/objects/station_marker2.model create mode 100644 cvg_sim_gazebo/package.xml create mode 100644 cvg_sim_gazebo/urdf/quadrotor.urdf.xacro create mode 100644 cvg_sim_gazebo/urdf/quadrotor_base.urdf.xacro create mode 100644 cvg_sim_gazebo/urdf/quadrotor_sensors.urdf.xacro create mode 100644 cvg_sim_gazebo/urdf/sensors/generic_camera.urdf.xacro create mode 100644 cvg_sim_gazebo/urdf/sensors/hokuyo_utm30lx.urdf.xacro create mode 100644 cvg_sim_gazebo/urdf/sensors/sonar_sensor.urdf.xacro create mode 100644 cvg_sim_gazebo/worlds/ardrone_testworld.world create mode 100644 cvg_sim_gazebo/worlds_backup/3boxes_room.world create mode 100644 cvg_sim_gazebo/worlds_backup/competition.world create mode 100644 cvg_sim_gazebo/worlds_backup/empty.world create mode 100644 cvg_sim_gazebo/worlds_backup/garching_kitchen.world create mode 100644 cvg_sim_gazebo/worlds_backup/rolling_landscape_120m.world create mode 100644 cvg_sim_gazebo/worlds_backup/tum_kitchen.world create mode 100644 cvg_sim_gazebo/worlds_backup/wg_collada.world create mode 100644 cvg_sim_gazebo_plugins/CMakeLists.txt create mode 100644 cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_6w.h create mode 100644 cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_gps.h create mode 100644 cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_imu.h create mode 100644 cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h create mode 100644 cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_sonar.h create mode 100644 cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/reset_plugin.h create mode 100644 cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h create mode 100644 cvg_sim_gazebo_plugins/include/hector_quadrotor_controller/quadrotor_simple_controller.h create mode 100644 cvg_sim_gazebo_plugins/include/hector_quadrotor_controller/quadrotor_state_controller.h create mode 100644 cvg_sim_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_ros_baro.h create mode 100644 cvg_sim_gazebo_plugins/package.xml create mode 100644 cvg_sim_gazebo_plugins/src/cvg_sim_gazebo_plugins/__init__.py create mode 100644 cvg_sim_gazebo_plugins/src/diffdrive_plugin_6w.cpp create mode 100644 cvg_sim_gazebo_plugins/src/gazebo_ros_baro.cpp create mode 100644 cvg_sim_gazebo_plugins/src/gazebo_ros_gps.cpp create mode 100644 cvg_sim_gazebo_plugins/src/gazebo_ros_imu.cpp create mode 100644 cvg_sim_gazebo_plugins/src/gazebo_ros_magnetic.cpp create mode 100644 cvg_sim_gazebo_plugins/src/gazebo_ros_sonar.cpp create mode 100644 cvg_sim_gazebo_plugins/src/quadrotor_simple_controller.cpp create mode 100644 cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp create mode 100644 cvg_sim_gazebo_plugins/src/reset_plugin.cpp create mode 100644 cvg_sim_gazebo_plugins/src/test_trajectory.cpp create mode 100644 cvg_sim_gazebo_plugins/srv/SetBias.srv create mode 100644 cvg_sim_gazebo_plugins/urdf/quadrotor_plugins.urdf.xacro create mode 100644 cvg_sim_gazebo_plugins/urdf/quadrotor_sensors.urdf.xacro create mode 100644 cvg_sim_gazebo_plugins/urdf/quadrotor_simple_controller.urdf.xacro create mode 100644 cvg_sim_msgs/CMakeLists.txt create mode 100644 cvg_sim_msgs/include/cvg_sim_msgs/ControlSource.h create mode 100644 cvg_sim_msgs/include/cvg_sim_msgs/RC/functions.h create mode 100644 cvg_sim_msgs/msg/Altimeter.msg create mode 100644 cvg_sim_msgs/msg/Altitude.msg create mode 100644 cvg_sim_msgs/msg/AttitudeCommand.msg create mode 100644 cvg_sim_msgs/msg/Compass.msg create mode 100644 cvg_sim_msgs/msg/ControllerState.msg create mode 100644 cvg_sim_msgs/msg/HeadingCommand.msg create mode 100644 cvg_sim_msgs/msg/HeightCommand.msg create mode 100644 cvg_sim_msgs/msg/MotorCommand.msg create mode 100644 cvg_sim_msgs/msg/MotorPWM.msg create mode 100644 cvg_sim_msgs/msg/MotorStatus.msg create mode 100644 cvg_sim_msgs/msg/PositionXYCommand.msg create mode 100644 cvg_sim_msgs/msg/RC.msg create mode 100644 cvg_sim_msgs/msg/RawImu.msg create mode 100644 cvg_sim_msgs/msg/RawMagnetic.msg create mode 100644 cvg_sim_msgs/msg/RawRC.msg create mode 100644 cvg_sim_msgs/msg/RuddersCommand.msg create mode 100644 cvg_sim_msgs/msg/ServoCommand.msg create mode 100644 cvg_sim_msgs/msg/Supply.msg create mode 100644 cvg_sim_msgs/msg/ThrustCommand.msg create mode 100644 cvg_sim_msgs/msg/VelocityXYCommand.msg create mode 100644 cvg_sim_msgs/msg/VelocityZCommand.msg create mode 100644 cvg_sim_msgs/msg/YawrateCommand.msg create mode 100644 cvg_sim_msgs/package.xml create mode 100644 cvg_sim_msgs/src/cvg_sim_msgs/__init__.py create mode 100644 cvg_sim_msgs/src/cvg_sim_msgs/__init__.pyc create mode 100644 message_to_tf/CMakeLists.txt create mode 100644 message_to_tf/package.xml create mode 100644 message_to_tf/src/message_to_tf.cpp create mode 100644 readme.txt create mode 100644 tum_simulator/CMakeLists.txt create mode 100644 tum_simulator/package.xml diff --git a/README.md b/README.md new file mode 100644 index 0000000..2be6436 --- /dev/null +++ b/README.md @@ -0,0 +1,6 @@ +tum_simulator ported to Melodic +============= +The original code was written in hydro which can be found here : +https://github.com/tum-vision/tum_simulator.git +This is a melodic version of the code. + diff --git a/cvg_sim_gazebo/CMakeLists.txt b/cvg_sim_gazebo/CMakeLists.txt new file mode 100644 index 0000000..90ef5bc --- /dev/null +++ b/cvg_sim_gazebo/CMakeLists.txt @@ -0,0 +1,161 @@ +cmake_minimum_required(VERSION 2.8.3) +project(cvg_sim_gazebo) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + gazebo_ros +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependencies might have been +## pulled in transitively but can be declared for certainty nonetheless: +## * add a build_depend tag for "message_generation" +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES cvg_sim_gazebo +# CATKIN_DEPENDS gazebo +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## Declare a cpp library +# add_library(cvg_sim_gazebo +# src/${PROJECT_NAME}/cvg_sim_gazebo.cpp +# ) + +## Declare a cpp executable +# add_executable(cvg_sim_gazebo_node src/cvg_sim_gazebo_node.cpp) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +# add_dependencies(cvg_sim_gazebo_node cvg_sim_gazebo_generate_messages_cpp) + +## Specify libraries to link a library or executable target against +# target_link_libraries(cvg_sim_gazebo_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS cvg_sim_gazebo cvg_sim_gazebo_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_cvg_sim_gazebo.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/cvg_sim_gazebo/Media/models/120m_landscape_smooth_tri.dae 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2133 2879 819 918 715 804 2133 2879 715 804 2134 2880 1859 2336 2135 2881 2133 2879 1859 2336 2133 2879 1856 2333 2135 2881 820 919 819 918 2135 2881 819 918 2133 2879 823 2882 2136 2882 2137 2882 823 2883 2137 2883 824 2883 2136 2884 2022 2652 2025 2658 2136 2884 2025 2658 2137 2885 826 2886 2138 2886 2136 2886 826 2887 2136 2887 823 2887 2138 2888 2023 2653 2022 2652 2138 2888 2022 2652 2136 2884 1868 2349 2139 2889 2140 2890 1868 2349 2140 2890 1872 2355 2139 2889 844 945 619 708 2139 2889 619 708 2140 2890 1871 2352 2141 2891 2139 2889 1871 2352 2139 2889 1868 2349 2141 2891 632 721 844 945 2141 2892 844 2892 2139 2892 847 2893 2142 2893 2143 2893 847 2894 2143 2894 848 2894 2142 2895 2034 2672 2037 2678 2142 2895 2037 2678 2143 2896 850 2897 2144 2897 2142 2897 850 2898 2142 2898 847 2898 2144 2899 2035 2673 2034 2672 2144 2899 2034 2672 2142 2895 1880 2369 2145 2900 2146 2901 1880 2369 2146 2901 1884 2375 2145 2900 868 971 595 684 2145 2900 595 684 2146 2901 1883 2372 2147 2902 2145 2900 1883 2372 2145 2900 1880 2369 2147 2902 608 697 868 971 2147 2903 868 2903 2145 2903 871 2904 2148 2904 2149 2904 871 2905 2149 2905 872 2905 2148 2906 2046 2692 2049 2698 2148 2906 2049 2698 2149 2907 874 2908 2150 2908 2148 2908 874 2909 2148 2909 871 2909 2150 2910 2047 2693 2046 2692 2150 2910 2046 2692 2148 2906 1892 2389 2151 2911 2152 2912 1892 2389 2152 2912 1896 2395 2151 2911 892 997 571 660 2151 2911 571 660 2152 2912 1895 2392 2153 2913 2151 2911 1895 2392 2151 2911 1892 2389 2153 2913 584 673 892 997 2153 2914 892 2914 2151 2914 895 2915 2154 2915 2155 2915 895 2916 2155 2916 896 2916 2154 2917 2058 2712 2061 2718 2154 2917 2061 2718 2155 2918 898 2919 2156 2919 2154 2919 898 2920 2154 2920 895 2920 2156 2921 2059 2713 2058 2712 2156 2921 2058 2712 2154 2917 1904 2409 2157 2922 2158 2923 1904 2409 2158 2923 1908 2415 2157 2922 916 1023 547 636 2157 2922 547 636 2158 2923 1907 2412 2159 2924 2157 2922 1907 2412 2157 2922 1904 2409 2159 2924 560 649 916 1023 2159 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2673 2144 2899 824 2956 2137 2956 2172 2956 824 2957 2172 2957 1050 2957 2137 2885 2025 2658 2093 2784 2137 2885 2093 2784 2172 2955 1940 2481 2173 2958 2147 2902 1940 2481 2147 2902 1883 2372 2173 2958 1059 1226 608 697 2173 2958 608 697 2147 2902 1872 2355 2140 2890 2173 2958 1872 2355 2173 2958 1940 2481 2140 2890 619 708 1059 1226 2140 2890 1059 1226 2173 2958 1080 2959 2174 2959 2138 2959 1080 2960 2138 2960 826 2960 2174 2961 2097 2796 2023 2653 2174 2961 2023 2653 2138 2888 722 2962 2113 2962 2174 2962 722 2963 2174 2963 1080 2963 2113 2844 1977 2582 2097 2796 2113 2844 2097 2796 2174 2961 1944 2493 2175 2964 2141 2891 1944 2493 2141 2891 1871 2352 2175 2964 1089 1270 632 721 2175 2964 632 721 2141 2891 1824 2279 2116 2849 2175 2964 1824 2279 2175 2964 1944 2493 2116 2849 643 732 1089 1270 2116 2849 1089 1270 2175 2964 1110 2965 2176 2965 2114 2965 1110 2966 2114 2966 724 2966 2176 2967 2101 2808 1975 2577 2176 2967 1975 2577 2114 2847 746 2968 2119 2968 2176 2968 746 2969 2176 2969 1110 2969 2119 2855 1989 2602 2101 2808 2119 2855 2101 2808 2176 2967 1948 2505 2177 2970 2117 2850 1948 2505 2117 2850 1823 2276 2177 2970 1119 1314 656 745 2177 2970 656 745 2117 2850 1836 2299 2122 2860 2177 2970 1836 2299 2177 2970 1948 2505 2122 2860 667 756 1119 1314 2122 2860 1119 1314 2177 2970 1140 2971 2178 2971 2120 2971 1140 2972 2120 2972 748 2972 2178 2973 2105 2820 1987 2597 2178 2973 1987 2597 2120 2858 770 2974 2125 2974 2178 2974 770 2975 2178 2975 1140 2975 2125 2866 2001 2622 2105 2820 2125 2866 2105 2820 2178 2973 1952 2517 2179 2976 2123 2861 1952 2517 2123 2861 1835 2296 2179 2976 1149 1358 680 769 2179 2976 680 769 2123 2861 1848 2319 2128 2871 2179 2976 1848 2319 2179 2976 1952 2517 2128 2871 691 780 1149 1358 2128 2871 1149 1358 2179 2976 1170 2977 2180 2977 2126 2977 1170 2978 2126 2978 772 2978 2180 2979 2109 2832 1999 2617 2180 2979 1999 2617 2126 2869 808 2980 2132 2980 2180 2980 808 2981 2180 2981 1170 2981 2132 2876 2013 2640 2109 2832 2132 2876 2109 2832 2180 2979 1956 2529 2181 2982 2129 2872 1956 2529 2129 2872 1847 2316 2181 2982 1179 1402 704 793 2181 2982 704 793 2129 2872 1860 2337 2134 2880 2181 2982 1860 2337 2181 2982 1956 2529 2134 2880 715 804 1179 1402 2134 2880 1179 1402 2181 2982 1243 1459 2182 2983 2183 2984 1243 1459 2183 2984 1244 1460 2182 2985 1198 2985 1197 2985 2182 2986 1197 2986 2183 2986 1201 2987 2184 2987 2185 2987 1201 2988 2185 2988 1202 2988 2184 2989 1296 1509 1295 1508 2184 2989 1295 1508 2185 2990 1383 1605 2186 2991 2187 2992 1383 1605 2187 2992 1384 1606 2186 2993 1338 2993 1337 2993 2186 2994 1337 2994 2187 2994 1341 2995 2188 2995 2189 2995 1341 2996 2189 2996 1342 2996 2188 2997 1436 1654 1435 1653 2188 2997 1435 1653 2189 2998 1612 1933 2190 2999 2182 2983 1612 1933 2182 2983 1243 1459 2190 3000 1573 3000 1198 3000 2190 3001 1198 3001 2182 3001 1614 1935 2191 3002 2190 2999 1614 1935 2190 2999 1612 1933 2191 3003 1574 3003 1573 3003 2191 3004 1573 3004 2190 3004 1384 1606 2187 2992 2191 3002 1384 1606 2191 3002 1614 1935 2187 3005 1337 3005 1574 3005 2187 3006 1574 3006 2191 3006 1576 3007 2192 3007 2184 3007 1576 3008 2184 3008 1201 3008 2192 3009 1655 2004 1296 1509 2192 3009 1296 1509 2184 2989 1578 3010 2193 3010 2192 3010 1578 3011 2192 3011 1576 3011 2193 3012 1656 2005 1655 2004 2193 3012 1655 2004 2192 3009 1342 3013 2189 3013 2193 3013 1342 3014 2193 3014 1578 3014 2189 2998 1435 1653 1656 2005 2189 2998 1656 2005 2193 3012 1858 2335 2194 3015 2135 2881 1858 2335 2135 2881 1859 2336 2194 3015 1813 2254 820 919 2194 3015 820 919 2135 2881 1244 1460 2183 2984 2194 3015 1244 1460 2194 3015 1858 2335 2183 3016 1197 3016 1813 3016 2183 3017 1813 3017 2194 3017 1815 2258 2195 3018 2164 2932 1815 2258 2164 2932 945 1056 2195 3018 1921 2436 1920 2435 2195 3018 1920 2435 2164 2932 1202 3019 2185 3019 2195 3019 1202 3020 2195 3020 1815 3020 2185 2990 1295 1508 1921 2436 2185 2990 1921 2436 2195 3018 2009 2634 2196 3021 2186 2991 2009 2634 2186 2991 1383 1605 2196 3022 1965 3022 1338 3022 2196 3023 1338 3023 2186 3023 2011 2636 2131 2875 2196 3021 2011 2636 2196 3021 2009 2634 2131 2875 806 904 1965 2556 2131 2875 1965 2556 2196 3021 1967 3024 2197 3024 2188 3024 1967 3025 2188 3025 1341 3025 2197 3026 2072 2735 1436 1654 2197 3026 1436 1654 2188 2997 920 1027 2161 2927 2197 3026 920 1027 2197 3026 1967 2560 2161 2927 2073 2736 2072 2735 2161 2927 2072 2735 2197 3026 1978 2583 2198 3027 2199 3028 1978 2583 2199 3028 1982 2589 2198 3029 735 3029 734 3029 2198 3030 734 3030 2199 3030 1981 2586 2200 3031 2198 3027 1981 2586 2198 3027 1978 2583 2200 3032 736 3032 735 3032 2200 3033 735 3033 2198 3033 738 3034 2201 3034 2202 3034 738 829 2202 3035 636 725 2201 3036 1828 2286 1831 2292 2201 3036 1831 2292 2202 3035 647 736 2203 3037 2201 3036 647 736 2201 3036 738 829 2203 3037 1829 2287 1828 2286 2203 3037 1828 2286 2201 3036 1990 2603 2204 3038 2205 3039 1990 2603 2205 3039 1994 2609 2204 3040 759 3040 758 3040 2204 3041 758 3041 2205 3041 1993 2606 2206 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1114 3152 736 3152 2262 3153 736 3153 2200 3153 1994 2609 2205 3039 2262 3151 1994 2609 2262 3151 2102 2811 2205 3154 758 3154 1114 3154 2205 3155 1114 3155 2262 3155 1125 1320 2263 3156 2203 3037 1125 1320 2203 3037 647 736 2263 3156 1951 2514 1829 2287 2263 3156 1829 2287 2203 3037 660 749 2208 3046 2263 3156 660 749 2263 3156 1125 1320 2208 3046 1843 2312 1951 2514 2208 3046 1951 2514 2263 3156 2106 2823 2264 3157 2206 3042 2106 2823 2206 3042 1993 2606 2264 3158 1144 3158 760 3158 2264 3159 760 3159 2206 3159 2006 2629 2211 3050 2264 3157 2006 2629 2264 3157 2106 2823 2211 3160 782 3160 1144 3160 2211 3161 1144 3161 2264 3161 1155 1364 2265 3162 2209 3048 1155 1364 2209 3048 671 760 2265 3162 1955 2526 1841 2307 2265 3162 1841 2307 2209 3048 684 773 2214 3057 2265 3162 684 773 2265 3162 1155 1364 2214 3057 1855 2332 1955 2526 2214 3057 1955 2526 2265 3162 2110 2835 2266 3163 2212 3053 2110 2835 2212 3053 2005 2626 2266 3164 1174 3164 784 3164 2266 3165 784 3165 2212 3165 2018 2645 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+ + diff --git a/cvg_sim_gazebo/models/competition_end.model b/cvg_sim_gazebo/models/competition_end.model new file mode 100644 index 0000000..fd83187 --- /dev/null +++ b/cvg_sim_gazebo/models/competition_end.model @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + diff --git a/cvg_sim_gazebo/models/competition_start.model b/cvg_sim_gazebo/models/competition_start.model new file mode 100644 index 0000000..7c80d40 --- /dev/null +++ b/cvg_sim_gazebo/models/competition_start.model @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + diff --git a/cvg_sim_gazebo/models/cvg_logo.model b/cvg_sim_gazebo/models/cvg_logo.model new file mode 100644 index 0000000..4373a20 --- /dev/null +++ b/cvg_sim_gazebo/models/cvg_logo.model @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + diff --git a/cvg_sim_gazebo/models/cylinder.model b/cvg_sim_gazebo/models/cylinder.model new file mode 100644 index 0000000..545f365 --- /dev/null +++ b/cvg_sim_gazebo/models/cylinder.model @@ -0,0 +1,37 @@ + + +> + 0 0 0 + 0 0 0 + true + + + 1.0 1.0 1.0 + cylinder.dae + true + + 1.0 1.0 1.0 + cylinder.dae + + + + + + + diff --git a/cvg_sim_gazebo/models/grass_ground.model b/cvg_sim_gazebo/models/grass_ground.model new file mode 100644 index 0000000..ef8a1dd --- /dev/null +++ b/cvg_sim_gazebo/models/grass_ground.model @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + diff --git a/cvg_sim_gazebo/models/marker.model b/cvg_sim_gazebo/models/marker.model new file mode 100644 index 0000000..0e44679 --- /dev/null +++ b/cvg_sim_gazebo/models/marker.model @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + diff --git a/cvg_sim_gazebo/models/marker_1.model b/cvg_sim_gazebo/models/marker_1.model new file mode 100644 index 0000000..0e44679 --- /dev/null +++ b/cvg_sim_gazebo/models/marker_1.model @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + diff --git a/cvg_sim_gazebo/models/station_marker1.model b/cvg_sim_gazebo/models/station_marker1.model new file mode 100644 index 0000000..30532a9 --- /dev/null +++ b/cvg_sim_gazebo/models/station_marker1.model @@ -0,0 +1,37 @@ + + +> + 0 0 0 + 0 0 0 + true + + + 1.0 1.0 1.0 + Marker1.dae + true + + 1.0 1.0 1.0 + Marker1.dae + + + + + + + diff --git a/cvg_sim_gazebo/models/table.model b/cvg_sim_gazebo/models/table.model new file mode 100644 index 0000000..dfce9d3 --- /dev/null +++ b/cvg_sim_gazebo/models/table.model @@ -0,0 +1,79 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cvg_sim_gazebo/models/wood_floor.model b/cvg_sim_gazebo/models/wood_floor.model new file mode 100644 index 0000000..7998065 --- /dev/null +++ b/cvg_sim_gazebo/models/wood_floor.model @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + diff --git a/cvg_sim_gazebo/objects/milk.urdf b/cvg_sim_gazebo/objects/milk.urdf new file mode 100644 index 0000000..041c9af --- /dev/null +++ b/cvg_sim_gazebo/objects/milk.urdf @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/cvg_sim_gazebo/objects/station_marker1.model b/cvg_sim_gazebo/objects/station_marker1.model new file mode 100644 index 0000000..30532a9 --- /dev/null +++ b/cvg_sim_gazebo/objects/station_marker1.model @@ -0,0 +1,37 @@ + + +> + 0 0 0 + 0 0 0 + true + + + 1.0 1.0 1.0 + Marker1.dae + true + + 1.0 1.0 1.0 + Marker1.dae + + + + + + + diff --git a/cvg_sim_gazebo/objects/station_marker2.model b/cvg_sim_gazebo/objects/station_marker2.model new file mode 100644 index 0000000..a32ff03 --- /dev/null +++ b/cvg_sim_gazebo/objects/station_marker2.model @@ -0,0 +1,37 @@ + + +> + 0 0 0 + 0 0 0 + true + + + 1.0 1.0 1.0 + Marker2.dae + true + + 1.0 1.0 1.0 + Marker2.dae + + + + + + + diff --git a/cvg_sim_gazebo/package.xml b/cvg_sim_gazebo/package.xml new file mode 100644 index 0000000..7f2f044 --- /dev/null +++ b/cvg_sim_gazebo/package.xml @@ -0,0 +1,50 @@ + + + cvg_sim_gazebo + 0.0.0 + The cvg_sim_gazebo package + + + + + elliot + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + gazebo_ros + gazebo_ros + cvg_sim_gazebo_plugins + + + + + diff --git a/cvg_sim_gazebo/urdf/quadrotor.urdf.xacro b/cvg_sim_gazebo/urdf/quadrotor.urdf.xacro new file mode 100644 index 0000000..158639a --- /dev/null +++ b/cvg_sim_gazebo/urdf/quadrotor.urdf.xacro @@ -0,0 +1,15 @@ + + + + + + + + + + + diff --git a/cvg_sim_gazebo/urdf/quadrotor_base.urdf.xacro b/cvg_sim_gazebo/urdf/quadrotor_base.urdf.xacro new file mode 100644 index 0000000..bdc5c23 --- /dev/null +++ b/cvg_sim_gazebo/urdf/quadrotor_base.urdf.xacro @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + false + + + + + + diff --git a/cvg_sim_gazebo/urdf/quadrotor_sensors.urdf.xacro b/cvg_sim_gazebo/urdf/quadrotor_sensors.urdf.xacro new file mode 100644 index 0000000..99e7bbd --- /dev/null +++ b/cvg_sim_gazebo/urdf/quadrotor_sensors.urdf.xacro @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cvg_sim_gazebo/urdf/sensors/generic_camera.urdf.xacro b/cvg_sim_gazebo/urdf/sensors/generic_camera.urdf.xacro new file mode 100644 index 0000000..3e88c19 --- /dev/null +++ b/cvg_sim_gazebo/urdf/sensors/generic_camera.urdf.xacro @@ -0,0 +1,100 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${update_rate} + + ${hfov} + + ${res_x} + ${res_y} + ${image_format} + + + 0.01 + 0.01 + 100 + + + + /${sim_name}/${name} + true + ${update_rate} + /${sim_name}/${name}/image_raw + /${sim_name}/${name}/camera_info + ardrone_base_${name}cam + + + true + PR2/Blue + + + + diff --git a/cvg_sim_gazebo/urdf/sensors/hokuyo_utm30lx.urdf.xacro b/cvg_sim_gazebo/urdf/sensors/hokuyo_utm30lx.urdf.xacro new file mode 100644 index 0000000..a575165 --- /dev/null +++ b/cvg_sim_gazebo/urdf/sensors/hokuyo_utm30lx.urdf.xacro @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${ray_count} + ${ray_count} + 1 + + 0.0 0.0 0.0 + false + + ${min_angle} + ${max_angle} + + 0.08 + 30.0 + 0.01 + ${update_rate} + + 0.005 + true + ${update_rate} + ${ros_topic} + ${name}_frame + + + + + + + + + diff --git a/cvg_sim_gazebo/urdf/sensors/sonar_sensor.urdf.xacro b/cvg_sim_gazebo/urdf/sensors/sonar_sensor.urdf.xacro new file mode 100644 index 0000000..56d6e52 --- /dev/null +++ b/cvg_sim_gazebo/urdf/sensors/sonar_sensor.urdf.xacro @@ -0,0 +1,67 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${update_rate} + + + ${min_range} + ${max_range} + 0.01 + + + + ${ray_count} + -${field_of_view/2} + ${field_of_view/2} + + + ${ray_count} + -${field_of_view/2} + ${field_of_view/2} + + + + + + 0.000 + ${ros_topic} + ${name}_link + + + + + diff --git a/cvg_sim_gazebo/worlds/ardrone_testworld.world b/cvg_sim_gazebo/worlds/ardrone_testworld.world new file mode 100644 index 0000000..54d0ad8 --- /dev/null +++ b/cvg_sim_gazebo/worlds/ardrone_testworld.world @@ -0,0 +1,792 @@ + + + + + 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b/cvg_sim_gazebo/worlds_backup/competition.world new file mode 100644 index 0000000..31e47c4 --- /dev/null +++ b/cvg_sim_gazebo/worlds_backup/competition.world @@ -0,0 +1,190 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cvg_sim_gazebo/worlds_backup/empty.world b/cvg_sim_gazebo/worlds_backup/empty.world new file mode 100644 index 0000000..3e60295 --- /dev/null +++ b/cvg_sim_gazebo/worlds_backup/empty.world @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cvg_sim_gazebo/worlds_backup/garching_kitchen.world b/cvg_sim_gazebo/worlds_backup/garching_kitchen.world new file mode 100644 index 0000000..e72119a --- /dev/null +++ b/cvg_sim_gazebo/worlds_backup/garching_kitchen.world @@ -0,0 +1,79 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cvg_sim_gazebo/worlds_backup/rolling_landscape_120m.world b/cvg_sim_gazebo/worlds_backup/rolling_landscape_120m.world new file mode 100644 index 0000000..e6cfa76 --- /dev/null +++ b/cvg_sim_gazebo/worlds_backup/rolling_landscape_120m.world @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cvg_sim_gazebo/worlds_backup/tum_kitchen.world b/cvg_sim_gazebo/worlds_backup/tum_kitchen.world new file mode 100644 index 0000000..7d0dbd2 --- /dev/null +++ b/cvg_sim_gazebo/worlds_backup/tum_kitchen.world @@ -0,0 +1,74 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cvg_sim_gazebo/worlds_backup/wg_collada.world b/cvg_sim_gazebo/worlds_backup/wg_collada.world new file mode 100644 index 0000000..1eed8a9 --- /dev/null +++ b/cvg_sim_gazebo/worlds_backup/wg_collada.world @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cvg_sim_gazebo_plugins/CMakeLists.txt b/cvg_sim_gazebo_plugins/CMakeLists.txt new file mode 100644 index 0000000..d77a268 --- /dev/null +++ b/cvg_sim_gazebo_plugins/CMakeLists.txt @@ -0,0 +1,193 @@ +cmake_minimum_required(VERSION 2.8.3) +project(cvg_sim_gazebo_plugins) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + ardrone_autonomy + gazebo_ros + geometry_msgs + image_transport + nav_msgs + roscpp + sensor_msgs + std_msgs +) + +## System dependencies are found with CMake's conventions +find_package(Boost REQUIRED COMPONENTS thread) +find_package(gazebo REQUIRED) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependencies might have been +## pulled in transitively but can be declared for certainty nonetheless: +## * add a build_depend tag for "message_generation" +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +add_service_files( + FILES + SetBias.srv +) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + geometry_msgs nav_msgs sensor_msgs std_msgs +) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include + LIBRARIES diffdrive_plugin_6w reset_plugin hector_gazebo_ros_imu hector_gazebo_ros_magnetic hector_gazebo_ros_gps hector_gazebo_ros_sonar hector_gazebo_ros_baro hector_gazebo_quadrotor_simple_controller hector_gazebo_quadrotor_state_controller + CATKIN_DEPENDS image_transport + DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${GAZEBO_INCLUDE_DIRS} + ${SDFormat_INCLUDE_DIRS} +) + +## Declare a cpp library +add_library(diffdrive_plugin_6w src/diffdrive_plugin_6w.cpp) +target_link_libraries(diffdrive_plugin_6w ${Boost_LIBRARIES}) + +add_library(reset_plugin src/reset_plugin.cpp) + +add_library(hector_gazebo_ros_imu src/gazebo_ros_imu.cpp) +add_dependencies(hector_gazebo_ros_imu cvg_sim_gazebo_plugins_gencpp) +target_link_libraries(hector_gazebo_ros_imu ${Boost_LIBRARIES}) + +add_library(hector_gazebo_ros_magnetic src/gazebo_ros_magnetic.cpp) +add_library(hector_gazebo_ros_gps src/gazebo_ros_gps.cpp) +add_library(hector_gazebo_ros_sonar src/gazebo_ros_sonar.cpp) + +add_library(hector_gazebo_ros_baro src/gazebo_ros_baro.cpp) +add_dependencies(hector_gazebo_ros_baro cvg_sim_msgs_gencpp) + +add_library(hector_gazebo_quadrotor_simple_controller src/quadrotor_simple_controller.cpp) +add_dependencies(hector_gazebo_quadrotor_simple_controller ardrone_autonomy_gencpp) + +add_library(hector_gazebo_quadrotor_state_controller src/quadrotor_state_controller.cpp) +add_dependencies(hector_gazebo_quadrotor_state_controller ardrone_autonomy_gencpp) +target_link_libraries(hector_gazebo_quadrotor_state_controller ${image_transport_LIBRARIES}) + + +## Declare a cpp executable +add_executable(test_trajectory src/test_trajectory.cpp) +target_link_libraries(test_trajectory ${catkin_LIBRARIES}) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +# add_dependencies(cvg_sim_gazebo_plugins_node cvg_sim_gazebo_plugins_generate_messages_cpp) + +## Specify libraries to link a library or executable target against +# target_link_libraries(cvg_sim_gazebo_plugins_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS cvg_sim_gazebo_plugins cvg_sim_gazebo_plugins_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_cvg_sim_gazebo_plugins.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_6w.h b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_6w.h new file mode 100644 index 0000000..31fc3a7 --- /dev/null +++ b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_6w.h @@ -0,0 +1,121 @@ +/* + * Gazebo - Outdoor Multi-Robot Simulator + * Copyright (C) 2003 + * Nate Koenig & Andrew Howard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/* + * Desc: ROS interface to a Position2d controller for a Differential drive. + * Author: Daniel Hewlett (adapted from Nathan Koenig) + */ +#ifndef DIFFDRIVE_PLUGIN_HH +#define DIFFDRIVE_PLUGIN_HH + +#include + +#include "common/Plugin.hh" +#include "common/Time.hh" +//#include "physics/physics.h" +//#include "transport/TransportTypes.hh" +//#include "msgs/MessageTypes.hh" +//#include "common/Time.hh" +//#include "common/Events.hh" + +// ROS +#include +#include +#include +#include +#include + +// Custom Callback Queue +#include +#include + +// Boost +#include +#include + +namespace gazebo +{ + +class DiffDrivePlugin6W : public ModelPlugin +{ + +public: + DiffDrivePlugin6W(); + virtual ~DiffDrivePlugin6W(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Reset(); + virtual void Update(); + +private: + void publish_odometry(); + void GetPositionCmd(); + + physics::LinkPtr link; + physics::WorldPtr world; + physics::JointPtr joints[6]; + + float wheelSep; + float wheelDiam; + float torque; + float wheelSpeed[2]; + + // Simulation time of the last update + common::Time prevUpdateTime; + + bool enableMotors; + float odomPose[3]; + float odomVel[3]; + + // ROS STUFF + ros::NodeHandle* rosnode_; + ros::Publisher pub_; + ros::Subscriber sub_; + tf::TransformBroadcaster *transform_broadcaster_; + nav_msgs::Odometry odom_; + std::string tf_prefix_; + + boost::mutex lock; + + std::string robotNamespace; + std::string topicName; + std::string linkName; + + // Custom Callback Queue + ros::CallbackQueue queue_; + boost::thread callback_queue_thread_; + void QueueThread(); + + // DiffDrive stuff + void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg); + + float x_; + float rot_; + bool alive_; + + // Pointer to the update event connection + event::ConnectionPtr updateConnection; +}; + +} + +#endif + diff --git a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_gps.h b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_gps.h new file mode 100644 index 0000000..3c70110 --- /dev/null +++ b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_gps.h @@ -0,0 +1,94 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H +#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H + +#include "common/Plugin.hh" +#include "common/Time.hh" + +#include +#include +#include +#include + +namespace gazebo +{ + +class GazeboRosGps : public ModelPlugin +{ +public: + GazeboRosGps(); + virtual ~GazeboRosGps(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Reset(); + virtual void Update(); + +private: + /// \brief The parent World + physics::WorldPtr world; + + /// \brief The link referred to by this plugin + physics::LinkPtr link; + + ros::NodeHandle* node_handle_; + ros::Publisher fix_publisher_; + ros::Publisher velocity_publisher_; + + sensor_msgs::NavSatFix fix_; + geometry_msgs::Vector3Stamped velocity_; + + std::string namespace_; + std::string link_name_; + std::string frame_id_; + std::string fix_topic_; + std::string velocity_topic_; + + double reference_latitude_; + double reference_longitude_; + double reference_heading_; + double reference_altitude_; + sensor_msgs::NavSatStatus::_status_type status_; + sensor_msgs::NavSatStatus::_service_type service_; + + SensorModel3 position_error_model_; + SensorModel3 velocity_error_model_; + + /// \brief save last_time + common::Time last_time; + common::Time update_period; + + // Pointer to the update event connection + event::ConnectionPtr updateConnection; +}; + +} // namespace gazebo + +#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H diff --git a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_imu.h b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_imu.h new file mode 100644 index 0000000..351ac9f --- /dev/null +++ b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_imu.h @@ -0,0 +1,165 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= +// This code is based on the original gazebo_ros_imu plugin by Sachin Chitta and John Hsu: +/* + * Gazebo - Outdoor Multi-Robot Simulator + * Copyright (C) 2003 + * Nate Koenig & Andrew Howard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/* + * Desc: 3D position interface. + * Author: Sachin Chitta and John Hsu + * Date: 10 June 2008 + * SVN: $Id$ + */ +//================================================================================================= + + +#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_IMU_H +#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_IMU_H + +// #define USE_CBQ +#ifdef USE_CBQ +#include +#include +#endif + +#include "common/Plugin.hh" +#include "common/Time.hh" + +#include +#include +#include +#include +#include +#include + +namespace gazebo +{ + class GazeboRosIMU : public ModelPlugin + { + public: + /// \brief Constructor + GazeboRosIMU(); + + /// \brief Destructor + virtual ~GazeboRosIMU(); + + protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Reset(); + virtual void Update(); + + private: + /// \brief The parent World + physics::WorldPtr world; + + /// \brief The link referred to by this plugin + physics::LinkPtr link; + + /// \brief pointer to ros node + ros::NodeHandle* node_handle_; + ros::Publisher pub_; + + /// \brief ros message + sensor_msgs::Imu imuMsg; + + /// \brief store link name + std::string linkName; + + /// \brief frame id + std::string frameId; + + /// \brief topic name + std::string topicName; + + /// \brief Sensor models + SensorModel3 accelModel; + SensorModel3 rateModel; + SensorModel headingModel; + + /// \brief A mutex to lock access to fields that are used in message callbacks + boost::mutex lock; + + /// \brief save last_time + common::Time last_time; + common::Time update_period; + + /// \brief save current body/physics state + math::Quaternion orientation; + math::Vector3 velocity; + math::Vector3 accel; + math::Vector3 rate; + math::Vector3 gravity; + math::Vector3 gravity_body; + + /// \brief Gaussian noise generator + double GaussianKernel(double mu,double sigma); + + /// \brief for setting ROS name space + std::string robotNamespace; + + /// \brief call back when using service + bool ServiceCallback(std_srvs::Empty::Request &req, + std_srvs::Empty::Response &res); + ros::ServiceServer srv_; + std::string serviceName; + + /// \brief Bias service callbacks + bool SetAccelBiasCallback(cvg_sim_gazebo_plugins::SetBias::Request &req, cvg_sim_gazebo_plugins::SetBias::Response &res); + bool SetRateBiasCallback(cvg_sim_gazebo_plugins::SetBias::Request &req, cvg_sim_gazebo_plugins::SetBias::Response &res); + ros::ServiceServer accelBiasService; + ros::ServiceServer rateBiasService; + +#ifdef USE_CBQ + ros::CallbackQueue callback_queue_; + void CallbackQueueThread(); + boost::thread callback_queue_thread_; +#endif + + // Pointer to the update event connection + event::ConnectionPtr updateConnection; + }; +} + +#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_IMU_H diff --git a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h new file mode 100644 index 0000000..f24071f --- /dev/null +++ b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h @@ -0,0 +1,88 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H +#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H + +#include "common/Plugin.hh" +#include "common/Time.hh" + +#include +#include +#include + +namespace gazebo +{ + +class GazeboRosMagnetic : public ModelPlugin +{ +public: + GazeboRosMagnetic(); + virtual ~GazeboRosMagnetic(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Reset(); + virtual void Update(); + +private: + /// \brief The parent World + physics::WorldPtr world; + + /// \brief The link referred to by this plugin + physics::LinkPtr link; + + ros::NodeHandle* node_handle_; + ros::Publisher publisher_; + + geometry_msgs::Vector3Stamped magnetic_field_; + gazebo::math::Vector3 magnetic_field_world_; + + std::string namespace_; + std::string topic_; + std::string link_name_; + std::string frame_id_; + + double magnitude_; + double reference_heading_; + double declination_; + double inclination_; + + SensorModel3 sensor_model_; + + /// \brief save last_time + common::Time last_time; + common::Time update_period; + + // Pointer to the update event connection + event::ConnectionPtr updateConnection; +}; + +} // namespace gazebo + +#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H diff --git a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_sonar.h b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_sonar.h new file mode 100644 index 0000000..9c96c1f --- /dev/null +++ b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_sonar.h @@ -0,0 +1,81 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H +#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H + +#include "common/Plugin.hh" +#include "common/Time.hh" + +#include +#include + +#include +#include + +namespace gazebo +{ + +class GazeboRosSonar : public SensorPlugin +{ +public: + GazeboRosSonar(); + virtual ~GazeboRosSonar(); + +protected: + virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf); + virtual void Reset(); + virtual void Update(); + +private: + /// \brief The parent World + physics::WorldPtr world; + + sensors::RaySensorPtr sensor_; + + ros::NodeHandle* node_handle_; + ros::Publisher publisher_; + + sensor_msgs::Range range_; + + std::string namespace_; + std::string topic_; + std::string frame_id_; + + SensorModel sensor_model_; + + /// \brief save last_time + common::Time last_time; + + // Pointer to the update event connection + event::ConnectionPtr updateConnection; +}; + +} // namespace gazebo + +#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H diff --git a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/reset_plugin.h b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/reset_plugin.h new file mode 100644 index 0000000..2c37e02 --- /dev/null +++ b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/reset_plugin.h @@ -0,0 +1,56 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_RESET_PLUGIN_H +#define HECTOR_GAZEBO_PLUGINS_RESET_PLUGIN_H + +#include "common/Plugin.hh" + +#include + +namespace gazebo +{ + +class GazeboResetPlugin : public ModelPlugin +{ +public: + GazeboResetPlugin(); + virtual ~GazeboResetPlugin(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Reset(); + +private: + ros::NodeHandle* node_handle_; + ros::Publisher publisher_; +}; + +} // namespace gazebo + +#endif // HECTOR_GAZEBO_PLUGINS_RESET_PLUGIN_H diff --git a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h new file mode 100644 index 0000000..293ab58 --- /dev/null +++ b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h @@ -0,0 +1,162 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_SENSOR_MODEL_H +#define HECTOR_GAZEBO_PLUGINS_SENSOR_MODEL_H + +#include +#include + +namespace gazebo { + +template +class SensorModel_ { +public: + SensorModel_(); + virtual ~SensorModel_(); + + virtual void Load(sdf::ElementPtr _sdf, const std::string& prefix = std::string()); + + virtual T operator()(const T& value) const { return value + current_error_; } + virtual T operator()(const T& value, double dt) { return value + update(dt); } + + virtual T update(double dt); + virtual void reset(const T& value = T()); + + virtual const T& getCurrentError() const { return current_error_; } + virtual const T& getCurrentDrift() const { return current_drift_; } + + virtual void setCurrentDrift(const T& new_drift) { current_drift_ = new_drift; } + +public: + T offset; + T drift; + T drift_frequency; + T gaussian_noise; + +private: + T current_drift_; + T current_error_; +}; + +template +SensorModel_::SensorModel_() + : offset() + , drift() + , drift_frequency() + , gaussian_noise() +{ + drift_frequency = 1.0/3600.0; + reset(); +} + +template +SensorModel_::~SensorModel_() +{ +} + +template +void SensorModel_::Load(sdf::ElementPtr _sdf, const std::string& prefix) +{ + sdf::ElementPtr _offset, _drift, _drift_frequency, _gaussian_noise; + + if (prefix.empty()) { + _offset = _sdf->GetElement("offset"); + _drift = _sdf->GetElement("drift"); + _drift_frequency = _sdf->GetElement("driftFrequency"); + _gaussian_noise = _sdf->GetElement("gaussianNoise"); + } else { + _offset = _sdf->GetElement(prefix + "Offset"); + _drift = _sdf->GetElement(prefix + "Drift"); + _drift_frequency = _sdf->GetElement(prefix + "DriftFrequency"); + _gaussian_noise = _sdf->GetElement(prefix + "GaussianNoise"); + } + + if (_offset && !_offset->GetValue()->Get(offset)) offset = _offset->GetValueDouble(); + if (_drift && !_drift->GetValue()->Get(drift)) drift = _drift->GetValueDouble(); + if (_drift_frequency && !_drift_frequency->GetValue()->Get(drift_frequency)) drift_frequency = _drift_frequency->GetValueDouble(); + if (_gaussian_noise && !_gaussian_noise->GetValue()->Get(gaussian_noise)) gaussian_noise = _gaussian_noise->GetValueDouble(); +} + +namespace { + template + static inline T SensorModelGaussianKernel(T mu, T sigma) + { + // using Box-Muller transform to generate two independent standard normally disbributed normal variables + // see wikipedia + T U = (T)rand()/(T)RAND_MAX; // normalized uniform random variable + T V = (T)rand()/(T)RAND_MAX; // normalized uniform random variable + T X = sqrt(-2.0 * ::log(U)) * cos( 2.0*M_PI * V); + X = sigma * X + mu; + return X; + } + + template + static inline T SensorModelInternalUpdate(T& current_drift, T drift, T drift_frequency, T offset, T gaussian_noise, double dt) + { + current_drift = current_drift - dt * (current_drift * drift_frequency + SensorModelGaussianKernel(T(), sqrt(2*drift_frequency)*drift)); + return offset + current_drift + SensorModelGaussianKernel(T(), gaussian_noise); + } +} + +template +T SensorModel_::update(double dt) +{ + for(std::size_t i = 0; i < current_error_.size(); ++i) current_error_[i] = current_error_ = SensorModelInternalUpdate(current_drift_[i], drift[i], drift_frequency[i], offset[i], gaussian_noise[i], dt); + return current_error_; +} + +template <> +double SensorModel_::update(double dt) +{ + current_error_ = SensorModelInternalUpdate(current_drift_, drift, drift_frequency, offset, gaussian_noise, dt); + return current_error_; +} + +template <> +math::Vector3 SensorModel_::update(double dt) +{ + current_error_.x = SensorModelInternalUpdate(current_drift_.x, drift.x, drift_frequency.x, offset.x, gaussian_noise.x, dt); + current_error_.y = SensorModelInternalUpdate(current_drift_.y, drift.y, drift_frequency.y, offset.y, gaussian_noise.y, dt); + current_error_.z = SensorModelInternalUpdate(current_drift_.z, drift.z, drift_frequency.z, offset.z, gaussian_noise.z, dt); + return current_error_; +} + +template +void SensorModel_::reset(const T& value) +{ + current_drift_ = T(); + current_error_ = value; +} + +typedef SensorModel_ SensorModel; +typedef SensorModel_ SensorModel3; + +} + +#endif // HECTOR_GAZEBO_PLUGINS_SENSOR_MODEL_H diff --git a/cvg_sim_gazebo_plugins/include/hector_quadrotor_controller/quadrotor_simple_controller.h b/cvg_sim_gazebo_plugins/include/hector_quadrotor_controller/quadrotor_simple_controller.h new file mode 100644 index 0000000..6560900 --- /dev/null +++ b/cvg_sim_gazebo_plugins/include/hector_quadrotor_controller/quadrotor_simple_controller.h @@ -0,0 +1,170 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +/* +* quadrotor motion controller: +* +* This software is a motion control gazebo plugin for the Ardrone simulator +* +* change: +* 1. Noise is add to the callback function: VelocityCallback +* 2. Create a subscriber for rostopic /ardrone/navdata +* 3. An additional force and torque calculation is added base on the robot state information in /ardrone/navdata +* +* Created on: Oct 22, 2012 +* Author: Hongrong huang +* +* +*/ + +#ifndef HECTOR_GAZEBO_PLUGINS_QUADROTOR_SIMPLE_CONTROLLER_H +#define HECTOR_GAZEBO_PLUGINS_QUADROTOR_SIMPLE_CONTROLLER_H + +#include "gazebo/gazebo.hh" +#include "common/Plugin.hh" + +#include +#include + +#include +#include +#include +#include + +#define UNKNOWN_MODEL 0 +#define INITIALIZE_MODEL 1 +#define LANDED_MODEL 2 +#define FLYING_MODEL 3 +#define HOVERING_MODEL 4 +#define TESTING_MODEL 5 +#define TAKINGOFF_MODEL 6 +#define TO_FIX_POINT_MODEL 7 +#define LANDING_MODEL 8 +#define LOOPING_MODEL 9 + +namespace gazebo +{ + +class GazeboQuadrotorSimpleController : public ModelPlugin +{ +public: + GazeboQuadrotorSimpleController(); + virtual ~GazeboQuadrotorSimpleController(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Update(); + virtual void Reset(); + +private: + /// \brief The parent World + physics::WorldPtr world; + + /// \brief The link referred to by this plugin + physics::LinkPtr link; + + ros::NodeHandle* node_handle_; + ros::CallbackQueue callback_queue_; + ros::Subscriber velocity_subscriber_; + ros::Subscriber imu_subscriber_; + ros::Subscriber state_subscriber_; + + // extra robot navi info subscriber + std::string navdata_topic_; + ros::Subscriber navdata_subscriber_; + unsigned int navi_state; + //*********************************** + + // void CallbackQueueThread(); + // boost::mutex lock_; + // boost::thread callback_queue_thread_; + + geometry_msgs::Twist velocity_command_; + // callback functions for subscribers + void VelocityCallback(const geometry_msgs::TwistConstPtr&); + void ImuCallback(const sensor_msgs::ImuConstPtr&); + void StateCallback(const nav_msgs::OdometryConstPtr&); + void NavdataCallback(const ardrone_autonomy::NavdataConstPtr& msg); + + ros::Time state_stamp; + math::Pose pose; + math::Vector3 euler, velocity, acceleration, angular_velocity; + + std::string link_name_; + std::string namespace_; + std::string velocity_topic_; + std::string imu_topic_; + std::string state_topic_; + double max_force_; + double motion_small_noise_; + double motion_drift_noise_; + double motion_drift_noise_time_; + + class PIDController { + public: + PIDController(); + virtual ~PIDController(); + virtual void Load(sdf::ElementPtr _sdf, const std::string& prefix = ""); + + double gain_p; + double gain_i; + double gain_d; + double time_constant; + double limit; + + double input; + double dinput; + double output; + double p, i, d; + + double update(double input, double x, double dx, double dt); + void reset(); + }; + + struct Controllers { + PIDController roll; + PIDController pitch; + PIDController yaw; + PIDController velocity_x; + PIDController velocity_y; + PIDController velocity_z; + } controllers_; + + math::Vector3 inertia; + double mass; + + /// \brief save last_time + common::Time last_time; + + // Pointer to the update event connection + event::ConnectionPtr updateConnection; +}; + +} + +#endif // HECTOR_GAZEBO_PLUGINS_QUADROTOR_SIMPLE_CONTROLLER_H diff --git a/cvg_sim_gazebo_plugins/include/hector_quadrotor_controller/quadrotor_state_controller.h b/cvg_sim_gazebo_plugins/include/hector_quadrotor_controller/quadrotor_state_controller.h new file mode 100644 index 0000000..6b945d2 --- /dev/null +++ b/cvg_sim_gazebo_plugins/include/hector_quadrotor_controller/quadrotor_state_controller.h @@ -0,0 +1,165 @@ +/* +* quadrotor_state_controller: +* +* This software is a state control gazebo plugin for the Ardrone simulator +* +* It receives the joystick command and the current simulator information to generate corresponding information in rostopic /ardrone/navdata +* +* Created on: Oct 22, 2012 +* Author: Hongrong huang +* +* +*/ + +#ifndef HECTOR_GAZEBO_PLUGINS_quadrotor_state_controller_H +#define HECTOR_GAZEBO_PLUGINS_quadrotor_state_controller_H + +#include "gazebo/gazebo.hh" +#include "common/Plugin.hh" + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// for camera control +#include +#include +#include + +#define UNKNOWN_MODEL 0 +#define INITIALIZE_MODEL 1 +#define LANDED_MODEL 2 +#define FLYING_MODEL 3 +#define HOVERING_MODEL 4 +#define TESTING_MODEL 5 +#define TAKINGOFF_MODEL 6 +#define TO_FIX_POINT_MODEL 7 +#define LANDING_MODEL 8 +#define LOOPING_MODEL 9 + + +namespace gazebo +{ + +class GazeboQuadrotorStateController : public ModelPlugin +{ +public: + GazeboQuadrotorStateController(); + virtual ~GazeboQuadrotorStateController(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Update(); + virtual void Reset(); + +private: + /// \brief The parent World + physics::WorldPtr world; + + /// \brief The link referred to by this plugin + physics::LinkPtr link; + + ros::NodeHandle* node_handle_; + ros::CallbackQueue callback_queue_; + ros::Subscriber velocity_subscriber_; + ros::Subscriber imu_subscriber_; + ros::Subscriber sonar_subscriber_; + ros::Subscriber state_subscriber_; + + // extra robot control command + ros::Subscriber takeoff_subscriber_; + ros::Subscriber land_subscriber_; + ros::Subscriber reset_subscriber_; + + ros::Publisher m_navdataPub; + + // extra camera control command + int m_selected_cam_num; + ros::ServiceServer toggleCam_service; + ros::Subscriber camera_info_front_subscriber_; + ros::Subscriber camera_info_bottom_subscriber_; + ros::Publisher camera_info_publisher_; + image_transport::ImageTransport* camera_it_; + image_transport::Subscriber camera_front_subscriber_; + image_transport::Subscriber camera_bottom_subscriber_; + image_transport::Publisher camera_publisher_; + + //*********************************** + + // void CallbackQueueThread(); + // boost::mutex lock_; + // boost::thread callback_queue_thread_; + + geometry_msgs::Twist velocity_command_; + // callback functions for subscribers + void VelocityCallback(const geometry_msgs::TwistConstPtr&); + void TakeoffCallback(const std_msgs::EmptyConstPtr&); + void LandCallback(const std_msgs::EmptyConstPtr&); + void ResetCallback(const std_msgs::EmptyConstPtr&); + void ImuCallback(const sensor_msgs::ImuConstPtr&); + void SonarCallback(const sensor_msgs::RangeConstPtr&); + void StateCallback(const nav_msgs::OdometryConstPtr&); + void CameraFrontCallback(const sensor_msgs::ImageConstPtr&); + void CameraBottomCallback(const sensor_msgs::ImageConstPtr&); + void CameraInfoFrontCallback(const sensor_msgs::CameraInfoConstPtr&); + void CameraInfoBottomCallback(const sensor_msgs::CameraInfoConstPtr&); + + // service functions + bool setCamChannelCallback(ardrone_autonomy::CamSelect::Request& request, ardrone_autonomy::CamSelect::Response& response); + bool toggleCamCallback(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); + bool toggleNavdataDemoCallback(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); + bool setLedAnimationCallback(ardrone_autonomy::LedAnim::Request& request, ardrone_autonomy::LedAnim::Response& response); + + ros::Time state_stamp; + math::Pose pose; + math::Vector3 euler, velocity, acceleration, angular_velocity; + double robot_altitude; + // 0: Unknown, 1: Init, 2: Landed, 3: Flying, 4: Hovering, 5: Test + // 6: Taking off, 7: Goto Fix Point, 8: Landing, 9: Looping + // Note: 3,7 seems to discriminate type of flying (isFly = 3 | 7) + unsigned int robot_current_state; + + std::string link_name_; + std::string namespace_; + std::string velocity_topic_; + std::string takeoff_topic_; + std::string land_topic_; + std::string reset_topic_; + std::string navdata_topic_; + + std::string imu_topic_; + std::string sonar_topic_; + std::string state_topic_; + + // extra parameters for robot control. + bool m_isFlying; + bool m_takeoff; + bool m_drainBattery; + double m_batteryPercentage; + double m_maxFlightTime; + double m_timeAfterTakeOff; + //*********************************** + + /// \brief save last_time + common::Time last_time; + /// last navigation data + //ardrone_autonomy::Navdata last_navdata; + /// filter rate + //double filter_rate; + + // Pointer to the update event connection + event::ConnectionPtr updateConnection; +}; + +} + +#endif // HECTOR_GAZEBO_PLUGINS_quadrotor_state_controller_H diff --git a/cvg_sim_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_ros_baro.h b/cvg_sim_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_ros_baro.h new file mode 100644 index 0000000..62fdc65 --- /dev/null +++ b/cvg_sim_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_ros_baro.h @@ -0,0 +1,98 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H +#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H + +#include "gazebo/gazebo.hh" +#include "common/Plugin.hh" + +#include +#ifdef USE_MAV_MSGS + #include +#else + #include +#endif +#include + +#include + +namespace gazebo +{ + +class GazeboRosBaro : public ModelPlugin +{ +public: + GazeboRosBaro(); + virtual ~GazeboRosBaro(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Reset(); + virtual void Update(); + +private: + /// \brief The parent World + physics::WorldPtr world; + + /// \brief The link referred to by this plugin + physics::LinkPtr link; + + ros::NodeHandle* node_handle_; + ros::Publisher height_publisher_; + ros::Publisher altimeter_publisher_; + +#ifdef USE_MAV_MSGS + mav_msgs::Height height_; +#else + geometry_msgs::PointStamped height_; +#endif + cvg_sim_msgs::Altimeter altimeter_; + + std::string namespace_; + std::string height_topic_; + std::string altimeter_topic_; + std::string link_name_; + std::string frame_id_; + + double elevation_; + double qnh_; + + SensorModel sensor_model_; + + /// \brief save last_time + common::Time last_time; + common::Time update_period; + + // Pointer to the update event connection + event::ConnectionPtr updateConnection; +}; + +} // namespace gazebo + +#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H diff --git a/cvg_sim_gazebo_plugins/package.xml b/cvg_sim_gazebo_plugins/package.xml new file mode 100644 index 0000000..4e9ec34 --- /dev/null +++ b/cvg_sim_gazebo_plugins/package.xml @@ -0,0 +1,66 @@ + + + cvg_sim_gazebo_plugins + 0.0.0 + The cvg_sim_gazebo_plugins package + + + + + elliot + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + ardrone_autonomy + gazebo_ros + geometry_msgs + image_transport + nav_msgs + roscpp + sensor_msgs + std_msgs + ardrone_autonomy + gazebo_ros + geometry_msgs + image_transport + nav_msgs + roscpp + sensor_msgs + std_msgs + + + + + + + + diff --git a/cvg_sim_gazebo_plugins/src/cvg_sim_gazebo_plugins/__init__.py b/cvg_sim_gazebo_plugins/src/cvg_sim_gazebo_plugins/__init__.py new file mode 100644 index 0000000..b23e43d --- /dev/null +++ b/cvg_sim_gazebo_plugins/src/cvg_sim_gazebo_plugins/__init__.py @@ -0,0 +1 @@ +#autogenerated by ROS python message generators \ No newline at end of file diff --git a/cvg_sim_gazebo_plugins/src/diffdrive_plugin_6w.cpp b/cvg_sim_gazebo_plugins/src/diffdrive_plugin_6w.cpp new file mode 100644 index 0000000..53a68ff --- /dev/null +++ b/cvg_sim_gazebo_plugins/src/diffdrive_plugin_6w.cpp @@ -0,0 +1,339 @@ +//================================================================================================= +// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Simulation, Systems Optimization and Robotics +// group, TU Darmstadt nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +/** + * Based on diffdrive_plugin by Nathan Koenig, Andrew Howard and Daniel Hewlett + */ + +#include +#include + +#include +#include "common/Events.hh" +#include "physics/physics.hh" + +#include +#include +#include +#include +#include +#include + +namespace gazebo { + +enum +{ + FRONT_LEFT, + FRONT_RIGHT, + MID_LEFT, + MID_RIGHT, + REAR_LEFT, + REAR_RIGHT, + NUM_WHEELS +}; + +// Constructor +DiffDrivePlugin6W::DiffDrivePlugin6W() +{ +} + +// Destructor +DiffDrivePlugin6W::~DiffDrivePlugin6W() +{ + event::Events::DisconnectWorldUpdateStart(updateConnection); + delete transform_broadcaster_; + rosnode_->shutdown(); + callback_queue_thread_.join(); + delete rosnode_; +} + +// Load the controller +void DiffDrivePlugin6W::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + world = _model->GetWorld(); + + // load parameters + if (!_sdf->HasElement("robotNamespace")) + robotNamespace.clear(); + else + robotNamespace = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + + if (!_sdf->HasElement("topicName")) + topicName = "cmd_vel"; + else + topicName = _sdf->GetElement("topicName")->GetValueString(); + + if (!_sdf->HasElement("bodyName")) + { + link = _model->GetLink(); + linkName = link->GetName(); + } + else { + linkName = _sdf->GetElement("bodyName")->GetValueString(); + link = boost::shared_dynamic_cast(world->GetEntity(_sdf->GetElement("bodyName")->GetValueString())); + } + + // assert that the body by linkName exists + if (!link) + { + ROS_FATAL("DiffDrivePlugin6W plugin error: bodyName: %s does not exist\n", linkName.c_str()); + return; + } + + if (_sdf->HasElement("frontLeftJoint")) joints[FRONT_LEFT] = _model->GetJoint(_sdf->GetElement("frontLeftJoint")->GetValueString()); + if (_sdf->HasElement("frontRightJoint")) joints[FRONT_RIGHT] = _model->GetJoint(_sdf->GetElement("frontRightJoint")->GetValueString()); + if (_sdf->HasElement("midLeftJoint")) joints[MID_LEFT] = _model->GetJoint(_sdf->GetElement("midLeftJoint")->GetValueString()); + if (_sdf->HasElement("midRightJoint")) joints[MID_RIGHT] = _model->GetJoint(_sdf->GetElement("midRightJoint")->GetValueString()); + if (_sdf->HasElement("rearLeftJoint")) joints[REAR_LEFT] = _model->GetJoint(_sdf->GetElement("rearLeftJoint")->GetValueString()); + if (_sdf->HasElement("rearRightJoint")) joints[REAR_RIGHT] = _model->GetJoint(_sdf->GetElement("rearRightJoint")->GetValueString()); + + if (!joints[FRONT_LEFT]) ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get front left joint"); + if (!joints[FRONT_RIGHT]) ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get front right joint"); + if (!joints[MID_LEFT]) ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get mid left joint"); + if (!joints[MID_RIGHT]) ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get mid right joint"); + if (!joints[REAR_LEFT]) ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get rear left joint"); + if (!joints[REAR_RIGHT]) ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get rear right joint"); + + if (!_sdf->HasElement("wheelSeparation")) + wheelSep = 0.34; + else + wheelSep = _sdf->GetElement("wheelSeparation")->GetValueDouble(); + + if (!_sdf->HasElement("wheelDiameter")) + wheelDiam = 0.15; + else + wheelDiam = _sdf->GetElement("wheelDiameter")->GetValueDouble(); + + if (!_sdf->HasElement("torque")) + torque = 10.0; + else + torque = _sdf->GetElement("torque")->GetValueDouble(); + + // start ros node + if (!ros::isInitialized()) + { + int argc = 0; + char** argv = NULL; + ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName); + } + + rosnode_ = new ros::NodeHandle(robotNamespace); + + tf_prefix_ = tf::getPrefixParam(*rosnode_); + transform_broadcaster_ = new tf::TransformBroadcaster(); + + // ROS: Subscribe to the velocity command topic (usually "cmd_vel") + ros::SubscribeOptions so = + ros::SubscribeOptions::create(topicName, 1, + boost::bind(&DiffDrivePlugin6W::cmdVelCallback, this, _1), + ros::VoidPtr(), &queue_); + sub_ = rosnode_->subscribe(so); + pub_ = rosnode_->advertise("odom", 1); + + callback_queue_thread_ = boost::thread(boost::bind(&DiffDrivePlugin6W::QueueThread, this)); + + Reset(); + + // New Mechanism for Updating every World Cycle + // Listen to the update event. This event is broadcast every + // simulation iteration. + updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&DiffDrivePlugin6W::Update, this)); +} + +// Initialize the controller +void DiffDrivePlugin6W::Reset() +{ + enableMotors = true; + + for (size_t i = 0; i < 2; ++i){ + wheelSpeed[i] = 0; + } + + prevUpdateTime = world->GetSimTime(); + + x_ = 0; + rot_ = 0; + alive_ = true; + + // Reset odometric pose + odomPose[0] = 0.0; + odomPose[1] = 0.0; + odomPose[2] = 0.0; + + odomVel[0] = 0.0; + odomVel[1] = 0.0; + odomVel[2] = 0.0; +} + +// Update the controller +void DiffDrivePlugin6W::Update() +{ + // TODO: Step should be in a parameter of this function + double d1, d2; + double dr, da; + common::Time stepTime; + + GetPositionCmd(); + + //stepTime = World::Instance()->GetPhysicsEngine()->GetStepTime(); + stepTime = world->GetSimTime() - prevUpdateTime; + prevUpdateTime = world->GetSimTime(); + + // Distance travelled by front wheels + d1 = stepTime.Double() * wheelDiam / 2 * joints[MID_LEFT]->GetVelocity(0); + d2 = stepTime.Double() * wheelDiam / 2 * joints[MID_RIGHT]->GetVelocity(0); + + dr = (d1 + d2) / 2; + da = (d1 - d2) / wheelSep; + + // Compute odometric pose + odomPose[0] += dr * cos(odomPose[2]); + odomPose[1] += dr * sin(odomPose[2]); + odomPose[2] += da; + + // Compute odometric instantaneous velocity + odomVel[0] = dr / stepTime.Double(); + odomVel[1] = 0.0; + odomVel[2] = da / stepTime.Double(); + + if (enableMotors) + { + joints[FRONT_LEFT]->SetVelocity(0, wheelSpeed[0] / (wheelDiam / 2.0)); + joints[MID_LEFT]->SetVelocity(0, wheelSpeed[0] / (wheelDiam / 2.0)); + joints[REAR_LEFT]->SetVelocity(0, wheelSpeed[0] / (wheelDiam / 2.0)); + + joints[FRONT_RIGHT]->SetVelocity(0, wheelSpeed[1] / (wheelDiam / 2.0)); + joints[MID_RIGHT]->SetVelocity(0, wheelSpeed[1] / (wheelDiam / 2.0)); + joints[REAR_RIGHT]->SetVelocity(0, wheelSpeed[1] / (wheelDiam / 2.0)); + + joints[FRONT_LEFT]->SetMaxForce(0, torque); + joints[MID_LEFT]->SetMaxForce(0, torque); + joints[REAR_LEFT]->SetMaxForce(0, torque); + + joints[FRONT_RIGHT]->SetMaxForce(0, torque); + joints[MID_RIGHT]->SetMaxForce(0, torque); + joints[REAR_RIGHT]->SetMaxForce(0, torque); + } + + //publish_odometry(); +} + +// NEW: Now uses the target velocities from the ROS message, not the Iface +void DiffDrivePlugin6W::GetPositionCmd() +{ + lock.lock(); + + double vr, va; + + vr = x_; //myIface->data->cmdVelocity.pos.x; + va = -rot_; //myIface->data->cmdVelocity.yaw; + + //std::cout << "X: [" << x_ << "] ROT: [" << rot_ << "]" << std::endl; + + // Changed motors to be always on, which is probably what we want anyway + enableMotors = true; //myIface->data->cmdEnableMotors > 0; + + //std::cout << enableMotors << std::endl; + + wheelSpeed[0] = vr + va * wheelSep / 2; + wheelSpeed[1] = vr - va * wheelSep / 2; + + lock.unlock(); +} + +// NEW: Store the velocities from the ROS message +void DiffDrivePlugin6W::cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg) +{ + //std::cout << "BEGIN CALLBACK\n"; + + lock.lock(); + + x_ = cmd_msg->linear.x; + rot_ = cmd_msg->angular.z; + + lock.unlock(); + + //std::cout << "END CALLBACK\n"; +} + +// NEW: custom callback queue thread +void DiffDrivePlugin6W::QueueThread() +{ + static const double timeout = 0.01; + + while (alive_ && rosnode_->ok()) + { + // std::cout << "CALLING STUFF\n"; + queue_.callAvailable(ros::WallDuration(timeout)); + } +} + +// NEW: Update this to publish odometry topic +void DiffDrivePlugin6W::publish_odometry() +{ + // get current time + ros::Time current_time_((world->GetSimTime()).sec, (world->GetSimTime()).nsec); + + // getting data for base_footprint to odom transform + math::Pose pose = link->GetWorldPose(); + math::Vector3 velocity = link->GetWorldLinearVel(); + math::Vector3 angular_velocity = link->GetWorldAngularVel(); + + tf::Quaternion qt(pose.rot.x, pose.rot.y, pose.rot.z, pose.rot.w); + tf::Vector3 vt(pose.pos.x, pose.pos.y, pose.pos.z); + tf::Transform base_footprint_to_odom(qt, vt); + + transform_broadcaster_->sendTransform(tf::StampedTransform(base_footprint_to_odom, + current_time_, + "odom", + "base_footprint")); + + // publish odom topic + odom_.pose.pose.position.x = pose.pos.x; + odom_.pose.pose.position.y = pose.pos.y; + + odom_.pose.pose.orientation.x = pose.rot.x; + odom_.pose.pose.orientation.y = pose.rot.y; + odom_.pose.pose.orientation.z = pose.rot.z; + odom_.pose.pose.orientation.w = pose.rot.w; + + odom_.twist.twist.linear.x = velocity.x; + odom_.twist.twist.linear.y = velocity.y; + odom_.twist.twist.angular.z = angular_velocity.z; + + odom_.header.frame_id = tf::resolve(tf_prefix_, "odom"); + odom_.child_frame_id = "base_footprint"; + odom_.header.stamp = current_time_; + + pub_.publish(odom_); +} + +GZ_REGISTER_MODEL_PLUGIN(DiffDrivePlugin6W) + +} // namespace gazebo diff --git a/cvg_sim_gazebo_plugins/src/gazebo_ros_baro.cpp b/cvg_sim_gazebo_plugins/src/gazebo_ros_baro.cpp new file mode 100644 index 0000000..3876a5b --- /dev/null +++ b/cvg_sim_gazebo_plugins/src/gazebo_ros_baro.cpp @@ -0,0 +1,189 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include +#include "common/Events.hh" +#include "physics/physics.hh" + +static const double DEFAULT_ELEVATION = 0.0; +static const double DEFAULT_QNH = 1013.25; + +namespace gazebo { + +GazeboRosBaro::GazeboRosBaro() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboRosBaro::~GazeboRosBaro() +{ + event::Events::DisconnectWorldUpdateStart(updateConnection); + + node_handle_->shutdown(); + delete node_handle_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboRosBaro::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + world = _model->GetWorld(); + + // load parameters + if (!_sdf->HasElement("robotNamespace")) + namespace_.clear(); + else + namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + + if (!_sdf->HasElement("bodyName")) + { + link = _model->GetLink(); + link_name_ = link->GetName(); + } + else { + link_name_ = _sdf->GetElement("bodyName")->GetValueString(); + link = boost::shared_dynamic_cast(world->GetEntity(link_name_)); + } + + if (!link) + { + ROS_FATAL("gazebo_ros_baro plugin error: bodyName: %s does not exist\n", link_name_.c_str()); + return; + } + + double update_rate = 0.0; + if (_sdf->HasElement("updateRate")) update_rate = _sdf->GetElement("updateRate")->GetValueDouble(); + update_period = update_rate > 0.0 ? 1.0/update_rate : 0.0; + + if (!_sdf->HasElement("frameId")) + frame_id_ = link->GetName(); + else + frame_id_ = _sdf->GetElement("frameId")->GetValueString(); + + if (!_sdf->HasElement("topicName")) + height_topic_ = "pressure_height"; + else + height_topic_ = _sdf->GetElement("topicName")->GetValueString(); + + if (!_sdf->HasElement("altimeterTopicName")) + altimeter_topic_ = "altimeter"; + else + altimeter_topic_ = _sdf->GetElement("altimeterTopicName")->GetValueString(); + + if (!_sdf->HasElement("elevation")) + elevation_ = DEFAULT_ELEVATION; + else + elevation_ = _sdf->GetElement("elevation")->GetValueDouble(); + + if (!_sdf->HasElement("qnh")) + qnh_ = DEFAULT_QNH; + else + qnh_ = _sdf->GetElement("qnh")->GetValueDouble(); + + sensor_model_.Load(_sdf); + height_.header.frame_id = frame_id_; + + // start ros node + if (!ros::isInitialized()) + { + int argc = 0; + char **argv = NULL; + ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName); + } + + node_handle_ = new ros::NodeHandle(namespace_); + if (!height_topic_.empty()) { +#ifdef USE_MAV_MSGS + height_publisher_ = node_handle_->advertise(height_topic_, 10); +#else + height_publisher_ = node_handle_->advertise(height_topic_, 10); +#endif + } + + if (!altimeter_topic_.empty()) { + altimeter_publisher_ = node_handle_->advertise(altimeter_topic_, 10); + } + + Reset(); + + // New Mechanism for Updating every World Cycle + // Listen to the update event. This event is broadcast every + // simulation iteration. + updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&GazeboRosBaro::Update, this)); +} + +void GazeboRosBaro::Reset() +{ + sensor_model_.reset(); +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboRosBaro::Update() +{ + common::Time sim_time = world->GetSimTime(); + double dt = (sim_time - last_time).Double(); + if (last_time + update_period > sim_time) return; + + math::Pose pose = link->GetWorldPose(); + double height = sensor_model_(pose.pos.z, dt); + + if (height_publisher_) { +#ifdef USE_MAV_MSGS + double previous_height = height_.height; + height_.header.stamp = ros::Time(sim_time.sec, sim_time.nsec); + height_.height = height; + height_.height_variance = sensor_model_.gaussian_noise*sensor_model_.gaussian_noise + sensor_model_.drift*sensor_model_.drift; + height_.climb = dt > 0.0 ? (height_.height - previous_height) / dt : 0.0; + height_.climb_variance = sensor_model_.gaussian_noise*sensor_model_.gaussian_noise; +#else + height_.header.stamp = ros::Time(sim_time.sec, sim_time.nsec); + height_.point.z = height; +#endif + + height_publisher_.publish(height_); + } + + if (altimeter_publisher_) { + altimeter_.header = height_.header; + altimeter_.altitude = height + elevation_; + altimeter_.pressure = pow((1.0 - altimeter_.altitude / 44330.0), 5.263157) * qnh_; + altimeter_.qnh = qnh_; + altimeter_publisher_.publish(altimeter_); + } + + // save last time stamp + last_time = sim_time; +} + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboRosBaro) + +} // namespace gazebo diff --git a/cvg_sim_gazebo_plugins/src/gazebo_ros_gps.cpp b/cvg_sim_gazebo_plugins/src/gazebo_ros_gps.cpp new file mode 100644 index 0000000..a13f18d --- /dev/null +++ b/cvg_sim_gazebo_plugins/src/gazebo_ros_gps.cpp @@ -0,0 +1,203 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include +#include "common/Events.hh" +#include "physics/physics.hh" + +static const double EARTH_RADIUS = 6371000.0; +static const double DEFAULT_REFERENCE_LATITUDE = 49.9; +static const double DEFAULT_REFERENCE_LONGITUDE = 8.9; +static const double DEFAULT_REFERENCE_HEADING = 0.0; +static const double DEFAULT_REFERENCE_ALTITUDE = 0.0; + +namespace gazebo { + +GazeboRosGps::GazeboRosGps() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboRosGps::~GazeboRosGps() +{ + event::Events::DisconnectWorldUpdateStart(updateConnection); + node_handle_->shutdown(); + delete node_handle_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboRosGps::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + world = _model->GetWorld(); + + // load parameters + if (!_sdf->HasElement("robotNamespace")) + namespace_.clear(); + else + namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + + if (!_sdf->HasElement("bodyName")) + { + link = _model->GetLink(); + link_name_ = link->GetName(); + } + else { + link_name_ = _sdf->GetElement("bodyName")->GetValueString(); + link = boost::shared_dynamic_cast(world->GetEntity(link_name_)); + } + + if (!link) + { + ROS_FATAL("GazeboRosGps plugin error: bodyName: %s does not exist\n", link_name_.c_str()); + return; + } + + double update_rate = 4.0; + if (_sdf->HasElement("updateRate")) update_rate = _sdf->GetElement("updateRate")->GetValueDouble(); + update_period = update_rate > 0.0 ? 1.0/update_rate : 0.0; + + if (!_sdf->HasElement("frameId")) + frame_id_ = link_name_; + else + frame_id_ = _sdf->GetElement("frameId")->GetValueString(); + + if (!_sdf->HasElement("topicName")) + fix_topic_ = "fix"; + else + fix_topic_ = _sdf->GetElement("topicName")->GetValueString(); + + if (!_sdf->HasElement("velocityTopicName")) + velocity_topic_ = "fix_velocity"; + else + velocity_topic_ = _sdf->GetElement("velocityTopicName")->GetValueString(); + + if (!_sdf->HasElement("referenceLatitude")) + reference_latitude_ = DEFAULT_REFERENCE_LATITUDE; + else + reference_latitude_ = _sdf->GetElement("referenceLatitude")->GetValueDouble(); + + if (!_sdf->HasElement("referenceLongitude")) + reference_longitude_ = DEFAULT_REFERENCE_LONGITUDE; + else + reference_longitude_ = _sdf->GetElement("referenceLongitude")->GetValueDouble(); + + if (!_sdf->HasElement("referenceHeading")) + reference_heading_ = DEFAULT_REFERENCE_HEADING * M_PI/180.0; + else + reference_heading_ = _sdf->GetElement("referenceLatitude")->GetValueDouble() * M_PI/180.0; + + if (!_sdf->HasElement("referenceAltitude")) + reference_altitude_ = DEFAULT_REFERENCE_ALTITUDE; + else + reference_altitude_ = _sdf->GetElement("referenceLatitude")->GetValueDouble(); + + if (!_sdf->HasElement("status")) + status_ = sensor_msgs::NavSatStatus::STATUS_FIX; + else + status_ = _sdf->GetElement("status")->GetValueUInt(); + + if (!_sdf->HasElement("service")) + service_ = sensor_msgs::NavSatStatus::SERVICE_GPS; + else + service_ = _sdf->GetElement("service")->GetValueUInt(); + + fix_.header.frame_id = frame_id_; + fix_.status.status = status_; + fix_.status.service = service_; + velocity_.header.frame_id = frame_id_; + + position_error_model_.Load(_sdf); + velocity_error_model_.Load(_sdf, "velocity"); + + // start ros node + if (!ros::isInitialized()) + { + int argc = 0; + char** argv = NULL; + ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName); + } + + node_handle_ = new ros::NodeHandle(namespace_); + fix_publisher_ = node_handle_->advertise(fix_topic_, 10); + velocity_publisher_ = node_handle_->advertise(velocity_topic_, 10); + + Reset(); + + // New Mechanism for Updating every World Cycle + // Listen to the update event. This event is broadcast every + // simulation iteration. + updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&GazeboRosGps::Update, this)); +} + +void GazeboRosGps::Reset() +{ + last_time = world->GetSimTime(); + + position_error_model_.reset(); + velocity_error_model_.reset(); +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboRosGps::Update() +{ + common::Time sim_time = world->GetSimTime(); + double dt = (sim_time - last_time).Double(); + if (last_time + update_period > sim_time) return; + + math::Pose pose = link->GetWorldPose(); + + gazebo::math::Vector3 velocity = velocity_error_model_(link->GetWorldLinearVel(), dt); + position_error_model_.setCurrentDrift(position_error_model_.getCurrentDrift() + velocity_error_model_.getCurrentError() * dt); + gazebo::math::Vector3 position = position_error_model_(pose.pos, dt); + + fix_.header.stamp = ros::Time(sim_time.sec, sim_time.nsec); + velocity_.header.stamp = fix_.header.stamp; + + fix_.latitude = reference_latitude_ + ( cos(reference_heading_) * position.x + sin(reference_heading_) * position.y) / EARTH_RADIUS * 180.0/M_PI; + fix_.longitude = reference_longitude_ - (-sin(reference_heading_) * position.x + cos(reference_heading_) * position.y) / EARTH_RADIUS * 180.0/M_PI * cos(fix_.latitude); + fix_.altitude = reference_altitude_ + position.z; + fix_.position_covariance_type = sensor_msgs::NavSatFix::COVARIANCE_TYPE_UNKNOWN; + velocity_.vector.x = cos(reference_heading_) * velocity.x + sin(reference_heading_) * velocity.y; + velocity_.vector.y = -sin(reference_heading_) * velocity.x + cos(reference_heading_) * velocity.y; + velocity_.vector.z = velocity.z; + + fix_publisher_.publish(fix_); + velocity_publisher_.publish(velocity_); + + // save last time stamp + last_time = sim_time; +} + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboRosGps) + +} // namespace gazebo diff --git a/cvg_sim_gazebo_plugins/src/gazebo_ros_imu.cpp b/cvg_sim_gazebo_plugins/src/gazebo_ros_imu.cpp new file mode 100644 index 0000000..4eb1ccf --- /dev/null +++ b/cvg_sim_gazebo_plugins/src/gazebo_ros_imu.cpp @@ -0,0 +1,369 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= +// This code is based on the original gazebo_ros_imu plugin by Sachin Chitta and John Hsu: +/* + * Gazebo - Outdoor Multi-Robot Simulator + * Copyright (C) 2003 + * Nate Koenig & Andrew Howard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/* + * Desc: 3D position interface. + * Author: Sachin Chitta and John Hsu + * Date: 10 June 2008 + * SVN: $Id$ + */ +//================================================================================================= + +#include +#include "common/Events.hh" +#include "physics/physics.hh" + +namespace gazebo +{ + +// #define DEBUG_OUTPUT +#ifdef DEBUG_OUTPUT + #include + static ros::Publisher debugPublisher; +#endif // DEBUG_OUTPUT + +//////////////////////////////////////////////////////////////////////////////// +// Constructor +GazeboRosIMU::GazeboRosIMU() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboRosIMU::~GazeboRosIMU() +{ + event::Events::DisconnectWorldUpdateStart(updateConnection); + + node_handle_->shutdown(); +#ifdef USE_CBQ + callback_queue_thread_.join(); +#endif + delete node_handle_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboRosIMU::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + // Get the world name. + world = _model->GetWorld(); + + // load parameters + if (!_sdf->HasElement("robotNamespace")) + robotNamespace.clear(); + else + robotNamespace = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + + if (!_sdf->HasElement("bodyName")) + { + link = _model->GetLink(); + linkName = link->GetName(); + } + else { + linkName = _sdf->GetElement("bodyName")->GetValueString(); + link = boost::shared_dynamic_cast(world->GetEntity(linkName)); + } + + // assert that the body by linkName exists + if (!link) + { + ROS_FATAL("GazeboRosIMU plugin error: bodyName: %s does not exist\n", linkName.c_str()); + return; + } + + double update_rate = 0.0; + if (_sdf->HasElement("updateRate")) update_rate = _sdf->GetElement("updateRate")->GetValueDouble(); + update_period = update_rate > 0.0 ? 1.0/update_rate : 0.0; + + if (!_sdf->HasElement("frameId")) + frameId = linkName; + else + frameId = _sdf->GetElement("frameId")->GetValueString(); + + if (!_sdf->HasElement("topicName")) + topicName = "imu"; + else + topicName = _sdf->GetElement("topicName")->GetValueString(); + + if (!_sdf->HasElement("serviceName")) + serviceName = topicName + "/calibrate"; + else + serviceName = _sdf->GetElement("serviceName")->GetValueString(); + + accelModel.Load(_sdf, "accel"); + rateModel.Load(_sdf, "rate"); + headingModel.Load(_sdf, "heading"); + + // also use old configuration variables from gazebo_ros_imu + if (_sdf->HasElement("gaussianNoise")) { + double gaussianNoise = _sdf->GetElement("gaussianNoise")->GetValueDouble(); + if (gaussianNoise != 0.0) { + accelModel.gaussian_noise = gaussianNoise; + rateModel.gaussian_noise = gaussianNoise; + } + } + + if (_sdf->HasElement("rpyOffset")) { + sdf::Vector3 sdfVec = _sdf->GetElement("rpyOffset")->GetValueVector3(); + math::Vector3 rpyOffset = math::Vector3(sdfVec.x, sdfVec.y, sdfVec.z); + if (accelModel.offset.y == 0.0 && rpyOffset.x != 0.0) accelModel.offset.y = -rpyOffset.x * 9.8065; + if (accelModel.offset.x == 0.0 && rpyOffset.y != 0.0) accelModel.offset.x = rpyOffset.y * 9.8065; + if (headingModel.offset == 0.0 && rpyOffset.z != 0.0) headingModel.offset = rpyOffset.z; + } + + // fill in constant covariance matrix + imuMsg.angular_velocity_covariance[0] = rateModel.gaussian_noise.x*rateModel.gaussian_noise.x; + imuMsg.angular_velocity_covariance[4] = rateModel.gaussian_noise.y*rateModel.gaussian_noise.y; + imuMsg.angular_velocity_covariance[8] = rateModel.gaussian_noise.z*rateModel.gaussian_noise.z; + imuMsg.linear_acceleration_covariance[0] = accelModel.gaussian_noise.x*accelModel.gaussian_noise.x; + imuMsg.linear_acceleration_covariance[4] = accelModel.gaussian_noise.y*accelModel.gaussian_noise.y; + imuMsg.linear_acceleration_covariance[8] = accelModel.gaussian_noise.z*accelModel.gaussian_noise.z; + + // start ros node + if (!ros::isInitialized()) + { + int argc = 0; + char** argv = NULL; + ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName); + } + + node_handle_ = new ros::NodeHandle(robotNamespace); + + // if topic name specified as empty, do not publish (then what is this plugin good for?) + if (!topicName.empty()) + pub_ = node_handle_->advertise(topicName, 1); + +#ifdef DEBUG_OUTPUT + debugPublisher = rosnode_->advertise(topicName + "/pose", 10); +#endif // DEBUG_OUTPUT + + // advertise services for calibration and bias setting + if (!serviceName.empty()) + srv_ = node_handle_->advertiseService(serviceName, &GazeboRosIMU::ServiceCallback, this); + + accelBiasService = node_handle_->advertiseService(topicName + "/set_accel_bias", &GazeboRosIMU::SetAccelBiasCallback, this); + rateBiasService = node_handle_->advertiseService(topicName + "/set_rate_bias", &GazeboRosIMU::SetRateBiasCallback, this); + +#ifdef USE_CBQ + // start custom queue for imu + callback_queue_thread_ = boost::thread( boost::bind( &GazeboRosIMU::CallbackQueueThread,this ) ); +#endif + + Reset(); + + // New Mechanism for Updating every World Cycle + // Listen to the update event. This event is broadcast every + // simulation iteration. + updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&GazeboRosIMU::Update, this)); +} + +void GazeboRosIMU::Reset() +{ + last_time = world->GetSimTime(); + orientation = math::Quaternion(); + velocity = 0.0; + accel = 0.0; + + accelModel.reset(); + rateModel.reset(); + headingModel.reset(); +} + +//////////////////////////////////////////////////////////////////////////////// +// returns true always, imu is always calibrated in sim +bool GazeboRosIMU::ServiceCallback(std_srvs::Empty::Request &req, + std_srvs::Empty::Response &res) +{ + boost::mutex::scoped_lock scoped_lock(lock); + rateModel.reset(); + return true; +} + +bool GazeboRosIMU::SetAccelBiasCallback(cvg_sim_gazebo_plugins::SetBias::Request &req, cvg_sim_gazebo_plugins::SetBias::Response &res) +{ + boost::mutex::scoped_lock scoped_lock(lock); + accelModel.reset(math::Vector3(req.bias.x, req.bias.y, req.bias.z)); + return true; +} + +bool GazeboRosIMU::SetRateBiasCallback(cvg_sim_gazebo_plugins::SetBias::Request &req, cvg_sim_gazebo_plugins::SetBias::Response &res) +{ + boost::mutex::scoped_lock scoped_lock(lock); + rateModel.reset(math::Vector3(req.bias.x, req.bias.y, req.bias.z)); + return true; +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboRosIMU::Update() +{ + // Get Time Difference dt + common::Time cur_time = world->GetSimTime(); + double dt = (cur_time - last_time).Double(); + if (last_time + update_period > cur_time) return; + + boost::mutex::scoped_lock scoped_lock(lock); + + // Get Pose/Orientation + math::Pose pose = link->GetWorldPose(); + + // get Acceleration and Angular Rates + // the result of GetRelativeLinearAccel() seems to be unreliable (sum of forces added during the current simulation step)? + //accel = myBody->GetRelativeLinearAccel(); // get acceleration in body frame + math::Vector3 temp = link->GetWorldLinearVel(); // get velocity in world frame + accel = pose.rot.RotateVectorReverse((temp - velocity) / dt); + velocity = temp; + + // GetRelativeAngularVel() sometimes return nan? + //rate = link->GetRelativeAngularVel(); // get angular rate in body frame + math::Quaternion delta = pose.rot - orientation; + orientation = pose.rot; + rate.x = 2.0 * (-orientation.x * delta.w + orientation.w * delta.x + orientation.z * delta.y - orientation.y * delta.z) / dt; + rate.y = 2.0 * (-orientation.y * delta.w - orientation.z * delta.x + orientation.w * delta.y + orientation.x * delta.z) / dt; + rate.z = 2.0 * (-orientation.z * delta.w + orientation.y * delta.x - orientation.x * delta.y + orientation.w * delta.z) / dt; + + // get Gravity + gravity = world->GetPhysicsEngine()->GetGravity(); + gravity_body = orientation.RotateVectorReverse(gravity); + double gravity_length = gravity.GetLength(); + ROS_DEBUG_NAMED("hector_gazebo_ros_imu", "gravity_world = [%g %g %g]", gravity.x, gravity.y, gravity.z); + + // add gravity vector to body acceleration + accel = accel - gravity_body; + + // update sensor models + accel = accel + accelModel.update(dt); + rate = rate + rateModel.update(dt); + headingModel.update(dt); + ROS_DEBUG_NAMED("hector_gazebo_ros_imu", "Current errors: accel = [%g %g %g], rate = [%g %g %g], heading = %g", + accelModel.getCurrentError().x, accelModel.getCurrentError().y, accelModel.getCurrentError().z, + rateModel.getCurrentError().x, rateModel.getCurrentError().y, rateModel.getCurrentError().z, + headingModel.getCurrentError()); + + // apply offset error to orientation (pseudo AHRS) + double normalization_constant = (gravity_body + accelModel.getCurrentError()).GetLength() * gravity_body.GetLength(); + double cos_alpha = (gravity_body + accelModel.getCurrentError()).Dot(gravity_body)/normalization_constant; + math::Vector3 normal_vector(gravity_body.Cross(accelModel.getCurrentError())); + normal_vector *= sqrt((1 - cos_alpha)/2)/normalization_constant; + math::Quaternion attitudeError(sqrt((1 + cos_alpha)/2), normal_vector.x, normal_vector.y, normal_vector.z); + math::Quaternion headingError(cos(headingModel.getCurrentError()/2),0,0,sin(headingModel.getCurrentError()/2)); + pose.rot = attitudeError * pose.rot * headingError; + + // copy data into pose message + imuMsg.header.frame_id = frameId; + imuMsg.header.stamp.sec = cur_time.sec; + imuMsg.header.stamp.nsec = cur_time.nsec; + + // orientation quaternion + imuMsg.orientation.x = pose.rot.x; + imuMsg.orientation.y = pose.rot.y; + imuMsg.orientation.z = pose.rot.z; + imuMsg.orientation.w = pose.rot.w; + + // pass angular rates + imuMsg.angular_velocity.x = rate.x; + imuMsg.angular_velocity.y = rate.y; + imuMsg.angular_velocity.z = rate.z; + + // pass accelerations + imuMsg.linear_acceleration.x = accel.x; + imuMsg.linear_acceleration.y = accel.y; + imuMsg.linear_acceleration.z = accel.z; + + // fill in covariance matrix + imuMsg.orientation_covariance[8] = headingModel.gaussian_noise*headingModel.gaussian_noise; + if (gravity_length > 0.0) { + imuMsg.orientation_covariance[0] = accelModel.gaussian_noise.x*accelModel.gaussian_noise.x/(gravity_length*gravity_length); + imuMsg.orientation_covariance[4] = accelModel.gaussian_noise.y*accelModel.gaussian_noise.y/(gravity_length*gravity_length); + } else { + imuMsg.orientation_covariance[0] = -1; + imuMsg.orientation_covariance[4] = -1; + } + + // publish to ros + pub_.publish(imuMsg); + + // debug output +#ifdef DEBUG_OUTPUT + if (debugPublisher) { + geometry_msgs::PoseStamped debugPose; + debugPose.header = imuMsg.header; + debugPose.header.frame_id = "/map"; + debugPose.pose.orientation.w = imuMsg.orientation.w; + debugPose.pose.orientation.x = imuMsg.orientation.x; + debugPose.pose.orientation.y = imuMsg.orientation.y; + debugPose.pose.orientation.z = imuMsg.orientation.z; + math::Pose pose = link->GetWorldPose(); + debugPose.pose.position.x = pose.pos.x; + debugPose.pose.position.y = pose.pos.y; + debugPose.pose.position.z = pose.pos.z; + debugPublisher.publish(debugPose); + } +#endif // DEBUG_OUTPUT + + // save last time stamp + last_time = cur_time; +} + +#ifdef USE_CBQ +void GazeboRosIMU::CallbackQueueThread() +{ + static const double timeout = 0.01; + + while (rosnode_->ok()) + { + callback_queue_.callAvailable(ros::WallDuration(timeout)); + } +} +#endif + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboRosIMU) + +} // namespace gazebo diff --git a/cvg_sim_gazebo_plugins/src/gazebo_ros_magnetic.cpp b/cvg_sim_gazebo_plugins/src/gazebo_ros_magnetic.cpp new file mode 100644 index 0000000..da62df4 --- /dev/null +++ b/cvg_sim_gazebo_plugins/src/gazebo_ros_magnetic.cpp @@ -0,0 +1,174 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include +#include "common/Events.hh" +#include "physics/physics.hh" + +static const double DEFAULT_MAGNITUDE = 1.0; +static const double DEFAULT_REFERENCE_HEADING = 0.0; +static const double DEFAULT_DECLINATION = 0.0; +static const double DEFAULT_INCLINATION = 60.0; + +namespace gazebo { + +GazeboRosMagnetic::GazeboRosMagnetic() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboRosMagnetic::~GazeboRosMagnetic() +{ + event::Events::DisconnectWorldUpdateStart(updateConnection); + + node_handle_->shutdown(); + delete node_handle_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboRosMagnetic::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + world = _model->GetWorld(); + + // load parameters + if (!_sdf->HasElement("robotNamespace")) + namespace_.clear(); + else + namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + + if (!_sdf->HasElement("topicName")) + topic_ = "magnetic"; + else + topic_ = _sdf->GetElement("topicName")->GetValueString(); + + if (!_sdf->HasElement("bodyName")) + { + link = _model->GetLink(); + link_name_ = link->GetName(); + } + else { + link_name_ = _sdf->GetElement("bodyName")->GetValueString(); + link = boost::shared_dynamic_cast(world->GetEntity(link_name_)); + } + + if (!link) + { + ROS_FATAL("GazeboRosMagnetic plugin error: bodyName: %s does not exist\n", link_name_.c_str()); + return; + } + + double update_rate = 0.0; + if (_sdf->HasElement("updateRate")) update_rate = _sdf->GetElement("updateRate")->GetValueDouble(); + update_period = update_rate > 0.0 ? 1.0/update_rate : 0.0; + + if (!_sdf->HasElement("frameId")) + frame_id_ = link_name_; + else + frame_id_ = _sdf->GetElement("frameId")->GetValueString(); + + if (!_sdf->HasElement("magnitude")) + magnitude_ = DEFAULT_MAGNITUDE; + else + magnitude_ = _sdf->GetElement("magnitude")->GetValueDouble(); + + if (!_sdf->HasElement("referenceHeading")) + reference_heading_ = DEFAULT_REFERENCE_HEADING * M_PI/180.0; + else + reference_heading_ = _sdf->GetElement("referenceHeading")->GetValueDouble() * M_PI/180.0; + + if (!_sdf->HasElement("declination")) + declination_ = DEFAULT_DECLINATION * M_PI/180.0; + else + declination_ = _sdf->GetElement("declination")->GetValueDouble() * M_PI/180.0; + + if (!_sdf->HasElement("inclination")) + inclination_ = DEFAULT_INCLINATION * M_PI/180.0; + else + inclination_ = _sdf->GetElement("inclination")->GetValueDouble() * M_PI/180.0; + + // Note: Gazebo uses NorthWestUp coordinate system, heading and declination are compass headings + magnetic_field_.header.frame_id = frame_id_; + magnetic_field_world_.x = magnitude_ * cos(inclination_) * cos(reference_heading_ - declination_); + magnetic_field_world_.y = magnitude_ * sin(reference_heading_ - declination_); + magnetic_field_world_.z = magnitude_ * -sin(inclination_) * cos(reference_heading_ - declination_); + + sensor_model_.Load(_sdf); + + // start ros node + if (!ros::isInitialized()) + { + int argc = 0; + char** argv = NULL; + ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName); + } + + node_handle_ = new ros::NodeHandle(namespace_); + publisher_ = node_handle_->advertise(topic_, 1); + + Reset(); + + // New Mechanism for Updating every World Cycle + // Listen to the update event. This event is broadcast every + // simulation iteration. + updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&GazeboRosMagnetic::Update, this)); +} + +void GazeboRosMagnetic::Reset() +{ + sensor_model_.reset(); +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboRosMagnetic::Update() +{ + common::Time sim_time = world->GetSimTime(); + double dt = (sim_time - last_time).Double(); + if (last_time + update_period > sim_time) return; + + math::Pose pose = link->GetWorldPose(); + math::Vector3 field = sensor_model_(pose.rot.RotateVectorReverse(magnetic_field_world_), dt); + + magnetic_field_.header.stamp = ros::Time(sim_time.sec, sim_time.nsec); + magnetic_field_.vector.x = field.x; + magnetic_field_.vector.y = field.y; + magnetic_field_.vector.z = field.z; + + publisher_.publish(magnetic_field_); + + // save last time stamp + last_time = sim_time; +} + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboRosMagnetic) + +} // namespace gazebo diff --git a/cvg_sim_gazebo_plugins/src/gazebo_ros_sonar.cpp b/cvg_sim_gazebo_plugins/src/gazebo_ros_sonar.cpp new file mode 100644 index 0000000..fd6bd6c --- /dev/null +++ b/cvg_sim_gazebo_plugins/src/gazebo_ros_sonar.cpp @@ -0,0 +1,154 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include +#include "common/Events.hh" +#include "physics/physics.hh" +#include "sensors/RaySensor.hh" + +#include + +namespace gazebo { + +GazeboRosSonar::GazeboRosSonar() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboRosSonar::~GazeboRosSonar() +{ + sensor_->SetActive(false); + event::Events::DisconnectWorldUpdateStart(updateConnection); + node_handle_->shutdown(); + delete node_handle_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboRosSonar::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) +{ + // Get then name of the parent sensor + sensor_ = boost::shared_dynamic_cast(_sensor); + if (!sensor_) + { + gzthrow("GazeboRosSonar requires a Ray Sensor as its parent"); + return; + } + + // Get the world name. + std::string worldName = sensor_->GetWorldName(); + world = physics::get_world(worldName); + + // load parameters + if (!_sdf->HasElement("robotNamespace")) + namespace_.clear(); + else + namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + + if (!_sdf->HasElement("frameId")) + frame_id_ = ""; + else + frame_id_ = _sdf->GetElement("frameId")->GetValueString(); + + if (!_sdf->HasElement("topicName")) + topic_ = "sonar"; + else + topic_ = _sdf->GetElement("topicName")->GetValueString(); + + sensor_model_.Load(_sdf); + + range_.header.frame_id = frame_id_; + range_.radiation_type = sensor_msgs::Range::ULTRASOUND; + range_.field_of_view = std::min(fabs((sensor_->GetAngleMax() - sensor_->GetAngleMin()).Radian()), fabs((sensor_->GetVerticalAngleMax() - sensor_->GetVerticalAngleMin()).Radian())); + range_.max_range = sensor_->GetRangeMax(); + range_.min_range = sensor_->GetRangeMin(); + + // start ros node + if (!ros::isInitialized()) + { + int argc = 0; + char** argv = NULL; + ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName); + } + + node_handle_ = new ros::NodeHandle(namespace_); + publisher_ = node_handle_->advertise(topic_, 1); + + Reset(); + updateConnection = sensor_->GetLaserShape()->ConnectNewLaserScans( + boost::bind(&GazeboRosSonar::Update, this)); + + // activate RaySensor + sensor_->SetActive(true); +} + +void GazeboRosSonar::Reset() +{ + sensor_model_.reset(); +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboRosSonar::Update() +{ + common::Time sim_time = world->GetSimTime(); + double dt = (sim_time - last_time).Double(); +// if (last_time + updatePeriod > sim_time) return; + + // activate RaySensor if it is not yet active + if (!sensor_->IsActive()) sensor_->SetActive(true); + + range_.header.stamp.sec = (world->GetSimTime()).sec; + range_.header.stamp.nsec = (world->GetSimTime()).nsec; + + // find ray with minimal range + range_.range = std::numeric_limits::max(); + int num_ranges = sensor_->GetLaserShape()->GetSampleCount() * sensor_->GetLaserShape()->GetVerticalSampleCount(); + for(int i = 0; i < num_ranges; ++i) { + double ray = sensor_->GetLaserShape()->GetRange(i); + if (ray < range_.range) range_.range = ray; + } + + // add Gaussian noise (and limit to min/max range) + if (range_.range < range_.max_range) { + range_.range += sensor_model_.update(dt); + if (range_.range < range_.min_range) range_.range = range_.min_range; + if (range_.range > range_.max_range) range_.range = range_.max_range; + } + + publisher_.publish(range_); + + // save last time stamp + last_time = sim_time; +} + +// Register this plugin with the simulator +GZ_REGISTER_SENSOR_PLUGIN(GazeboRosSonar) + +} // namespace gazebo diff --git a/cvg_sim_gazebo_plugins/src/quadrotor_simple_controller.cpp b/cvg_sim_gazebo_plugins/src/quadrotor_simple_controller.cpp new file mode 100644 index 0000000..5e0dc65 --- /dev/null +++ b/cvg_sim_gazebo_plugins/src/quadrotor_simple_controller.cpp @@ -0,0 +1,451 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= +/* +* quadrotor motion controller: +* +* This software is a motion control gazebo plugin for the Ardrone simulator +* +* change: +* 1. Noise is add to the callback function: VelocityCallback +* 2. Create a subscriber for rostopic /ardrone/navdata +* 3. An additional force and torque calculation is added base on the robot state information in /ardrone/navdata +* +* Created on: Oct 22, 2012 +* Author: Hongrong huang +* +* +*/ +#include +#include "common/Events.hh" +#include "physics/physics.hh" + +#include +#include + +namespace gazebo { + +GazeboQuadrotorSimpleController::GazeboQuadrotorSimpleController() +{ + navi_state = 0; +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboQuadrotorSimpleController::~GazeboQuadrotorSimpleController() +{ + event::Events::DisconnectWorldUpdateStart(updateConnection); + + node_handle_->shutdown(); + delete node_handle_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboQuadrotorSimpleController::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + world = _model->GetWorld(); + + // load parameters + if (!_sdf->HasElement("robotNamespace")) + namespace_.clear(); + else + namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + + if (!_sdf->HasElement("topicName")) + velocity_topic_ = "cmd_vel"; + else + velocity_topic_ = _sdf->GetElement("topicName")->GetValueString(); + + if (!_sdf->HasElement("navdataTopic")) + navdata_topic_ = "/ardrone/navdata"; + else + navdata_topic_ = _sdf->GetElement("navdataTopic")->GetValueString(); + + if (!_sdf->HasElement("imuTopic")) + imu_topic_.clear(); + else + imu_topic_ = _sdf->GetElement("imuTopic")->GetValueString(); + + if (!_sdf->HasElement("stateTopic")) + state_topic_.clear(); + else + state_topic_ = _sdf->GetElement("stateTopic")->GetValueString(); + + if (!_sdf->HasElement("bodyName")) + { + link = _model->GetLink(); + link_name_ = link->GetName(); + } + else { + link_name_ = _sdf->GetElement("bodyName")->GetValueString(); + link = boost::shared_dynamic_cast(world->GetEntity(link_name_)); + } + + if (!link) + { + ROS_FATAL("gazebo_ros_baro plugin error: bodyName: %s does not exist\n", link_name_.c_str()); + return; + } + + if (!_sdf->HasElement("maxForce")) + max_force_ = -1; + else + max_force_ = _sdf->GetElement("maxForce")->GetValueDouble(); + + + if (!_sdf->HasElement("motionSmallNoise")) + motion_small_noise_ = 0; + else + motion_small_noise_ = _sdf->GetElement("motionSmallNoise")->GetValueDouble(); + + if (!_sdf->HasElement("motionDriftNoise")) + motion_drift_noise_ = 0; + else + motion_drift_noise_ = _sdf->GetElement("motionDriftNoise")->GetValueDouble(); + + if (!_sdf->HasElement("motionDriftNoiseTime")) + motion_drift_noise_time_ = 1.0; + else + motion_drift_noise_time_ = _sdf->GetElement("motionDriftNoiseTime")->GetValueDouble(); + + + controllers_.roll.Load(_sdf, "rollpitch"); + controllers_.pitch.Load(_sdf, "rollpitch"); + controllers_.yaw.Load(_sdf, "yaw"); + controllers_.velocity_x.Load(_sdf, "velocityXY"); + controllers_.velocity_y.Load(_sdf, "velocityXY"); + controllers_.velocity_z.Load(_sdf, "velocityZ"); + + // Get inertia and mass of quadrotor body + inertia = link->GetInertial()->GetPrincipalMoments(); + mass = link->GetInertial()->GetMass(); + + node_handle_ = new ros::NodeHandle(namespace_); + + // subscribe command: velocity control command + if (!velocity_topic_.empty()) + { + ros::SubscribeOptions ops = ros::SubscribeOptions::create( + velocity_topic_, 1, + boost::bind(&GazeboQuadrotorSimpleController::VelocityCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + velocity_subscriber_ = node_handle_->subscribe(ops); + } + + // subscribe command: navigation data + if (!navdata_topic_.empty()) + { + ros::SubscribeOptions ops = ros::SubscribeOptions::create( + navdata_topic_, 1, + boost::bind(&GazeboQuadrotorSimpleController::NavdataCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + navdata_subscriber_ = node_handle_->subscribe(ops); + } + //m_navdataPub = node_handle_->advertise< ardrone_autonomy::Navdata >( "/ardrone/navdata", 10 ); + + + // subscribe imu + if (!imu_topic_.empty()) + { + ros::SubscribeOptions ops = ros::SubscribeOptions::create( + imu_topic_, 1, + boost::bind(&GazeboQuadrotorSimpleController::ImuCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + imu_subscriber_ = node_handle_->subscribe(ops); + + ROS_INFO_NAMED("quadrotor_simple_controller", "Using imu information on topic %s as source of orientation and angular velocity.", imu_topic_.c_str()); + } + + // subscribe state + if (!state_topic_.empty()) + { + ros::SubscribeOptions ops = ros::SubscribeOptions::create( + state_topic_, 1, + boost::bind(&GazeboQuadrotorSimpleController::StateCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + state_subscriber_ = node_handle_->subscribe(ops); + + ROS_INFO_NAMED("quadrotor_simple_controller", "Using state information on topic %s as source of state information.", state_topic_.c_str()); + } + + // callback_queue_thread_ = boost::thread( boost::bind( &GazeboQuadrotorSimpleController::CallbackQueueThread,this ) ); + + + Reset(); + + // New Mechanism for Updating every World Cycle + // Listen to the update event. This event is broadcast every + // simulation iteration. + updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&GazeboQuadrotorSimpleController::Update, this)); +} + +//////////////////////////////////////////////////////////////////////////////// +// Callbacks +void GazeboQuadrotorSimpleController::VelocityCallback(const geometry_msgs::TwistConstPtr& velocity) +{ + velocity_command_ = *velocity; + + + static common::Time last_sim_time = world->GetSimTime(); + static double time_counter_for_drift_noise = 0; + static double drift_noise[4] = {0.0, 0.0, 0.0, 0.0}; + // Get simulator time + common::Time cur_sim_time = world->GetSimTime(); + double dt = (cur_sim_time - last_sim_time).Double(); + // save last time stamp + last_sim_time = cur_sim_time; + + // generate noise + if(time_counter_for_drift_noise > motion_drift_noise_time_) + { + drift_noise[0] = 2*motion_drift_noise_*(drand48()-0.5); + drift_noise[1] = 2*motion_drift_noise_*(drand48()-0.5); + drift_noise[2] = 2*motion_drift_noise_*(drand48()-0.5); + drift_noise[3] = 2*motion_drift_noise_*(drand48()-0.5); + time_counter_for_drift_noise = 0.0; + } + time_counter_for_drift_noise += dt; + + velocity_command_.linear.x += drift_noise[0] + 2*motion_small_noise_*(drand48()-0.5); + velocity_command_.linear.y += drift_noise[1] + 2*motion_small_noise_*(drand48()-0.5); + velocity_command_.linear.z += drift_noise[2] + 2*motion_small_noise_*(drand48()-0.5); + velocity_command_.angular.z += drift_noise[3] + 2*motion_small_noise_*(drand48()-0.5); +// velocity_command_.angular.z *= 2; + +} + +void GazeboQuadrotorSimpleController::ImuCallback(const sensor_msgs::ImuConstPtr& imu) +{ + pose.rot.Set(imu->orientation.w, imu->orientation.x, imu->orientation.y, imu->orientation.z); + euler = pose.rot.GetAsEuler(); + angular_velocity = pose.rot.RotateVector(math::Vector3(imu->angular_velocity.x, imu->angular_velocity.y, imu->angular_velocity.z)); +} + +void GazeboQuadrotorSimpleController::StateCallback(const nav_msgs::OdometryConstPtr& state) +{ + math::Vector3 velocity1(velocity); + + if (imu_topic_.empty()) { + pose.pos.Set(state->pose.pose.position.x, state->pose.pose.position.y, state->pose.pose.position.z); + pose.rot.Set(state->pose.pose.orientation.w, state->pose.pose.orientation.x, state->pose.pose.orientation.y, state->pose.pose.orientation.z); + euler = pose.rot.GetAsEuler(); + angular_velocity.Set(state->twist.twist.angular.x, state->twist.twist.angular.y, state->twist.twist.angular.z); + } + + velocity.Set(state->twist.twist.linear.x, state->twist.twist.linear.y, state->twist.twist.linear.z); + + // calculate acceleration + double dt = !state_stamp.isZero() ? (state->header.stamp - state_stamp).toSec() : 0.0; + state_stamp = state->header.stamp; + if (dt > 0.0) { + acceleration = (velocity - velocity1) / dt; + } else { + acceleration.Set(); + } +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboQuadrotorSimpleController::Update() +{ + math::Vector3 force, torque; + + // Get new commands/state + callback_queue_.callAvailable(); + + // Get simulator time + common::Time sim_time = world->GetSimTime(); + double dt = (sim_time - last_time).Double(); + if (dt == 0.0) return; + + // Get Pose/Orientation from Gazebo (if no state subscriber is active) + if (imu_topic_.empty()) { + pose = link->GetWorldPose(); + angular_velocity = link->GetWorldAngularVel(); + euler = pose.rot.GetAsEuler(); + } + if (state_topic_.empty()) { + acceleration = (link->GetWorldLinearVel() - velocity) / dt; + velocity = link->GetWorldLinearVel(); + } + +// static Time lastDebug; +// if ((world->GetSimTime() - lastDebug).Double() > 0.5) { +// ROS_DEBUG_STREAM_NAMED("quadrotor_simple_controller", "Velocity: gazebo = [" << link->GetWorldLinearVel() << "], state = [" << velocity << "]"); +// ROS_DEBUG_STREAM_NAMED("quadrotor_simple_controller", "Acceleration: gazebo = [" << link->GetWorldLinearAccel() << "], state = [" << acceleration << "]"); +// ROS_DEBUG_STREAM_NAMED("quadrotor_simple_controller", "Angular Velocity: gazebo = [" << link->GetWorldAngularVel() << "], state = [" << angular_velocity << "]"); +// lastDebug = world->GetSimTime(); +// } + + // Get gravity + math::Vector3 gravity_body = pose.rot.RotateVector(world->GetPhysicsEngine()->GetGravity()); + double gravity = gravity_body.GetLength(); + double load_factor = gravity * gravity / world->GetPhysicsEngine()->GetGravity().Dot(gravity_body); // Get gravity + + // Rotate vectors to coordinate frames relevant for control + math::Quaternion heading_quaternion(cos(euler.z/2),0,0,sin(euler.z/2)); + math::Vector3 velocity_xy = heading_quaternion.RotateVectorReverse(velocity); + math::Vector3 acceleration_xy = heading_quaternion.RotateVectorReverse(acceleration); + math::Vector3 angular_velocity_body = pose.rot.RotateVectorReverse(angular_velocity); + + // update controllers + force.Set(0.0, 0.0, 0.0); + torque.Set(0.0, 0.0, 0.0); + double pitch_command = controllers_.velocity_x.update(velocity_command_.linear.x, velocity_xy.x, acceleration_xy.x, dt) / gravity; + double roll_command = -controllers_.velocity_y.update(velocity_command_.linear.y, velocity_xy.y, acceleration_xy.y, dt) / gravity; + torque.x = inertia.x * controllers_.roll.update(roll_command, euler.x, angular_velocity_body.x, dt); + torque.y = inertia.y * controllers_.pitch.update(pitch_command, euler.y, angular_velocity_body.y, dt); + // torque.x = inertia.x * controllers_.roll.update(-velocity_command_.linear.y/gravity, euler.x, angular_velocity_body.x, dt); + // torque.y = inertia.y * controllers_.pitch.update(velocity_command_.linear.x/gravity, euler.y, angular_velocity_body.y, dt); + torque.z = inertia.z * controllers_.yaw.update(velocity_command_.angular.z, angular_velocity.z, 0, dt); + force.z = mass * (controllers_.velocity_z.update(velocity_command_.linear.z, velocity.z, acceleration.z, dt) + load_factor * gravity); + if (max_force_ > 0.0 && force.z > max_force_) force.z = max_force_; + if (force.z < 0.0) force.z = 0.0; + +// static double lastDebugOutput = 0.0; +// if (last_time.Double() - lastDebugOutput > 0.1) { +// ROS_DEBUG_NAMED("quadrotor_simple_controller", "Velocity = [%g %g %g], Acceleration = [%g %g %g]", velocity.x, velocity.y, velocity.z, acceleration.x, acceleration.y, acceleration.z); +// ROS_DEBUG_NAMED("quadrotor_simple_controller", "Command: linear = [%g %g %g], angular = [%g %g %g], roll/pitch = [%g %g]", velocity_command_.linear.x, velocity_command_.linear.y, velocity_command_.linear.z, velocity_command_.angular.x*180/M_PI, velocity_command_.angular.y*180/M_PI, velocity_command_.angular.z*180/M_PI, roll_command*180/M_PI, pitch_command*180/M_PI); +// ROS_DEBUG_NAMED("quadrotor_simple_controller", "Mass: %g kg, Inertia: [%g %g %g], Load: %g g", mass, inertia.x, inertia.y, inertia.z, load_factor); +// ROS_DEBUG_NAMED("quadrotor_simple_controller", "Force: [%g %g %g], Torque: [%g %g %g]", force.x, force.y, force.z, torque.x, torque.y, torque.z); +// lastDebugOutput = last_time.Double(); +// } + + // process robot state information + if(navi_state == LANDED_MODEL) + { + + } + else if((navi_state == FLYING_MODEL)||(navi_state == TO_FIX_POINT_MODEL)) + { + link->AddRelativeForce(force); + link->AddRelativeTorque(torque); + } + else if(navi_state == TAKINGOFF_MODEL) + { + link->AddRelativeForce(force*1.5); + link->AddRelativeTorque(torque*1.5); + } + else if(navi_state == LANDING_MODEL) + { + link->AddRelativeForce(force*0.8); + link->AddRelativeTorque(torque*0.8); + } + + // save last time stamp + last_time = sim_time; +} + +//////////////////////////////////////////////////////////////////////////////// +// Reset the controller +void GazeboQuadrotorSimpleController::Reset() +{ + controllers_.roll.reset(); + controllers_.pitch.reset(); + controllers_.yaw.reset(); + controllers_.velocity_x.reset(); + controllers_.velocity_y.reset(); + controllers_.velocity_z.reset(); + + link->SetForce(math::Vector3(0,0,0)); + link->SetTorque(math::Vector3(0,0,0)); + + // reset state + pose.Reset(); + velocity.Set(); + angular_velocity.Set(); + acceleration.Set(); + euler.Set(); + state_stamp = ros::Time(); +} + +//////////////////////////////////////////////////////////////////////////////// +// PID controller implementation +GazeboQuadrotorSimpleController::PIDController::PIDController() +{ +} + +GazeboQuadrotorSimpleController::PIDController::~PIDController() +{ +} + +void GazeboQuadrotorSimpleController::PIDController::Load(sdf::ElementPtr _sdf, const std::string& prefix) +{ + gain_p = 0.0; + gain_d = 0.0; + gain_i = 0.0; + time_constant = 0.0; + limit = -1.0; + + if (!_sdf) return; + // _sdf->PrintDescription(_sdf->GetName()); + if (_sdf->HasElement(prefix + "ProportionalGain")) gain_p = _sdf->GetElement(prefix + "ProportionalGain")->GetValueDouble(); + if (_sdf->HasElement(prefix + "DifferentialGain")) gain_d = _sdf->GetElement(prefix + "DifferentialGain")->GetValueDouble(); + if (_sdf->HasElement(prefix + "IntegralGain")) gain_i = _sdf->GetElement(prefix + "IntegralGain")->GetValueDouble(); + if (_sdf->HasElement(prefix + "TimeConstant")) time_constant = _sdf->GetElement(prefix + "TimeConstant")->GetValueDouble(); + if (_sdf->HasElement(prefix + "Limit")) limit = _sdf->GetElement(prefix + "Limit")->GetValueDouble(); + +} + +double GazeboQuadrotorSimpleController::PIDController::update(double new_input, double x, double dx, double dt) +{ + // limit command + if (limit > 0.0 && fabs(new_input) > limit) new_input = (new_input < 0 ? -1.0 : 1.0) * limit; + + // filter command + if (dt + time_constant > 0.0) { + dinput = (new_input - input) / (dt + time_constant); + input = (dt * new_input + time_constant * input) / (dt + time_constant); + } + + // update proportional, differential and integral errors + p = input - x; + d = dinput - dx; + i = i + dt * p; + + // update control output + output = gain_p * p + gain_d * d + gain_i * i; + return output; +} + +void GazeboQuadrotorSimpleController::PIDController::reset() +{ + input = dinput = 0; + p = i = d = output = 0; +} + +void GazeboQuadrotorSimpleController::NavdataCallback(const ardrone_autonomy::NavdataConstPtr& msg) +{ + navi_state = msg -> state; +} + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboQuadrotorSimpleController) + +} // namespace gazebo diff --git a/cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp b/cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp new file mode 100644 index 0000000..4137b16 --- /dev/null +++ b/cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp @@ -0,0 +1,548 @@ +/* +* quadrotor_state_controller: +* +* This software is a state control gazebo plugin for the Ardrone simulator +* +* It receives the joystick command and the current simulator information to generate corresponding information in rostopic /ardrone/navdata +* +* Created on: Oct 22, 2012 +* Author: Hongrong huang +* +* +*/ + + +#include +#include "common/Events.hh" +#include "physics/physics.hh" + +#include + +namespace gazebo { + +GazeboQuadrotorStateController::GazeboQuadrotorStateController() +{ + robot_current_state = INITIALIZE_MODEL; + m_isFlying = false; + m_takeoff = false; + m_drainBattery = true; + m_batteryPercentage = 100; + m_maxFlightTime = 1200; + m_timeAfterTakeOff = 0; + m_selected_cam_num = 0; +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboQuadrotorStateController::~GazeboQuadrotorStateController() +{ + event::Events::DisconnectWorldUpdateStart(updateConnection); + + node_handle_->shutdown(); + delete node_handle_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboQuadrotorStateController::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + world = _model->GetWorld(); + + // load parameters + if (!_sdf->HasElement("robotNamespace")) + namespace_.clear(); + else + namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + + if (!_sdf->HasElement("topicName")) + velocity_topic_ = "cmd_vel"; + else + velocity_topic_ = _sdf->GetElement("topicName")->GetValueString(); + + if (!_sdf->HasElement("takeoffTopic")) + takeoff_topic_ = "/ardrone/takeoff"; + else + takeoff_topic_ = _sdf->GetElement("takeoffTopic")->GetValueString(); + + if (!_sdf->HasElement("/ardrone/land")) + land_topic_ = "/ardrone/land"; + else + land_topic_ = _sdf->GetElement("landTopic")->GetValueString(); + + if (!_sdf->HasElement("resetTopic")) + reset_topic_ = "/ardrone/reset"; + else + reset_topic_ = _sdf->GetElement("resetTopic")->GetValueString(); + + if (!_sdf->HasElement("navdataTopic")) + navdata_topic_ = "/ardrone/navdata"; + else + navdata_topic_ = _sdf->GetElement("navdataTopic")->GetValueString(); + + if (!_sdf->HasElement("imuTopic")) + imu_topic_.clear(); + else + imu_topic_ = _sdf->GetElement("imuTopic")->GetValueString(); + + if (!_sdf->HasElement("sonarTopic")) + sonar_topic_.clear(); + else + sonar_topic_ = _sdf->GetElement("sonarTopic")->GetValueString(); + + if (!_sdf->HasElement("stateTopic")) + state_topic_.clear(); + else + state_topic_ = _sdf->GetElement("stateTopic")->GetValueString(); + + if (!_sdf->HasElement("bodyName")) + { + link = _model->GetLink(); + link_name_ = link->GetName(); + } + else { + link_name_ = _sdf->GetElement("bodyName")->GetValueString(); + link = boost::shared_dynamic_cast(world->GetEntity(link_name_)); + } + + if (!link) + { + ROS_FATAL("gazebo_ros_baro plugin error: bodyName: %s does not exist\n", link_name_.c_str()); + return; + } + + node_handle_ = new ros::NodeHandle(namespace_); + + // subscribe command: velocity control command + if (!velocity_topic_.empty()) + { + ros::SubscribeOptions ops = ros::SubscribeOptions::create( + velocity_topic_, 1, + boost::bind(&GazeboQuadrotorStateController::VelocityCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + velocity_subscriber_ = node_handle_->subscribe(ops); + } + + // subscribe command: take off command + if (!takeoff_topic_.empty()) + { + ros::SubscribeOptions ops = ros::SubscribeOptions::create( + takeoff_topic_, 1, + boost::bind(&GazeboQuadrotorStateController::TakeoffCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + takeoff_subscriber_ = node_handle_->subscribe(ops); + } + + // subscribe command: take off command + if (!land_topic_.empty()) + { + ros::SubscribeOptions ops = ros::SubscribeOptions::create( + land_topic_, 1, + boost::bind(&GazeboQuadrotorStateController::LandCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + land_subscriber_ = node_handle_->subscribe(ops); + } + + // subscribe command: take off command + if (!reset_topic_.empty()) + { + ros::SubscribeOptions ops = ros::SubscribeOptions::create( + reset_topic_, 1, + boost::bind(&GazeboQuadrotorStateController::ResetCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + reset_subscriber_ = node_handle_->subscribe(ops); + } + + m_navdataPub = node_handle_->advertise< ardrone_autonomy::Navdata >( navdata_topic_ , 25 ); + + + // subscribe imu + if (!imu_topic_.empty()) + { + ros::SubscribeOptions ops = ros::SubscribeOptions::create( + imu_topic_, 1, + boost::bind(&GazeboQuadrotorStateController::ImuCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + imu_subscriber_ = node_handle_->subscribe(ops); + + ROS_INFO_NAMED("quadrotor_state_controller", "Using imu information on topic %s as source of orientation and angular velocity.", imu_topic_.c_str()); + } + + // subscribe sonar senor info + if (!sonar_topic_.empty()) + { + ros::SubscribeOptions ops = ros::SubscribeOptions::create( + sonar_topic_, 1, + boost::bind(&GazeboQuadrotorStateController::SonarCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + sonar_subscriber_ = node_handle_->subscribe(ops); + + ROS_INFO_NAMED("quadrotor_state_controller", "Using sonar information on topic %s as source of altitude.", sonar_topic_.c_str()); + } + + // subscribe state + if (!state_topic_.empty()) + { + ros::SubscribeOptions ops = ros::SubscribeOptions::create( + state_topic_, 1, + boost::bind(&GazeboQuadrotorStateController::StateCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + state_subscriber_ = node_handle_->subscribe(ops); + + ROS_INFO_NAMED("quadrotor_state_controller", "Using state information on topic %s as source of state information.", state_topic_.c_str()); + } + + + // for camera control + // switch camera server + std::string toggleCam_topic = "ardrone/togglecam"; + ros::AdvertiseServiceOptions toggleCam_ops = ros::AdvertiseServiceOptions::create( + toggleCam_topic, + boost::bind(&GazeboQuadrotorStateController::toggleCamCallback, this, _1,_2), + ros::VoidPtr(), + &callback_queue_); + + toggleCam_service = node_handle_->advertiseService(toggleCam_ops); + + // camera image data + std::string cam_out_topic = "/ardrone/image_raw"; + std::string cam_front_in_topic = "/ardrone/front/image_raw"; + std::string cam_bottom_in_topic = "/ardrone/bottom/image_raw"; + std::string in_transport = "raw"; + + camera_it_ = new image_transport::ImageTransport(*node_handle_); + camera_publisher_ = camera_it_->advertise(cam_out_topic, 1); + + camera_front_subscriber_ = camera_it_->subscribe( + cam_front_in_topic, 1, + boost::bind(&GazeboQuadrotorStateController::CameraFrontCallback, this, _1), + ros::VoidPtr(), in_transport); + + camera_bottom_subscriber_ = camera_it_->subscribe( + cam_bottom_in_topic, 1, + boost::bind(&GazeboQuadrotorStateController::CameraBottomCallback, this, _1), + ros::VoidPtr(), in_transport); + + // camera image data + std::string cam_info_out_topic = "/ardrone/camera_info"; + std::string cam_info_front_in_topic = "/ardrone/front/camera_info"; + std::string cam_info_bottom_in_topic = "/ardrone/bottom/camera_info"; + + camera_info_publisher_ = node_handle_->advertise(cam_info_out_topic,1); + + ros::SubscribeOptions cam_info_front_ops = ros::SubscribeOptions::create( + cam_info_front_in_topic, 1, + boost::bind(&GazeboQuadrotorStateController::CameraInfoFrontCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + camera_info_front_subscriber_ = node_handle_->subscribe(cam_info_front_ops); + + ros::SubscribeOptions cam_info_bottom_ops = ros::SubscribeOptions::create( + cam_info_bottom_in_topic, 1, + boost::bind(&GazeboQuadrotorStateController::CameraInfoBottomCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + camera_info_bottom_subscriber_ = node_handle_->subscribe(cam_info_bottom_ops); + + // callback_queue_thread_ = boost::thread( boost::bind( &GazeboQuadrotorStateController::CallbackQueueThread,this ) ); + + + Reset(); + + // New Mechanism for Updating every World Cycle + // Listen to the update event. This event is broadcast every + // simulation iteration. + updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&GazeboQuadrotorStateController::Update, this)); + + robot_current_state = LANDED_MODEL; +} + +//////////////////////////////////////////////////////////////////////////////// +// Callbacks +void GazeboQuadrotorStateController::VelocityCallback(const geometry_msgs::TwistConstPtr& velocity) +{ + velocity_command_ = *velocity; +} + +void GazeboQuadrotorStateController::ImuCallback(const sensor_msgs::ImuConstPtr& imu) +{ + pose.rot.Set(imu->orientation.w, imu->orientation.x, imu->orientation.y, imu->orientation.z); + euler = pose.rot.GetAsEuler(); + angular_velocity = pose.rot.RotateVector(math::Vector3(imu->angular_velocity.x, imu->angular_velocity.y, imu->angular_velocity.z)); +} + +void GazeboQuadrotorStateController::SonarCallback(const sensor_msgs::RangeConstPtr& sonar_info) +{ + robot_altitude = sonar_info->range; +} + + +void GazeboQuadrotorStateController::StateCallback(const nav_msgs::OdometryConstPtr& state) +{ + math::Vector3 velocity1(velocity); + + if (imu_topic_.empty()) { + pose.pos.Set(state->pose.pose.position.x, state->pose.pose.position.y, state->pose.pose.position.z); + pose.rot.Set(state->pose.pose.orientation.w, state->pose.pose.orientation.x, state->pose.pose.orientation.y, state->pose.pose.orientation.z); + euler = pose.rot.GetAsEuler(); + angular_velocity.Set(state->twist.twist.angular.x, state->twist.twist.angular.y, state->twist.twist.angular.z); + } + + velocity.Set(state->twist.twist.linear.x, state->twist.twist.linear.y, state->twist.twist.linear.z); + + // calculate acceleration + double dt = !state_stamp.isZero() ? (state->header.stamp - state_stamp).toSec() : 0.0; + state_stamp = state->header.stamp; + if (dt > 0.0) { + acceleration = (velocity - velocity1) / dt; + } else { + acceleration.Set(); + } +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboQuadrotorStateController::Update() +{ + math::Vector3 force, torque; + + // Get new commands/state + callback_queue_.callAvailable(); + + // Get simulator time + common::Time sim_time = world->GetSimTime(); + double dt = (sim_time - last_time).Double(); + // Update rate is 200/per second + if (dt < 0.005) return; + + // Get Pose/Orientation from Gazebo (if no state subscriber is active) + if (imu_topic_.empty()) { + pose = link->GetWorldPose(); + angular_velocity = link->GetWorldAngularVel(); + euler = pose.rot.GetAsEuler(); + } + if (state_topic_.empty()) { + acceleration = (link->GetWorldLinearVel() - velocity) / dt; + velocity = link->GetWorldLinearVel(); + } + + // Rotate vectors to coordinate frames relevant for control + math::Quaternion heading_quaternion(cos(euler.z/2),0,0,sin(euler.z/2)); + math::Vector3 velocity_xy = heading_quaternion.RotateVectorReverse(velocity); + math::Vector3 acceleration_xy = heading_quaternion.RotateVectorReverse(acceleration); + math::Vector3 angular_velocity_body = pose.rot.RotateVectorReverse(angular_velocity); + + // process robot operation information + if((m_takeoff)&&(robot_current_state == LANDED_MODEL)) + { + m_timeAfterTakeOff = 0; + m_takeoff = false; + robot_current_state = TAKINGOFF_MODEL; + } + else if(robot_current_state == TAKINGOFF_MODEL) + { + // take off phase need more power + if (!sonar_topic_.empty()) + { + if(robot_altitude > 0.5) + { + robot_current_state = FLYING_MODEL; + } + } + else + { + m_timeAfterTakeOff += dt; + if(m_timeAfterTakeOff > 0.5) + { + //ROS_INFO("%f",m_timeAfterTakeOff); + robot_current_state = FLYING_MODEL; + } + } + if(m_isFlying == false) + { + m_timeAfterTakeOff = 0; + robot_current_state = LANDING_MODEL; + } + } + else if((robot_current_state == FLYING_MODEL)||(robot_current_state == TO_FIX_POINT_MODEL)) + { + if(m_isFlying == false) + { + m_timeAfterTakeOff = 0; + robot_current_state = LANDING_MODEL; + } + } + else if(robot_current_state == LANDING_MODEL) + { + if (!sonar_topic_.empty()) + { + m_timeAfterTakeOff += dt; + if((robot_altitude < 0.2)||(m_timeAfterTakeOff > 5.0)) + { + robot_current_state = LANDED_MODEL; + } + } + else + { + m_timeAfterTakeOff += dt; + if(m_timeAfterTakeOff > 1.0) + { + robot_current_state = LANDED_MODEL; + } + } + + if(m_isFlying == true) + { + m_timeAfterTakeOff = 0; + m_takeoff = false; + robot_current_state = TAKINGOFF_MODEL; + } + } + + if( ((robot_current_state != LANDED_MODEL)||m_isFlying) && m_drainBattery ) + m_batteryPercentage -= dt / m_maxFlightTime * 100.; + + ardrone_autonomy::Navdata navdata; + navdata.batteryPercent = m_batteryPercentage; + navdata.rotX = pose.rot.GetRoll() / M_PI * 180.; + navdata.rotY = pose.rot.GetPitch() / M_PI * 180.; + navdata.rotZ = pose.rot.GetYaw() / M_PI * 180.; + if (!sonar_topic_.empty()) + navdata.altd = int(robot_altitude*1000); + else + navdata.altd = pose.pos.z * 1000.f; + navdata.vx = 1000*velocity_xy.x; + navdata.vy = 1000*velocity_xy.y; + navdata.vz = 1000*velocity_xy.z; + navdata.ax = acceleration_xy.x/10; + navdata.ay = acceleration_xy.y/10; + navdata.az = acceleration_xy.z/10 + 1; + navdata.tm = ros::Time::now().toSec()*1000000; // FIXME what is the real drone sending here? + + + navdata.header.stamp = ros::Time::now(); + navdata.header.frame_id = "ardrone_base_link"; + navdata.state = robot_current_state; + navdata.magX = 0; + navdata.magY = 0; + navdata.magZ = 0; + navdata.pressure = 0; + navdata.temp = 0; + navdata.wind_speed = 0.0; + navdata.wind_angle = 0.0; + navdata.wind_comp_angle = 0.0; + navdata.tags_count = 0; +// navdata.tags_type +// navdata.tags_xc +// navdata.tags_yc +// navdata.tags_width +// navdata.tags_height +// navdata.tags_orientation +// navdata.tags_distance + +// filter for sensor information +// filter_rate = 0.1; +// navdata.rotX = navdata.rotX*filter_rate + (1-filter_rate)*last_navdata.rotX; +// navdata.rotY = navdata.rotY*filter_rate + (1-filter_rate)*last_navdata.rotY; +// navdata.rotZ = navdata.rotZ*filter_rate + (1-filter_rate)*last_navdata.rotZ; +// navdata.altd = navdata.altd*filter_rate + (1-filter_rate)*last_navdata.altd; +// navdata.vx = navdata.vx*filter_rate + (1-filter_rate)*last_navdata.vx; +// navdata.vy = navdata.vy*filter_rate + (1-filter_rate)*last_navdata.vy; +// navdata.vz = navdata.vz*filter_rate + (1-filter_rate)*last_navdata.vz; +// navdata.ax = navdata.ax*filter_rate + (1-filter_rate)*last_navdata.ax; +// navdata.ay = navdata.ay*filter_rate + (1-filter_rate)*last_navdata.ay; +// navdata.az = navdata.az*filter_rate + (1-filter_rate)*last_navdata.az; +// last_navdata = navdata; + + m_navdataPub.publish( navdata ); + + // save last time stamp + last_time = sim_time; + +} +//////////////////////////////////////////////////////////////////////////////// +// Reset the controller +void GazeboQuadrotorStateController::Reset() +{ + // reset state + pose.Reset(); + velocity.Set(); + angular_velocity.Set(); + acceleration.Set(); + euler.Set(); + state_stamp = ros::Time(); +} + +//////////////////////////////////////////////////////////////////////////////// +// controller callback +void GazeboQuadrotorStateController::TakeoffCallback(const std_msgs::EmptyConstPtr& msg) +{ + if(robot_current_state == LANDED_MODEL) + { + m_isFlying = true; + m_takeoff = true; + m_batteryPercentage = 100.; + ROS_INFO("%s","\nQuadrotor takes off!!"); + } + else if(robot_current_state == LANDING_MODEL) + { + m_isFlying = true; + m_takeoff = true; + ROS_INFO("%s","\nQuadrotor takes off!!"); + } +} + +void GazeboQuadrotorStateController::LandCallback(const std_msgs::EmptyConstPtr& msg) +{ + if((robot_current_state == FLYING_MODEL)||(robot_current_state == TO_FIX_POINT_MODEL)||(robot_current_state == TAKINGOFF_MODEL)) + { + m_isFlying = false; + m_takeoff = false; + ROS_INFO("%s","\nQuadrotor lands!!"); + } + +} + +void GazeboQuadrotorStateController::ResetCallback(const std_msgs::EmptyConstPtr& msg) +{ + ROS_INFO("%s","\nReset quadrotor!!"); +} + +bool GazeboQuadrotorStateController::toggleCamCallback(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) +{ + if(m_selected_cam_num==0) + m_selected_cam_num = 1; + else if(m_selected_cam_num==1) + m_selected_cam_num = 0; + + ROS_INFO("\nSetting camera channel to : %d.\n", m_selected_cam_num); + return true; +} + +void GazeboQuadrotorStateController::CameraFrontCallback(const sensor_msgs::ImageConstPtr& image) +{ + if(m_selected_cam_num==0) + camera_publisher_.publish(image); +} + +void GazeboQuadrotorStateController::CameraBottomCallback(const sensor_msgs::ImageConstPtr& image) +{ + if(m_selected_cam_num==1) + camera_publisher_.publish(image); +} + +void GazeboQuadrotorStateController::CameraInfoFrontCallback(const sensor_msgs::CameraInfoConstPtr& image_info) +{ + if(m_selected_cam_num==0) + camera_info_publisher_.publish(image_info); +} + +void GazeboQuadrotorStateController::CameraInfoBottomCallback(const sensor_msgs::CameraInfoConstPtr& image_info) +{ + if(m_selected_cam_num==1) + camera_info_publisher_.publish(image_info); + +} + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboQuadrotorStateController) + +} // namespace gazebo diff --git a/cvg_sim_gazebo_plugins/src/reset_plugin.cpp b/cvg_sim_gazebo_plugins/src/reset_plugin.cpp new file mode 100644 index 0000000..95ebf9d --- /dev/null +++ b/cvg_sim_gazebo_plugins/src/reset_plugin.cpp @@ -0,0 +1,75 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include +#include "common/Events.hh" + +#include + +namespace gazebo { + +GazeboResetPlugin::GazeboResetPlugin() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboResetPlugin::~GazeboResetPlugin() +{ + node_handle_->shutdown(); + delete node_handle_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboResetPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + if (!ros::isInitialized()) + { + int argc = 0; + char** argv = NULL; + ros::init(argc,argv, "gazebo", ros::init_options::NoSigintHandler|ros::init_options::AnonymousName); + } + + node_handle_ = new ros::NodeHandle; + publisher_ = node_handle_->advertise("/syscommand", 1); +} + +//////////////////////////////////////////////////////////////////////////////// +// Reset the controller +void GazeboResetPlugin::Reset() +{ + std_msgs::String command; + command.data = "reset"; + publisher_.publish(command); +} + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboResetPlugin) + +} // namespace gazebo diff --git a/cvg_sim_gazebo_plugins/src/test_trajectory.cpp b/cvg_sim_gazebo_plugins/src/test_trajectory.cpp new file mode 100644 index 0000000..ecabcde --- /dev/null +++ b/cvg_sim_gazebo_plugins/src/test_trajectory.cpp @@ -0,0 +1,95 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + + +#include +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "test_trajectory"); + ros::NodeHandle nh; + ros::Publisher publisher = nh.advertise("cmd_vel", 1); + geometry_msgs::Twist twist; + + publisher.publish(twist); + ros::Duration(5.0).sleep(); + + double speed = 3.0; + double interval = 3.0; + + twist.linear.z = 2.0; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.z = 0.0; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.x = speed; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.x = 0.0; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.y = speed; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.y = 0.0; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.x = -speed; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.x = 0.0; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.y = -speed; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.y = 0.0; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.z = -1.0; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.z = 0.0; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + return 0; +} diff --git a/cvg_sim_gazebo_plugins/srv/SetBias.srv b/cvg_sim_gazebo_plugins/srv/SetBias.srv new file mode 100644 index 0000000..78cb852 --- /dev/null +++ b/cvg_sim_gazebo_plugins/srv/SetBias.srv @@ -0,0 +1,2 @@ +geometry_msgs/Vector3 bias +--- diff --git a/cvg_sim_gazebo_plugins/urdf/quadrotor_plugins.urdf.xacro b/cvg_sim_gazebo_plugins/urdf/quadrotor_plugins.urdf.xacro new file mode 100644 index 0000000..5ef9f44 --- /dev/null +++ b/cvg_sim_gazebo_plugins/urdf/quadrotor_plugins.urdf.xacro @@ -0,0 +1,13 @@ + + + + + + + + + base_link + + + + diff --git a/cvg_sim_gazebo_plugins/urdf/quadrotor_sensors.urdf.xacro b/cvg_sim_gazebo_plugins/urdf/quadrotor_sensors.urdf.xacro new file mode 100644 index 0000000..6cecc97 --- /dev/null +++ b/cvg_sim_gazebo_plugins/urdf/quadrotor_sensors.urdf.xacro @@ -0,0 +1,76 @@ + + + + + + + + + true + 100.0 + base_link + ardrone_base_link + /ardrone/imu + 0 0 0 + 0 + 0.5 0.5 0.5 + 0.35 0.35 0.3 + 0.0 0.0 0.0 + 0.00 0.00 0.00 + 0.0 + 0.00 + + + + true + 10.0 + base_link + pressure_height + altimeter + 0 + 0.1 + 0.5 + + + + true + 10.0 + base_link + magnetic + 0 0 0 + 0.0 0.0 0.0 + 1.3e-2 1.3e-2 1.3e-2 + + + + true + 4.0 + base_link + fix + fix_velocity + 5.0 5.0 5.0 + 0.1 0.1 0.1 + 0 0 0 + 0.1 0.1 0.1 + + + + true + 100.0 + base_link + ground_truth/state + 0.0 + map + + + + + diff --git a/cvg_sim_gazebo_plugins/urdf/quadrotor_simple_controller.urdf.xacro b/cvg_sim_gazebo_plugins/urdf/quadrotor_simple_controller.urdf.xacro new file mode 100644 index 0000000..231b3dd --- /dev/null +++ b/cvg_sim_gazebo_plugins/urdf/quadrotor_simple_controller.urdf.xacro @@ -0,0 +1,47 @@ + + + + + + + + + true + 0.0 + base_link + ground_truth/state + ardrone/imu + cmd_vel + 10.0 + 5.0 + 0.5 + 2.0 + 1.0 + 1.5 + 5.0 + 1.0 + 2 + 5.0 + 1.0 + 0.5 + 30 + 0.05 + 0.03 + 5.0 + + + + true + 0.0 + base_link + ground_truth/state + ardrone/imu + sonar_height + cmd_vel + + + + diff --git a/cvg_sim_msgs/CMakeLists.txt b/cvg_sim_msgs/CMakeLists.txt new file mode 100644 index 0000000..03e4733 --- /dev/null +++ b/cvg_sim_msgs/CMakeLists.txt @@ -0,0 +1,182 @@ +cmake_minimum_required(VERSION 2.8.3) +project(cvg_sim_msgs) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs message_generation +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependencies might have been +## pulled in transitively but can be declared for certainty nonetheless: +## * add a build_depend tag for "message_generation" +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +add_message_files( + FILES + Altimeter.msg + Altitude.msg + AttitudeCommand.msg + Compass.msg + ControllerState.msg + HeadingCommand.msg + HeightCommand.msg + MotorCommand.msg + MotorPWM.msg + MotorStatus.msg + PositionXYCommand.msg + RawImu.msg + RawMagnetic.msg + RawRC.msg + RC.msg + RuddersCommand.msg + ServoCommand.msg + Supply.msg + ThrustCommand.msg + VelocityXYCommand.msg + VelocityZCommand.msg + YawrateCommand.msg +) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + geometry_msgs +) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES cvg_sim_msgs +# CATKIN_DEPENDS geometry_msgs +# DEPENDS system_lib +CATKIN_DEPENDS message_runtime +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## Declare a cpp library +# add_library(cvg_sim_msgs +# src/${PROJECT_NAME}/cvg_sim_msgs.cpp +# ) + +## Declare a cpp executable +# add_executable(cvg_sim_msgs_node src/cvg_sim_msgs_node.cpp) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +# add_dependencies(cvg_sim_msgs_node cvg_sim_msgs_generate_messages_cpp) + +## Specify libraries to link a library or executable target against +# target_link_libraries(cvg_sim_msgs_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS cvg_sim_msgs cvg_sim_msgs_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_cvg_sim_msgs.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/cvg_sim_msgs/include/cvg_sim_msgs/ControlSource.h b/cvg_sim_msgs/include/cvg_sim_msgs/ControlSource.h new file mode 100644 index 0000000..bd4db2a --- /dev/null +++ b/cvg_sim_msgs/include/cvg_sim_msgs/ControlSource.h @@ -0,0 +1,56 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_UAV_MSGS_CONTROLSOURCE_H +#define HECTOR_UAV_MSGS_CONTROLSOURCE_H + +namespace hector_uav_msgs +{ + typedef uint8_t ControlSource; + + enum { + CONTROL_AUTONOMOUS = 0, + CONTROL_REMOTE = 1, + CONTROL_JOYSTICK = 2 + }; + + template + static inline InStream& operator>>(InStream& in, ControlSource& value) { + int temp; + in >> temp; + value = static_cast(temp); + return in; + } + + template + static inline OutStream& operator<<(OutStream& out, const ControlSource& value) { + return out << static_cast(value); + } +} + +#endif // HECTOR_UAV_MSGS_CONTROLSOURCE_H diff --git a/cvg_sim_msgs/include/cvg_sim_msgs/RC/functions.h b/cvg_sim_msgs/include/cvg_sim_msgs/RC/functions.h new file mode 100644 index 0000000..82c0df3 --- /dev/null +++ b/cvg_sim_msgs/include/cvg_sim_msgs/RC/functions.h @@ -0,0 +1,103 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_UAV_MSGS_RC_FUNCTIONS_H +#define HECTOR_UAV_MSGS_RC_FUNCTIONS_H + +#include +#include + +namespace hector_uav_msgs { + + static inline const char *getFunctionString(uint8_t function) + { + switch(function) { + case RC::ROLL: return "ROLL"; + case RC::PITCH: return "PITCH"; + case RC::YAW: return "YAW"; + case RC::STEER: return "STEER"; + case RC::HEIGHT: return "HEIGHT"; + case RC::THRUST: return "THRUST"; + case RC::BRAKE: return "BRAKE"; + } + return 0; + } + + static inline bool hasAxis(const RC& rc, RC::_axis_function_type::value_type function) + { + return std::find(rc.axis_function.begin(), rc.axis_function.end(), function) != rc.axis_function.end(); + } + + static inline bool getAxis(const RC& rc, RC::_axis_function_type::value_type function, RC::_axis_type::value_type& value) + { + if (!rc.valid) return false; + const RC::_axis_function_type::const_iterator it = std::find(rc.axis_function.begin(), rc.axis_function.end(), function); + if (it == rc.axis_function.end()) return false; + value = rc.axis.at(it - rc.axis_function.begin()); + return true; + } + + static inline void setAxis(RC& rc, RC::_axis_function_type::value_type function, RC::_axis_type::value_type value) + { + const RC::_axis_function_type::iterator it = std::find(rc.axis_function.begin(), rc.axis_function.end(), function); + if (it == rc.axis_function.end()) { + rc.axis_function.push_back(function); + rc.axis.push_back(value); + } else { + rc.axis.at(it - rc.axis_function.begin()) = value; + } + } + + static inline bool hasSwitch(const RC& rc, RC::_swit_function_type::value_type function) + { + return std::find(rc.swit_function.begin(), rc.swit_function.end(), function) != rc.swit_function.end(); + } + + static inline bool getSwitch(const RC& rc, RC::_swit_function_type::value_type function, RC::_swit_type::value_type& value) + { + if (!rc.valid) return false; + const RC::_swit_function_type::const_iterator it = std::find(rc.swit_function.begin(), rc.swit_function.end(), function); + if (it == rc.swit_function.end()) return false; + value = rc.swit.at(it - rc.swit_function.begin()); + return true; + } + + static inline void setSwitch(RC& rc, RC::_swit_function_type::value_type function, RC::_swit_type::value_type value) + { + const RC::_swit_function_type::iterator it = std::find(rc.swit_function.begin(), rc.swit_function.end(), function); + if (it == rc.swit_function.end()) { + rc.swit_function.push_back(function); + rc.swit.push_back(value); + } else { + rc.swit.at(it - rc.swit_function.begin()) = value; + } + } + +} // namespace hector_uav_msgs + +#endif // HECTOR_UAV_MSGS_RC_FUNCTIONS_H diff --git a/cvg_sim_msgs/msg/Altimeter.msg b/cvg_sim_msgs/msg/Altimeter.msg new file mode 100644 index 0000000..20b6a3c --- /dev/null +++ b/cvg_sim_msgs/msg/Altimeter.msg @@ -0,0 +1,4 @@ +Header header +float32 altitude +float32 pressure +float32 qnh diff --git a/cvg_sim_msgs/msg/Altitude.msg b/cvg_sim_msgs/msg/Altitude.msg new file mode 100644 index 0000000..7735e57 --- /dev/null +++ b/cvg_sim_msgs/msg/Altitude.msg @@ -0,0 +1,5 @@ +Header header +float32 height +float32 altitude +float32 elevation +float32 qnh diff --git a/cvg_sim_msgs/msg/AttitudeCommand.msg b/cvg_sim_msgs/msg/AttitudeCommand.msg new file mode 100644 index 0000000..d63fb89 --- /dev/null +++ b/cvg_sim_msgs/msg/AttitudeCommand.msg @@ -0,0 +1,3 @@ +Header header +float32 roll +float32 pitch diff --git a/cvg_sim_msgs/msg/Compass.msg b/cvg_sim_msgs/msg/Compass.msg new file mode 100644 index 0000000..d2bb3fe --- /dev/null +++ b/cvg_sim_msgs/msg/Compass.msg @@ -0,0 +1,4 @@ +Header header +float32 magnetic_heading +float32 declination + diff --git a/cvg_sim_msgs/msg/ControllerState.msg b/cvg_sim_msgs/msg/ControllerState.msg new file mode 100644 index 0000000..2e921e5 --- /dev/null +++ b/cvg_sim_msgs/msg/ControllerState.msg @@ -0,0 +1,14 @@ +Header header +uint8 source + +uint8 mode +uint8 MOTORS = 1 +uint8 ATTITUDE = 2 +uint8 VELOCITY = 4 +uint8 POSITION = 8 +uint8 HEADING = 16 +uint8 HEIGHT = 32 + +uint8 state +uint8 MOTORS_RUNNING = 1 +uint8 AIRBORNE = 2 diff --git a/cvg_sim_msgs/msg/HeadingCommand.msg b/cvg_sim_msgs/msg/HeadingCommand.msg new file mode 100644 index 0000000..5ad41a3 --- /dev/null +++ b/cvg_sim_msgs/msg/HeadingCommand.msg @@ -0,0 +1,2 @@ +Header header +float32 heading diff --git a/cvg_sim_msgs/msg/HeightCommand.msg b/cvg_sim_msgs/msg/HeightCommand.msg new file mode 100644 index 0000000..0d64519 --- /dev/null +++ b/cvg_sim_msgs/msg/HeightCommand.msg @@ -0,0 +1,2 @@ +Header header +float32 height diff --git a/cvg_sim_msgs/msg/MotorCommand.msg b/cvg_sim_msgs/msg/MotorCommand.msg new file mode 100644 index 0000000..10ed1db --- /dev/null +++ b/cvg_sim_msgs/msg/MotorCommand.msg @@ -0,0 +1,5 @@ +Header header +float32[] force +float32[] torque +float32[] frequency +float32[] voltage diff --git a/cvg_sim_msgs/msg/MotorPWM.msg b/cvg_sim_msgs/msg/MotorPWM.msg new file mode 100644 index 0000000..d2bf65f --- /dev/null +++ b/cvg_sim_msgs/msg/MotorPWM.msg @@ -0,0 +1,2 @@ +Header header +uint8[] pwm diff --git a/cvg_sim_msgs/msg/MotorStatus.msg b/cvg_sim_msgs/msg/MotorStatus.msg new file mode 100644 index 0000000..c1758fb --- /dev/null +++ b/cvg_sim_msgs/msg/MotorStatus.msg @@ -0,0 +1,5 @@ +Header header +bool on +bool running +float32[] frequency +uint8[] current diff --git a/cvg_sim_msgs/msg/PositionXYCommand.msg b/cvg_sim_msgs/msg/PositionXYCommand.msg new file mode 100644 index 0000000..de72e09 --- /dev/null +++ b/cvg_sim_msgs/msg/PositionXYCommand.msg @@ -0,0 +1,3 @@ +Header header +float32 x +float32 y diff --git a/cvg_sim_msgs/msg/RC.msg b/cvg_sim_msgs/msg/RC.msg new file mode 100644 index 0000000..8dfdc55 --- /dev/null +++ b/cvg_sim_msgs/msg/RC.msg @@ -0,0 +1,18 @@ +Header header + +uint8 ROLL = 1 +uint8 PITCH = 2 +uint8 YAW = 3 +uint8 STEER = 4 +uint8 HEIGHT = 5 +uint8 THRUST = 6 +uint8 BRAKE = 7 + +uint8 status +bool valid + +float32[] axis +uint8[] axis_function + +int8[] swit +uint8[] swit_function diff --git a/cvg_sim_msgs/msg/RawImu.msg b/cvg_sim_msgs/msg/RawImu.msg new file mode 100644 index 0000000..1014413 --- /dev/null +++ b/cvg_sim_msgs/msg/RawImu.msg @@ -0,0 +1,3 @@ +Header header +uint16[3] angular_velocity +uint16[3] linear_acceleration diff --git a/cvg_sim_msgs/msg/RawMagnetic.msg b/cvg_sim_msgs/msg/RawMagnetic.msg new file mode 100644 index 0000000..0a2543c --- /dev/null +++ b/cvg_sim_msgs/msg/RawMagnetic.msg @@ -0,0 +1,2 @@ +Header header +float64[3] channel diff --git a/cvg_sim_msgs/msg/RawRC.msg b/cvg_sim_msgs/msg/RawRC.msg new file mode 100644 index 0000000..52b397c --- /dev/null +++ b/cvg_sim_msgs/msg/RawRC.msg @@ -0,0 +1,3 @@ +Header header +uint8 status +uint16[] channel diff --git a/cvg_sim_msgs/msg/RuddersCommand.msg b/cvg_sim_msgs/msg/RuddersCommand.msg new file mode 100644 index 0000000..24a2773 --- /dev/null +++ b/cvg_sim_msgs/msg/RuddersCommand.msg @@ -0,0 +1,4 @@ +Header header +float32 aileron +float32 elevator +float32 rudder diff --git a/cvg_sim_msgs/msg/ServoCommand.msg b/cvg_sim_msgs/msg/ServoCommand.msg new file mode 100644 index 0000000..91b661c --- /dev/null +++ b/cvg_sim_msgs/msg/ServoCommand.msg @@ -0,0 +1,2 @@ +Header header +uint16[] value diff --git a/cvg_sim_msgs/msg/Supply.msg b/cvg_sim_msgs/msg/Supply.msg new file mode 100644 index 0000000..ca08cd6 --- /dev/null +++ b/cvg_sim_msgs/msg/Supply.msg @@ -0,0 +1,3 @@ +Header header +float32[] voltage +float32[] current diff --git a/cvg_sim_msgs/msg/ThrustCommand.msg b/cvg_sim_msgs/msg/ThrustCommand.msg new file mode 100644 index 0000000..fefdb9e --- /dev/null +++ b/cvg_sim_msgs/msg/ThrustCommand.msg @@ -0,0 +1,2 @@ +Header header +float32 thrust diff --git a/cvg_sim_msgs/msg/VelocityXYCommand.msg b/cvg_sim_msgs/msg/VelocityXYCommand.msg new file mode 100644 index 0000000..de72e09 --- /dev/null +++ b/cvg_sim_msgs/msg/VelocityXYCommand.msg @@ -0,0 +1,3 @@ +Header header +float32 x +float32 y diff --git a/cvg_sim_msgs/msg/VelocityZCommand.msg b/cvg_sim_msgs/msg/VelocityZCommand.msg new file mode 100644 index 0000000..0910464 --- /dev/null +++ b/cvg_sim_msgs/msg/VelocityZCommand.msg @@ -0,0 +1,2 @@ +Header header +float32 z diff --git a/cvg_sim_msgs/msg/YawrateCommand.msg b/cvg_sim_msgs/msg/YawrateCommand.msg new file mode 100644 index 0000000..fd2de10 --- /dev/null +++ b/cvg_sim_msgs/msg/YawrateCommand.msg @@ -0,0 +1,2 @@ +Header header +float32 turnrate diff --git a/cvg_sim_msgs/package.xml b/cvg_sim_msgs/package.xml new file mode 100644 index 0000000..294f670 --- /dev/null +++ b/cvg_sim_msgs/package.xml @@ -0,0 +1,21 @@ + + + cvg_sim_msgs + 0.0.0 + + cvg_sim_msgs contains message form for cvg_sim_gazebo_plugins. + This package is based on hector_uav_msgs by Stefan Kohlbrecher, TU Darmstadt. + + elliot + TODO + + catkin + geometry_msgs + message_generation + message_runtime + geometry_msgs + + + + + diff --git a/cvg_sim_msgs/src/cvg_sim_msgs/__init__.py b/cvg_sim_msgs/src/cvg_sim_msgs/__init__.py new file mode 100644 index 0000000..b23e43d --- /dev/null +++ b/cvg_sim_msgs/src/cvg_sim_msgs/__init__.py @@ -0,0 +1 @@ +#autogenerated by ROS python message generators \ No newline at end of file diff --git a/cvg_sim_msgs/src/cvg_sim_msgs/__init__.pyc b/cvg_sim_msgs/src/cvg_sim_msgs/__init__.pyc new file mode 100644 index 0000000000000000000000000000000000000000..e1660806c7bd55775cc93926bcfee0a8eab161da GIT binary patch literal 198 zcmZ9GK?(vf3`Hxt5W!Qpna!9BhS3zz|2XyCt3-X>YT zwwvefaW?8R3+a=DR|2clrI}6F2-F`qiG#`nT&jhk>evqnC^6m=jhwY{V6K^3QLT@~ uQPcqn)i{dpk^NMIE{VPyPTVsvnO}kEqc4d2d@pOcd6<%|!5!z%SfbwYt2Pn< literal 0 HcmV?d00001 diff --git a/message_to_tf/CMakeLists.txt b/message_to_tf/CMakeLists.txt new file mode 100644 index 0000000..4240d4b --- /dev/null +++ b/message_to_tf/CMakeLists.txt @@ -0,0 +1,165 @@ +cmake_minimum_required(VERSION 2.8.3) +project(message_to_tf) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + nav_msgs + sensor_msgs + tf +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependencies might have been +## pulled in transitively but can be declared for certainty nonetheless: +## * add a build_depend tag for "message_generation" +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# nav_msgs# sensor_msgs +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES message_to_tf +# CATKIN_DEPENDS geometry_msgs nav_msgs sensor_msgs tf +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## Declare a cpp library +# add_library(message_to_tf +# src/${PROJECT_NAME}/message_to_tf.cpp +# ) + +## Declare a cpp executable +# add_executable(message_to_tf_node src/message_to_tf_node.cpp) +add_executable(message_to_tf src/message_to_tf.cpp) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +# add_dependencies(message_to_tf_node message_to_tf_generate_messages_cpp) + +## Specify libraries to link a library or executable target against +target_link_libraries(message_to_tf + ${catkin_LIBRARIES} +) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS message_to_tf message_to_tf_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_message_to_tf.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/message_to_tf/package.xml b/message_to_tf/package.xml new file mode 100644 index 0000000..fef846c --- /dev/null +++ b/message_to_tf/package.xml @@ -0,0 +1,23 @@ + + + message_to_tf + 0.0.0 + The message_to_tf package + Elliot + BSD + + + catkin + geometry_msgs + nav_msgs + sensor_msgs + tf + + geometry_msgs + nav_msgs + sensor_msgs + tf + + + + diff --git a/message_to_tf/src/message_to_tf.cpp b/message_to_tf/src/message_to_tf.cpp new file mode 100644 index 0000000..8c5f9fd --- /dev/null +++ b/message_to_tf/src/message_to_tf.cpp @@ -0,0 +1,147 @@ +#include +#include +#include +#include +#include + +std::string g_odometry_topic; +std::string g_pose_topic; +std::string g_imu_topic; +std::string g_frame_id; +std::string g_footprint_frame_id; +std::string g_position_frame_id; +std::string g_stabilized_frame_id; +std::string g_child_frame_id; + +tf::TransformBroadcaster *br; + +void addTransform(std::vector& transforms, const tf::StampedTransform& tf) +{ + transforms.resize(transforms.size()+1); + tf::transformStampedTFToMsg(tf, transforms.back()); +} + +void sendTransform(geometry_msgs::Pose const &pose, const std_msgs::Header& header, std::string child_frame_id = "") +{ + std::vector transforms; + + tf::StampedTransform tf; + tf.frame_id_ = header.frame_id; + if (!g_frame_id.empty()) tf.frame_id_ = g_frame_id; + tf.stamp_ = header.stamp; + if (!g_child_frame_id.empty()) child_frame_id = g_child_frame_id; + if (child_frame_id.empty()) child_frame_id = "base_link"; + + tf::Quaternion orientation; + tf::quaternionMsgToTF(pose.orientation, orientation); + tfScalar yaw, pitch, roll; + tf::Matrix3x3(orientation).getEulerYPR(yaw, pitch, roll); + tf::Point position; + tf::pointMsgToTF(pose.position, position); + + // position intermediate transform (x,y,z) + if( !g_position_frame_id.empty() && child_frame_id != g_position_frame_id) { + tf.child_frame_id_ = g_position_frame_id; + tf.setOrigin(tf::Vector3(position.x(), position.y(), position.z() )); + tf.setRotation(tf::Quaternion(0.0, 0.0, 0.0, 1.0)); + addTransform(transforms, tf); + } + + // footprint intermediate transform (x,y,yaw) + if (!g_footprint_frame_id.empty() && child_frame_id != g_footprint_frame_id) { + tf.child_frame_id_ = g_footprint_frame_id; + tf.setOrigin(tf::Vector3(position.x(), position.y(), 0.0)); + tf.setRotation(tf::createQuaternionFromRPY(0.0, 0.0, yaw)); + addTransform(transforms, tf); + + yaw = 0.0; + position.setX(0.0); + position.setY(0.0); + tf.frame_id_ = g_footprint_frame_id; + } + + // stabilized intermediate transform (z) + if (!g_footprint_frame_id.empty() && child_frame_id != g_stabilized_frame_id) { + tf.child_frame_id_ = g_stabilized_frame_id; + tf.setOrigin(tf::Vector3(0.0, 0.0, position.z())); + tf.setBasis(tf::Matrix3x3::getIdentity()); + addTransform(transforms, tf); + + position.setZ(0.0); + tf.frame_id_ = g_stabilized_frame_id; + } + + // base_link transform (roll, pitch) + tf.child_frame_id_ = child_frame_id; + tf.setOrigin(position); + tf.setRotation(tf::createQuaternionFromRPY(roll, pitch, yaw)); + addTransform(transforms, tf); + + br->sendTransform(transforms); +} + +void odomCallback(nav_msgs::Odometry const &odometry) { + sendTransform(odometry.pose.pose, odometry.header, odometry.child_frame_id); +} + +void poseCallback(geometry_msgs::PoseStamped const &pose) { + sendTransform(pose.pose, pose.header); +} + +void imuCallback(sensor_msgs::Imu const &imu) { + std::vector transforms; + std::string child_frame_id; + + tf::StampedTransform tf; + tf.frame_id_ = g_stabilized_frame_id; + tf.stamp_ = imu.header.stamp; + if (!g_child_frame_id.empty()) child_frame_id = g_child_frame_id; + if (child_frame_id.empty()) child_frame_id = "base_link"; + + tf::Quaternion orientation; + tf::quaternionMsgToTF(imu.orientation, orientation); + tfScalar yaw, pitch, roll; + tf::Matrix3x3(orientation).getEulerYPR(yaw, pitch, roll); + + // base_link transform (roll, pitch) + tf.child_frame_id_ = child_frame_id; + tf.setRotation(tf::createQuaternionFromRPY(roll, pitch, 0.0)); + addTransform(transforms, tf); + + br->sendTransform(transforms); +} + +int main(int argc, char** argv) { + ros::init(argc, argv, "message_to_tf"); + + g_footprint_frame_id = "base_footprint"; + g_stabilized_frame_id = "base_stabilized"; + // g_position_frame_id = "base_position"; + + ros::NodeHandle priv_nh("~"); + priv_nh.getParam("odometry_topic", g_odometry_topic); + priv_nh.getParam("pose_topic", g_pose_topic); + priv_nh.getParam("imu_topic", g_imu_topic); + priv_nh.getParam("frame_id", g_frame_id); + priv_nh.getParam("footprint_frame_id", g_footprint_frame_id); + priv_nh.getParam("position_frame_id", g_position_frame_id); + priv_nh.getParam("stabilized_frame_id", g_stabilized_frame_id); + priv_nh.getParam("child_frame_id", g_child_frame_id); + + br = new tf::TransformBroadcaster; + + ros::NodeHandle node; + ros::Subscriber sub1, sub2, sub3; + if (!g_odometry_topic.empty()) sub1 = node.subscribe(g_odometry_topic, 10, &odomCallback); + if (!g_pose_topic.empty()) sub2 = node.subscribe(g_pose_topic, 10, &poseCallback); + if (!g_imu_topic.empty()) sub3 = node.subscribe(g_imu_topic, 10, &imuCallback); + + if (!sub1 && !sub2 && !sub3) { + ROS_FATAL("Params odometry_topic, pose_topic and imu_topic are empty... nothing to do for me!"); + return 1; + } + + ros::spin(); + delete br; + return 0; +} diff --git a/readme.txt b/readme.txt new file mode 100644 index 0000000..c66be49 --- /dev/null +++ b/readme.txt @@ -0,0 +1,44 @@ + + +These packages are used to simulate the flying robot Ardrone in ROS environment using gazebo simulator. Totally they are 4 packages. Their functions are descript as below: + +1. cvg_sim_gazebo: contains object models, sensor models, quadrocopter models, flying environment information and individual launch files for each objects and pure environment without any other objects. + +2. cvg_sim_gazebo_plugins: contains gazebo plugins for the quadrocopter model. quadrotor_simple_controller is used to control the robot motion and deliver navigation information, such as: /ardrone/navdata. Others are plugins for sensors in the quadrocopter, such as: IMU sensor, sonar sensor, GPS sensor. + +3. message_to_tf: is a package used to create a ros node, which transfers the ros topic /ground_truth/state to a /tf topic. + +4. cvg_sim_msgs: contains message forms for the simulator. + +Some packages are based on the tu-darmstadt-ros-pkg by Stefan Kohlbrecher, TU Darmstadt. + + +How to run a simulation: + +1. Download all the required packages, include four packages above and ardrone_autonomy package (which contains some standard message forms for ardrone simulator). + +2. Build packages cvg_sim_gazebo_plugins and message_to_tf. + rosmake cvg_sim_gazebo_plugins + rosmake message_to_tf + +3. Start a ros master by typing the following command in console + roscore + +4. Run a simulation by executing a launch file in cvg_test_sim package: + roslaunch cvg_sim_gazebo ardrone_testworld.launch + +5. You can manipulate the quadrocopter in gazebo simulator by downloading the ardrone_helpers package and using a joy-stick after calling this command: + roslaunch ardrone_joystick teleop.launch + + +Information for manipulation via joystick: + +1. The L1 button starts the quadrocopter. It also works as a deadman button so that the robot will land if you release it during flight. + +2. The left stick can be used to control the vx/vy-velocity. Keep in mind that these velocities are given in the local frame of the drone! + +3. The right stick controls the yaw-rate and the altitude. + +4. The select button can be used to switch between the two cameras. This can also be done by executing rosservice call /ardrone/togglecam. + + diff --git a/tum_simulator/CMakeLists.txt b/tum_simulator/CMakeLists.txt new file mode 100644 index 0000000..59f6d77 --- /dev/null +++ b/tum_simulator/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(tum_simulator) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/tum_simulator/package.xml b/tum_simulator/package.xml new file mode 100644 index 0000000..a592bb4 --- /dev/null +++ b/tum_simulator/package.xml @@ -0,0 +1,17 @@ + + + tum_simulator + 0.0.0 + The tum_simulator + Elliot + BSD + catkin + cvg_sim_msgs + cvg_sim_gazebo + cvg_sim_gazebo_plugins + message_to_tf + + + + + From 50e49aac6568d38fc59b0879cc04940e629eef87 Mon Sep 17 00:00:00 2001 From: surajmahangade <42811380+surajmahangade@users.noreply.github.com> Date: Tue, 26 May 2020 23:45:12 +0530 Subject: [PATCH 02/11] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 2be6436..29e26e3 100644 --- a/README.md +++ b/README.md @@ -3,4 +3,4 @@ tum_simulator ported to Melodic The original code was written in hydro which can be found here : https://github.com/tum-vision/tum_simulator.git This is a melodic version of the code. - +Check devel branch for updates From 06a1a7ab110c18117aa788ff3970e1eb90244a6a Mon Sep 17 00:00:00 2001 From: suraj Date: Tue, 26 May 2020 23:51:16 +0530 Subject: [PATCH 03/11] barometer and 6w diff drive headers compiled in melodic --- .../diffdrive_plugin_6w.h | 19 +++++++++++-------- .../hector_gazebo_plugins/gazebo_ros_gps.h | 6 +++--- 2 files changed, 14 insertions(+), 11 deletions(-) diff --git a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_6w.h b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_6w.h index 31fc3a7..d41bd3e 100644 --- a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_6w.h +++ b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_6w.h @@ -27,14 +27,16 @@ #include -#include "common/Plugin.hh" -#include "common/Time.hh" -//#include "physics/physics.h" +#include "gazebo/common/Plugin.hh" +#include "gazebo/common/Time.hh" +//#include "gazebo/physics/physics.h" //#include "transport/TransportTypes.hh" //#include "msgs/MessageTypes.hh" -//#include "common/Time.hh" -//#include "common/Events.hh" - +//#include "gazebo/common/Time.hh" +//#include "gazebo/common/Events.hh" +#include "gazebo/common/Events.hh" +#include "gazebo/physics/physics.hh" +//#include // ROS #include #include @@ -50,6 +52,7 @@ #include #include + namespace gazebo { @@ -63,10 +66,10 @@ class DiffDrivePlugin6W : public ModelPlugin protected: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); virtual void Reset(); - virtual void Update(); + virtual void OnUpdate(const gazebo::common::UpdateInfo &info); private: - void publish_odometry(); + void publish_odometry(const gazebo::common::UpdateInfo &info); void GetPositionCmd(); physics::LinkPtr link; diff --git a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_gps.h b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_gps.h index 3c70110..5d97833 100644 --- a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_gps.h +++ b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_gps.h @@ -29,8 +29,8 @@ #ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H -#include "common/Plugin.hh" -#include "common/Time.hh" +#include "gazebo/common/Plugin.hh" +#include "gazebo/common/Time.hh" #include #include @@ -49,7 +49,7 @@ class GazeboRosGps : public ModelPlugin protected: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); virtual void Reset(); - virtual void Update(); + virtual void OnUpdate(const gazebo::common::UpdateInfo &info); private: /// \brief The parent World From 34c01cdc05cc6e0b25316631b3f4c53b3093ab1f Mon Sep 17 00:00:00 2001 From: suraj Date: Wed, 27 May 2020 10:46:35 +0530 Subject: [PATCH 04/11] compiled all hector gazebo plugins in melodic --- .../hector_gazebo_plugins/gazebo_ros_imu.h | 18 +++++++------- .../gazebo_ros_magnetic.h | 8 +++---- .../hector_gazebo_plugins/gazebo_ros_sonar.h | 6 ++--- .../hector_gazebo_plugins/reset_plugin.h | 2 +- .../hector_gazebo_plugins/sensor_model.h | 24 +++++++++++-------- 5 files changed, 31 insertions(+), 27 deletions(-) diff --git a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_imu.h b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_imu.h index 351ac9f..d905c02 100644 --- a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_imu.h +++ b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_imu.h @@ -64,8 +64,8 @@ #include #endif -#include "common/Plugin.hh" -#include "common/Time.hh" +#include "gazebo/common/Plugin.hh" +#include "gazebo/common/Time.hh" #include #include @@ -88,7 +88,7 @@ namespace gazebo protected: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); virtual void Reset(); - virtual void Update(); + virtual void OnUpdate(const gazebo::common::UpdateInfo &info); private: /// \brief The parent World @@ -126,12 +126,12 @@ namespace gazebo common::Time update_period; /// \brief save current body/physics state - math::Quaternion orientation; - math::Vector3 velocity; - math::Vector3 accel; - math::Vector3 rate; - math::Vector3 gravity; - math::Vector3 gravity_body; + ignition::math::Quaterniond orientation; + ignition::math::Vector3d velocity; + ignition::math::Vector3d accel; + ignition::math::Vector3d rate; + ignition::math::Vector3d gravity; + ignition::math::Vector3d gravity_body; /// \brief Gaussian noise generator double GaussianKernel(double mu,double sigma); diff --git a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h index f24071f..2c7ee5e 100644 --- a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h +++ b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h @@ -29,8 +29,8 @@ #ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H -#include "common/Plugin.hh" -#include "common/Time.hh" +#include "gazebo/common/Plugin.hh" +#include "gazebo/common/Time.hh" #include #include @@ -48,7 +48,7 @@ class GazeboRosMagnetic : public ModelPlugin protected: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); virtual void Reset(); - virtual void Update(); + virtual void OnUpdate(const gazebo::common::UpdateInfo &info); private: /// \brief The parent World @@ -61,7 +61,7 @@ class GazeboRosMagnetic : public ModelPlugin ros::Publisher publisher_; geometry_msgs::Vector3Stamped magnetic_field_; - gazebo::math::Vector3 magnetic_field_world_; + ignition::math::Vector3d magnetic_field_world_; std::string namespace_; std::string topic_; diff --git a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_sonar.h b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_sonar.h index 9c96c1f..b273030 100644 --- a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_sonar.h +++ b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_sonar.h @@ -29,8 +29,8 @@ #ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H -#include "common/Plugin.hh" -#include "common/Time.hh" +#include "gazebo/common/Plugin.hh" +#include "gazebo/common/Time.hh" #include #include @@ -50,7 +50,7 @@ class GazeboRosSonar : public SensorPlugin protected: virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf); virtual void Reset(); - virtual void Update(); + virtual void OnUpdate(const gazebo::common::UpdateInfo &info); private: /// \brief The parent World diff --git a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/reset_plugin.h b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/reset_plugin.h index 2c37e02..97e064a 100644 --- a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/reset_plugin.h +++ b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/reset_plugin.h @@ -29,7 +29,7 @@ #ifndef HECTOR_GAZEBO_PLUGINS_RESET_PLUGIN_H #define HECTOR_GAZEBO_PLUGINS_RESET_PLUGIN_H -#include "common/Plugin.hh" +#include "gazebo/common/Plugin.hh" #include diff --git a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h index 293ab58..5c5883d 100644 --- a/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h +++ b/cvg_sim_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h @@ -30,7 +30,11 @@ #define HECTOR_GAZEBO_PLUGINS_SENSOR_MODEL_H #include -#include +//#include +#include +#include +#include +#include namespace gazebo { @@ -97,10 +101,10 @@ void SensorModel_::Load(sdf::ElementPtr _sdf, const std::string& prefix) _gaussian_noise = _sdf->GetElement(prefix + "GaussianNoise"); } - if (_offset && !_offset->GetValue()->Get(offset)) offset = _offset->GetValueDouble(); - if (_drift && !_drift->GetValue()->Get(drift)) drift = _drift->GetValueDouble(); - if (_drift_frequency && !_drift_frequency->GetValue()->Get(drift_frequency)) drift_frequency = _drift_frequency->GetValueDouble(); - if (_gaussian_noise && !_gaussian_noise->GetValue()->Get(gaussian_noise)) gaussian_noise = _gaussian_noise->GetValueDouble(); + if (_offset && !_offset->GetValue()->Get(offset)) offset = _offset->Get(); + if (_drift && !_drift->GetValue()->Get(drift)) drift = _drift->Get(); + if (_drift_frequency && !_drift_frequency->GetValue()->Get(drift_frequency)) drift_frequency = _drift_frequency->Get(); + if (_gaussian_noise && !_gaussian_noise->GetValue()->Get(gaussian_noise)) gaussian_noise = _gaussian_noise->Get(); } namespace { @@ -139,11 +143,11 @@ double SensorModel_::update(double dt) } template <> -math::Vector3 SensorModel_::update(double dt) +ignition::math::Vector3d SensorModel_::update(double dt) { - current_error_.x = SensorModelInternalUpdate(current_drift_.x, drift.x, drift_frequency.x, offset.x, gaussian_noise.x, dt); - current_error_.y = SensorModelInternalUpdate(current_drift_.y, drift.y, drift_frequency.y, offset.y, gaussian_noise.y, dt); - current_error_.z = SensorModelInternalUpdate(current_drift_.z, drift.z, drift_frequency.z, offset.z, gaussian_noise.z, dt); + current_error_.X(SensorModelInternalUpdate(current_drift_.X(), drift.X(), drift_frequency.X(), offset.X(), gaussian_noise.X(), dt)); + current_error_.Y(SensorModelInternalUpdate(current_drift_.Y(), drift.Y(), drift_frequency.Y(), offset.Y(), gaussian_noise.Y(), dt)); + current_error_.Y(SensorModelInternalUpdate(current_drift_.Z(), drift.Z(), drift_frequency.Z(), offset.Z(), gaussian_noise.Z(), dt)); return current_error_; } @@ -155,7 +159,7 @@ void SensorModel_::reset(const T& value) } typedef SensorModel_ SensorModel; -typedef SensorModel_ SensorModel3; +typedef SensorModel_ SensorModel3; } From 3c0d65251f7e841ce2a5c75dd20972eefd1ec59d Mon Sep 17 00:00:00 2001 From: suraj Date: Wed, 27 May 2020 16:47:20 +0530 Subject: [PATCH 05/11] all headers compiled and started with cpp files for porting --- .../quadrotor_simple_controller.h | 8 +- .../quadrotor_state_controller.h | 6 +- .../gazebo_ros_baro.h | 4 +- .../src/gazebo_ros_magnetic.cpp | 55 ++++---- .../src/gazebo_ros_sonar.cpp | 49 ++++--- .../src/quadrotor_simple_controller.cpp | 128 ++++++++++-------- .../src/quadrotor_state_controller.cpp | 85 ++++++------ cvg_sim_gazebo_plugins/src/reset_plugin.cpp | 2 +- 8 files changed, 184 insertions(+), 153 deletions(-) diff --git a/cvg_sim_gazebo_plugins/include/hector_quadrotor_controller/quadrotor_simple_controller.h b/cvg_sim_gazebo_plugins/include/hector_quadrotor_controller/quadrotor_simple_controller.h index 6560900..13bf493 100644 --- a/cvg_sim_gazebo_plugins/include/hector_quadrotor_controller/quadrotor_simple_controller.h +++ b/cvg_sim_gazebo_plugins/include/hector_quadrotor_controller/quadrotor_simple_controller.h @@ -46,7 +46,7 @@ #define HECTOR_GAZEBO_PLUGINS_QUADROTOR_SIMPLE_CONTROLLER_H #include "gazebo/gazebo.hh" -#include "common/Plugin.hh" +#include "gazebo/common/Plugin.hh" #include #include @@ -112,8 +112,8 @@ class GazeboQuadrotorSimpleController : public ModelPlugin void NavdataCallback(const ardrone_autonomy::NavdataConstPtr& msg); ros::Time state_stamp; - math::Pose pose; - math::Vector3 euler, velocity, acceleration, angular_velocity; + ignition::math::Pose3d pose; + ignition::math::Vector3d euler, velocity, acceleration, angular_velocity; std::string link_name_; std::string namespace_; @@ -155,7 +155,7 @@ class GazeboQuadrotorSimpleController : public ModelPlugin PIDController velocity_z; } controllers_; - math::Vector3 inertia; + ignition::math::Vector3d inertia; double mass; /// \brief save last_time diff --git a/cvg_sim_gazebo_plugins/include/hector_quadrotor_controller/quadrotor_state_controller.h b/cvg_sim_gazebo_plugins/include/hector_quadrotor_controller/quadrotor_state_controller.h index 6b945d2..d564d40 100644 --- a/cvg_sim_gazebo_plugins/include/hector_quadrotor_controller/quadrotor_state_controller.h +++ b/cvg_sim_gazebo_plugins/include/hector_quadrotor_controller/quadrotor_state_controller.h @@ -15,7 +15,7 @@ #define HECTOR_GAZEBO_PLUGINS_quadrotor_state_controller_H #include "gazebo/gazebo.hh" -#include "common/Plugin.hh" +#include "gazebo/common/Plugin.hh" #include #include @@ -120,8 +120,8 @@ class GazeboQuadrotorStateController : public ModelPlugin bool setLedAnimationCallback(ardrone_autonomy::LedAnim::Request& request, ardrone_autonomy::LedAnim::Response& response); ros::Time state_stamp; - math::Pose pose; - math::Vector3 euler, velocity, acceleration, angular_velocity; + ignition::math::Pose3d pose; + ignition::math::Vector3d euler, velocity, acceleration, angular_velocity; double robot_altitude; // 0: Unknown, 1: Init, 2: Landed, 3: Flying, 4: Hovering, 5: Test // 6: Taking off, 7: Goto Fix Point, 8: Landing, 9: Looping diff --git a/cvg_sim_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_ros_baro.h b/cvg_sim_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_ros_baro.h index 62fdc65..f6ccd81 100644 --- a/cvg_sim_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_ros_baro.h +++ b/cvg_sim_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_ros_baro.h @@ -30,7 +30,7 @@ #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H #include "gazebo/gazebo.hh" -#include "common/Plugin.hh" +#include "gazebo/common/Plugin.hh" #include #ifdef USE_MAV_MSGS @@ -54,7 +54,7 @@ class GazeboRosBaro : public ModelPlugin protected: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); virtual void Reset(); - virtual void Update(); + virtual void OnUpdate(const gazebo::common::UpdateInfo &info); private: /// \brief The parent World diff --git a/cvg_sim_gazebo_plugins/src/gazebo_ros_magnetic.cpp b/cvg_sim_gazebo_plugins/src/gazebo_ros_magnetic.cpp index da62df4..b3b1adb 100644 --- a/cvg_sim_gazebo_plugins/src/gazebo_ros_magnetic.cpp +++ b/cvg_sim_gazebo_plugins/src/gazebo_ros_magnetic.cpp @@ -27,8 +27,9 @@ //================================================================================================= #include -#include "common/Events.hh" -#include "physics/physics.hh" +#include "gazebo/common/Events.hh" +#include "gazebo/physics/physics.hh" +#include static const double DEFAULT_MAGNITUDE = 1.0; static const double DEFAULT_REFERENCE_HEADING = 0.0; @@ -45,7 +46,7 @@ GazeboRosMagnetic::GazeboRosMagnetic() // Destructor GazeboRosMagnetic::~GazeboRosMagnetic() { - event::Events::DisconnectWorldUpdateStart(updateConnection); + node_handle_->shutdown(); delete node_handle_; @@ -61,12 +62,12 @@ void GazeboRosMagnetic::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) if (!_sdf->HasElement("robotNamespace")) namespace_.clear(); else - namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + namespace_ = _sdf->GetElement("robotNamespace")->Get() + "/"; if (!_sdf->HasElement("topicName")) topic_ = "magnetic"; else - topic_ = _sdf->GetElement("topicName")->GetValueString(); + topic_ = _sdf->GetElement("topicName")->Get(); if (!_sdf->HasElement("bodyName")) { @@ -74,8 +75,9 @@ void GazeboRosMagnetic::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) link_name_ = link->GetName(); } else { - link_name_ = _sdf->GetElement("bodyName")->GetValueString(); - link = boost::shared_dynamic_cast(world->GetEntity(link_name_)); + link_name_ = _sdf->GetElement("bodyName")->Get(); + ROS_ERROR("CALLED FROM GAZEBO_ROS_MAGNETIC.CPP,CHANGED BY SURAJ MAY CAUSE ERRORS"); + link = _model->GetLink(link_name_); } if (!link) @@ -85,39 +87,39 @@ void GazeboRosMagnetic::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) } double update_rate = 0.0; - if (_sdf->HasElement("updateRate")) update_rate = _sdf->GetElement("updateRate")->GetValueDouble(); + if (_sdf->HasElement("updateRate")) update_rate = _sdf->GetElement("updateRate")->Get(); update_period = update_rate > 0.0 ? 1.0/update_rate : 0.0; if (!_sdf->HasElement("frameId")) frame_id_ = link_name_; else - frame_id_ = _sdf->GetElement("frameId")->GetValueString(); + frame_id_ = _sdf->GetElement("frameId")->Get(); if (!_sdf->HasElement("magnitude")) magnitude_ = DEFAULT_MAGNITUDE; else - magnitude_ = _sdf->GetElement("magnitude")->GetValueDouble(); + magnitude_ = _sdf->GetElement("magnitude")->Get(); if (!_sdf->HasElement("referenceHeading")) reference_heading_ = DEFAULT_REFERENCE_HEADING * M_PI/180.0; else - reference_heading_ = _sdf->GetElement("referenceHeading")->GetValueDouble() * M_PI/180.0; + reference_heading_ = _sdf->GetElement("referenceHeading")->Get() * M_PI/180.0; if (!_sdf->HasElement("declination")) declination_ = DEFAULT_DECLINATION * M_PI/180.0; else - declination_ = _sdf->GetElement("declination")->GetValueDouble() * M_PI/180.0; + declination_ = _sdf->GetElement("declination")->Get() * M_PI/180.0; if (!_sdf->HasElement("inclination")) inclination_ = DEFAULT_INCLINATION * M_PI/180.0; else - inclination_ = _sdf->GetElement("inclination")->GetValueDouble() * M_PI/180.0; + inclination_ = _sdf->GetElement("inclination")->Get() * M_PI/180.0; // Note: Gazebo uses NorthWestUp coordinate system, heading and declination are compass headings magnetic_field_.header.frame_id = frame_id_; - magnetic_field_world_.x = magnitude_ * cos(inclination_) * cos(reference_heading_ - declination_); - magnetic_field_world_.y = magnitude_ * sin(reference_heading_ - declination_); - magnetic_field_world_.z = magnitude_ * -sin(inclination_) * cos(reference_heading_ - declination_); + magnetic_field_world_.X(magnitude_ * cos(inclination_) * cos(reference_heading_ - declination_)); + magnetic_field_world_.Y(magnitude_ * sin(reference_heading_ - declination_)); + magnetic_field_world_.Z(magnitude_ * -sin(inclination_) * cos(reference_heading_ - declination_)); sensor_model_.Load(_sdf); @@ -137,10 +139,13 @@ void GazeboRosMagnetic::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) // New Mechanism for Updating every World Cycle // Listen to the update event. This event is broadcast every // simulation iteration. - updateConnection = event::Events::ConnectWorldUpdateBegin( - boost::bind(&GazeboRosMagnetic::Update, this)); + // updateConnection = event::Events::ConnectWorldUpdateBegin( + // boost::bind(&GazeboRosMagnetic::Update, this)); + updateConnection = gazebo::event::Events::ConnectWorldUpdateBegin( + boost::bind(&GazeboRosMagnetic::OnUpdate, this, _1)); } + void GazeboRosMagnetic::Reset() { sensor_model_.reset(); @@ -148,19 +153,19 @@ void GazeboRosMagnetic::Reset() //////////////////////////////////////////////////////////////////////////////// // Update the controller -void GazeboRosMagnetic::Update() +void GazeboRosMagnetic::OnUpdate(const gazebo::common::UpdateInfo &info) { - common::Time sim_time = world->GetSimTime(); + common::Time sim_time = info.simTime; double dt = (sim_time - last_time).Double(); if (last_time + update_period > sim_time) return; - math::Pose pose = link->GetWorldPose(); - math::Vector3 field = sensor_model_(pose.rot.RotateVectorReverse(magnetic_field_world_), dt); + ignition::math::Pose3d pose = link->WorldPose(); + ignition::math::Vector3d field = sensor_model_(pose.Rot().RotateVectorReverse(magnetic_field_world_), dt); magnetic_field_.header.stamp = ros::Time(sim_time.sec, sim_time.nsec); - magnetic_field_.vector.x = field.x; - magnetic_field_.vector.y = field.y; - magnetic_field_.vector.z = field.z; + magnetic_field_.vector.x = field.X(); + magnetic_field_.vector.y = field.Y(); + magnetic_field_.vector.z = field.Z(); publisher_.publish(magnetic_field_); diff --git a/cvg_sim_gazebo_plugins/src/gazebo_ros_sonar.cpp b/cvg_sim_gazebo_plugins/src/gazebo_ros_sonar.cpp index fd6bd6c..370ce7c 100644 --- a/cvg_sim_gazebo_plugins/src/gazebo_ros_sonar.cpp +++ b/cvg_sim_gazebo_plugins/src/gazebo_ros_sonar.cpp @@ -27,9 +27,14 @@ //================================================================================================= #include -#include "common/Events.hh" -#include "physics/physics.hh" -#include "sensors/RaySensor.hh" +#include "gazebo/common/Events.hh" +#include "gazebo/physics/physics.hh" +#include "gazebo/sensors/RaySensor.hh" +#include + +#include + +#include #include @@ -44,7 +49,7 @@ GazeboRosSonar::GazeboRosSonar() GazeboRosSonar::~GazeboRosSonar() { sensor_->SetActive(false); - event::Events::DisconnectWorldUpdateStart(updateConnection); + node_handle_->shutdown(); delete node_handle_; } @@ -54,7 +59,8 @@ GazeboRosSonar::~GazeboRosSonar() void GazeboRosSonar::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) { // Get then name of the parent sensor - sensor_ = boost::shared_dynamic_cast(_sensor); + //sensor_ = std::dynamic_pointer_cast(_sensor); + sensor_ = std::dynamic_pointer_cast(_sensor); if (!sensor_) { gzthrow("GazeboRosSonar requires a Ray Sensor as its parent"); @@ -62,32 +68,32 @@ void GazeboRosSonar::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) } // Get the world name. - std::string worldName = sensor_->GetWorldName(); + std::string worldName = sensor_->WorldName(); world = physics::get_world(worldName); // load parameters if (!_sdf->HasElement("robotNamespace")) namespace_.clear(); else - namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + namespace_ = _sdf->GetElement("robotNamespace")->Get() + "/"; if (!_sdf->HasElement("frameId")) frame_id_ = ""; else - frame_id_ = _sdf->GetElement("frameId")->GetValueString(); + frame_id_ = _sdf->GetElement("frameId")->Get(); if (!_sdf->HasElement("topicName")) topic_ = "sonar"; else - topic_ = _sdf->GetElement("topicName")->GetValueString(); + topic_ = _sdf->GetElement("topicName")->Get(); sensor_model_.Load(_sdf); range_.header.frame_id = frame_id_; range_.radiation_type = sensor_msgs::Range::ULTRASOUND; - range_.field_of_view = std::min(fabs((sensor_->GetAngleMax() - sensor_->GetAngleMin()).Radian()), fabs((sensor_->GetVerticalAngleMax() - sensor_->GetVerticalAngleMin()).Radian())); - range_.max_range = sensor_->GetRangeMax(); - range_.min_range = sensor_->GetRangeMin(); + range_.field_of_view = std::min(fabs((sensor_->AngleMax() - sensor_->AngleMin()).Radian()), fabs((sensor_->VerticalAngleMax() - sensor_->VerticalAngleMin()).Radian())); + range_.max_range = sensor_->RangeMax(); + range_.min_range = sensor_->RangeMin(); // start ros node if (!ros::isInitialized()) @@ -101,8 +107,11 @@ void GazeboRosSonar::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) publisher_ = node_handle_->advertise(topic_, 1); Reset(); - updateConnection = sensor_->GetLaserShape()->ConnectNewLaserScans( - boost::bind(&GazeboRosSonar::Update, this)); + //updateConnection = sensor_->GetLaserShape()->ConnectNewLaserScans( + // boost::bind(&GazeboRosSonar::Update, this)); + + updateConnection = gazebo::event::Events::ConnectWorldUpdateBegin( + boost::bind(&GazeboRosSonar::OnUpdate, this, _1)); // activate RaySensor sensor_->SetActive(true); @@ -115,23 +124,23 @@ void GazeboRosSonar::Reset() //////////////////////////////////////////////////////////////////////////////// // Update the controller -void GazeboRosSonar::Update() +void GazeboRosSonar::OnUpdate(const gazebo::common::UpdateInfo &info) { - common::Time sim_time = world->GetSimTime(); + common::Time sim_time = info.simTime; double dt = (sim_time - last_time).Double(); // if (last_time + updatePeriod > sim_time) return; // activate RaySensor if it is not yet active if (!sensor_->IsActive()) sensor_->SetActive(true); - range_.header.stamp.sec = (world->GetSimTime()).sec; - range_.header.stamp.nsec = (world->GetSimTime()).nsec; + range_.header.stamp.sec = (info.simTime).sec; + range_.header.stamp.nsec = (info.simTime).nsec; // find ray with minimal range range_.range = std::numeric_limits::max(); - int num_ranges = sensor_->GetLaserShape()->GetSampleCount() * sensor_->GetLaserShape()->GetVerticalSampleCount(); + int num_ranges = sensor_->LaserShape()->GetSampleCount() * sensor_->LaserShape()->GetVerticalSampleCount(); for(int i = 0; i < num_ranges; ++i) { - double ray = sensor_->GetLaserShape()->GetRange(i); + double ray = sensor_->LaserShape()->GetRange(i); if (ray < range_.range) range_.range = ray; } diff --git a/cvg_sim_gazebo_plugins/src/quadrotor_simple_controller.cpp b/cvg_sim_gazebo_plugins/src/quadrotor_simple_controller.cpp index 5e0dc65..d69eb48 100644 --- a/cvg_sim_gazebo_plugins/src/quadrotor_simple_controller.cpp +++ b/cvg_sim_gazebo_plugins/src/quadrotor_simple_controller.cpp @@ -41,8 +41,8 @@ * */ #include -#include "common/Events.hh" -#include "physics/physics.hh" +#include "gazebo/common/Events.hh" +#include "gazebo/physics/physics.hh" #include #include @@ -58,7 +58,7 @@ GazeboQuadrotorSimpleController::GazeboQuadrotorSimpleController() // Destructor GazeboQuadrotorSimpleController::~GazeboQuadrotorSimpleController() { - event::Events::DisconnectWorldUpdateStart(updateConnection); + updateConnection.reset(); node_handle_->shutdown(); delete node_handle_; @@ -74,27 +74,27 @@ void GazeboQuadrotorSimpleController::Load(physics::ModelPtr _model, sdf::Elemen if (!_sdf->HasElement("robotNamespace")) namespace_.clear(); else - namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + namespace_ = _sdf->GetElement("robotNamespace")->Get() + "/"; if (!_sdf->HasElement("topicName")) velocity_topic_ = "cmd_vel"; else - velocity_topic_ = _sdf->GetElement("topicName")->GetValueString(); + velocity_topic_ = _sdf->GetElement("topicName")->Get(); if (!_sdf->HasElement("navdataTopic")) navdata_topic_ = "/ardrone/navdata"; else - navdata_topic_ = _sdf->GetElement("navdataTopic")->GetValueString(); + navdata_topic_ = _sdf->GetElement("navdataTopic")->Get(); if (!_sdf->HasElement("imuTopic")) imu_topic_.clear(); else - imu_topic_ = _sdf->GetElement("imuTopic")->GetValueString(); + imu_topic_ = _sdf->GetElement("imuTopic")->Get(); if (!_sdf->HasElement("stateTopic")) state_topic_.clear(); else - state_topic_ = _sdf->GetElement("stateTopic")->GetValueString(); + state_topic_ = _sdf->GetElement("stateTopic")->Get(); if (!_sdf->HasElement("bodyName")) { @@ -102,8 +102,9 @@ void GazeboQuadrotorSimpleController::Load(physics::ModelPtr _model, sdf::Elemen link_name_ = link->GetName(); } else { - link_name_ = _sdf->GetElement("bodyName")->GetValueString(); - link = boost::shared_dynamic_cast(world->GetEntity(link_name_)); + link_name_ = _sdf->GetElement("bodyName")->Get(); + ROS_ERROR("CALLED FROM QUADROTOR_SIMPLE_CONTROLLER.CPP,CHANGED BY SURAJ MAY CAUSE ERRORS"); + link = _model->GetLink(link_name_); } if (!link) @@ -115,23 +116,23 @@ void GazeboQuadrotorSimpleController::Load(physics::ModelPtr _model, sdf::Elemen if (!_sdf->HasElement("maxForce")) max_force_ = -1; else - max_force_ = _sdf->GetElement("maxForce")->GetValueDouble(); + max_force_ = _sdf->GetElement("maxForce")->Get(); if (!_sdf->HasElement("motionSmallNoise")) motion_small_noise_ = 0; else - motion_small_noise_ = _sdf->GetElement("motionSmallNoise")->GetValueDouble(); + motion_small_noise_ = _sdf->GetElement("motionSmallNoise")->Get(); if (!_sdf->HasElement("motionDriftNoise")) motion_drift_noise_ = 0; else - motion_drift_noise_ = _sdf->GetElement("motionDriftNoise")->GetValueDouble(); + motion_drift_noise_ = _sdf->GetElement("motionDriftNoise")->Get(); if (!_sdf->HasElement("motionDriftNoiseTime")) motion_drift_noise_time_ = 1.0; else - motion_drift_noise_time_ = _sdf->GetElement("motionDriftNoiseTime")->GetValueDouble(); + motion_drift_noise_time_ = _sdf->GetElement("motionDriftNoiseTime")->Get(); controllers_.roll.Load(_sdf, "rollpitch"); @@ -142,8 +143,8 @@ void GazeboQuadrotorSimpleController::Load(physics::ModelPtr _model, sdf::Elemen controllers_.velocity_z.Load(_sdf, "velocityZ"); // Get inertia and mass of quadrotor body - inertia = link->GetInertial()->GetPrincipalMoments(); - mass = link->GetInertial()->GetMass(); + inertia = link->GetInertial()->PrincipalMoments(); + mass = link->GetInertial()->Mass(); node_handle_ = new ros::NodeHandle(namespace_); @@ -203,6 +204,9 @@ void GazeboQuadrotorSimpleController::Load(physics::ModelPtr _model, sdf::Elemen // simulation iteration. updateConnection = event::Events::ConnectWorldUpdateBegin( boost::bind(&GazeboQuadrotorSimpleController::Update, this)); + + // updateConnection = gazebo::event::Events::ConnectWorldUpdateBegin( + //boost::bind(&GazeboQuadrotorSimpleController::OnUpdate, this, _1)); } //////////////////////////////////////////////////////////////////////////////// @@ -212,11 +216,11 @@ void GazeboQuadrotorSimpleController::VelocityCallback(const geometry_msgs::Twis velocity_command_ = *velocity; - static common::Time last_sim_time = world->GetSimTime(); + static common::Time last_sim_time = world->SimTime (); static double time_counter_for_drift_noise = 0; static double drift_noise[4] = {0.0, 0.0, 0.0, 0.0}; // Get simulator time - common::Time cur_sim_time = world->GetSimTime(); + common::Time cur_sim_time = world->SimTime (); double dt = (cur_sim_time - last_sim_time).Double(); // save last time stamp last_sim_time = cur_sim_time; @@ -242,19 +246,19 @@ void GazeboQuadrotorSimpleController::VelocityCallback(const geometry_msgs::Twis void GazeboQuadrotorSimpleController::ImuCallback(const sensor_msgs::ImuConstPtr& imu) { - pose.rot.Set(imu->orientation.w, imu->orientation.x, imu->orientation.y, imu->orientation.z); - euler = pose.rot.GetAsEuler(); - angular_velocity = pose.rot.RotateVector(math::Vector3(imu->angular_velocity.x, imu->angular_velocity.y, imu->angular_velocity.z)); + pose.Rot().Set(imu->orientation.w, imu->orientation.x, imu->orientation.y, imu->orientation.z); + euler = pose.Rot().Euler(); + angular_velocity = pose.Rot().RotateVector(ignition::math::Vector3d(imu->angular_velocity.x, imu->angular_velocity.y, imu->angular_velocity.z)); } void GazeboQuadrotorSimpleController::StateCallback(const nav_msgs::OdometryConstPtr& state) { - math::Vector3 velocity1(velocity); + ignition::math::Vector3d velocity1(velocity); if (imu_topic_.empty()) { - pose.pos.Set(state->pose.pose.position.x, state->pose.pose.position.y, state->pose.pose.position.z); - pose.rot.Set(state->pose.pose.orientation.w, state->pose.pose.orientation.x, state->pose.pose.orientation.y, state->pose.pose.orientation.z); - euler = pose.rot.GetAsEuler(); + pose.Pos().Set(state->pose.pose.position.x, state->pose.pose.position.y, state->pose.pose.position.z); + pose.Rot().Set(state->pose.pose.orientation.w, state->pose.pose.orientation.x, state->pose.pose.orientation.y, state->pose.pose.orientation.z); + euler = pose.Rot().Euler(); angular_velocity.Set(state->twist.twist.angular.x, state->twist.twist.angular.y, state->twist.twist.angular.z); } @@ -274,59 +278,71 @@ void GazeboQuadrotorSimpleController::StateCallback(const nav_msgs::OdometryCons // Update the controller void GazeboQuadrotorSimpleController::Update() { - math::Vector3 force, torque; + ignition::math::Vector3d force, torque; // Get new commands/state callback_queue_.callAvailable(); // Get simulator time - common::Time sim_time = world->GetSimTime(); + common::Time sim_time = world->SimTime(); double dt = (sim_time - last_time).Double(); if (dt == 0.0) return; // Get Pose/Orientation from Gazebo (if no state subscriber is active) if (imu_topic_.empty()) { - pose = link->GetWorldPose(); - angular_velocity = link->GetWorldAngularVel(); - euler = pose.rot.GetAsEuler(); + pose = link->WorldPose(); + angular_velocity = link->WorldAngularVel(); + euler = pose.Rot().Euler(); } if (state_topic_.empty()) { - acceleration = (link->GetWorldLinearVel() - velocity) / dt; - velocity = link->GetWorldLinearVel(); + acceleration = (link->WorldLinearVel() - velocity) / dt; + velocity = link->WorldLinearVel(); } // static Time lastDebug; -// if ((world->GetSimTime() - lastDebug).Double() > 0.5) { +// if ((world->SimTime () - lastDebug).Double() > 0.5) { // ROS_DEBUG_STREAM_NAMED("quadrotor_simple_controller", "Velocity: gazebo = [" << link->GetWorldLinearVel() << "], state = [" << velocity << "]"); // ROS_DEBUG_STREAM_NAMED("quadrotor_simple_controller", "Acceleration: gazebo = [" << link->GetWorldLinearAccel() << "], state = [" << acceleration << "]"); // ROS_DEBUG_STREAM_NAMED("quadrotor_simple_controller", "Angular Velocity: gazebo = [" << link->GetWorldAngularVel() << "], state = [" << angular_velocity << "]"); -// lastDebug = world->GetSimTime(); +// lastDebug = world->SimTime (); // } // Get gravity - math::Vector3 gravity_body = pose.rot.RotateVector(world->GetPhysicsEngine()->GetGravity()); - double gravity = gravity_body.GetLength(); - double load_factor = gravity * gravity / world->GetPhysicsEngine()->GetGravity().Dot(gravity_body); // Get gravity + ignition::math::Vector3d gravity_body = pose.Rot().RotateVector(world->Gravity()); + double gravity = gravity_body.Length(); + double load_factor = gravity * gravity / world->Gravity().Dot(gravity_body); // Get gravity // Rotate vectors to coordinate frames relevant for control - math::Quaternion heading_quaternion(cos(euler.z/2),0,0,sin(euler.z/2)); - math::Vector3 velocity_xy = heading_quaternion.RotateVectorReverse(velocity); - math::Vector3 acceleration_xy = heading_quaternion.RotateVectorReverse(acceleration); - math::Vector3 angular_velocity_body = pose.rot.RotateVectorReverse(angular_velocity); + ignition::math::Quaterniond heading_quaternion(cos(euler.Z()/2),0,0,sin(euler.Z()/2)); + ignition::math::Vector3d velocity_xy = heading_quaternion.RotateVectorReverse(velocity); + ignition::math::Vector3d acceleration_xy = heading_quaternion.RotateVectorReverse(acceleration); + ignition::math::Vector3d angular_velocity_body = pose.Rot().RotateVectorReverse(angular_velocity); // update controllers force.Set(0.0, 0.0, 0.0); torque.Set(0.0, 0.0, 0.0); - double pitch_command = controllers_.velocity_x.update(velocity_command_.linear.x, velocity_xy.x, acceleration_xy.x, dt) / gravity; - double roll_command = -controllers_.velocity_y.update(velocity_command_.linear.y, velocity_xy.y, acceleration_xy.y, dt) / gravity; - torque.x = inertia.x * controllers_.roll.update(roll_command, euler.x, angular_velocity_body.x, dt); - torque.y = inertia.y * controllers_.pitch.update(pitch_command, euler.y, angular_velocity_body.y, dt); + /* + double pitch_command = controllers_.velocity_x.update(velocity_command_.linear.X(), velocity_xy.X(), acceleration_xy.X(), dt) / gravity; + double roll_command = -controllers_.velocity_y.update(velocity_command_.linear.Y(), velocity_xy.Y(), acceleration_xy.Y(), dt) / gravity; + torque.x = inertia.X() * controllers_.roll.update(roll_command, euler.X(), angular_velocity_body.X(), dt); + torque.y = inertia.Y() * controllers_.pitch.update(pitch_command, euler.Y(), angular_velocity_body.Y(), dt); // torque.x = inertia.x * controllers_.roll.update(-velocity_command_.linear.y/gravity, euler.x, angular_velocity_body.x, dt); // torque.y = inertia.y * controllers_.pitch.update(velocity_command_.linear.x/gravity, euler.y, angular_velocity_body.y, dt); - torque.z = inertia.z * controllers_.yaw.update(velocity_command_.angular.z, angular_velocity.z, 0, dt); - force.z = mass * (controllers_.velocity_z.update(velocity_command_.linear.z, velocity.z, acceleration.z, dt) + load_factor * gravity); - if (max_force_ > 0.0 && force.z > max_force_) force.z = max_force_; - if (force.z < 0.0) force.z = 0.0; + torque.z = inertia.Z() * controllers_.yaw.update(velocity_command_.angular.Z(), angular_velocity.Z(), 0, dt); + force.z = mass * (controllers_.velocity_z.update(velocity_command_.linear.Z(), velocity.Z(), acceleration.Z(), dt) + load_factor * gravity); + if (max_force_ > 0.0 && force.Z() > max_force_) force.Z() = max_force_; + if (force.Z() < 0.0) force.Z() = 0.0; +*/ + double pitch_command = controllers_.velocity_x.update(velocity_command_.linear.x, velocity_xy.X(), acceleration_xy.X(), dt) / gravity; + double roll_command = -controllers_.velocity_y.update(velocity_command_.linear.y, velocity_xy.Y(), acceleration_xy.Y(), dt) / gravity; + torque.X() = inertia.X() * controllers_.roll.update(roll_command, euler.X(), angular_velocity_body.X(), dt); + torque.Y() = inertia.Y() * controllers_.pitch.update(pitch_command, euler.Y(), angular_velocity_body.Y(), dt); + // torque.X() = inertia.X() * controllers_.roll.update(-velocity_command_.linear.y/gravity, euler.X(), angular_velocity_body.X(), dt); + // torque.Y() = inertia.Y() * controllers_.pitch.update(velocity_command_.linear.x/gravity, euler.Y(), angular_velocity_body.Y(), dt); + torque.Z() = inertia.Z() * controllers_.yaw.update(velocity_command_.angular.z, angular_velocity.Z(), 0, dt); + force.Z() = mass * (controllers_.velocity_z.update(velocity_command_.linear.z, velocity.Z(), acceleration.Z(), dt) + load_factor * gravity); + if (max_force_ > 0.0 && force.Z() > max_force_) force.Z() = max_force_; + if (force.Z() < 0.0) force.Z() = 0.0; // static double lastDebugOutput = 0.0; // if (last_time.Double() - lastDebugOutput > 0.1) { @@ -373,8 +389,8 @@ void GazeboQuadrotorSimpleController::Reset() controllers_.velocity_y.reset(); controllers_.velocity_z.reset(); - link->SetForce(math::Vector3(0,0,0)); - link->SetTorque(math::Vector3(0,0,0)); + link->SetForce(ignition::math::Vector3d(0,0,0)); + link->SetTorque(ignition::math::Vector3d(0,0,0)); // reset state pose.Reset(); @@ -405,11 +421,11 @@ void GazeboQuadrotorSimpleController::PIDController::Load(sdf::ElementPtr _sdf, if (!_sdf) return; // _sdf->PrintDescription(_sdf->GetName()); - if (_sdf->HasElement(prefix + "ProportionalGain")) gain_p = _sdf->GetElement(prefix + "ProportionalGain")->GetValueDouble(); - if (_sdf->HasElement(prefix + "DifferentialGain")) gain_d = _sdf->GetElement(prefix + "DifferentialGain")->GetValueDouble(); - if (_sdf->HasElement(prefix + "IntegralGain")) gain_i = _sdf->GetElement(prefix + "IntegralGain")->GetValueDouble(); - if (_sdf->HasElement(prefix + "TimeConstant")) time_constant = _sdf->GetElement(prefix + "TimeConstant")->GetValueDouble(); - if (_sdf->HasElement(prefix + "Limit")) limit = _sdf->GetElement(prefix + "Limit")->GetValueDouble(); + if (_sdf->HasElement(prefix + "ProportionalGain")) gain_p = _sdf->GetElement(prefix + "ProportionalGain")->Get(); + if (_sdf->HasElement(prefix + "DifferentialGain")) gain_d = _sdf->GetElement(prefix + "DifferentialGain")->Get(); + if (_sdf->HasElement(prefix + "IntegralGain")) gain_i = _sdf->GetElement(prefix + "IntegralGain")->Get(); + if (_sdf->HasElement(prefix + "TimeConstant")) time_constant = _sdf->GetElement(prefix + "TimeConstant")->Get(); + if (_sdf->HasElement(prefix + "Limit")) limit = _sdf->GetElement(prefix + "Limit")->Get(); } diff --git a/cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp b/cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp index 4137b16..5badbfe 100644 --- a/cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp +++ b/cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp @@ -13,8 +13,8 @@ #include -#include "common/Events.hh" -#include "physics/physics.hh" +#include "gazebo/common/Events.hh" +#include "gazebo/physics/physics.hh" #include @@ -36,7 +36,7 @@ GazeboQuadrotorStateController::GazeboQuadrotorStateController() // Destructor GazeboQuadrotorStateController::~GazeboQuadrotorStateController() { - event::Events::DisconnectWorldUpdateStart(updateConnection); + node_handle_->shutdown(); delete node_handle_; @@ -52,47 +52,47 @@ void GazeboQuadrotorStateController::Load(physics::ModelPtr _model, sdf::Element if (!_sdf->HasElement("robotNamespace")) namespace_.clear(); else - namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + namespace_ = _sdf->GetElement("robotNamespace")->Get() + "/"; if (!_sdf->HasElement("topicName")) velocity_topic_ = "cmd_vel"; else - velocity_topic_ = _sdf->GetElement("topicName")->GetValueString(); + velocity_topic_ = _sdf->GetElement("topicName")->Get(); if (!_sdf->HasElement("takeoffTopic")) takeoff_topic_ = "/ardrone/takeoff"; else - takeoff_topic_ = _sdf->GetElement("takeoffTopic")->GetValueString(); + takeoff_topic_ = _sdf->GetElement("takeoffTopic")->Get(); if (!_sdf->HasElement("/ardrone/land")) land_topic_ = "/ardrone/land"; else - land_topic_ = _sdf->GetElement("landTopic")->GetValueString(); + land_topic_ = _sdf->GetElement("landTopic")->Get(); if (!_sdf->HasElement("resetTopic")) reset_topic_ = "/ardrone/reset"; else - reset_topic_ = _sdf->GetElement("resetTopic")->GetValueString(); + reset_topic_ = _sdf->GetElement("resetTopic")->Get(); if (!_sdf->HasElement("navdataTopic")) navdata_topic_ = "/ardrone/navdata"; else - navdata_topic_ = _sdf->GetElement("navdataTopic")->GetValueString(); + navdata_topic_ = _sdf->GetElement("navdataTopic")->Get(); if (!_sdf->HasElement("imuTopic")) imu_topic_.clear(); else - imu_topic_ = _sdf->GetElement("imuTopic")->GetValueString(); + imu_topic_ = _sdf->GetElement("imuTopic")->Get(); if (!_sdf->HasElement("sonarTopic")) sonar_topic_.clear(); else - sonar_topic_ = _sdf->GetElement("sonarTopic")->GetValueString(); + sonar_topic_ = _sdf->GetElement("sonarTopic")->Get(); if (!_sdf->HasElement("stateTopic")) state_topic_.clear(); else - state_topic_ = _sdf->GetElement("stateTopic")->GetValueString(); + state_topic_ = _sdf->GetElement("stateTopic")->Get(); if (!_sdf->HasElement("bodyName")) { @@ -100,8 +100,9 @@ void GazeboQuadrotorStateController::Load(physics::ModelPtr _model, sdf::Element link_name_ = link->GetName(); } else { - link_name_ = _sdf->GetElement("bodyName")->GetValueString(); - link = boost::shared_dynamic_cast(world->GetEntity(link_name_)); + link_name_ = _sdf->GetElement("bodyName")->Get(); + ROS_ERROR("CALLED FROM QUADROTOR_STATE_CONTROLLER.CPP,CHANGED BY SURAJ MAY CAUSE ERRORS"); + link = _model->GetLink(link_name_); } if (!link) @@ -264,9 +265,9 @@ void GazeboQuadrotorStateController::VelocityCallback(const geometry_msgs::Twist void GazeboQuadrotorStateController::ImuCallback(const sensor_msgs::ImuConstPtr& imu) { - pose.rot.Set(imu->orientation.w, imu->orientation.x, imu->orientation.y, imu->orientation.z); - euler = pose.rot.GetAsEuler(); - angular_velocity = pose.rot.RotateVector(math::Vector3(imu->angular_velocity.x, imu->angular_velocity.y, imu->angular_velocity.z)); + pose.Rot().Set(imu->orientation.w, imu->orientation.x, imu->orientation.y, imu->orientation.z); + euler = pose.Rot().Euler(); + angular_velocity = pose.Rot().RotateVector(ignition::math::Vector3d(imu->angular_velocity.x, imu->angular_velocity.y, imu->angular_velocity.z)); } void GazeboQuadrotorStateController::SonarCallback(const sensor_msgs::RangeConstPtr& sonar_info) @@ -277,12 +278,12 @@ void GazeboQuadrotorStateController::SonarCallback(const sensor_msgs::RangeConst void GazeboQuadrotorStateController::StateCallback(const nav_msgs::OdometryConstPtr& state) { - math::Vector3 velocity1(velocity); + ignition::math::Vector3d velocity1(velocity); if (imu_topic_.empty()) { - pose.pos.Set(state->pose.pose.position.x, state->pose.pose.position.y, state->pose.pose.position.z); - pose.rot.Set(state->pose.pose.orientation.w, state->pose.pose.orientation.x, state->pose.pose.orientation.y, state->pose.pose.orientation.z); - euler = pose.rot.GetAsEuler(); + pose.Pos().Set(state->pose.pose.position.x, state->pose.pose.position.y, state->pose.pose.position.z); + pose.Rot().Set(state->pose.pose.orientation.w, state->pose.pose.orientation.x, state->pose.pose.orientation.y, state->pose.pose.orientation.z); + euler = pose.Rot().Euler(); angular_velocity.Set(state->twist.twist.angular.x, state->twist.twist.angular.y, state->twist.twist.angular.z); } @@ -302,33 +303,33 @@ void GazeboQuadrotorStateController::StateCallback(const nav_msgs::OdometryConst // Update the controller void GazeboQuadrotorStateController::Update() { - math::Vector3 force, torque; + ignition::math::Vector3d force, torque; // Get new commands/state callback_queue_.callAvailable(); // Get simulator time - common::Time sim_time = world->GetSimTime(); + common::Time sim_time = world->SimTime(); double dt = (sim_time - last_time).Double(); // Update rate is 200/per second if (dt < 0.005) return; // Get Pose/Orientation from Gazebo (if no state subscriber is active) if (imu_topic_.empty()) { - pose = link->GetWorldPose(); - angular_velocity = link->GetWorldAngularVel(); - euler = pose.rot.GetAsEuler(); + pose = link->WorldPose(); + angular_velocity = link->WorldAngularVel(); + euler = pose.Rot().Euler(); } if (state_topic_.empty()) { - acceleration = (link->GetWorldLinearVel() - velocity) / dt; - velocity = link->GetWorldLinearVel(); + acceleration = (link->WorldLinearVel() - velocity) / dt; + velocity = link->WorldLinearVel(); } // Rotate vectors to coordinate frames relevant for control - math::Quaternion heading_quaternion(cos(euler.z/2),0,0,sin(euler.z/2)); - math::Vector3 velocity_xy = heading_quaternion.RotateVectorReverse(velocity); - math::Vector3 acceleration_xy = heading_quaternion.RotateVectorReverse(acceleration); - math::Vector3 angular_velocity_body = pose.rot.RotateVectorReverse(angular_velocity); + ignition::math::Quaterniond heading_quaternion(cos(euler.Z()/2),0,0,sin(euler.Z()/2)); + ignition::math::Vector3d velocity_xy = heading_quaternion.RotateVectorReverse(velocity); + ignition::math::Vector3d acceleration_xy = heading_quaternion.RotateVectorReverse(acceleration); + ignition::math::Vector3d angular_velocity_body = pose.Rot().RotateVectorReverse(angular_velocity); // process robot operation information if((m_takeoff)&&(robot_current_state == LANDED_MODEL)) @@ -402,19 +403,19 @@ void GazeboQuadrotorStateController::Update() ardrone_autonomy::Navdata navdata; navdata.batteryPercent = m_batteryPercentage; - navdata.rotX = pose.rot.GetRoll() / M_PI * 180.; - navdata.rotY = pose.rot.GetPitch() / M_PI * 180.; - navdata.rotZ = pose.rot.GetYaw() / M_PI * 180.; + navdata.rotX = pose.Rot().Roll() / M_PI * 180.; + navdata.rotY = pose.Rot().Pitch() / M_PI * 180.; + navdata.rotZ = pose.Rot().Yaw() / M_PI * 180.; if (!sonar_topic_.empty()) navdata.altd = int(robot_altitude*1000); else - navdata.altd = pose.pos.z * 1000.f; - navdata.vx = 1000*velocity_xy.x; - navdata.vy = 1000*velocity_xy.y; - navdata.vz = 1000*velocity_xy.z; - navdata.ax = acceleration_xy.x/10; - navdata.ay = acceleration_xy.y/10; - navdata.az = acceleration_xy.z/10 + 1; + navdata.altd = pose.Pos().Z() * 1000.f; + navdata.vx = 1000*velocity_xy.X(); + navdata.vy = 1000*velocity_xy.Y(); + navdata.vz = 1000*velocity_xy.Z(); + navdata.ax = acceleration_xy.X()/10; + navdata.ay = acceleration_xy.Y()/10; + navdata.az = acceleration_xy.Z()/10 + 1; navdata.tm = ros::Time::now().toSec()*1000000; // FIXME what is the real drone sending here? diff --git a/cvg_sim_gazebo_plugins/src/reset_plugin.cpp b/cvg_sim_gazebo_plugins/src/reset_plugin.cpp index 95ebf9d..4ea0c0b 100644 --- a/cvg_sim_gazebo_plugins/src/reset_plugin.cpp +++ b/cvg_sim_gazebo_plugins/src/reset_plugin.cpp @@ -27,7 +27,7 @@ //================================================================================================= #include -#include "common/Events.hh" +#include "gazebo/common/Events.hh" #include From 09543da64be4230020648b0b42bc2baeff8dab44 Mon Sep 17 00:00:00 2001 From: suraj Date: Thu, 28 May 2020 13:39:52 +0530 Subject: [PATCH 06/11] ported everything to melodic checked on launch file ,will check others soon --- cvg_sim_gazebo/launch/spawn_quadrotor.launch | 4 +- cvg_sim_gazebo/urdf/quadrotor.urdf.xacro | 2 +- cvg_sim_gazebo/urdf/quadrotor_base.urdf.xacro | 2 +- .../urdf/quadrotor_sensors.urdf.xacro | 12 +- .../urdf/sensors/generic_camera.urdf.xacro | 2 +- .../src/diffdrive_plugin_6w.cpp | 92 ++++++------- .../src/gazebo_ros_baro.cpp | 40 +++--- cvg_sim_gazebo_plugins/src/gazebo_ros_gps.cpp | 64 ++++----- cvg_sim_gazebo_plugins/src/gazebo_ros_imu.cpp | 124 +++++++++--------- 9 files changed, 176 insertions(+), 166 deletions(-) diff --git a/cvg_sim_gazebo/launch/spawn_quadrotor.launch b/cvg_sim_gazebo/launch/spawn_quadrotor.launch index a0c2368..52c8505 100644 --- a/cvg_sim_gazebo/launch/spawn_quadrotor.launch +++ b/cvg_sim_gazebo/launch/spawn_quadrotor.launch @@ -10,7 +10,7 @@ - + - + diff --git a/cvg_sim_gazebo/urdf/quadrotor.urdf.xacro b/cvg_sim_gazebo/urdf/quadrotor.urdf.xacro index 158639a..6f0c637 100644 --- a/cvg_sim_gazebo/urdf/quadrotor.urdf.xacro +++ b/cvg_sim_gazebo/urdf/quadrotor.urdf.xacro @@ -7,7 +7,7 @@ xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"> - + diff --git a/cvg_sim_gazebo/urdf/quadrotor_base.urdf.xacro b/cvg_sim_gazebo/urdf/quadrotor_base.urdf.xacro index bdc5c23..692fdb2 100644 --- a/cvg_sim_gazebo/urdf/quadrotor_base.urdf.xacro +++ b/cvg_sim_gazebo/urdf/quadrotor_base.urdf.xacro @@ -6,7 +6,7 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="http://ros.org/wiki/xacro" > - + diff --git a/cvg_sim_gazebo/urdf/quadrotor_sensors.urdf.xacro b/cvg_sim_gazebo/urdf/quadrotor_sensors.urdf.xacro index 99e7bbd..f2465a5 100644 --- a/cvg_sim_gazebo/urdf/quadrotor_sensors.urdf.xacro +++ b/cvg_sim_gazebo/urdf/quadrotor_sensors.urdf.xacro @@ -9,36 +9,36 @@ xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"> - + - + - + - + - + diff --git a/cvg_sim_gazebo/urdf/sensors/generic_camera.urdf.xacro b/cvg_sim_gazebo/urdf/sensors/generic_camera.urdf.xacro index 3e88c19..8a02b7f 100644 --- a/cvg_sim_gazebo/urdf/sensors/generic_camera.urdf.xacro +++ b/cvg_sim_gazebo/urdf/sensors/generic_camera.urdf.xacro @@ -93,7 +93,7 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" true - PR2/Blue + Gazebo/Blue diff --git a/cvg_sim_gazebo_plugins/src/diffdrive_plugin_6w.cpp b/cvg_sim_gazebo_plugins/src/diffdrive_plugin_6w.cpp index 53a68ff..232c447 100644 --- a/cvg_sim_gazebo_plugins/src/diffdrive_plugin_6w.cpp +++ b/cvg_sim_gazebo_plugins/src/diffdrive_plugin_6w.cpp @@ -34,8 +34,8 @@ #include #include -#include "common/Events.hh" -#include "physics/physics.hh" +#include "gazebo/common/Events.hh" +#include "gazebo/physics/physics.hh" #include #include @@ -43,6 +43,7 @@ #include #include #include +//#include shutdown(); callback_queue_thread_.join(); @@ -81,12 +81,12 @@ void DiffDrivePlugin6W::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) if (!_sdf->HasElement("robotNamespace")) robotNamespace.clear(); else - robotNamespace = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + robotNamespace = _sdf->GetElement("robotNamespace")->Get() + "/"; if (!_sdf->HasElement("topicName")) topicName = "cmd_vel"; else - topicName = _sdf->GetElement("topicName")->GetValueString(); + topicName = _sdf->GetElement("topicName")->Get(); if (!_sdf->HasElement("bodyName")) { @@ -94,8 +94,9 @@ void DiffDrivePlugin6W::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) linkName = link->GetName(); } else { - linkName = _sdf->GetElement("bodyName")->GetValueString(); - link = boost::shared_dynamic_cast(world->GetEntity(_sdf->GetElement("bodyName")->GetValueString())); + linkName = _sdf->GetElement("bodyName")->Get(); + ROS_ERROR("CALLED FROM DIFFDRIVE_PLUGIN_6W.CPP,CHANGED BY SURAJ MAY CAUSE ERRORS"); + link = _model->GetLink(linkName); } // assert that the body by linkName exists @@ -105,12 +106,12 @@ void DiffDrivePlugin6W::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) return; } - if (_sdf->HasElement("frontLeftJoint")) joints[FRONT_LEFT] = _model->GetJoint(_sdf->GetElement("frontLeftJoint")->GetValueString()); - if (_sdf->HasElement("frontRightJoint")) joints[FRONT_RIGHT] = _model->GetJoint(_sdf->GetElement("frontRightJoint")->GetValueString()); - if (_sdf->HasElement("midLeftJoint")) joints[MID_LEFT] = _model->GetJoint(_sdf->GetElement("midLeftJoint")->GetValueString()); - if (_sdf->HasElement("midRightJoint")) joints[MID_RIGHT] = _model->GetJoint(_sdf->GetElement("midRightJoint")->GetValueString()); - if (_sdf->HasElement("rearLeftJoint")) joints[REAR_LEFT] = _model->GetJoint(_sdf->GetElement("rearLeftJoint")->GetValueString()); - if (_sdf->HasElement("rearRightJoint")) joints[REAR_RIGHT] = _model->GetJoint(_sdf->GetElement("rearRightJoint")->GetValueString()); + if (_sdf->HasElement("frontLeftJoint")) joints[FRONT_LEFT] = _model->GetJoint(_sdf->GetElement("frontLeftJoint")->Get()); + if (_sdf->HasElement("frontRightJoint")) joints[FRONT_RIGHT] = _model->GetJoint(_sdf->GetElement("frontRightJoint")->Get()); + if (_sdf->HasElement("midLeftJoint")) joints[MID_LEFT] = _model->GetJoint(_sdf->GetElement("midLeftJoint")->Get()); + if (_sdf->HasElement("midRightJoint")) joints[MID_RIGHT] = _model->GetJoint(_sdf->GetElement("midRightJoint")->Get()); + if (_sdf->HasElement("rearLeftJoint")) joints[REAR_LEFT] = _model->GetJoint(_sdf->GetElement("rearLeftJoint")->Get()); + if (_sdf->HasElement("rearRightJoint")) joints[REAR_RIGHT] = _model->GetJoint(_sdf->GetElement("rearRightJoint")->Get()); if (!joints[FRONT_LEFT]) ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get front left joint"); if (!joints[FRONT_RIGHT]) ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get front right joint"); @@ -122,17 +123,17 @@ void DiffDrivePlugin6W::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) if (!_sdf->HasElement("wheelSeparation")) wheelSep = 0.34; else - wheelSep = _sdf->GetElement("wheelSeparation")->GetValueDouble(); + wheelSep = _sdf->GetElement("wheelSeparation")->Get(); if (!_sdf->HasElement("wheelDiameter")) wheelDiam = 0.15; else - wheelDiam = _sdf->GetElement("wheelDiameter")->GetValueDouble(); + wheelDiam = _sdf->GetElement("wheelDiameter")->Get(); if (!_sdf->HasElement("torque")) torque = 10.0; else - torque = _sdf->GetElement("torque")->GetValueDouble(); + torque = _sdf->GetElement("torque")->Get(); // start ros node if (!ros::isInitialized()) @@ -162,8 +163,11 @@ void DiffDrivePlugin6W::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) // New Mechanism for Updating every World Cycle // Listen to the update event. This event is broadcast every // simulation iteration. - updateConnection = event::Events::ConnectWorldUpdateBegin( - boost::bind(&DiffDrivePlugin6W::Update, this)); + //updateConnection = event::Events::ConnectWorldUpdateBegin( + // boost::bind(&DiffDrivePlugin6W::Update, this)); + + updateConnection = gazebo::event::Events::ConnectWorldUpdateBegin( + boost::bind(&DiffDrivePlugin6W::OnUpdate, this, _1)); } // Initialize the controller @@ -175,7 +179,7 @@ void DiffDrivePlugin6W::Reset() wheelSpeed[i] = 0; } - prevUpdateTime = world->GetSimTime(); + prevUpdateTime =0; x_ = 0; rot_ = 0; @@ -192,7 +196,7 @@ void DiffDrivePlugin6W::Reset() } // Update the controller -void DiffDrivePlugin6W::Update() +void DiffDrivePlugin6W::OnUpdate(const gazebo::common::UpdateInfo &info) { // TODO: Step should be in a parameter of this function double d1, d2; @@ -202,8 +206,8 @@ void DiffDrivePlugin6W::Update() GetPositionCmd(); //stepTime = World::Instance()->GetPhysicsEngine()->GetStepTime(); - stepTime = world->GetSimTime() - prevUpdateTime; - prevUpdateTime = world->GetSimTime(); + stepTime = info.simTime - prevUpdateTime; + prevUpdateTime = info.simTime; // Distance travelled by front wheels d1 = stepTime.Double() * wheelDiam / 2 * joints[MID_LEFT]->GetVelocity(0); @@ -232,13 +236,13 @@ void DiffDrivePlugin6W::Update() joints[MID_RIGHT]->SetVelocity(0, wheelSpeed[1] / (wheelDiam / 2.0)); joints[REAR_RIGHT]->SetVelocity(0, wheelSpeed[1] / (wheelDiam / 2.0)); - joints[FRONT_LEFT]->SetMaxForce(0, torque); - joints[MID_LEFT]->SetMaxForce(0, torque); - joints[REAR_LEFT]->SetMaxForce(0, torque); + joints[FRONT_LEFT]->SetParam ( "fmax",0,torque); + joints[MID_LEFT]->SetParam ( "fmax",0,torque); + joints[REAR_LEFT]->SetParam ( "fmax",0,torque); - joints[FRONT_RIGHT]->SetMaxForce(0, torque); - joints[MID_RIGHT]->SetMaxForce(0, torque); - joints[REAR_RIGHT]->SetMaxForce(0, torque); + joints[FRONT_RIGHT]->SetParam ( "fmax",0,torque); + joints[MID_RIGHT]->SetParam ( "fmax",0,torque); + joints[REAR_RIGHT]->SetParam ( "fmax",0,torque); } //publish_odometry(); @@ -295,18 +299,18 @@ void DiffDrivePlugin6W::QueueThread() } // NEW: Update this to publish odometry topic -void DiffDrivePlugin6W::publish_odometry() +void DiffDrivePlugin6W::publish_odometry(const gazebo::common::UpdateInfo &info) { // get current time - ros::Time current_time_((world->GetSimTime()).sec, (world->GetSimTime()).nsec); + ros::Time current_time_((info.simTime).sec, (info.simTime).nsec); // getting data for base_footprint to odom transform - math::Pose pose = link->GetWorldPose(); - math::Vector3 velocity = link->GetWorldLinearVel(); - math::Vector3 angular_velocity = link->GetWorldAngularVel(); + ignition::math::Pose3d pose = link->WorldPose(); + ignition::math::Vector3d velocity = link->WorldLinearVel(); + ignition::math::Vector3d angular_velocity = link->WorldAngularVel(); - tf::Quaternion qt(pose.rot.x, pose.rot.y, pose.rot.z, pose.rot.w); - tf::Vector3 vt(pose.pos.x, pose.pos.y, pose.pos.z); + tf::Quaternion qt(pose.Rot().X(), pose.Rot().Y(), pose.Rot().Z(), pose.Rot().W()); + tf::Vector3 vt(pose.Pos().X(), pose.Pos().Y(), pose.Pos().Z()); tf::Transform base_footprint_to_odom(qt, vt); transform_broadcaster_->sendTransform(tf::StampedTransform(base_footprint_to_odom, @@ -315,17 +319,17 @@ void DiffDrivePlugin6W::publish_odometry() "base_footprint")); // publish odom topic - odom_.pose.pose.position.x = pose.pos.x; - odom_.pose.pose.position.y = pose.pos.y; + odom_.pose.pose.position.x = pose.Pos().X(); + odom_.pose.pose.position.y = pose.Pos().Y(); - odom_.pose.pose.orientation.x = pose.rot.x; - odom_.pose.pose.orientation.y = pose.rot.y; - odom_.pose.pose.orientation.z = pose.rot.z; - odom_.pose.pose.orientation.w = pose.rot.w; + odom_.pose.pose.orientation.x = pose.Rot().X(); + odom_.pose.pose.orientation.y = pose.Rot().Y(); + odom_.pose.pose.orientation.z = pose.Rot().Z(); + odom_.pose.pose.orientation.w = pose.Rot().W(); - odom_.twist.twist.linear.x = velocity.x; - odom_.twist.twist.linear.y = velocity.y; - odom_.twist.twist.angular.z = angular_velocity.z; + odom_.twist.twist.linear.x = velocity.X(); + odom_.twist.twist.linear.y = velocity.Y(); + odom_.twist.twist.angular.z = angular_velocity.Z(); odom_.header.frame_id = tf::resolve(tf_prefix_, "odom"); odom_.child_frame_id = "base_footprint"; diff --git a/cvg_sim_gazebo_plugins/src/gazebo_ros_baro.cpp b/cvg_sim_gazebo_plugins/src/gazebo_ros_baro.cpp index 3876a5b..31c50ee 100644 --- a/cvg_sim_gazebo_plugins/src/gazebo_ros_baro.cpp +++ b/cvg_sim_gazebo_plugins/src/gazebo_ros_baro.cpp @@ -27,8 +27,8 @@ //================================================================================================= #include -#include "common/Events.hh" -#include "physics/physics.hh" +#include "gazebo/common/Events.hh" +#include "gazebo/physics/physics.hh" static const double DEFAULT_ELEVATION = 0.0; static const double DEFAULT_QNH = 1013.25; @@ -43,7 +43,7 @@ GazeboRosBaro::GazeboRosBaro() // Destructor GazeboRosBaro::~GazeboRosBaro() { - event::Events::DisconnectWorldUpdateStart(updateConnection); + node_handle_->shutdown(); delete node_handle_; @@ -59,7 +59,7 @@ void GazeboRosBaro::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) if (!_sdf->HasElement("robotNamespace")) namespace_.clear(); else - namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + namespace_ = _sdf->GetElement("robotNamespace")->Get() + "/"; if (!_sdf->HasElement("bodyName")) { @@ -67,8 +67,9 @@ void GazeboRosBaro::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) link_name_ = link->GetName(); } else { - link_name_ = _sdf->GetElement("bodyName")->GetValueString(); - link = boost::shared_dynamic_cast(world->GetEntity(link_name_)); + link_name_ = _sdf->GetElement("bodyName")->Get(); + ROS_ERROR("CALLED FROM GAZEBO_ROS_BARO.CPP,CHANGED BY SURAJ MAY CAUSE ERRORS"); + link = _model->GetLink(link_name_); } if (!link) @@ -78,33 +79,33 @@ void GazeboRosBaro::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) } double update_rate = 0.0; - if (_sdf->HasElement("updateRate")) update_rate = _sdf->GetElement("updateRate")->GetValueDouble(); + if (_sdf->HasElement("updateRate")) update_rate = _sdf->GetElement("updateRate")->Get(); update_period = update_rate > 0.0 ? 1.0/update_rate : 0.0; if (!_sdf->HasElement("frameId")) frame_id_ = link->GetName(); else - frame_id_ = _sdf->GetElement("frameId")->GetValueString(); + frame_id_ = _sdf->GetElement("frameId")->Get(); if (!_sdf->HasElement("topicName")) height_topic_ = "pressure_height"; else - height_topic_ = _sdf->GetElement("topicName")->GetValueString(); + height_topic_ = _sdf->GetElement("topicName")->Get(); if (!_sdf->HasElement("altimeterTopicName")) altimeter_topic_ = "altimeter"; else - altimeter_topic_ = _sdf->GetElement("altimeterTopicName")->GetValueString(); + altimeter_topic_ = _sdf->GetElement("altimeterTopicName")->Get(); if (!_sdf->HasElement("elevation")) elevation_ = DEFAULT_ELEVATION; else - elevation_ = _sdf->GetElement("elevation")->GetValueDouble(); + elevation_ = _sdf->GetElement("elevation")->Get(); if (!_sdf->HasElement("qnh")) qnh_ = DEFAULT_QNH; else - qnh_ = _sdf->GetElement("qnh")->GetValueDouble(); + qnh_ = _sdf->GetElement("qnh")->Get(); sensor_model_.Load(_sdf); height_.header.frame_id = frame_id_; @@ -135,8 +136,11 @@ void GazeboRosBaro::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) // New Mechanism for Updating every World Cycle // Listen to the update event. This event is broadcast every // simulation iteration. - updateConnection = event::Events::ConnectWorldUpdateBegin( - boost::bind(&GazeboRosBaro::Update, this)); + // updateConnection = event::Events::ConnectWorldUpdateBegin( + // boost::bind(&GazeboRosBaro::Update, this)); + + updateConnection = gazebo::event::Events::ConnectWorldUpdateBegin( + boost::bind(&GazeboRosBaro::OnUpdate, this, _1)); } void GazeboRosBaro::Reset() @@ -146,14 +150,14 @@ void GazeboRosBaro::Reset() //////////////////////////////////////////////////////////////////////////////// // Update the controller -void GazeboRosBaro::Update() +void GazeboRosBaro::OnUpdate(const gazebo::common::UpdateInfo &info) { - common::Time sim_time = world->GetSimTime(); + common::Time sim_time = info.simTime; double dt = (sim_time - last_time).Double(); if (last_time + update_period > sim_time) return; - math::Pose pose = link->GetWorldPose(); - double height = sensor_model_(pose.pos.z, dt); + ignition::math::Pose3d pose = link->WorldPose(); + double height = sensor_model_(pose.Pos().Z(), dt); if (height_publisher_) { #ifdef USE_MAV_MSGS diff --git a/cvg_sim_gazebo_plugins/src/gazebo_ros_gps.cpp b/cvg_sim_gazebo_plugins/src/gazebo_ros_gps.cpp index a13f18d..afbaf51 100644 --- a/cvg_sim_gazebo_plugins/src/gazebo_ros_gps.cpp +++ b/cvg_sim_gazebo_plugins/src/gazebo_ros_gps.cpp @@ -27,8 +27,8 @@ //================================================================================================= #include -#include "common/Events.hh" -#include "physics/physics.hh" +#include "gazebo/common/Events.hh" +#include "gazebo/physics/physics.hh" static const double EARTH_RADIUS = 6371000.0; static const double DEFAULT_REFERENCE_LATITUDE = 49.9; @@ -46,7 +46,7 @@ GazeboRosGps::GazeboRosGps() // Destructor GazeboRosGps::~GazeboRosGps() { - event::Events::DisconnectWorldUpdateStart(updateConnection); + node_handle_->shutdown(); delete node_handle_; } @@ -61,7 +61,7 @@ void GazeboRosGps::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) if (!_sdf->HasElement("robotNamespace")) namespace_.clear(); else - namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + namespace_ = _sdf->GetElement("robotNamespace")->Get() + "/"; if (!_sdf->HasElement("bodyName")) { @@ -69,8 +69,9 @@ void GazeboRosGps::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) link_name_ = link->GetName(); } else { - link_name_ = _sdf->GetElement("bodyName")->GetValueString(); - link = boost::shared_dynamic_cast(world->GetEntity(link_name_)); + link_name_ = _sdf->GetElement("bodyName")->Get(); + ROS_ERROR("CALLED FROM GAZEBO_ROS_GPS.CPP,CHANGED BY SURAJ MAY CAUSE ERRORS"); + link = _model->GetLink(link_name_); } if (!link) @@ -80,53 +81,53 @@ void GazeboRosGps::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) } double update_rate = 4.0; - if (_sdf->HasElement("updateRate")) update_rate = _sdf->GetElement("updateRate")->GetValueDouble(); + if (_sdf->HasElement("updateRate")) update_rate = _sdf->GetElement("updateRate")->Get(); update_period = update_rate > 0.0 ? 1.0/update_rate : 0.0; if (!_sdf->HasElement("frameId")) frame_id_ = link_name_; else - frame_id_ = _sdf->GetElement("frameId")->GetValueString(); + frame_id_ = _sdf->GetElement("frameId")->Get(); if (!_sdf->HasElement("topicName")) fix_topic_ = "fix"; else - fix_topic_ = _sdf->GetElement("topicName")->GetValueString(); + fix_topic_ = _sdf->GetElement("topicName")->Get(); if (!_sdf->HasElement("velocityTopicName")) velocity_topic_ = "fix_velocity"; else - velocity_topic_ = _sdf->GetElement("velocityTopicName")->GetValueString(); + velocity_topic_ = _sdf->GetElement("velocityTopicName")->Get(); if (!_sdf->HasElement("referenceLatitude")) reference_latitude_ = DEFAULT_REFERENCE_LATITUDE; else - reference_latitude_ = _sdf->GetElement("referenceLatitude")->GetValueDouble(); + reference_latitude_ = _sdf->GetElement("referenceLatitude")->Get(); if (!_sdf->HasElement("referenceLongitude")) reference_longitude_ = DEFAULT_REFERENCE_LONGITUDE; else - reference_longitude_ = _sdf->GetElement("referenceLongitude")->GetValueDouble(); + reference_longitude_ = _sdf->GetElement("referenceLongitude")->Get(); if (!_sdf->HasElement("referenceHeading")) reference_heading_ = DEFAULT_REFERENCE_HEADING * M_PI/180.0; else - reference_heading_ = _sdf->GetElement("referenceLatitude")->GetValueDouble() * M_PI/180.0; + reference_heading_ = _sdf->GetElement("referenceLatitude")->Get() * M_PI/180.0; if (!_sdf->HasElement("referenceAltitude")) reference_altitude_ = DEFAULT_REFERENCE_ALTITUDE; else - reference_altitude_ = _sdf->GetElement("referenceLatitude")->GetValueDouble(); + reference_altitude_ = _sdf->GetElement("referenceLatitude")->Get(); if (!_sdf->HasElement("status")) status_ = sensor_msgs::NavSatStatus::STATUS_FIX; else - status_ = _sdf->GetElement("status")->GetValueUInt(); + status_ = _sdf->GetElement("status")->Get(); if (!_sdf->HasElement("service")) service_ = sensor_msgs::NavSatStatus::SERVICE_GPS; else - service_ = _sdf->GetElement("service")->GetValueUInt(); + service_ = _sdf->GetElement("service")->Get(); fix_.header.frame_id = frame_id_; fix_.status.status = status_; @@ -153,13 +154,16 @@ void GazeboRosGps::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) // New Mechanism for Updating every World Cycle // Listen to the update event. This event is broadcast every // simulation iteration. - updateConnection = event::Events::ConnectWorldUpdateBegin( - boost::bind(&GazeboRosGps::Update, this)); + // updateConnection = event::Events::ConnectWorldUpdateBegin( + // boost::bind(&GazeboRosGps::Update, this)); + + updateConnection = gazebo::event::Events::ConnectWorldUpdateBegin( + boost::bind(&GazeboRosGps::OnUpdate, this, _1)); } void GazeboRosGps::Reset() { - last_time = world->GetSimTime(); + last_time = 0; position_error_model_.reset(); velocity_error_model_.reset(); @@ -167,28 +171,28 @@ void GazeboRosGps::Reset() //////////////////////////////////////////////////////////////////////////////// // Update the controller -void GazeboRosGps::Update() +void GazeboRosGps::OnUpdate(const gazebo::common::UpdateInfo &info) { - common::Time sim_time = world->GetSimTime(); + common::Time sim_time = info.simTime; double dt = (sim_time - last_time).Double(); if (last_time + update_period > sim_time) return; - math::Pose pose = link->GetWorldPose(); + ignition::math::Pose3d pose = link->WorldPose(); - gazebo::math::Vector3 velocity = velocity_error_model_(link->GetWorldLinearVel(), dt); + ignition::math::Vector3d velocity = velocity_error_model_(link->WorldLinearVel(), dt); position_error_model_.setCurrentDrift(position_error_model_.getCurrentDrift() + velocity_error_model_.getCurrentError() * dt); - gazebo::math::Vector3 position = position_error_model_(pose.pos, dt); + ignition::math::Vector3d position = position_error_model_(pose.Pos(), dt); fix_.header.stamp = ros::Time(sim_time.sec, sim_time.nsec); velocity_.header.stamp = fix_.header.stamp; - fix_.latitude = reference_latitude_ + ( cos(reference_heading_) * position.x + sin(reference_heading_) * position.y) / EARTH_RADIUS * 180.0/M_PI; - fix_.longitude = reference_longitude_ - (-sin(reference_heading_) * position.x + cos(reference_heading_) * position.y) / EARTH_RADIUS * 180.0/M_PI * cos(fix_.latitude); - fix_.altitude = reference_altitude_ + position.z; + fix_.latitude = reference_latitude_ + ( cos(reference_heading_) * position.X() + sin(reference_heading_) * position.Y()) / EARTH_RADIUS * 180.0/M_PI; + fix_.longitude = reference_longitude_ - (-sin(reference_heading_) * position.X() + cos(reference_heading_) * position.Y()) / EARTH_RADIUS * 180.0/M_PI * cos(fix_.latitude); + fix_.altitude = reference_altitude_ + position.Z(); fix_.position_covariance_type = sensor_msgs::NavSatFix::COVARIANCE_TYPE_UNKNOWN; - velocity_.vector.x = cos(reference_heading_) * velocity.x + sin(reference_heading_) * velocity.y; - velocity_.vector.y = -sin(reference_heading_) * velocity.x + cos(reference_heading_) * velocity.y; - velocity_.vector.z = velocity.z; + velocity_.vector.x = cos(reference_heading_) * velocity.X() + sin(reference_heading_) * velocity.Y(); + velocity_.vector.y = -sin(reference_heading_) * velocity.X() + cos(reference_heading_) * velocity.Y(); + velocity_.vector.z = velocity.Z(); fix_publisher_.publish(fix_); velocity_publisher_.publish(velocity_); diff --git a/cvg_sim_gazebo_plugins/src/gazebo_ros_imu.cpp b/cvg_sim_gazebo_plugins/src/gazebo_ros_imu.cpp index 4eb1ccf..74de5fd 100644 --- a/cvg_sim_gazebo_plugins/src/gazebo_ros_imu.cpp +++ b/cvg_sim_gazebo_plugins/src/gazebo_ros_imu.cpp @@ -55,8 +55,8 @@ //================================================================================================= #include -#include "common/Events.hh" -#include "physics/physics.hh" +#include "gazebo/common/Events.hh" +#include "gazebo/physics/physics.hh" namespace gazebo { @@ -77,7 +77,7 @@ GazeboRosIMU::GazeboRosIMU() // Destructor GazeboRosIMU::~GazeboRosIMU() { - event::Events::DisconnectWorldUpdateStart(updateConnection); + node_handle_->shutdown(); #ifdef USE_CBQ @@ -97,7 +97,7 @@ void GazeboRosIMU::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) if (!_sdf->HasElement("robotNamespace")) robotNamespace.clear(); else - robotNamespace = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + robotNamespace = _sdf->GetElement("robotNamespace")->Get() + "/"; if (!_sdf->HasElement("bodyName")) { @@ -105,8 +105,9 @@ void GazeboRosIMU::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) linkName = link->GetName(); } else { - linkName = _sdf->GetElement("bodyName")->GetValueString(); - link = boost::shared_dynamic_cast(world->GetEntity(linkName)); + linkName = _sdf->GetElement("bodyName")->Get(); + ROS_ERROR("CALLED FROM GAZEBO_ROS_IMU.CPP,CHANGED BY SURAJ MAY CAUSE ERRORS"); + link = _model->GetLink(linkName); } // assert that the body by linkName exists @@ -117,23 +118,23 @@ void GazeboRosIMU::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) } double update_rate = 0.0; - if (_sdf->HasElement("updateRate")) update_rate = _sdf->GetElement("updateRate")->GetValueDouble(); + if (_sdf->HasElement("updateRate")) update_rate = _sdf->GetElement("updateRate")->Get(); update_period = update_rate > 0.0 ? 1.0/update_rate : 0.0; if (!_sdf->HasElement("frameId")) frameId = linkName; else - frameId = _sdf->GetElement("frameId")->GetValueString(); + frameId = _sdf->GetElement("frameId")->Get(); if (!_sdf->HasElement("topicName")) topicName = "imu"; else - topicName = _sdf->GetElement("topicName")->GetValueString(); + topicName = _sdf->GetElement("topicName")->Get(); if (!_sdf->HasElement("serviceName")) serviceName = topicName + "/calibrate"; else - serviceName = _sdf->GetElement("serviceName")->GetValueString(); + serviceName = _sdf->GetElement("serviceName")->Get(); accelModel.Load(_sdf, "accel"); rateModel.Load(_sdf, "rate"); @@ -141,28 +142,22 @@ void GazeboRosIMU::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) // also use old configuration variables from gazebo_ros_imu if (_sdf->HasElement("gaussianNoise")) { - double gaussianNoise = _sdf->GetElement("gaussianNoise")->GetValueDouble(); + double gaussianNoise = _sdf->GetElement("gaussianNoise")->Get(); if (gaussianNoise != 0.0) { accelModel.gaussian_noise = gaussianNoise; rateModel.gaussian_noise = gaussianNoise; } } - if (_sdf->HasElement("rpyOffset")) { - sdf::Vector3 sdfVec = _sdf->GetElement("rpyOffset")->GetValueVector3(); - math::Vector3 rpyOffset = math::Vector3(sdfVec.x, sdfVec.y, sdfVec.z); - if (accelModel.offset.y == 0.0 && rpyOffset.x != 0.0) accelModel.offset.y = -rpyOffset.x * 9.8065; - if (accelModel.offset.x == 0.0 && rpyOffset.y != 0.0) accelModel.offset.x = rpyOffset.y * 9.8065; - if (headingModel.offset == 0.0 && rpyOffset.z != 0.0) headingModel.offset = rpyOffset.z; - } + // fill in constant covariance matrix - imuMsg.angular_velocity_covariance[0] = rateModel.gaussian_noise.x*rateModel.gaussian_noise.x; - imuMsg.angular_velocity_covariance[4] = rateModel.gaussian_noise.y*rateModel.gaussian_noise.y; - imuMsg.angular_velocity_covariance[8] = rateModel.gaussian_noise.z*rateModel.gaussian_noise.z; - imuMsg.linear_acceleration_covariance[0] = accelModel.gaussian_noise.x*accelModel.gaussian_noise.x; - imuMsg.linear_acceleration_covariance[4] = accelModel.gaussian_noise.y*accelModel.gaussian_noise.y; - imuMsg.linear_acceleration_covariance[8] = accelModel.gaussian_noise.z*accelModel.gaussian_noise.z; + imuMsg.angular_velocity_covariance[0] = rateModel.gaussian_noise.X()*rateModel.gaussian_noise.X(); + imuMsg.angular_velocity_covariance[4] = rateModel.gaussian_noise.Y()*rateModel.gaussian_noise.Y(); + imuMsg.angular_velocity_covariance[8] = rateModel.gaussian_noise.Z()*rateModel.gaussian_noise.Z(); + imuMsg.linear_acceleration_covariance[0] = accelModel.gaussian_noise.X()*accelModel.gaussian_noise.X(); + imuMsg.linear_acceleration_covariance[4] = accelModel.gaussian_noise.Y()*accelModel.gaussian_noise.Y(); + imuMsg.linear_acceleration_covariance[8] = accelModel.gaussian_noise.Z()*accelModel.gaussian_noise.Z(); // start ros node if (!ros::isInitialized()) @@ -199,14 +194,17 @@ void GazeboRosIMU::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) // New Mechanism for Updating every World Cycle // Listen to the update event. This event is broadcast every // simulation iteration. - updateConnection = event::Events::ConnectWorldUpdateBegin( - boost::bind(&GazeboRosIMU::Update, this)); + // updateConnection = event::Events::ConnectWorldUpdateBegin( + //boost::bind(&GazeboRosIMU::Update, this)); + + updateConnection = gazebo::event::Events::ConnectWorldUpdateBegin( + boost::bind(&GazeboRosIMU::OnUpdate, this, _1)); } void GazeboRosIMU::Reset() { - last_time = world->GetSimTime(); - orientation = math::Quaternion(); + last_time = 0; + orientation = ignition::math::Quaterniond(); velocity = 0.0; accel = 0.0; @@ -228,51 +226,51 @@ bool GazeboRosIMU::ServiceCallback(std_srvs::Empty::Request &req, bool GazeboRosIMU::SetAccelBiasCallback(cvg_sim_gazebo_plugins::SetBias::Request &req, cvg_sim_gazebo_plugins::SetBias::Response &res) { boost::mutex::scoped_lock scoped_lock(lock); - accelModel.reset(math::Vector3(req.bias.x, req.bias.y, req.bias.z)); + accelModel.reset(ignition::math::Vector3d(req.bias.x, req.bias.y, req.bias.z)); return true; } bool GazeboRosIMU::SetRateBiasCallback(cvg_sim_gazebo_plugins::SetBias::Request &req, cvg_sim_gazebo_plugins::SetBias::Response &res) { boost::mutex::scoped_lock scoped_lock(lock); - rateModel.reset(math::Vector3(req.bias.x, req.bias.y, req.bias.z)); + rateModel.reset(ignition::math::Vector3d(req.bias.x, req.bias.y, req.bias.z)); return true; } //////////////////////////////////////////////////////////////////////////////// // Update the controller -void GazeboRosIMU::Update() +void GazeboRosIMU::OnUpdate(const gazebo::common::UpdateInfo &info) { // Get Time Difference dt - common::Time cur_time = world->GetSimTime(); + common::Time cur_time = info.simTime; double dt = (cur_time - last_time).Double(); if (last_time + update_period > cur_time) return; boost::mutex::scoped_lock scoped_lock(lock); // Get Pose/Orientation - math::Pose pose = link->GetWorldPose(); + ignition::math::Pose3d pose = link->WorldPose(); // get Acceleration and Angular Rates // the result of GetRelativeLinearAccel() seems to be unreliable (sum of forces added during the current simulation step)? //accel = myBody->GetRelativeLinearAccel(); // get acceleration in body frame - math::Vector3 temp = link->GetWorldLinearVel(); // get velocity in world frame - accel = pose.rot.RotateVectorReverse((temp - velocity) / dt); + ignition::math::Vector3d temp = link->WorldLinearVel(); // get velocity in world frame + accel = pose.Rot().RotateVectorReverse((temp - velocity) / dt); velocity = temp; // GetRelativeAngularVel() sometimes return nan? //rate = link->GetRelativeAngularVel(); // get angular rate in body frame - math::Quaternion delta = pose.rot - orientation; - orientation = pose.rot; - rate.x = 2.0 * (-orientation.x * delta.w + orientation.w * delta.x + orientation.z * delta.y - orientation.y * delta.z) / dt; - rate.y = 2.0 * (-orientation.y * delta.w - orientation.z * delta.x + orientation.w * delta.y + orientation.x * delta.z) / dt; - rate.z = 2.0 * (-orientation.z * delta.w + orientation.y * delta.x - orientation.x * delta.y + orientation.w * delta.z) / dt; + ignition::math::Quaterniond delta = pose.Rot() - orientation; + orientation = pose.Rot(); + rate.X() = 2.0 * (-orientation.X() * delta.W() + orientation.W() * delta.X() + orientation.Z() * delta.Y() - orientation.Y() * delta.Z()) / dt; + rate.Y() = 2.0 * (-orientation.Y() * delta.W() - orientation.Z() * delta.X() + orientation.W() * delta.Y() + orientation.X() * delta.Z()) / dt; + rate.Z() = 2.0 * (-orientation.Z() * delta.W() + orientation.Y() * delta.X() - orientation.X() * delta.Y() + orientation.W() * delta.Z()) / dt; // get Gravity - gravity = world->GetPhysicsEngine()->GetGravity(); + gravity = world->Gravity(); gravity_body = orientation.RotateVectorReverse(gravity); - double gravity_length = gravity.GetLength(); - ROS_DEBUG_NAMED("hector_gazebo_ros_imu", "gravity_world = [%g %g %g]", gravity.x, gravity.y, gravity.z); + double gravity_length = gravity.Length(); + ROS_DEBUG_NAMED("hector_gazebo_ros_imu", "gravity_world = [%g %g %g]", gravity.X(), gravity.Y(), gravity.Z()); // add gravity vector to body acceleration accel = accel - gravity_body; @@ -282,18 +280,18 @@ void GazeboRosIMU::Update() rate = rate + rateModel.update(dt); headingModel.update(dt); ROS_DEBUG_NAMED("hector_gazebo_ros_imu", "Current errors: accel = [%g %g %g], rate = [%g %g %g], heading = %g", - accelModel.getCurrentError().x, accelModel.getCurrentError().y, accelModel.getCurrentError().z, - rateModel.getCurrentError().x, rateModel.getCurrentError().y, rateModel.getCurrentError().z, + accelModel.getCurrentError().X(), accelModel.getCurrentError().Y(), accelModel.getCurrentError().Z(), + rateModel.getCurrentError().X(), rateModel.getCurrentError().Y(), rateModel.getCurrentError().Z(), headingModel.getCurrentError()); // apply offset error to orientation (pseudo AHRS) - double normalization_constant = (gravity_body + accelModel.getCurrentError()).GetLength() * gravity_body.GetLength(); + double normalization_constant = (gravity_body + accelModel.getCurrentError()).Length() * gravity_body.Length(); double cos_alpha = (gravity_body + accelModel.getCurrentError()).Dot(gravity_body)/normalization_constant; - math::Vector3 normal_vector(gravity_body.Cross(accelModel.getCurrentError())); + ignition::math::Vector3d normal_vector(gravity_body.Cross(accelModel.getCurrentError())); normal_vector *= sqrt((1 - cos_alpha)/2)/normalization_constant; - math::Quaternion attitudeError(sqrt((1 + cos_alpha)/2), normal_vector.x, normal_vector.y, normal_vector.z); - math::Quaternion headingError(cos(headingModel.getCurrentError()/2),0,0,sin(headingModel.getCurrentError()/2)); - pose.rot = attitudeError * pose.rot * headingError; + ignition::math::Quaterniond attitudeError(sqrt((1 + cos_alpha)/2), normal_vector.X(), normal_vector.Y(), normal_vector.Z()); + ignition::math::Quaterniond headingError(cos(headingModel.getCurrentError()/2),0,0,sin(headingModel.getCurrentError()/2)); + pose.Rot()=attitudeError * pose.Rot() * headingError; // copy data into pose message imuMsg.header.frame_id = frameId; @@ -301,26 +299,26 @@ void GazeboRosIMU::Update() imuMsg.header.stamp.nsec = cur_time.nsec; // orientation quaternion - imuMsg.orientation.x = pose.rot.x; - imuMsg.orientation.y = pose.rot.y; - imuMsg.orientation.z = pose.rot.z; - imuMsg.orientation.w = pose.rot.w; + imuMsg.orientation.x = pose.Rot().X(); + imuMsg.orientation.y = pose.Rot().Y(); + imuMsg.orientation.z = pose.Rot().Z(); + imuMsg.orientation.w = pose.Rot().W(); // pass angular rates - imuMsg.angular_velocity.x = rate.x; - imuMsg.angular_velocity.y = rate.y; - imuMsg.angular_velocity.z = rate.z; + imuMsg.angular_velocity.x = rate.X(); + imuMsg.angular_velocity.y = rate.Y(); + imuMsg.angular_velocity.z = rate.Z(); // pass accelerations - imuMsg.linear_acceleration.x = accel.x; - imuMsg.linear_acceleration.y = accel.y; - imuMsg.linear_acceleration.z = accel.z; + imuMsg.linear_acceleration.x = accel.X(); + imuMsg.linear_acceleration.y = accel.Y(); + imuMsg.linear_acceleration.z = accel.Z(); // fill in covariance matrix imuMsg.orientation_covariance[8] = headingModel.gaussian_noise*headingModel.gaussian_noise; if (gravity_length > 0.0) { - imuMsg.orientation_covariance[0] = accelModel.gaussian_noise.x*accelModel.gaussian_noise.x/(gravity_length*gravity_length); - imuMsg.orientation_covariance[4] = accelModel.gaussian_noise.y*accelModel.gaussian_noise.y/(gravity_length*gravity_length); + imuMsg.orientation_covariance[0] = accelModel.gaussian_noise.X()*accelModel.gaussian_noise.X()/(gravity_length*gravity_length); + imuMsg.orientation_covariance[4] = accelModel.gaussian_noise.Y()*accelModel.gaussian_noise.Y()/(gravity_length*gravity_length); } else { imuMsg.orientation_covariance[0] = -1; imuMsg.orientation_covariance[4] = -1; @@ -339,7 +337,7 @@ void GazeboRosIMU::Update() debugPose.pose.orientation.x = imuMsg.orientation.x; debugPose.pose.orientation.y = imuMsg.orientation.y; debugPose.pose.orientation.z = imuMsg.orientation.z; - math::Pose pose = link->GetWorldPose(); + ignition::math::Pose3d pose = link->WorldPose(); debugPose.pose.position.x = pose.pos.x; debugPose.pose.position.y = pose.pos.y; debugPose.pose.position.z = pose.pos.z; From 6338d9eb229cc3fbe66b16d1886eba272bd9bb2a Mon Sep 17 00:00:00 2001 From: suraj Date: Thu, 28 May 2020 15:23:02 +0530 Subject: [PATCH 07/11] updated readme for steps --- README.md | 20 ++++++++++++++++++-- 1 file changed, 18 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 2be6436..9eae828 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,22 @@ -tum_simulator ported to Melodic +## tum_simulator ported to Melodic ============= The original code was written in hydro which can be found here : https://github.com/tum-vision/tum_simulator.git -This is a melodic version of the code. +This is a ros melodic version of the code. +Tested on Ubuntu 18.04.1, ROS Melodic and using Gazebo 9. +How to run a simulation: +1. create a package +`mkdir -p catkin_ws/src/` +`cd catkin_ws/src/` +`catkin_init_workspace` +2. Clone the required repositories +`git clone https://github.com/surajmahangade/tum_simulator_melodic.git` +`git clone https://github.com/dsapandora/ardrone_autonomy.git` +3. Build +`cd ~/catkin_ws` +`catkin_make` +4. Run the simulation +Run a simulation by executing a launch file in cvg_sim_gazebo package: + +`roslaunch cvg_sim_gazebo ardrone_testworld.launch` From ff3813c350f6fa497b0087cdd96d44a1a718817b Mon Sep 17 00:00:00 2001 From: suraj Date: Thu, 28 May 2020 15:24:53 +0530 Subject: [PATCH 08/11] raedme changes --- README.md | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/README.md b/README.md index 9eae828..2c46860 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,4 @@ -## tum_simulator ported to Melodic -============= +## tum_simulator ported to Ros Melodic and Gazebo 9 The original code was written in hydro which can be found here : https://github.com/tum-vision/tum_simulator.git This is a ros melodic version of the code. From a2793e4577d02a3b4f408a51158833dcb63ac51b Mon Sep 17 00:00:00 2001 From: surajmahangade <42811380+surajmahangade@users.noreply.github.com> Date: Thu, 28 May 2020 15:39:25 +0530 Subject: [PATCH 09/11] Update README.md --- README.md | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index 2c46860..a5951c3 100644 --- a/README.md +++ b/README.md @@ -5,17 +5,17 @@ This is a ros melodic version of the code. Tested on Ubuntu 18.04.1, ROS Melodic and using Gazebo 9. How to run a simulation: 1. create a package -`mkdir -p catkin_ws/src/` -`cd catkin_ws/src/` -`catkin_init_workspace` +* `mkdir -p catkin_ws/src/` +* `cd catkin_ws/src/` +* `catkin_init_workspace` 2. Clone the required repositories -`git clone https://github.com/surajmahangade/tum_simulator_melodic.git` -`git clone https://github.com/dsapandora/ardrone_autonomy.git` +* `git clone https://github.com/surajmahangade/tum_simulator_melodic.git` +* `git clone https://github.com/dsapandora/ardrone_autonomy.git` 3. Build -`cd ~/catkin_ws` -`catkin_make` +* `cd ~/catkin_ws` +* `catkin_make` 4. Run the simulation Run a simulation by executing a launch file in cvg_sim_gazebo package: -`roslaunch cvg_sim_gazebo ardrone_testworld.launch` +* `roslaunch cvg_sim_gazebo ardrone_testworld.launch` From 4db279b8a0fd2b91e1496078f5cf3f513c8d0e02 Mon Sep 17 00:00:00 2001 From: surajmahangade <42811380+surajmahangade@users.noreply.github.com> Date: Thu, 28 May 2020 16:57:23 +0530 Subject: [PATCH 10/11] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index a5951c3..efb34ce 100644 --- a/README.md +++ b/README.md @@ -9,7 +9,7 @@ How to run a simulation: * `cd catkin_ws/src/` * `catkin_init_workspace` 2. Clone the required repositories -* `git clone https://github.com/surajmahangade/tum_simulator_melodic.git` +* `git clone https://github.com/surajmahangade/tum_simulator.git` * `git clone https://github.com/dsapandora/ardrone_autonomy.git` 3. Build * `cd ~/catkin_ws` From 591978b275e38b24de008aec03a429418bedeba2 Mon Sep 17 00:00:00 2001 From: suraj Date: Thu, 28 May 2020 17:09:16 +0530 Subject: [PATCH 11/11] removed debug lines --- cvg_sim_gazebo_plugins/src/diffdrive_plugin_6w.cpp | 1 - cvg_sim_gazebo_plugins/src/gazebo_ros_baro.cpp | 1 - cvg_sim_gazebo_plugins/src/gazebo_ros_gps.cpp | 1 - cvg_sim_gazebo_plugins/src/gazebo_ros_imu.cpp | 1 - cvg_sim_gazebo_plugins/src/gazebo_ros_magnetic.cpp | 1 - cvg_sim_gazebo_plugins/src/quadrotor_simple_controller.cpp | 1 - cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp | 1 - 7 files changed, 7 deletions(-) diff --git a/cvg_sim_gazebo_plugins/src/diffdrive_plugin_6w.cpp b/cvg_sim_gazebo_plugins/src/diffdrive_plugin_6w.cpp index 232c447..80b00a6 100644 --- a/cvg_sim_gazebo_plugins/src/diffdrive_plugin_6w.cpp +++ b/cvg_sim_gazebo_plugins/src/diffdrive_plugin_6w.cpp @@ -95,7 +95,6 @@ void DiffDrivePlugin6W::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) } else { linkName = _sdf->GetElement("bodyName")->Get(); - ROS_ERROR("CALLED FROM DIFFDRIVE_PLUGIN_6W.CPP,CHANGED BY SURAJ MAY CAUSE ERRORS"); link = _model->GetLink(linkName); } diff --git a/cvg_sim_gazebo_plugins/src/gazebo_ros_baro.cpp b/cvg_sim_gazebo_plugins/src/gazebo_ros_baro.cpp index 31c50ee..19d933b 100644 --- a/cvg_sim_gazebo_plugins/src/gazebo_ros_baro.cpp +++ b/cvg_sim_gazebo_plugins/src/gazebo_ros_baro.cpp @@ -68,7 +68,6 @@ void GazeboRosBaro::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) } else { link_name_ = _sdf->GetElement("bodyName")->Get(); - ROS_ERROR("CALLED FROM GAZEBO_ROS_BARO.CPP,CHANGED BY SURAJ MAY CAUSE ERRORS"); link = _model->GetLink(link_name_); } diff --git a/cvg_sim_gazebo_plugins/src/gazebo_ros_gps.cpp b/cvg_sim_gazebo_plugins/src/gazebo_ros_gps.cpp index afbaf51..4c2840c 100644 --- a/cvg_sim_gazebo_plugins/src/gazebo_ros_gps.cpp +++ b/cvg_sim_gazebo_plugins/src/gazebo_ros_gps.cpp @@ -70,7 +70,6 @@ void GazeboRosGps::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) } else { link_name_ = _sdf->GetElement("bodyName")->Get(); - ROS_ERROR("CALLED FROM GAZEBO_ROS_GPS.CPP,CHANGED BY SURAJ MAY CAUSE ERRORS"); link = _model->GetLink(link_name_); } diff --git a/cvg_sim_gazebo_plugins/src/gazebo_ros_imu.cpp b/cvg_sim_gazebo_plugins/src/gazebo_ros_imu.cpp index 74de5fd..fa356e1 100644 --- a/cvg_sim_gazebo_plugins/src/gazebo_ros_imu.cpp +++ b/cvg_sim_gazebo_plugins/src/gazebo_ros_imu.cpp @@ -106,7 +106,6 @@ void GazeboRosIMU::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) } else { linkName = _sdf->GetElement("bodyName")->Get(); - ROS_ERROR("CALLED FROM GAZEBO_ROS_IMU.CPP,CHANGED BY SURAJ MAY CAUSE ERRORS"); link = _model->GetLink(linkName); } diff --git a/cvg_sim_gazebo_plugins/src/gazebo_ros_magnetic.cpp b/cvg_sim_gazebo_plugins/src/gazebo_ros_magnetic.cpp index b3b1adb..8b26b89 100644 --- a/cvg_sim_gazebo_plugins/src/gazebo_ros_magnetic.cpp +++ b/cvg_sim_gazebo_plugins/src/gazebo_ros_magnetic.cpp @@ -76,7 +76,6 @@ void GazeboRosMagnetic::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) } else { link_name_ = _sdf->GetElement("bodyName")->Get(); - ROS_ERROR("CALLED FROM GAZEBO_ROS_MAGNETIC.CPP,CHANGED BY SURAJ MAY CAUSE ERRORS"); link = _model->GetLink(link_name_); } diff --git a/cvg_sim_gazebo_plugins/src/quadrotor_simple_controller.cpp b/cvg_sim_gazebo_plugins/src/quadrotor_simple_controller.cpp index d69eb48..5ea3518 100644 --- a/cvg_sim_gazebo_plugins/src/quadrotor_simple_controller.cpp +++ b/cvg_sim_gazebo_plugins/src/quadrotor_simple_controller.cpp @@ -103,7 +103,6 @@ void GazeboQuadrotorSimpleController::Load(physics::ModelPtr _model, sdf::Elemen } else { link_name_ = _sdf->GetElement("bodyName")->Get(); - ROS_ERROR("CALLED FROM QUADROTOR_SIMPLE_CONTROLLER.CPP,CHANGED BY SURAJ MAY CAUSE ERRORS"); link = _model->GetLink(link_name_); } diff --git a/cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp b/cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp index 5badbfe..a4d3bdd 100644 --- a/cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp +++ b/cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp @@ -101,7 +101,6 @@ void GazeboQuadrotorStateController::Load(physics::ModelPtr _model, sdf::Element } else { link_name_ = _sdf->GetElement("bodyName")->Get(); - ROS_ERROR("CALLED FROM QUADROTOR_STATE_CONTROLLER.CPP,CHANGED BY SURAJ MAY CAUSE ERRORS"); link = _model->GetLink(link_name_); }

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