From 5aa2391272334cec24b6ad53d829188ed9d01192 Mon Sep 17 00:00:00 2001 From: Mehdi Tlili Date: Thu, 6 Dec 2018 00:24:27 +0100 Subject: [PATCH 01/15] Install worlds folder --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 1c8234e..f7e63e0 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -80,7 +80,7 @@ install(TARGETS ${PROJECT_NAME} ) -foreach (dir launch) +foreach (dir launch worlds) install(DIRECTORY ${dir}/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) endforeach(dir) From be9ed40fd1b9a25e85c211a5fb48dbc512f44b8a Mon Sep 17 00:00:00 2001 From: Mehdi Tlili Date: Thu, 6 Dec 2018 00:24:46 +0100 Subject: [PATCH 02/15] Adapt code to new Gazebo 9 API --- src/gazebo_ros_link_attacher.cpp | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/src/gazebo_ros_link_attacher.cpp b/src/gazebo_ros_link_attacher.cpp index c076adb..f9b7dbf 100644 --- a/src/gazebo_ros_link_attacher.cpp +++ b/src/gazebo_ros_link_attacher.cpp @@ -4,6 +4,7 @@ #include "gazebo_ros_link_attacher/Attach.h" #include "gazebo_ros_link_attacher/AttachRequest.h" #include "gazebo_ros_link_attacher/AttachResponse.h" +#include namespace gazebo { @@ -33,7 +34,7 @@ namespace gazebo } this->world = _world; - this->physics = this->world->GetPhysicsEngine(); + this->physics = this->world->Physics(); this->attach_service_ = this->nh_.advertiseService("attach", &GazeboRosLinkAttacher::attach_callback, this); ROS_INFO_STREAM("Attach service at: " << this->nh_.resolveName("attach")); this->detach_service_ = this->nh_.advertiseService("detach", &GazeboRosLinkAttacher::detach_callback, this); @@ -63,13 +64,14 @@ namespace gazebo j.model2 = model2; j.link2 = link2; ROS_DEBUG_STREAM("Getting BasePtr of " << model1); - physics::BasePtr b1 = this->world->GetByName(model1); + physics::BasePtr b1 = this->world->ModelByName(model1); + if (b1 == NULL){ ROS_ERROR_STREAM(model1 << " model was not found"); return false; } ROS_DEBUG_STREAM("Getting BasePtr of " << model2); - physics::BasePtr b2 = this->world->GetByName(model2); + physics::BasePtr b2 = this->world->ModelByName(model2); if (b2 == NULL){ ROS_ERROR_STREAM(model2 << " model was not found"); return false; @@ -91,7 +93,7 @@ namespace gazebo ROS_ERROR_STREAM("link1 inertia is NULL!"); } else - ROS_DEBUG_STREAM("link1 inertia is not NULL, for example, mass is: " << l1->GetInertial()->GetMass()); + ROS_DEBUG_STREAM("link1 inertia is not NULL, for example, mass is: " << l1->GetInertial()->Mass()); j.l1 = l1; ROS_DEBUG_STREAM("Getting link: '" << link2 << "' from model: '" << model2 << "'"); physics::LinkPtr l2 = m2->GetLink(link2); @@ -103,7 +105,7 @@ namespace gazebo ROS_ERROR_STREAM("link2 inertia is NULL!"); } else - ROS_DEBUG_STREAM("link2 inertia is not NULL, for example, mass is: " << l2->GetInertial()->GetMass()); + ROS_DEBUG_STREAM("link2 inertia is not NULL, for example, mass is: " << l2->GetInertial()->Mass()); j.l2 = l2; ROS_DEBUG_STREAM("Links are: " << l1->GetName() << " and " << l2->GetName()); @@ -115,7 +117,7 @@ namespace gazebo ROS_DEBUG_STREAM("Attach"); j.joint->Attach(l1, l2); ROS_DEBUG_STREAM("Loading links"); - j.joint->Load(l1, l2, math::Pose()); + j.joint->Load(l1, l2, ignition::math::Pose3d()); ROS_DEBUG_STREAM("SetModel"); j.joint->SetModel(m2); /* @@ -133,9 +135,9 @@ namespace gazebo */ ROS_DEBUG_STREAM("SetHightstop"); - j.joint->SetHighStop(0, 0); + j.joint->SetUpperLimit(0, 0); ROS_DEBUG_STREAM("SetLowStop"); - j.joint->SetLowStop(0, 0); + j.joint->SetLowerLimit(0, 0); ROS_DEBUG_STREAM("Init"); j.joint->Init(); ROS_INFO_STREAM("Attach finished."); From 9da4a5c229b7b4e60e48388ab427114940b1f36d Mon Sep 17 00:00:00 2001 From: David Orchansky Date: Fri, 26 Nov 2021 14:52:15 +1100 Subject: [PATCH 03/15] Migrated gazebo_ros_link_attacher package to ROS 2. --- CMakeLists.txt | 116 ++++++++++++++++------------ README.md | 38 +++++---- include/gazebo_ros_link_attacher.h | 25 +++--- launch/test_attacher.launch | 9 --- launch/test_attacher.py | 41 ++++++++++ package.xml | 22 +++--- scripts/attach.py | 54 +++++++------ scripts/demo.py | 69 +++++++++-------- scripts/demo_multiple.py | 94 ++++++++++++----------- scripts/detach.py | 55 +++++++------ scripts/spawn_models.py | 59 ++++++++------ src/gazebo_ros_link_attacher.cpp | 119 ++++++++++++++--------------- worlds/test_attacher.world | 12 ++- 13 files changed, 412 insertions(+), 301 deletions(-) delete mode 100644 launch/test_attacher.launch create mode 100644 launch/test_attacher.py diff --git a/CMakeLists.txt b/CMakeLists.txt index f7e63e0..4b45739 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,48 +1,37 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(gazebo_ros_link_attacher) -##################################### -## Check c++11 / c++0x support ###### -##################################### -include(CheckCXXCompilerFlag) -CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) -CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) -if(COMPILER_SUPPORTS_CXX11) - set(CMAKE_CXX_FLAGS "-std=c++11") -elseif(COMPILER_SUPPORTS_CXX0X) - set(CMAKE_CXX_FLAGS "-std=c++0x") -else() - message(FATAL_ERROR "Compiler ${CMAKE_CXX_COMPILER} has no C++11 support.") +########################## +## Set compiler options ## +########################## +add_compile_options(-std=c++17) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) endif() -##################################### - -# Load catkin and all dependencies required for this package -find_package(catkin REQUIRED COMPONENTS - roscpp - gazebo_ros - std_msgs - message_generation -) -# Depend on system install of Gazebo -find_package(gazebo REQUIRED) +set(CMAKE_CXX_FLAGS "-std=c++17 ${CMAKE_CXX_FLAGS}") -add_service_files( - FILES - Attach.srv -) +######################## + +# Load dependencies required for this package +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(gazebo_ros REQUIRED) +find_package(std_msgs REQUIRED) +find_package(gazebo REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(rmw_implementation_cmake REQUIRED) ## Generate added messages and services with any dependencies listed here -generate_messages( - DEPENDENCIES - std_msgs +rosidl_generate_interfaces(${PROJECT_NAME} + srv/Attach.srv + DEPENDENCIES builtin_interfaces std_msgs ) -################################### -## catkin specific configuration ## -################################### -catkin_package(CATKIN_DEPENDS message_runtime) +ament_export_dependencies(rosidl_default_runtime) + ########### ## Build ## @@ -50,37 +39,68 @@ catkin_package(CATKIN_DEPENDS message_runtime) ## Specify additional locations of header files ## Your package locations should be listed before other locations -include_directories(include) -link_directories(${GAZEBO_LIBRARY_DIRS}) -include_directories(${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}) +include_directories(include + ${GAZEBO_INCLUDE_DIRS} + ${std_msgs_INCLUDE_DIRS} + ${CMAKE_CURRENT_BINARY_DIR}/srv +) ## Declare a cpp library -add_library(${PROJECT_NAME} src/gazebo_ros_link_attacher.cpp) +add_library(${PROJECT_NAME}_plugin src/gazebo_ros_link_attacher.cpp) ## Specify libraries to link a library or executable target against -target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES}) -add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS}) +target_link_libraries(${PROJECT_NAME}_plugin ${ament_cmake_LIBRARIES} ${GAZEBO_LIBRARIES}) + +# Connect targets with locally defined messages +get_available_rmw_implementations(rmw_implementations2) +foreach(rmw_implementation ${rmw_implementations2}) + find_package("${rmw_implementation}" REQUIRED) + get_rmw_typesupport(typesupport_impls "${rmw_implementation}" LANGUAGE "cpp") + foreach(typesupport_impl ${typesupport_impls}) + rosidl_target_interfaces(${PROJECT_NAME}_plugin ${PROJECT_NAME} ${typesupport_impl}) + endforeach() +endforeach() ############# ## Install ## ############# +install(TARGETS ${PROJECT_NAME}_plugin + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + install(PROGRAMS scripts/demo.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + DESTINATION lib/${PROJECT_NAME} ) -## Mark executables and/or libraries for installation -install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +install(PROGRAMS + scripts/demo_multiple.py + DESTINATION lib/${PROJECT_NAME} +) + +install(PROGRAMS + scripts/spawn_models.py + DESTINATION lib/${PROJECT_NAME} +) + +install(PROGRAMS + scripts/attach.py + DESTINATION lib/${PROJECT_NAME} ) +install(PROGRAMS + scripts/detach.py + DESTINATION lib/${PROJECT_NAME} +) foreach (dir launch worlds) install(DIRECTORY ${dir}/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) + DESTINATION share/${PROJECT_NAME}/${dir}) endforeach(dir) + +ament_package() diff --git a/README.md b/README.md index 3aaf5df..4e92f57 100644 --- a/README.md +++ b/README.md @@ -8,14 +8,20 @@ cd gazebo_link_attacher_ws/src catkin_init_workspace git clone https://github.com/pal-robotics/gazebo_ros_link_attacher.git cd .. -catkin_make -source devel/setup.bash + +rosdep update +rosdep install --from-paths src --ignore-src -y --rosdistro foxy + +colcon build +source install/setup.bash + + ```` # Launch - roslaunch gazebo_ros_link_attacher test_attacher.launch + ros2 launch gazebo_ros_link_attacher test_attacher.py Empty world with the plugin `libgazebo_ros_link_attacher.so` loaded (in the *worlds* folder). @@ -27,34 +33,34 @@ And `/link_attacher_node/detach` service to specify two models and their links t # Run demo -In another shell, be sure to do `source devel/setup.bash` of your workspace. +In another shell, be sure to do `source install/setup.bash` of your workspace. - rosrun gazebo_ros_link_attacher spawn.py + ros2 run gazebo_ros_link_attacher spawn_models.py Three cubes will be spawned. - rosrun gazebo_ros_link_attacher attach.py + ros2 run gazebo_ros_link_attacher attach.py The cubes will be attached all between themselves as (1,2), (2,3), (3,1). You can move them with the GUI and you'll see they will move together. - rosrun gazebo_ros_link_attacher detach.py + ros2 run gazebo_ros_link_attacher detach.py The cubes will be detached and you can move them separately again. You can also spawn items with the GUI and run a rosservice call: ```` -rosservice call /link_attacher_node/attach "model_name_1: 'unit_box_1' -link_name_1: 'link' -model_name_2: 'unit_sphere_1' -link_name_2: 'link'" +ros2 service call /attach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', +link_name_1: 'link', +model_name_2: 'cube2', +link_name_2: 'link'}' ```` And same thing to detach: ```` -rosservice call /link_attacher_node/detach "model_name_1: 'unit_box_1' -link_name_1: 'link' -model_name_2: 'unit_sphere_1' -link_name_2: 'link'" +ros2 service call /detach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', +link_name_1: 'link', +model_name_2: 'cube2', +link_name_2: 'link'}' ```` @@ -77,4 +83,4 @@ Aborted (core dumped) [Gripper.hh](https://bitbucket.org/osrf/gazebo/src/1d1e3a542af81670f43a120e1df7190592bc4c0f/gazebo/physics/Gripper.hh?at=default&fileviewer=file-view-default) [Gripper.cc](https://bitbucket.org/osrf/gazebo/src/1d1e3a542af81670f43a120e1df7190592bc4c0f/gazebo/physics/Gripper.cc?at=default&fileviewer=file-view-default)~~ -~~Which is to create a revolute joint on the first model (with range of motion 0) linking a link on the first model and a link on the second model.~~ \ No newline at end of file +~~Which is to create a revolute joint on the first model (with range of motion 0) linking a link on the first model and a link on the second model.~~ diff --git a/include/gazebo_ros_link_attacher.h b/include/gazebo_ros_link_attacher.h index 939c869..e3beab3 100644 --- a/include/gazebo_ros_link_attacher.h +++ b/include/gazebo_ros_link_attacher.h @@ -7,10 +7,11 @@ #ifndef GAZEBO_ROS_LINK_ATTACHER_HH #define GAZEBO_ROS_LINK_ATTACHER_HH -#include +#include #include #include "gazebo/gazebo.hh" +#include #include #include "gazebo/physics/PhysicsTypes.hh" #include @@ -19,9 +20,7 @@ #include #include "gazebo/msgs/msgs.hh" #include "gazebo/transport/transport.hh" -#include "gazebo_ros_link_attacher/Attach.h" -#include "gazebo_ros_link_attacher/AttachRequest.h" -#include "gazebo_ros_link_attacher/AttachResponse.h" +#include "gazebo_ros_link_attacher/srv/attach.hpp" namespace gazebo { @@ -36,7 +35,7 @@ namespace gazebo virtual ~GazeboRosLinkAttacher(); /// \brief Load the controller - void Load( physics::WorldPtr _world, sdf::ElementPtr /*_sdf*/ ); + void Load( physics::WorldPtr _world, sdf::ElementPtr _sdf); /// \brief Attach with a revolute joint bool attach(std::string model1, std::string link1, @@ -62,14 +61,14 @@ namespace gazebo bool getJoint(std::string model1, std::string link1, std::string model2, std::string link2, fixedJoint &joint); private: - ros::NodeHandle nh_; - ros::ServiceServer attach_service_; - ros::ServiceServer detach_service_; - - bool attach_callback(gazebo_ros_link_attacher::Attach::Request &req, - gazebo_ros_link_attacher::Attach::Response &res); - bool detach_callback(gazebo_ros_link_attacher::Attach::Request &req, - gazebo_ros_link_attacher::Attach::Response &res); + gazebo_ros::Node::SharedPtr node; + rclcpp::Service::SharedPtr attach_service_; + rclcpp::Service::SharedPtr detach_service_; + + bool attach_callback(const std::shared_ptr req, + std::shared_ptr res); + bool detach_callback(const std::shared_ptr req, + std::shared_ptr res); std::vector joints; diff --git a/launch/test_attacher.launch b/launch/test_attacher.launch deleted file mode 100644 index 361bafc..0000000 --- a/launch/test_attacher.launch +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - diff --git a/launch/test_attacher.py b/launch/test_attacher.py new file mode 100644 index 0000000..04529f9 --- /dev/null +++ b/launch/test_attacher.py @@ -0,0 +1,41 @@ +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.launch_description_sources import AnyLaunchDescriptionSource +from launch.actions import IncludeLaunchDescription +from launch.actions import GroupAction +from launch.actions import OpaqueFunction + +import os +import pathlib + +def launch_setup(context, *args, **kwargs): + # Start Gazebo with an empty world file + gazebo_launch = os.path.join(get_package_share_directory('gazebo_ros'), 'launch/gazebo.launch.py') + world_file = os.path.join(get_package_share_directory('gazebo_ros_link_attacher'), 'worlds/test_attacher.world') + + if not pathlib.Path(world_file).exists(): + exc = 'World file ' + world_file + ' does not exist' + raise Exception(exc) + + launch_args = [('world', world_file), + ('verbose', 'true'), + ('debug', 'true'), + ('gui', 'true'), + ('pause', 'false')] + + print ("world file: ", world_file) + gazebo_launch_description = IncludeLaunchDescription( + AnyLaunchDescriptionSource(gazebo_launch), launch_arguments=launch_args) + + group = GroupAction([ + gazebo_launch_description, + ]) + + return [group] + + +def generate_launch_description(): + + return LaunchDescription([ + OpaqueFunction(function = launch_setup) + ]) \ No newline at end of file diff --git a/package.xml b/package.xml index 768d02f..6b3d601 100644 --- a/package.xml +++ b/package.xml @@ -1,5 +1,5 @@ - + gazebo_ros_link_attacher 0.0.0 The gazebo_ros_link_attacher package lets you attach @@ -10,19 +10,23 @@ BSD - - message_generation - roscpp + rclcpp gazebo_ros gazebo std_msgs - message_runtime - roscpp - gazebo_ros - std_msgs + python-transforms3d-pip - catkin + rclcpp + gazebo_ros + std_msgs + rosidl_default_runtime + ament_cmake + + rosidl_interface_packages + + ament_cmake + diff --git a/scripts/attach.py b/scripts/attach.py index 5b7849c..e9a154f 100755 --- a/scripts/attach.py +++ b/scripts/attach.py @@ -1,48 +1,58 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 -import rospy -from gazebo_ros_link_attacher.srv import Attach, AttachRequest, AttachResponse +import sys +import rclpy +from gazebo_ros_link_attacher.srv import Attach if __name__ == '__main__': - rospy.init_node('demo_attach_links') - rospy.loginfo("Creating ServiceProxy to /link_attacher_node/attach") - attach_srv = rospy.ServiceProxy('/link_attacher_node/attach', - Attach) - attach_srv.wait_for_service() - rospy.loginfo("Created ServiceProxy to /link_attacher_node/attach") + rclpy.init(args=sys.argv) + node = rclpy.create_node('demo_attach_links') + node.get_logger().info("Creating service to /attach") + + attach_srv = node.create_client(Attach, '/attach') + while not attach_srv.wait_for_service(timeout_sec=1.0): + node.get_logger().info("Waiting for attach service...") + + node.get_logger().info("Created service to /attach") # Link them - rospy.loginfo("Attaching cube1 and cube2") - req = AttachRequest() + node.get_logger().info("Attaching cube1 and cube2") + + req = Attach.Request() req.model_name_1 = "cube1" req.link_name_1 = "link" req.model_name_2 = "cube2" req.link_name_2 = "link" - attach_srv.call(req) + resp = attach_srv.call_async(req) + rclpy.spin_until_future_complete(node, resp) + # From the shell: """ -rosservice call /link_attacher_node/attach "model_name_1: 'cube1' -link_name_1: 'link' -model_name_2: 'cube2' -link_name_2: 'link'" +ros2 service call /attach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', +link_name_1: 'link', +model_name_2: 'cube2', +link_name_2: 'link'}' """ - rospy.loginfo("Attaching cube2 and cube3") - req = AttachRequest() + node.get_logger().info("Attaching cube2 and cube3") + + req = Attach.Request() req.model_name_1 = "cube2" req.link_name_1 = "link" req.model_name_2 = "cube3" req.link_name_2 = "link" - attach_srv.call(req) + resp = attach_srv.call_async(req) + rclpy.spin_until_future_complete(node, resp) - rospy.loginfo("Attaching cube3 and cube1") - req = AttachRequest() + node.get_logger().info("Attaching cube3 and cube1") + req = Attach.Request() req.model_name_1 = "cube3" req.link_name_1 = "link" req.model_name_2 = "cube1" req.link_name_2 = "link" - attach_srv.call(req) + resp = attach_srv.call_async(req) + rclpy.spin_until_future_complete(node, resp) \ No newline at end of file diff --git a/scripts/demo.py b/scripts/demo.py index f04fd4f..edaf3e4 100755 --- a/scripts/demo.py +++ b/scripts/demo.py @@ -1,10 +1,11 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 -import rospy -from gazebo_ros_link_attacher.msg import Attach -from gazebo_msgs.srv import SpawnModel, SpawnModelRequest, SpawnModelResponse +import sys +import rclpy +from gazebo_ros_link_attacher.srv import Attach +from gazebo_msgs.srv import SpawnEntity from copy import deepcopy -from tf.transformations import quaternion_from_euler +from transforms3d.euler import euler2quat sdf_cube = """ @@ -88,14 +89,14 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): # Replace modelname cube = cube.replace('MODELNAME', str(modelname)) - req = SpawnModelRequest() - req.model_name = modelname - req.model_xml = cube + req = SpawnEntity.Request() + req.name = modelname + req.xml = cube req.initial_pose.position.x = px req.initial_pose.position.y = py req.initial_pose.position.z = pz - q = quaternion_from_euler(rr, rp, ry) + q = euler2quat(rr, rp, ry) req.initial_pose.orientation.x = q[0] req.initial_pose.orientation.y = q[1] req.initial_pose.orientation.z = q[2] @@ -105,47 +106,53 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): if __name__ == '__main__': - rospy.init_node('demo_attach_links') - attach_pub = rospy.Publisher('/link_attacher_node/attach_models', - Attach, queue_size=1) - rospy.loginfo("Created publisher to /link_attacher_node/attach_models") - spawn_srv = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel) - rospy.loginfo("Waiting for /gazebo/spawn_sdf_model service...") - spawn_srv.wait_for_service() - rospy.loginfo("Connected to service!") + rclpy.init(args=sys.argv) + node = rclpy.create_node('demo_attach_links') + + attach_srv = node.create_client(Attach, '/attach') + while not attach_srv.wait_for_service(timeout_sec=1.0): + node.get_logger().info(f'Waiting for service {attach_srv.srv_name}...') + + service_name = 'spawn_entity' + spawn_srv = node.create_client(SpawnEntity, '/spawn_entity') + while not spawn_srv.wait_for_service(timeout_sec=1.0): + node.get_logger().info(f'Waiting for service {spawn_srv.srv_name}...') + + node.get_logger().info("Connected to service!") # Spawn object 1 - rospy.loginfo("Spawning cube1") + node.get_logger().info("Spawning cube1") req1 = create_cube_request("cube1", 0.0, 0.0, 0.51, # position 0.0, 0.0, 0.0, # rotation 1.0, 1.0, 1.0) # size - spawn_srv.call(req1) - rospy.sleep(1.0) + resp = spawn_srv.call_async(req1) + rclpy.spin_until_future_complete(node, resp) # Spawn object 2 - rospy.loginfo("Spawning cube2") + node.get_logger().info("Spawning cube2") req2 = create_cube_request("cube2", 0.0, 1.1, 0.41, # position 0.0, 0.0, 0.0, # rotation 0.8, 0.8, 0.8) # size - spawn_srv.call(req2) - rospy.sleep(1.0) + resp = spawn_srv.call_async(req2) + rclpy.spin_until_future_complete(node, resp) # Link them - rospy.loginfo("Attaching cube1 and cube2") - amsg = Attach() + node.get_logger().info("Attaching cube1 and cube2") + amsg = Attach.Request() amsg.model_name_1 = "cube1" amsg.link_name_1 = "link" amsg.model_name_2 = "cube2" amsg.link_name_2 = "link" - attach_pub.publish(amsg) + resp = attach_srv.call_async(amsg) + rclpy.spin_until_future_complete(node, resp) # From the shell: """ -rostopic pub /link_attacher_node/attach_models gazebo_ros_link_attacher/Attach "model_name_1: 'cube1' -link_name_1: 'link' -model_name_2: 'cube2' -link_name_2: 'link'" +ros2 service call /attach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', +link_name_1: 'link', +model_name_2: 'cube2', +link_name_2: 'link'}' """ - rospy.loginfo("Published into linking service!") + node.get_logger().info("Published into linking service!") diff --git a/scripts/demo_multiple.py b/scripts/demo_multiple.py index 93575fc..99fb9f8 100755 --- a/scripts/demo_multiple.py +++ b/scripts/demo_multiple.py @@ -1,10 +1,11 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 -import rospy -from gazebo_ros_link_attacher.msg import Attach -from gazebo_msgs.srv import SpawnModel, SpawnModelRequest, SpawnModelResponse +import sys +import rclpy +from gazebo_msgs.srv import SpawnEntity +from gazebo_ros_link_attacher.srv import Attach from copy import deepcopy -from tf.transformations import quaternion_from_euler +from transforms3d.euler import euler2quat sdf_cube = """ @@ -88,14 +89,14 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): # Replace modelname cube = cube.replace('MODELNAME', str(modelname)) - req = SpawnModelRequest() - req.model_name = modelname - req.model_xml = cube + req = SpawnEntity.Request() + req.name = modelname + req.xml = cube req.initial_pose.position.x = px req.initial_pose.position.y = py req.initial_pose.position.z = pz - q = quaternion_from_euler(rr, rp, ry) + q = euler2quat(rr, rp, ry) req.initial_pose.orientation.x = q[0] req.initial_pose.orientation.y = q[1] req.initial_pose.orientation.z = q[2] @@ -105,79 +106,86 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): if __name__ == '__main__': - rospy.init_node('demo_attach_links') - attach_pub = rospy.Publisher('/link_attacher_node/attach_models', - Attach, queue_size=1) - rospy.loginfo("Created publisher to /link_attacher_node/attach_models") - spawn_srv = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel) - rospy.loginfo("Waiting for /gazebo/spawn_sdf_model service...") - spawn_srv.wait_for_service() - rospy.loginfo("Connected to service!") + rclpy.init(args=sys.argv) + node = rclpy.create_node('demo_attach_links') + + attach_srv = node.create_client(Attach, '/attach') + while not attach_srv.wait_for_service(timeout_sec=1.0): + node.get_logger().info(f'Waiting for service {attach_srv.srv_name}...') + + service_name = 'spawn_entity' + spawn_srv = node.create_client(SpawnEntity, '/spawn_entity') + while not spawn_srv.wait_for_service(timeout_sec=1.0): + node.get_logger().info(f'Waiting for service {spawn_srv.srv_name}...') + + node.get_logger().info("Connected to service!") # Spawn object 1 - rospy.loginfo("Spawning cube1") + node.get_logger().info("Spawning cube1") req1 = create_cube_request("cube1", 0.0, 0.0, 0.51, # position 0.0, 0.0, 0.0, # rotation 1.0, 1.0, 1.0) # size - spawn_srv.call(req1) - rospy.sleep(1.0) + resp = spawn_srv.call_async(req1) + rclpy.spin_until_future_complete(node, resp) # Spawn object 2 - rospy.loginfo("Spawning cube2") + node.get_logger().info("Spawning cube2") req2 = create_cube_request("cube2", 0.0, 1.1, 0.41, # position 0.0, 0.0, 0.0, # rotation 0.8, 0.8, 0.8) # size - spawn_srv.call(req2) - rospy.sleep(1.0) + resp = spawn_srv.call_async(req2) + rclpy.spin_until_future_complete(node, resp) # Spawn object 3 - rospy.loginfo("Spawning cube3") + node.get_logger().info("Spawning cube3") req3 = create_cube_request("cube3", 0.0, 2.1, 0.41, # position 0.0, 0.0, 0.0, # rotation 0.4, 0.4, 0.4) # size - spawn_srv.call(req3) - rospy.sleep(1.0) + + resp = spawn_srv.call_async(req3) + rclpy.spin_until_future_complete(node, resp) # Link them - rospy.loginfo("Attaching cube1 and cube2") - amsg = Attach() + node.get_logger().info("Attaching cube1 and cube2") + + amsg = Attach.Request() amsg.model_name_1 = "cube1" amsg.link_name_1 = "link" amsg.model_name_2 = "cube2" amsg.link_name_2 = "link" - attach_pub.publish(amsg) - rospy.sleep(1.0) + resp = attach_srv.call_async(amsg) + rclpy.spin_until_future_complete(node, resp) # From the shell: """ -rostopic pub /link_attacher_node/attach_models gazebo_ros_link_attacher/Attach "model_name_1: 'cube1' -link_name_1: 'link' -model_name_2: 'cube2' -link_name_2: 'link'" +ros2 service call /attach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', +link_name_1: 'link', +model_name_2: 'cube2', +link_name_2: 'link'}' """ - rospy.loginfo("Published into linking service!") + node.get_logger().info("Published into linking service!") - rospy.loginfo("Attaching cube2 and cube3") - amsg = Attach() + node.get_logger().info("Attaching cube2 and cube3") + amsg = Attach.Request() amsg.model_name_1 = "cube2" amsg.link_name_1 = "link" amsg.model_name_2 = "cube3" amsg.link_name_2 = "link" - attach_pub.publish(amsg) - rospy.sleep(1.0) + resp = attach_srv.call_async(amsg) + rclpy.spin_until_future_complete(node, resp) - rospy.loginfo("Attaching cube3 and cube1") - amsg = Attach() + node.get_logger().info("Attaching cube3 and cube1") + amsg = Attach.Request() amsg.model_name_1 = "cube3" amsg.link_name_1 = "link" amsg.model_name_2 = "cube1" amsg.link_name_2 = "link" - attach_pub.publish(amsg) - rospy.sleep(2.0) + resp = attach_srv.call_async(amsg) + rclpy.spin_until_future_complete(node, resp) diff --git a/scripts/detach.py b/scripts/detach.py index f4d5641..be62464 100755 --- a/scripts/detach.py +++ b/scripts/detach.py @@ -1,48 +1,55 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 -import rospy -from gazebo_ros_link_attacher.srv import Attach, AttachRequest, AttachResponse +import sys +import rclpy +from gazebo_ros_link_attacher.srv import Attach if __name__ == '__main__': - rospy.init_node('demo_detach_links') - rospy.loginfo("Creating ServiceProxy to /link_attacher_node/detach") - attach_srv = rospy.ServiceProxy('/link_attacher_node/detach', - Attach) - attach_srv.wait_for_service() - rospy.loginfo("Created ServiceProxy to /link_attacher_node/detach") - - # Link them - rospy.loginfo("Detaching cube1 and cube2") - req = AttachRequest() + rclpy.init(args=sys.argv) + node = rclpy.create_node('demo_detach_links') + node.get_logger().info("Creating service to /detach") + + + attach_srv = node.create_client(Attach, '/detach') + while not attach_srv.wait_for_service(timeout_sec=1.0): + node.get_logger().info("Waiting for detach service...") + + # Unlink them + node.get_logger().info("Detaching cube1 and cube2") + req = Attach.Request() req.model_name_1 = "cube1" req.link_name_1 = "link" req.model_name_2 = "cube2" req.link_name_2 = "link" - attach_srv.call(req) + resp = attach_srv.call_async(req) + rclpy.spin_until_future_complete(node, resp) + # From the shell: """ -rosservice call /link_attacher_node/detach "model_name_1: 'cube1' -link_name_1: 'link' -model_name_2: 'cube2' -link_name_2: 'link'" +ros2 service call /detach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', +link_name_1: 'link', +model_name_2: 'cube2', +link_name_2: 'link'}' """ - rospy.loginfo("Attaching cube2 and cube3") - req = AttachRequest() + node.get_logger().info("Detaching cube2 and cube3") + req = Attach.Request() req.model_name_1 = "cube2" req.link_name_1 = "link" req.model_name_2 = "cube3" req.link_name_2 = "link" - attach_srv.call(req) + resp = attach_srv.call_async(req) + rclpy.spin_until_future_complete(node, resp) - rospy.loginfo("Attaching cube3 and cube1") - req = AttachRequest() + node.get_logger().info("Detaching cube3 and cube1") + req = Attach.Request() req.model_name_1 = "cube3" req.link_name_1 = "link" req.model_name_2 = "cube1" req.link_name_2 = "link" - attach_srv.call(req) + resp = attach_srv.call_async(req) + rclpy.spin_until_future_complete(node, resp) \ No newline at end of file diff --git a/scripts/spawn_models.py b/scripts/spawn_models.py index 52c8df4..6412171 100755 --- a/scripts/spawn_models.py +++ b/scripts/spawn_models.py @@ -1,9 +1,10 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 -import rospy -from gazebo_msgs.srv import SpawnModel, SpawnModelRequest, SpawnModelResponse +import sys +import rclpy +from gazebo_msgs.srv import SpawnEntity from copy import deepcopy -from tf.transformations import quaternion_from_euler +from transforms3d.euler import euler2quat sdf_cube = """ @@ -74,7 +75,7 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): - """Create a SpawnModelRequest with the parameters of the cube given. + """Create a SpawnEntityRequest with the parameters of the cube given. modelname: name of the model for gazebo px py pz: position of the cube (and it's collision cube) rr rp ry: rotation (roll, pitch, yaw) of the model @@ -87,14 +88,14 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): # Replace modelname cube = cube.replace('MODELNAME', str(modelname)) - req = SpawnModelRequest() - req.model_name = modelname - req.model_xml = cube + req = SpawnEntity.Request() + req.name = modelname + req.xml = cube req.initial_pose.position.x = px req.initial_pose.position.y = py req.initial_pose.position.z = pz - q = quaternion_from_euler(rr, rp, ry) + q = euler2quat(rr, rp, ry) req.initial_pose.orientation.x = q[0] req.initial_pose.orientation.y = q[1] req.initial_pose.orientation.z = q[2] @@ -104,35 +105,47 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): if __name__ == '__main__': - rospy.init_node('spawn_models') - spawn_srv = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel) - rospy.loginfo("Waiting for /gazebo/spawn_sdf_model service...") - spawn_srv.wait_for_service() - rospy.loginfo("Connected to service!") + rclpy.init(args=sys.argv) + node = rclpy.create_node('spawn_entities') + + service_name = 'spawn_entity' + spawn_srv = node.create_client(SpawnEntity, '/spawn_entity') + + # while not spawn_srv.service_is_ready(): + while not spawn_srv.wait_for_service(timeout_sec=1.0): + node.get_logger().info(f'Waiting for service {spawn_srv.srv_name}...') + + node.get_logger().info("Connected to service!") # Spawn object 1 - rospy.loginfo("Spawning cube1") + node.get_logger().info("Spawning cube1") req1 = create_cube_request("cube1", 0.0, 0.0, 0.51, # position 0.0, 0.0, 0.0, # rotation 1.0, 1.0, 1.0) # size - spawn_srv.call(req1) - rospy.sleep(1.0) + + resp = spawn_srv.call_async(req1) + rclpy.spin_until_future_complete(node, resp) # Spawn object 2 - rospy.loginfo("Spawning cube2") + node.get_logger().info("Spawning cube2") req2 = create_cube_request("cube2", 0.0, 1.1, 0.41, # position 0.0, 0.0, 0.0, # rotation 0.8, 0.8, 0.8) # size - spawn_srv.call(req2) - rospy.sleep(1.0) + + resp = spawn_srv.call_async(req2) + rclpy.spin_until_future_complete(node, resp) # Spawn object 3 - rospy.loginfo("Spawning cube3") + node.get_logger().info("Spawning cube3") req3 = create_cube_request("cube3", 0.0, 2.1, 0.41, # position 0.0, 0.0, 0.0, # rotation 0.4, 0.4, 0.4) # size - spawn_srv.call(req3) - rospy.sleep(1.0) + + resp = spawn_srv.call_async(req3) + rclpy.spin_until_future_complete(node, resp) + + node.destroy_node() + rclpy.shutdown() diff --git a/src/gazebo_ros_link_attacher.cpp b/src/gazebo_ros_link_attacher.cpp index f9b7dbf..d07b65b 100644 --- a/src/gazebo_ros_link_attacher.cpp +++ b/src/gazebo_ros_link_attacher.cpp @@ -1,9 +1,5 @@ #include -#include #include "gazebo_ros_link_attacher.h" -#include "gazebo_ros_link_attacher/Attach.h" -#include "gazebo_ros_link_attacher/AttachRequest.h" -#include "gazebo_ros_link_attacher/AttachResponse.h" #include namespace gazebo @@ -12,8 +8,7 @@ namespace gazebo GZ_REGISTER_WORLD_PLUGIN(GazeboRosLinkAttacher) // Constructor - GazeboRosLinkAttacher::GazeboRosLinkAttacher() : - nh_("link_attacher_node") + GazeboRosLinkAttacher::GazeboRosLinkAttacher() { } @@ -23,23 +18,27 @@ namespace gazebo { } - void GazeboRosLinkAttacher::Load(physics::WorldPtr _world, sdf::ElementPtr /*_sdf*/) + void GazeboRosLinkAttacher::Load(physics::WorldPtr _world, sdf::ElementPtr _sdf) { + this->node = gazebo_ros::Node::Get(_sdf); + // Make sure the ROS node for Gazebo has already been initialized - if (!ros::isInitialized()) + if (!rclcpp::ok()) { - ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. " + RCLCPP_FATAL_STREAM(node->get_logger(), "A ROS node for Gazebo has not been initialized, unable to load plugin. " << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); return; } this->world = _world; this->physics = this->world->Physics(); - this->attach_service_ = this->nh_.advertiseService("attach", &GazeboRosLinkAttacher::attach_callback, this); - ROS_INFO_STREAM("Attach service at: " << this->nh_.resolveName("attach")); - this->detach_service_ = this->nh_.advertiseService("detach", &GazeboRosLinkAttacher::detach_callback, this); - ROS_INFO_STREAM("Detach service at: " << this->nh_.resolveName("detach")); - ROS_INFO("Link attacher node initialized."); + this->attach_service_ = this->node->create_service("attach", + std::bind(&GazeboRosLinkAttacher::attach_callback, this, std::placeholders::_1, std::placeholders::_2)); + RCLCPP_INFO_STREAM(node->get_logger(), "Attach service created"); + this->detach_service_ = this->node->create_service("detach", + std::bind(&GazeboRosLinkAttacher::detach_callback, this, std::placeholders::_1, std::placeholders::_2)); + RCLCPP_INFO_STREAM(node->get_logger(), "Detach service created"); + RCLCPP_INFO(node->get_logger(), "Link attacher node initialized."); } bool GazeboRosLinkAttacher::attach(std::string model1, std::string link1, @@ -52,73 +51,73 @@ namespace gazebo // gazebo hangs/crashes fixedJoint j; if(this->getJoint(model1, link1, model2, link2, j)){ - ROS_INFO_STREAM("Joint already existed, reusing it."); + RCLCPP_INFO_STREAM(node->get_logger(), "Joint already existed, reusing it."); j.joint->Attach(j.l1, j.l2); return true; } else{ - ROS_INFO_STREAM("Creating new joint."); + RCLCPP_INFO_STREAM(node->get_logger(), "Creating new joint."); } j.model1 = model1; j.link1 = link1; j.model2 = model2; j.link2 = link2; - ROS_DEBUG_STREAM("Getting BasePtr of " << model1); + RCLCPP_DEBUG_STREAM(node->get_logger(), "Getting BasePtr of " << model1); physics::BasePtr b1 = this->world->ModelByName(model1); if (b1 == NULL){ - ROS_ERROR_STREAM(model1 << " model was not found"); + RCLCPP_ERROR_STREAM(node->get_logger(), model1 << " model was not found"); return false; } - ROS_DEBUG_STREAM("Getting BasePtr of " << model2); + RCLCPP_DEBUG_STREAM(node->get_logger(), "Getting BasePtr of " << model2); physics::BasePtr b2 = this->world->ModelByName(model2); if (b2 == NULL){ - ROS_ERROR_STREAM(model2 << " model was not found"); + RCLCPP_ERROR_STREAM(node->get_logger(), model2 << " model was not found"); return false; } - ROS_DEBUG_STREAM("Casting into ModelPtr"); + RCLCPP_DEBUG_STREAM(node->get_logger(), "Casting into ModelPtr"); physics::ModelPtr m1(dynamic_cast(b1.get())); j.m1 = m1; physics::ModelPtr m2(dynamic_cast(b2.get())); j.m2 = m2; - ROS_DEBUG_STREAM("Getting link: '" << link1 << "' from model: '" << model1 << "'"); + RCLCPP_DEBUG_STREAM(node->get_logger(), "Getting link: '" << link1 << "' from model: '" << model1 << "'"); physics::LinkPtr l1 = m1->GetLink(link1); if (l1 == NULL){ - ROS_ERROR_STREAM(link1 << " link was not found"); + RCLCPP_ERROR_STREAM(node->get_logger(), link1 << " link was not found"); return false; } if (l1->GetInertial() == NULL){ - ROS_ERROR_STREAM("link1 inertia is NULL!"); + RCLCPP_ERROR_STREAM(node->get_logger(), "link1 inertia is NULL!"); } else - ROS_DEBUG_STREAM("link1 inertia is not NULL, for example, mass is: " << l1->GetInertial()->Mass()); + RCLCPP_DEBUG_STREAM(node->get_logger(), "link1 inertia is not NULL, for example, mass is: " << l1->GetInertial()->Mass()); j.l1 = l1; - ROS_DEBUG_STREAM("Getting link: '" << link2 << "' from model: '" << model2 << "'"); + RCLCPP_DEBUG_STREAM(node->get_logger(), "Getting link: '" << link2 << "' from model: '" << model2 << "'"); physics::LinkPtr l2 = m2->GetLink(link2); if (l2 == NULL){ - ROS_ERROR_STREAM(link2 << " link was not found"); + RCLCPP_ERROR_STREAM(node->get_logger(), link2 << " link was not found"); return false; } if (l2->GetInertial() == NULL){ - ROS_ERROR_STREAM("link2 inertia is NULL!"); + RCLCPP_ERROR_STREAM(node->get_logger(), "link2 inertia is NULL!"); } else - ROS_DEBUG_STREAM("link2 inertia is not NULL, for example, mass is: " << l2->GetInertial()->Mass()); + RCLCPP_DEBUG_STREAM(node->get_logger(), "link2 inertia is not NULL, for example, mass is: " << l2->GetInertial()->Mass()); j.l2 = l2; - ROS_DEBUG_STREAM("Links are: " << l1->GetName() << " and " << l2->GetName()); + RCLCPP_DEBUG_STREAM(node->get_logger(), "Links are: " << l1->GetName() << " and " << l2->GetName()); - ROS_DEBUG_STREAM("Creating revolute joint on model: '" << model1 << "'"); + RCLCPP_DEBUG_STREAM(node->get_logger(), "Creating revolute joint on model: '" << model1 << "'"); j.joint = this->physics->CreateJoint("revolute", m1); this->joints.push_back(j); - ROS_DEBUG_STREAM("Attach"); + RCLCPP_DEBUG_STREAM(node->get_logger(), "Attach"); j.joint->Attach(l1, l2); - ROS_DEBUG_STREAM("Loading links"); + RCLCPP_DEBUG_STREAM(node->get_logger(), "Loading links"); j.joint->Load(l1, l2, ignition::math::Pose3d()); - ROS_DEBUG_STREAM("SetModel"); + RCLCPP_DEBUG_STREAM(node->get_logger(), "SetModel"); j.joint->SetModel(m2); /* * If SetModel is not done we get: @@ -134,13 +133,13 @@ namespace gazebo /tmp/buildd/gazebo2-2.2.3/gazebo/physics/ode/ODELink.cc(183): Inertial pointer is NULL */ - ROS_DEBUG_STREAM("SetHightstop"); + RCLCPP_DEBUG_STREAM(node->get_logger(), "SetHightstop"); j.joint->SetUpperLimit(0, 0); - ROS_DEBUG_STREAM("SetLowStop"); + RCLCPP_DEBUG_STREAM(node->get_logger(), "SetLowStop"); j.joint->SetLowerLimit(0, 0); - ROS_DEBUG_STREAM("Init"); + RCLCPP_DEBUG_STREAM(node->get_logger(), "Init"); j.joint->Init(); - ROS_INFO_STREAM("Attach finished."); + RCLCPP_INFO_STREAM(node->get_logger(), "Attach finished."); return true; } @@ -174,38 +173,38 @@ namespace gazebo } - bool GazeboRosLinkAttacher::attach_callback(gazebo_ros_link_attacher::Attach::Request &req, - gazebo_ros_link_attacher::Attach::Response &res) + bool GazeboRosLinkAttacher::attach_callback(const std::shared_ptr req, + std::shared_ptr res) { - ROS_INFO_STREAM("Received request to attach model: '" << req.model_name_1 - << "' using link: '" << req.link_name_1 << "' with model: '" - << req.model_name_2 << "' using link: '" << req.link_name_2 << "'"); - if (! this->attach(req.model_name_1, req.link_name_1, - req.model_name_2, req.link_name_2)){ - ROS_ERROR_STREAM("Could not make the attach."); - res.ok = false; + RCLCPP_INFO_STREAM(node->get_logger(), "Received request to attach model: '" << req->model_name_1 + << "' using link: '" << req->link_name_1 << "' with model: '" + << req->model_name_2 << "' using link: '" << req->link_name_2 << "'"); + if (! this->attach(req->model_name_1, req->link_name_1, + req->model_name_2, req->link_name_2)){ + RCLCPP_ERROR_STREAM(node->get_logger(), "Could not make the attach."); + res->ok = false; } else{ - ROS_INFO_STREAM("Attach was succesful"); - res.ok = true; + RCLCPP_INFO_STREAM(node->get_logger(), "Attach was succesful"); + res->ok = true; } return true; } - bool GazeboRosLinkAttacher::detach_callback(gazebo_ros_link_attacher::Attach::Request &req, - gazebo_ros_link_attacher::Attach::Response &res){ - ROS_INFO_STREAM("Received request to detach model: '" << req.model_name_1 - << "' using link: '" << req.link_name_1 << "' with model: '" - << req.model_name_2 << "' using link: '" << req.link_name_2 << "'"); - if (! this->detach(req.model_name_1, req.link_name_1, - req.model_name_2, req.link_name_2)){ - ROS_ERROR_STREAM("Could not make the detach."); - res.ok = false; + bool GazeboRosLinkAttacher::detach_callback(const std::shared_ptr req, + std::shared_ptr res){ + RCLCPP_INFO_STREAM(node->get_logger(), "Received request to detach model: '" << req->model_name_1 + << "' using link: '" << req->link_name_1 << "' with model: '" + << req->model_name_2 << "' using link: '" << req->link_name_2 << "'"); + if (! this->detach(req->model_name_1, req->link_name_1, + req->model_name_2, req->link_name_2)){ + RCLCPP_ERROR_STREAM(node->get_logger(), "Could not make the detach."); + res->ok = false; } else{ - ROS_INFO_STREAM("Detach was succesful"); - res.ok = true; + RCLCPP_INFO_STREAM(node->get_logger(), "Detach was succesful"); + res->ok = true; } return true; } diff --git a/worlds/test_attacher.world b/worlds/test_attacher.world index 50a7dad..3649065 100644 --- a/worlds/test_attacher.world +++ b/worlds/test_attacher.world @@ -1,8 +1,14 @@ - + + + + /gazebo + + + - + model://sun @@ -11,4 +17,4 @@ model://ground_plane - + \ No newline at end of file From c95c47e8e12949be8e22b7958c87c4d241db5f36 Mon Sep 17 00:00:00 2001 From: David Orchansky Date: Tue, 23 May 2023 09:11:51 +1000 Subject: [PATCH 04/15] Enforcing building shared library. --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 4b45739..841bfec 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -46,7 +46,7 @@ include_directories(include ) ## Declare a cpp library -add_library(${PROJECT_NAME}_plugin src/gazebo_ros_link_attacher.cpp) +add_library(${PROJECT_NAME}_plugin SHARED src/gazebo_ros_link_attacher.cpp) ## Specify libraries to link a library or executable target against From 2879cf838565a2603bf03ba4f1ea202965ad0304 Mon Sep 17 00:00:00 2001 From: David Orchansky Date: Tue, 10 Oct 2023 10:29:26 +1100 Subject: [PATCH 05/15] Migration to ROS 2 Humble. --- CMakeLists.txt | 18 ++++++++++++------ README.md | 2 +- 2 files changed, 13 insertions(+), 7 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 841bfec..884a93d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -40,7 +40,8 @@ ament_export_dependencies(rosidl_default_runtime) ## Specify additional locations of header files ## Your package locations should be listed before other locations include_directories(include - ${GAZEBO_INCLUDE_DIRS} + ${gazebo_ros_INCLUDE_DIRS} + ${rclcpp_INCLUDE_DIRS} ${std_msgs_INCLUDE_DIRS} ${CMAKE_CURRENT_BINARY_DIR}/srv ) @@ -49,20 +50,25 @@ include_directories(include add_library(${PROJECT_NAME}_plugin SHARED src/gazebo_ros_link_attacher.cpp) -## Specify libraries to link a library or executable target against -target_link_libraries(${PROJECT_NAME}_plugin ${ament_cmake_LIBRARIES} ${GAZEBO_LIBRARIES}) - - # Connect targets with locally defined messages get_available_rmw_implementations(rmw_implementations2) foreach(rmw_implementation ${rmw_implementations2}) find_package("${rmw_implementation}" REQUIRED) get_rmw_typesupport(typesupport_impls "${rmw_implementation}" LANGUAGE "cpp") foreach(typesupport_impl ${typesupport_impls}) - rosidl_target_interfaces(${PROJECT_NAME}_plugin ${PROJECT_NAME} ${typesupport_impl}) + rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp") endforeach() endforeach() +## Specify libraries to link a library or executable target against +target_link_libraries(${PROJECT_NAME}_plugin + ${ament_cmake_LIBRARIES} + ${gazebo_ros_LIBRARIES} + ${rclcpp_LIBRARIES} + ${std_msgs_LIBRARIES} + "${cpp_typesupport_target}") + + ############# ## Install ## ############# diff --git a/README.md b/README.md index 4e92f57..fc89147 100644 --- a/README.md +++ b/README.md @@ -10,7 +10,7 @@ git clone https://github.com/pal-robotics/gazebo_ros_link_attacher.git cd .. rosdep update -rosdep install --from-paths src --ignore-src -y --rosdistro foxy +rosdep install --from-paths src --ignore-src -y --rosdistro humble colcon build source install/setup.bash From e2b00eb1ef5ecf9ab49e548ba4d2b1ada2755c9e Mon Sep 17 00:00:00 2001 From: Claudia Ramos Date: Fri, 12 Jan 2024 17:23:12 -0300 Subject: [PATCH 06/15] Code style improvements --- launch/test_attacher.py | 21 ++++++++++++--------- scripts/attach.py | 12 ++---------- scripts/demo.py | 16 ++++------------ scripts/demo_multiple.py | 19 +++++-------------- scripts/detach.py | 12 ++---------- scripts/spawn_models.py | 10 ++++------ 6 files changed, 29 insertions(+), 61 deletions(-) diff --git a/launch/test_attacher.py b/launch/test_attacher.py index 04529f9..1f740ed 100644 --- a/launch/test_attacher.py +++ b/launch/test_attacher.py @@ -1,3 +1,6 @@ +import os +import pathlib + from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.launch_description_sources import AnyLaunchDescriptionSource @@ -5,19 +8,19 @@ from launch.actions import GroupAction from launch.actions import OpaqueFunction -import os -import pathlib -def launch_setup(context, *args, **kwargs): +def launch_setup(): # Start Gazebo with an empty world file - gazebo_launch = os.path.join(get_package_share_directory('gazebo_ros'), 'launch/gazebo.launch.py') - world_file = os.path.join(get_package_share_directory('gazebo_ros_link_attacher'), 'worlds/test_attacher.world') + gazebo_launch = os.path.join( + get_package_share_directory('gazebo_ros'), 'launch/gazebo.launch.py') + world_file = os.path.join( + get_package_share_directory('gazebo_ros_link_attacher'), 'worlds/test_attacher.world') if not pathlib.Path(world_file).exists(): exc = 'World file ' + world_file + ' does not exist' raise Exception(exc) - - launch_args = [('world', world_file), + + launch_args = [('world', world_file), ('verbose', 'true'), ('debug', 'true'), ('gui', 'true'), @@ -30,7 +33,7 @@ def launch_setup(context, *args, **kwargs): group = GroupAction([ gazebo_launch_description, ]) - + return [group] @@ -38,4 +41,4 @@ def generate_launch_description(): return LaunchDescription([ OpaqueFunction(function = launch_setup) - ]) \ No newline at end of file + ]) diff --git a/scripts/attach.py b/scripts/attach.py index e9a154f..39e6e9c 100755 --- a/scripts/attach.py +++ b/scripts/attach.py @@ -12,7 +12,7 @@ attach_srv = node.create_client(Attach, '/attach') while not attach_srv.wait_for_service(timeout_sec=1.0): - node.get_logger().info("Waiting for attach service...") + node.get_logger().info("Waiting for attach service...") node.get_logger().info("Created service to /attach") @@ -28,14 +28,6 @@ resp = attach_srv.call_async(req) rclpy.spin_until_future_complete(node, resp) - # From the shell: - """ -ros2 service call /attach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', -link_name_1: 'link', -model_name_2: 'cube2', -link_name_2: 'link'}' - """ - node.get_logger().info("Attaching cube2 and cube3") req = Attach.Request() @@ -55,4 +47,4 @@ req.link_name_2 = "link" resp = attach_srv.call_async(req) - rclpy.spin_until_future_complete(node, resp) \ No newline at end of file + rclpy.spin_until_future_complete(node, resp) diff --git a/scripts/demo.py b/scripts/demo.py index edaf3e4..3f15503 100755 --- a/scripts/demo.py +++ b/scripts/demo.py @@ -7,7 +7,7 @@ from copy import deepcopy from transforms3d.euler import euler2quat -sdf_cube = """ +SDF_CUBE = """ 0 @@ -81,7 +81,7 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): px py pz: position of the cube (and it's collision cube) rr rp ry: rotation (roll, pitch, yaw) of the model sx sy sz: size of the cube""" - cube = deepcopy(sdf_cube) + cube = deepcopy(SDF_CUBE) # Replace size of model size_str = str(round(sx, 3)) + " " + \ str(round(sy, 3)) + " " + str(round(sz, 3)) @@ -111,12 +111,11 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): attach_srv = node.create_client(Attach, '/attach') while not attach_srv.wait_for_service(timeout_sec=1.0): - node.get_logger().info(f'Waiting for service {attach_srv.srv_name}...') + node.get_logger().info(f'Waiting for service {attach_srv.srv_name}...') - service_name = 'spawn_entity' spawn_srv = node.create_client(SpawnEntity, '/spawn_entity') while not spawn_srv.wait_for_service(timeout_sec=1.0): - node.get_logger().info(f'Waiting for service {spawn_srv.srv_name}...') + node.get_logger().info(f'Waiting for service {spawn_srv.srv_name}...') node.get_logger().info("Connected to service!") @@ -148,11 +147,4 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): resp = attach_srv.call_async(amsg) rclpy.spin_until_future_complete(node, resp) - # From the shell: - """ -ros2 service call /attach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', -link_name_1: 'link', -model_name_2: 'cube2', -link_name_2: 'link'}' - """ node.get_logger().info("Published into linking service!") diff --git a/scripts/demo_multiple.py b/scripts/demo_multiple.py index 99fb9f8..317651d 100755 --- a/scripts/demo_multiple.py +++ b/scripts/demo_multiple.py @@ -1,13 +1,12 @@ #!/usr/bin/env python3 - +from copy import deepcopy import sys import rclpy from gazebo_msgs.srv import SpawnEntity from gazebo_ros_link_attacher.srv import Attach -from copy import deepcopy from transforms3d.euler import euler2quat -sdf_cube = """ +SDF_CUBE = """ 0 @@ -81,7 +80,7 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): px py pz: position of the cube (and it's collision cube) rr rp ry: rotation (roll, pitch, yaw) of the model sx sy sz: size of the cube""" - cube = deepcopy(sdf_cube) + cube = deepcopy(SDF_CUBE) # Replace size of model size_str = str(round(sx, 3)) + " " + \ str(round(sy, 3)) + " " + str(round(sz, 3)) @@ -111,12 +110,11 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): attach_srv = node.create_client(Attach, '/attach') while not attach_srv.wait_for_service(timeout_sec=1.0): - node.get_logger().info(f'Waiting for service {attach_srv.srv_name}...') + node.get_logger().info(f'Waiting for service {attach_srv.srv_name}...') - service_name = 'spawn_entity' spawn_srv = node.create_client(SpawnEntity, '/spawn_entity') while not spawn_srv.wait_for_service(timeout_sec=1.0): - node.get_logger().info(f'Waiting for service {spawn_srv.srv_name}...') + node.get_logger().info(f'Waiting for service {spawn_srv.srv_name}...') node.get_logger().info("Connected to service!") @@ -159,13 +157,6 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): resp = attach_srv.call_async(amsg) rclpy.spin_until_future_complete(node, resp) - # From the shell: - """ -ros2 service call /attach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', -link_name_1: 'link', -model_name_2: 'cube2', -link_name_2: 'link'}' - """ node.get_logger().info("Published into linking service!") diff --git a/scripts/detach.py b/scripts/detach.py index be62464..ea6d9b3 100755 --- a/scripts/detach.py +++ b/scripts/detach.py @@ -13,7 +13,7 @@ attach_srv = node.create_client(Attach, '/detach') while not attach_srv.wait_for_service(timeout_sec=1.0): - node.get_logger().info("Waiting for detach service...") + node.get_logger().info("Waiting for detach service...") # Unlink them node.get_logger().info("Detaching cube1 and cube2") @@ -26,14 +26,6 @@ resp = attach_srv.call_async(req) rclpy.spin_until_future_complete(node, resp) - # From the shell: - """ -ros2 service call /detach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', -link_name_1: 'link', -model_name_2: 'cube2', -link_name_2: 'link'}' - """ - node.get_logger().info("Detaching cube2 and cube3") req = Attach.Request() req.model_name_1 = "cube2" @@ -52,4 +44,4 @@ req.link_name_2 = "link" resp = attach_srv.call_async(req) - rclpy.spin_until_future_complete(node, resp) \ No newline at end of file + rclpy.spin_until_future_complete(node, resp) diff --git a/scripts/spawn_models.py b/scripts/spawn_models.py index 6412171..303954e 100755 --- a/scripts/spawn_models.py +++ b/scripts/spawn_models.py @@ -1,12 +1,12 @@ #!/usr/bin/env python3 +from copy import deepcopy import sys import rclpy from gazebo_msgs.srv import SpawnEntity -from copy import deepcopy from transforms3d.euler import euler2quat -sdf_cube = """ +SDF_CUBE = """ 0 @@ -80,7 +80,7 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): px py pz: position of the cube (and it's collision cube) rr rp ry: rotation (roll, pitch, yaw) of the model sx sy sz: size of the cube""" - cube = deepcopy(sdf_cube) + cube = deepcopy(SDF_CUBE) # Replace size of model size_str = str(round(sx, 3)) + " " + \ str(round(sy, 3)) + " " + str(round(sz, 3)) @@ -107,13 +107,11 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): if __name__ == '__main__': rclpy.init(args=sys.argv) node = rclpy.create_node('spawn_entities') - - service_name = 'spawn_entity' spawn_srv = node.create_client(SpawnEntity, '/spawn_entity') # while not spawn_srv.service_is_ready(): while not spawn_srv.wait_for_service(timeout_sec=1.0): - node.get_logger().info(f'Waiting for service {spawn_srv.srv_name}...') + node.get_logger().info(f'Waiting for service {spawn_srv.srv_name}...') node.get_logger().info("Connected to service!") From 9a5a12c4a5ac11d4e107df07a1dd80343a8f1d4f Mon Sep 17 00:00:00 2001 From: Claudia Ramos Date: Tue, 16 Jan 2024 17:57:06 -0300 Subject: [PATCH 07/15] Add package files, include dir --- CHANGELOG.md | 16 + CMakeLists.txt | 38 +- CONTRIBUTING.md | 13 + LICENSE | 201 +++++++++ include/gazebo_ros_link_attacher.h | 86 ---- .../gazebo_ros_link_attacher.h | 106 +++++ launch/test_attacher.py | 18 +- package.xml | 7 +- scripts/attach.py | 16 +- scripts/demo.py | 43 +- scripts/demo_multiple.py | 52 ++- scripts/detach.py | 17 +- scripts/spawn_models.py | 51 ++- src/gazebo_ros_link_attacher.cpp | 412 ++++++++++-------- 14 files changed, 745 insertions(+), 331 deletions(-) create mode 100644 CHANGELOG.md create mode 100644 CONTRIBUTING.md create mode 100644 LICENSE delete mode 100644 include/gazebo_ros_link_attacher.h create mode 100644 include/gazebo_ros_link_attacher/gazebo_ros_link_attacher.h diff --git a/CHANGELOG.md b/CHANGELOG.md new file mode 100644 index 0000000..1dbde76 --- /dev/null +++ b/CHANGELOG.md @@ -0,0 +1,16 @@ +# Changelog + +All notable changes to this project will be documented in this file. + +## [Unreleased] + + +### Added + + +## [0.1.0] - 2024-01-16 + +### Changed + +### Fixed + diff --git a/CMakeLists.txt b/CMakeLists.txt index 884a93d..03e70cf 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,15 +10,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() -set(CMAKE_CXX_FLAGS "-std=c++17 ${CMAKE_CXX_FLAGS}") +set(CMAKE_CXX_FLAGS "-std=c++17 ${CMAKE_CXX_FLAGS}") ######################## # Load dependencies required for this package find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(gazebo_ros REQUIRED) -find_package(std_msgs REQUIRED) +find_package(rclcpp REQUIRED) +find_package(gazebo_ros REQUIRED) +find_package(std_msgs REQUIRED) find_package(gazebo REQUIRED) find_package(rosidl_default_generators REQUIRED) find_package(rmw_implementation_cmake REQUIRED) @@ -61,9 +61,9 @@ foreach(rmw_implementation ${rmw_implementations2}) endforeach() ## Specify libraries to link a library or executable target against -target_link_libraries(${PROJECT_NAME}_plugin - ${ament_cmake_LIBRARIES} - ${gazebo_ros_LIBRARIES} +target_link_libraries(${PROJECT_NAME}_plugin + ${ament_cmake_LIBRARIES} + ${gazebo_ros_LIBRARIES} ${rclcpp_LIBRARIES} ${std_msgs_LIBRARIES} "${cpp_typesupport_target}") @@ -104,9 +104,27 @@ install(PROGRAMS DESTINATION lib/${PROJECT_NAME} ) -foreach (dir launch worlds) +foreach(dir launch worlds) install(DIRECTORY ${dir}/ - DESTINATION share/${PROJECT_NAME}/${dir}) -endforeach(dir) + DESTINATION share/${PROJECT_NAME}/${dir}) +endforeach() + +if(BUILD_DOCS) + find_package(ament_cmake_doxygen REQUIRED) + ament_doxygen(DOC_TITLE ${PROJECT_NAME}) +endif() + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + set(AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS True) + list(APPEND AMENT_LINT_AUTO_EXCLUDE + ament_cmake_cpplint + ) + ament_lint_auto_find_test_dependencies() + + find_package(ament_cmake_cpplint REQUIRED) + ament_cpplint(MAX_LINE_LENGTH "120") + ament_lint_auto_find_test_dependencies() +endif() ament_package() diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 0000000..6f63de9 --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,13 @@ +Any contribution that you make to this repository will +be under the Apache 2 License, as dictated by that +[license](http://www.apache.org/licenses/LICENSE-2.0.html): + +~~~ +5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. +~~~ diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..261eeb9 --- /dev/null +++ b/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/include/gazebo_ros_link_attacher.h b/include/gazebo_ros_link_attacher.h deleted file mode 100644 index e3beab3..0000000 --- a/include/gazebo_ros_link_attacher.h +++ /dev/null @@ -1,86 +0,0 @@ -/* - * Desc: Gazebo link attacher plugin. - * Author: Sammy Pfeiffer (sam.pfeiffer@pal-robotics.com) - * Date: 05/04/2016 - */ - -#ifndef GAZEBO_ROS_LINK_ATTACHER_HH -#define GAZEBO_ROS_LINK_ATTACHER_HH - -#include - -#include -#include "gazebo/gazebo.hh" -#include -#include -#include "gazebo/physics/PhysicsTypes.hh" -#include -#include -#include -#include -#include "gazebo/msgs/msgs.hh" -#include "gazebo/transport/transport.hh" -#include "gazebo_ros_link_attacher/srv/attach.hpp" - -namespace gazebo -{ - - class GazeboRosLinkAttacher : public WorldPlugin - { - public: - /// \brief Constructor - GazeboRosLinkAttacher(); - - /// \brief Destructor - virtual ~GazeboRosLinkAttacher(); - - /// \brief Load the controller - void Load( physics::WorldPtr _world, sdf::ElementPtr _sdf); - - /// \brief Attach with a revolute joint - bool attach(std::string model1, std::string link1, - std::string model2, std::string link2); - - /// \brief Detach - bool detach(std::string model1, std::string link1, - std::string model2, std::string link2); - - /// \brief Internal representation of a fixed joint - struct fixedJoint{ - std::string model1; - physics::ModelPtr m1; - std::string link1; - physics::LinkPtr l1; - std::string model2; - physics::ModelPtr m2; - std::string link2; - physics::LinkPtr l2; - physics::JointPtr joint; - }; - - bool getJoint(std::string model1, std::string link1, std::string model2, std::string link2, fixedJoint &joint); - - private: - gazebo_ros::Node::SharedPtr node; - rclcpp::Service::SharedPtr attach_service_; - rclcpp::Service::SharedPtr detach_service_; - - bool attach_callback(const std::shared_ptr req, - std::shared_ptr res); - bool detach_callback(const std::shared_ptr req, - std::shared_ptr res); - - std::vector joints; - - /// \brief The physics engine. - physics::PhysicsEnginePtr physics; - - /// \brief Pointer to the world. - physics::WorldPtr world; - - }; - -} - -#endif - diff --git a/include/gazebo_ros_link_attacher/gazebo_ros_link_attacher.h b/include/gazebo_ros_link_attacher/gazebo_ros_link_attacher.h new file mode 100644 index 0000000..bae4cd2 --- /dev/null +++ b/include/gazebo_ros_link_attacher/gazebo_ros_link_attacher.h @@ -0,0 +1,106 @@ +// Copyright (c) 2024, SENAI Cimatec +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/* + * Desc: Gazebo link attacher plugin. + * Author: Sammy Pfeiffer (sam.pfeiffer@pal-robotics.com) + * Date: 05/04/2016 + */ + +#ifndef GAZEBO_ROS_LINK_ATTACHER__GAZEBO_ROS_LINK_ATTACHER_H_ +#define GAZEBO_ROS_LINK_ATTACHER__GAZEBO_ROS_LINK_ATTACHER_H_ + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace gazebo +{ +class GazeboRosLinkAttacher: public WorldPlugin +{ +public: + /// \brief Internal representation of a fixed joint + struct fixedJoint + { + std::string model1; + physics::ModelPtr m1; + std::string link1; + physics::LinkPtr l1; + std::string model2; + physics::ModelPtr m2; + std::string link2; + physics::LinkPtr l2; + physics::JointPtr joint; + }; + + /// \brief Constructor + GazeboRosLinkAttacher(); + + /// \brief Destructor + virtual ~GazeboRosLinkAttacher(); + + /// \brief Load the controller + void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf); + + /// \brief Attach with a revolute joint + bool attach( + std::string model1, std::string link1, + std::string model2, std::string link2); + + /// \brief Detach + bool detach( + std::string model1, std::string link1, + std::string model2, std::string link2); + + bool getJoint( + std::string model1, std::string link1, std::string model2, std::string link2, + fixedJoint & joint); + +private: + gazebo_ros::Node::SharedPtr node_; + rclcpp::Service < gazebo_ros_link_attacher::srv::Attach > ::SharedPtr attach_service_; + rclcpp::Service < gazebo_ros_link_attacher::srv::Attach > ::SharedPtr detach_service_; + + bool attach_callback( + const std::shared_ptr < gazebo_ros_link_attacher::srv::Attach::Request > req, + std::shared_ptr < gazebo_ros_link_attacher::srv::Attach::Response > res); + bool detach_callback( + const std::shared_ptr < gazebo_ros_link_attacher::srv::Attach::Request > req, + std::shared_ptr < gazebo_ros_link_attacher::srv::Attach::Response > res); + + std::vector < fixedJoint > joints_; + + /// \brief The physics engine. + physics::PhysicsEnginePtr physics; + + /// \brief Pointer to the world. + physics::WorldPtr world; + }; +} // namespace gazebo +#endif // GAZEBO_ROS_LINK_ATTACHER__GAZEBO_ROS_LINK_ATTACHER_H_ diff --git a/launch/test_attacher.py b/launch/test_attacher.py index 1f740ed..d473209 100644 --- a/launch/test_attacher.py +++ b/launch/test_attacher.py @@ -1,3 +1,17 @@ +# Copyright (c) 2024, SENAI Cimatec +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import os import pathlib @@ -26,7 +40,7 @@ def launch_setup(): ('gui', 'true'), ('pause', 'false')] - print ("world file: ", world_file) + print("world file: ", world_file) gazebo_launch_description = IncludeLaunchDescription( AnyLaunchDescriptionSource(gazebo_launch), launch_arguments=launch_args) @@ -40,5 +54,5 @@ def launch_setup(): def generate_launch_description(): return LaunchDescription([ - OpaqueFunction(function = launch_setup) + OpaqueFunction(function=launch_setup) ]) diff --git a/package.xml b/package.xml index 6b3d601..3f0bbf4 100644 --- a/package.xml +++ b/package.xml @@ -10,6 +10,8 @@ BSD + ament_cmake + rclcpp gazebo_ros gazebo @@ -22,7 +24,10 @@ std_msgs rosidl_default_runtime - ament_cmake + ament_cmake_doxygen + + ament_lint_auto + ament_lint_common rosidl_interface_packages diff --git a/scripts/attach.py b/scripts/attach.py index 39e6e9c..879bb87 100755 --- a/scripts/attach.py +++ b/scripts/attach.py @@ -1,4 +1,18 @@ -#!/usr/bin/env python3 +# Copyright (c) 2023, SENAI Cimatec +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# !/usr/bin/env python3 import sys import rclpy diff --git a/scripts/demo.py b/scripts/demo.py index 3f15503..96e0971 100755 --- a/scripts/demo.py +++ b/scripts/demo.py @@ -1,10 +1,24 @@ -#!/usr/bin/env python3 +# Copyright (c) 2023, SENAI Cimatec +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# !/usr/bin/env python3 import sys +from copy import deepcopy import rclpy from gazebo_ros_link_attacher.srv import Attach from gazebo_msgs.srv import SpawnEntity -from copy import deepcopy from transforms3d.euler import euler2quat SDF_CUBE = """ @@ -76,11 +90,14 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): - """Create a SpawnModelRequest with the parameters of the cube given. + """ + Create a SpawnModelRequest with the parameters of the cube given. + modelname: name of the model for gazebo px py pz: position of the cube (and it's collision cube) rr rp ry: rotation (roll, pitch, yaw) of the model - sx sy sz: size of the cube""" + sx sy sz: size of the cube + """ cube = deepcopy(SDF_CUBE) # Replace size of model size_str = str(round(sx, 3)) + " " + \ @@ -121,19 +138,21 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): # Spawn object 1 node.get_logger().info("Spawning cube1") - req1 = create_cube_request("cube1", - 0.0, 0.0, 0.51, # position - 0.0, 0.0, 0.0, # rotation - 1.0, 1.0, 1.0) # size + req1 = create_cube_request( + "cube1", + 0.0, 0.0, 0.51, # position + 0.0, 0.0, 0.0, # rotation + 1.0, 1.0, 1.0) # size resp = spawn_srv.call_async(req1) rclpy.spin_until_future_complete(node, resp) # Spawn object 2 node.get_logger().info("Spawning cube2") - req2 = create_cube_request("cube2", - 0.0, 1.1, 0.41, # position - 0.0, 0.0, 0.0, # rotation - 0.8, 0.8, 0.8) # size + req2 = create_cube_request( + "cube2", + 0.0, 1.1, 0.41, # position + 0.0, 0.0, 0.0, # rotation + 0.8, 0.8, 0.8) # size resp = spawn_srv.call_async(req2) rclpy.spin_until_future_complete(node, resp) diff --git a/scripts/demo_multiple.py b/scripts/demo_multiple.py index 317651d..83ce658 100755 --- a/scripts/demo_multiple.py +++ b/scripts/demo_multiple.py @@ -1,4 +1,18 @@ -#!/usr/bin/env python3 +# Copyright (c) 2023, SENAI Cimatec +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# !/usr/bin/env python3 from copy import deepcopy import sys import rclpy @@ -75,11 +89,14 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): - """Create a SpawnModelRequest with the parameters of the cube given. + """ + Create a SpawnModelRequest with the parameters of the cube given. + modelname: name of the model for gazebo px py pz: position of the cube (and it's collision cube) rr rp ry: rotation (roll, pitch, yaw) of the model - sx sy sz: size of the cube""" + sx sy sz: size of the cube + """ cube = deepcopy(SDF_CUBE) # Replace size of model size_str = str(round(sx, 3)) + " " + \ @@ -120,28 +137,31 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): # Spawn object 1 node.get_logger().info("Spawning cube1") - req1 = create_cube_request("cube1", - 0.0, 0.0, 0.51, # position - 0.0, 0.0, 0.0, # rotation - 1.0, 1.0, 1.0) # size + req1 = create_cube_request( + "cube1", + 0.0, 0.0, 0.51, # position + 0.0, 0.0, 0.0, # rotation + 1.0, 1.0, 1.0) # size resp = spawn_srv.call_async(req1) rclpy.spin_until_future_complete(node, resp) # Spawn object 2 node.get_logger().info("Spawning cube2") - req2 = create_cube_request("cube2", - 0.0, 1.1, 0.41, # position - 0.0, 0.0, 0.0, # rotation - 0.8, 0.8, 0.8) # size + req2 = create_cube_request( + "cube2", + 0.0, 1.1, 0.41, # position + 0.0, 0.0, 0.0, # rotation + 0.8, 0.8, 0.8) # size resp = spawn_srv.call_async(req2) rclpy.spin_until_future_complete(node, resp) # Spawn object 3 node.get_logger().info("Spawning cube3") - req3 = create_cube_request("cube3", - 0.0, 2.1, 0.41, # position - 0.0, 0.0, 0.0, # rotation - 0.4, 0.4, 0.4) # size + req3 = create_cube_request( + "cube3", + 0.0, 2.1, 0.41, # position + 0.0, 0.0, 0.0, # rotation + 0.4, 0.4, 0.4) # size resp = spawn_srv.call_async(req3) rclpy.spin_until_future_complete(node, resp) @@ -159,7 +179,6 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): rclpy.spin_until_future_complete(node, resp) node.get_logger().info("Published into linking service!") - node.get_logger().info("Attaching cube2 and cube3") amsg = Attach.Request() amsg.model_name_1 = "cube2" @@ -170,7 +189,6 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): resp = attach_srv.call_async(amsg) rclpy.spin_until_future_complete(node, resp) - node.get_logger().info("Attaching cube3 and cube1") amsg = Attach.Request() amsg.model_name_1 = "cube3" diff --git a/scripts/detach.py b/scripts/detach.py index ea6d9b3..abcbe77 100755 --- a/scripts/detach.py +++ b/scripts/detach.py @@ -1,4 +1,18 @@ -#!/usr/bin/env python3 +# Copyright (c) 2023, SENAI Cimatec +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# !/usr/bin/env python3 import sys import rclpy @@ -10,7 +24,6 @@ node = rclpy.create_node('demo_detach_links') node.get_logger().info("Creating service to /detach") - attach_srv = node.create_client(Attach, '/detach') while not attach_srv.wait_for_service(timeout_sec=1.0): node.get_logger().info("Waiting for detach service...") diff --git a/scripts/spawn_models.py b/scripts/spawn_models.py index 303954e..1f4a56b 100755 --- a/scripts/spawn_models.py +++ b/scripts/spawn_models.py @@ -1,4 +1,18 @@ -#!/usr/bin/env python3 +# Copyright (c) 2023, SENAI Cimatec +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# !/usr/bin/env python3 from copy import deepcopy import sys @@ -75,11 +89,14 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): - """Create a SpawnEntityRequest with the parameters of the cube given. + """ + Create a SpawnEntityRequest with the parameters of the cube given. + modelname: name of the model for gazebo px py pz: position of the cube (and it's collision cube) rr rp ry: rotation (roll, pitch, yaw) of the model - sx sy sz: size of the cube""" + sx sy sz: size of the cube + """ cube = deepcopy(SDF_CUBE) # Replace size of model size_str = str(round(sx, 3)) + " " + \ @@ -109,7 +126,6 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): node = rclpy.create_node('spawn_entities') spawn_srv = node.create_client(SpawnEntity, '/spawn_entity') - # while not spawn_srv.service_is_ready(): while not spawn_srv.wait_for_service(timeout_sec=1.0): node.get_logger().info(f'Waiting for service {spawn_srv.srv_name}...') @@ -117,30 +133,33 @@ def create_cube_request(modelname, px, py, pz, rr, rp, ry, sx, sy, sz): # Spawn object 1 node.get_logger().info("Spawning cube1") - req1 = create_cube_request("cube1", - 0.0, 0.0, 0.51, # position - 0.0, 0.0, 0.0, # rotation - 1.0, 1.0, 1.0) # size + req1 = create_cube_request( + "cube1", + 0.0, 0.0, 0.51, # position + 0.0, 0.0, 0.0, # rotation + 1.0, 1.0, 1.0) # size resp = spawn_srv.call_async(req1) rclpy.spin_until_future_complete(node, resp) # Spawn object 2 node.get_logger().info("Spawning cube2") - req2 = create_cube_request("cube2", - 0.0, 1.1, 0.41, # position - 0.0, 0.0, 0.0, # rotation - 0.8, 0.8, 0.8) # size + req2 = create_cube_request( + "cube2", + 0.0, 1.1, 0.41, # position + 0.0, 0.0, 0.0, # rotation + 0.8, 0.8, 0.8) # size resp = spawn_srv.call_async(req2) rclpy.spin_until_future_complete(node, resp) # Spawn object 3 node.get_logger().info("Spawning cube3") - req3 = create_cube_request("cube3", - 0.0, 2.1, 0.41, # position - 0.0, 0.0, 0.0, # rotation - 0.4, 0.4, 0.4) # size + req3 = create_cube_request( + "cube3", + 0.0, 2.1, 0.41, # position + 0.0, 0.0, 0.0, # rotation + 0.4, 0.4, 0.4) # size resp = spawn_srv.call_async(req3) rclpy.spin_until_future_complete(node, resp) diff --git a/src/gazebo_ros_link_attacher.cpp b/src/gazebo_ros_link_attacher.cpp index d07b65b..a5d771a 100644 --- a/src/gazebo_ros_link_attacher.cpp +++ b/src/gazebo_ros_link_attacher.cpp @@ -1,212 +1,256 @@ -#include -#include "gazebo_ros_link_attacher.h" -#include +// Copyright (c) 2024, SENAI Cimatec +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include namespace gazebo { - // Register this plugin with the simulator - GZ_REGISTER_WORLD_PLUGIN(GazeboRosLinkAttacher) - - // Constructor - GazeboRosLinkAttacher::GazeboRosLinkAttacher() - { - } +// Register this plugin with the simulator +GZ_REGISTER_WORLD_PLUGIN(GazeboRosLinkAttacher) +// Constructor +GazeboRosLinkAttacher::GazeboRosLinkAttacher() +{ +} - // Destructor - GazeboRosLinkAttacher::~GazeboRosLinkAttacher() - { - } +// Destructor +GazeboRosLinkAttacher::~GazeboRosLinkAttacher() +{ +} - void GazeboRosLinkAttacher::Load(physics::WorldPtr _world, sdf::ElementPtr _sdf) - { - this->node = gazebo_ros::Node::Get(_sdf); +void GazeboRosLinkAttacher::Load(physics::WorldPtr _world, sdf::ElementPtr _sdf) +{ + this->node_ = gazebo_ros::Node::Get(_sdf); - // Make sure the ROS node for Gazebo has already been initialized - if (!rclcpp::ok()) - { - RCLCPP_FATAL_STREAM(node->get_logger(), "A ROS node for Gazebo has not been initialized, unable to load plugin. " + // Make sure the ROS node for Gazebo has already been initialized + if (!rclcpp::ok()) { + RCLCPP_FATAL_STREAM( + node_->get_logger(), + "A ROS node for Gazebo has not been initialized, unable to load plugin. " << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); - return; - } - - this->world = _world; - this->physics = this->world->Physics(); - this->attach_service_ = this->node->create_service("attach", - std::bind(&GazeboRosLinkAttacher::attach_callback, this, std::placeholders::_1, std::placeholders::_2)); - RCLCPP_INFO_STREAM(node->get_logger(), "Attach service created"); - this->detach_service_ = this->node->create_service("detach", - std::bind(&GazeboRosLinkAttacher::detach_callback, this, std::placeholders::_1, std::placeholders::_2)); - RCLCPP_INFO_STREAM(node->get_logger(), "Detach service created"); - RCLCPP_INFO(node->get_logger(), "Link attacher node initialized."); + return; } - bool GazeboRosLinkAttacher::attach(std::string model1, std::string link1, - std::string model2, std::string link2) - { - - // look for any previous instance of the joint first. - // if we try to create a joint in between two links - // more than once (even deleting any reference to the first one) - // gazebo hangs/crashes - fixedJoint j; - if(this->getJoint(model1, link1, model2, link2, j)){ - RCLCPP_INFO_STREAM(node->get_logger(), "Joint already existed, reusing it."); - j.joint->Attach(j.l1, j.l2); - return true; - } - else{ - RCLCPP_INFO_STREAM(node->get_logger(), "Creating new joint."); - } - j.model1 = model1; - j.link1 = link1; - j.model2 = model2; - j.link2 = link2; - RCLCPP_DEBUG_STREAM(node->get_logger(), "Getting BasePtr of " << model1); - physics::BasePtr b1 = this->world->ModelByName(model1); - - if (b1 == NULL){ - RCLCPP_ERROR_STREAM(node->get_logger(), model1 << " model was not found"); - return false; - } - RCLCPP_DEBUG_STREAM(node->get_logger(), "Getting BasePtr of " << model2); - physics::BasePtr b2 = this->world->ModelByName(model2); - if (b2 == NULL){ - RCLCPP_ERROR_STREAM(node->get_logger(), model2 << " model was not found"); - return false; - } - - RCLCPP_DEBUG_STREAM(node->get_logger(), "Casting into ModelPtr"); - physics::ModelPtr m1(dynamic_cast(b1.get())); - j.m1 = m1; - physics::ModelPtr m2(dynamic_cast(b2.get())); - j.m2 = m2; - - RCLCPP_DEBUG_STREAM(node->get_logger(), "Getting link: '" << link1 << "' from model: '" << model1 << "'"); - physics::LinkPtr l1 = m1->GetLink(link1); - if (l1 == NULL){ - RCLCPP_ERROR_STREAM(node->get_logger(), link1 << " link was not found"); - return false; - } - if (l1->GetInertial() == NULL){ - RCLCPP_ERROR_STREAM(node->get_logger(), "link1 inertia is NULL!"); - } - else - RCLCPP_DEBUG_STREAM(node->get_logger(), "link1 inertia is not NULL, for example, mass is: " << l1->GetInertial()->Mass()); - j.l1 = l1; - RCLCPP_DEBUG_STREAM(node->get_logger(), "Getting link: '" << link2 << "' from model: '" << model2 << "'"); - physics::LinkPtr l2 = m2->GetLink(link2); - if (l2 == NULL){ - RCLCPP_ERROR_STREAM(node->get_logger(), link2 << " link was not found"); - return false; - } - if (l2->GetInertial() == NULL){ - RCLCPP_ERROR_STREAM(node->get_logger(), "link2 inertia is NULL!"); - } - else - RCLCPP_DEBUG_STREAM(node->get_logger(), "link2 inertia is not NULL, for example, mass is: " << l2->GetInertial()->Mass()); - j.l2 = l2; - - RCLCPP_DEBUG_STREAM(node->get_logger(), "Links are: " << l1->GetName() << " and " << l2->GetName()); - - RCLCPP_DEBUG_STREAM(node->get_logger(), "Creating revolute joint on model: '" << model1 << "'"); - j.joint = this->physics->CreateJoint("revolute", m1); - this->joints.push_back(j); - - RCLCPP_DEBUG_STREAM(node->get_logger(), "Attach"); - j.joint->Attach(l1, l2); - RCLCPP_DEBUG_STREAM(node->get_logger(), "Loading links"); - j.joint->Load(l1, l2, ignition::math::Pose3d()); - RCLCPP_DEBUG_STREAM(node->get_logger(), "SetModel"); - j.joint->SetModel(m2); - /* - * If SetModel is not done we get: - * ***** Internal Program Error - assertion (this->GetParentModel() != __null) - failed in void gazebo::physics::Entity::PublishPose(): - /tmp/buildd/gazebo2-2.2.3/gazebo/physics/Entity.cc(225): - An entity without a parent model should not happen - - * If SetModel is given the same model than CreateJoint given - * Gazebo crashes with - * ***** Internal Program Error - assertion (self->inertial != __null) - failed in static void gazebo::physics::ODELink::MoveCallback(dBodyID): - /tmp/buildd/gazebo2-2.2.3/gazebo/physics/ode/ODELink.cc(183): Inertial pointer is NULL - */ - - RCLCPP_DEBUG_STREAM(node->get_logger(), "SetHightstop"); - j.joint->SetUpperLimit(0, 0); - RCLCPP_DEBUG_STREAM(node->get_logger(), "SetLowStop"); - j.joint->SetLowerLimit(0, 0); - RCLCPP_DEBUG_STREAM(node->get_logger(), "Init"); - j.joint->Init(); - RCLCPP_INFO_STREAM(node->get_logger(), "Attach finished."); + this->world = _world; + this->physics = this->world->Physics(); + this->attach_service_ = this->node_->create_service( + "attach", + std::bind( + &GazeboRosLinkAttacher::attach_callback, this, std::placeholders::_1, + std::placeholders::_2)); + RCLCPP_INFO_STREAM(node_->get_logger(), "Attach service created"); + this->detach_service_ = this->node_->create_service( + "detach", + std::bind( + &GazeboRosLinkAttacher::detach_callback, this, std::placeholders::_1, + std::placeholders::_2)); + RCLCPP_INFO_STREAM(node_->get_logger(), "Detach service created"); + RCLCPP_INFO(node_->get_logger(), "Link attacher node initialized."); +} +bool GazeboRosLinkAttacher::attach( + std::string model1, std::string link1, + std::string model2, std::string link2) +{ + // look for any previous instance of the joint first. + // if we try to create a joint in between two links + // more than once (even deleting any reference to the first one) + // gazebo hangs/crashes + fixedJoint fixed_joint; + if (this->getJoint(model1, link1, model2, link2, fixed_joint)) { + RCLCPP_INFO_STREAM(node_->get_logger(), "Joint already existed, reusing it."); + fixed_joint.joint->Attach(fixed_joint.l1, fixed_joint.l2); return true; + } else { + RCLCPP_INFO_STREAM(node_->get_logger(), "Creating new joint."); } + fixed_joint.model1 = model1; + fixed_joint.link1 = link1; + fixed_joint.model2 = model2; + fixed_joint.link2 = link2; + RCLCPP_DEBUG_STREAM(node_->get_logger(), "Getting BasePtr of " << model1); + physics::BasePtr b1 = this->world->ModelByName(model1); - bool GazeboRosLinkAttacher::detach(std::string model1, std::string link1, - std::string model2, std::string link2) - { - // search for the instance of joint and do detach - fixedJoint j; - if(this->getJoint(model1, link1, model2, link2, j)){ - j.joint->Detach(); - return true; - } - + if (b1 == NULL) { + RCLCPP_ERROR_STREAM(node_->get_logger(), model1 << " model was not found"); + return false; + } + RCLCPP_DEBUG_STREAM(node_->get_logger(), "Getting BasePtr of " << model2); + physics::BasePtr b2 = this->world->ModelByName(model2); + if (b2 == NULL) { + RCLCPP_ERROR_STREAM(node_->get_logger(), model2 << " model was not found"); return false; } - bool GazeboRosLinkAttacher::getJoint(std::string model1, std::string link1, - std::string model2, std::string link2, - fixedJoint &joint){ - fixedJoint j; - for(std::vector::iterator it = this->joints.begin(); it != this->joints.end(); ++it){ - j = *it; - if ((j.model1.compare(model1) == 0) && (j.model2.compare(model2) == 0) - && (j.link1.compare(link1) == 0) && (j.link2.compare(link2) == 0)){ - joint = j; - return true; - } - } + RCLCPP_DEBUG_STREAM(node_->get_logger(), "Casting into ModelPtr"); + physics::ModelPtr m1(dynamic_cast(b1.get())); + fixed_joint.m1 = m1; + physics::ModelPtr m2(dynamic_cast(b2.get())); + fixed_joint.m2 = m2; + + RCLCPP_DEBUG_STREAM( + node_->get_logger(), "Getting link: '" << link1 << "' from model: '" << model1 << "'"); + physics::LinkPtr l1 = m1->GetLink(link1); + if (l1 == NULL) { + RCLCPP_ERROR_STREAM(node_->get_logger(), link1 << " link was not found"); + return false; + } + if (l1->GetInertial() == NULL) { + RCLCPP_ERROR_STREAM(node_->get_logger(), "link1 inertia is NULL!"); + } else { + RCLCPP_DEBUG_STREAM( + node_->get_logger(), + "link1 inertia is not NULL, for example, mass is: " << l1->GetInertial()->Mass()); + } + fixed_joint.l1 = l1; + RCLCPP_DEBUG_STREAM( + node_->get_logger(), "Getting link: '" << link2 << "' from model: '" << model2 << "'"); + physics::LinkPtr l2 = m2->GetLink(link2); + if (l2 == NULL) { + RCLCPP_ERROR_STREAM(node_->get_logger(), link2 << " link was not found"); return false; + } + if (l2->GetInertial() == NULL) { + RCLCPP_ERROR_STREAM(node_->get_logger(), "link2 inertia is NULL!"); + } else { + RCLCPP_DEBUG_STREAM( + node_->get_logger(), + "link2 inertia is not NULL, for example, mass is: " << l2->GetInertial()->Mass()); + } + fixed_joint.l2 = l2; + + RCLCPP_DEBUG_STREAM( + node_->get_logger(), + "Links are: " << l1->GetName() << " and " << l2->GetName()); + + RCLCPP_DEBUG_STREAM(node_->get_logger(), "Creating revolute joint on model: '" << model1 << "'"); + fixed_joint.joint = this->physics->CreateJoint("revolute", m1); + this->joints_.push_back(fixed_joint); + RCLCPP_DEBUG_STREAM(node_->get_logger(), "Attach"); + fixed_joint.joint->Attach(l1, l2); + RCLCPP_DEBUG_STREAM(node_->get_logger(), "Loading links"); + fixed_joint.joint->Load(l1, l2, ignition::math::Pose3d()); + RCLCPP_DEBUG_STREAM(node_->get_logger(), "SetModel"); + fixed_joint.joint->SetModel(m2); + /* + * If SetModel is not done we get: + * ***** Internal Program Error - assertion (this->GetParentModel() != __null) + failed in void gazebo::physics::Entity::PublishPose(): + /tmp/buildd/gazebo2-2.2.3/gazebo/physics/Entity.cc(225): + An entity without a parent model should not happen + + * If SetModel is given the same model than CreateJoint given + * Gazebo crashes with + * ***** Internal Program Error - assertion (self->inertial != __null) + failed in static void gazebo::physics::ODELink::MoveCallback(dBodyID): + /tmp/buildd/gazebo2-2.2.3/gazebo/physics/ode/ODELink.cc(183): Inertial pointer is NULL + */ + + RCLCPP_DEBUG_STREAM(node_->get_logger(), "SetHightstop"); + fixed_joint.joint->SetUpperLimit(0, 0); + RCLCPP_DEBUG_STREAM(node_->get_logger(), "SetLowStop"); + fixed_joint.joint->SetLowerLimit(0, 0); + RCLCPP_DEBUG_STREAM(node_->get_logger(), "Init"); + fixed_joint.joint->Init(); + RCLCPP_INFO_STREAM(node_->get_logger(), "Attach finished."); + + return true; +} + +bool GazeboRosLinkAttacher::detach( + std::string model1, std::string link1, + std::string model2, std::string link2) +{ + // search for the instance of joint and do detach + fixedJoint fixed_joint; + if (this->getJoint(model1, link1, model2, link2, fixed_joint)) { + fixed_joint.joint->Detach(); + return true; } - bool GazeboRosLinkAttacher::attach_callback(const std::shared_ptr req, - std::shared_ptr res) + return false; +} + +bool GazeboRosLinkAttacher::getJoint( + std::string model1, std::string link1, + std::string model2, std::string link2, + fixedJoint & joint) +{ + fixedJoint fixed_joint; + for (std::vector::iterator it = this->joints_.begin(); it != this->joints_.end(); + ++it) { - RCLCPP_INFO_STREAM(node->get_logger(), "Received request to attach model: '" << req->model_name_1 - << "' using link: '" << req->link_name_1 << "' with model: '" - << req->model_name_2 << "' using link: '" << req->link_name_2 << "'"); - if (! this->attach(req->model_name_1, req->link_name_1, - req->model_name_2, req->link_name_2)){ - RCLCPP_ERROR_STREAM(node->get_logger(), "Could not make the attach."); - res->ok = false; - } - else{ - RCLCPP_INFO_STREAM(node->get_logger(), "Attach was succesful"); - res->ok = true; + fixed_joint = *it; + if ((fixed_joint.model1.compare(model1) == 0) && (fixed_joint.model2.compare(model2) == 0) && + (fixed_joint.link1.compare(link1) == 0) && (fixed_joint.link2.compare(link2) == 0)) + { + joint = fixed_joint; + return true; } - return true; - } + return false; +} - bool GazeboRosLinkAttacher::detach_callback(const std::shared_ptr req, - std::shared_ptr res){ - RCLCPP_INFO_STREAM(node->get_logger(), "Received request to detach model: '" << req->model_name_1 - << "' using link: '" << req->link_name_1 << "' with model: '" - << req->model_name_2 << "' using link: '" << req->link_name_2 << "'"); - if (! this->detach(req->model_name_1, req->link_name_1, - req->model_name_2, req->link_name_2)){ - RCLCPP_ERROR_STREAM(node->get_logger(), "Could not make the detach."); - res->ok = false; - } - else{ - RCLCPP_INFO_STREAM(node->get_logger(), "Detach was succesful"); - res->ok = true; - } - return true; +bool GazeboRosLinkAttacher::attach_callback( + const std::shared_ptr req, + std::shared_ptr res) +{ + RCLCPP_INFO_STREAM( + node_->get_logger(), + "Received request to attach model: '" + << req->model_name_1 + << "' using link: '" << req->link_name_1 << "' with model: '" + << req->model_name_2 << "' using link: '" << req->link_name_2 << + "'" + ); + if (!this->attach( + req->model_name_1, req->link_name_1, + req->model_name_2, req->link_name_2)) + { + RCLCPP_ERROR_STREAM(node_->get_logger(), "Could not make the attach."); + res->ok = false; + } else { + RCLCPP_INFO_STREAM(node_->get_logger(), "Attach was succesful"); + res->ok = true; } + return true; +} +bool GazeboRosLinkAttacher::detach_callback( + const std::shared_ptr req, + std::shared_ptr res) +{ + RCLCPP_INFO_STREAM( + node_->get_logger(), + "Received request to detach model: '" + << req->model_name_1 + << "' using link: '" << req->link_name_1 << "' with model: '" + << req->model_name_2 << "' using link: '" << req->link_name_2 << + "'" + ); + if (!this->detach( + req->model_name_1, req->link_name_1, + req->model_name_2, req->link_name_2)) + { + RCLCPP_ERROR_STREAM(node_->get_logger(), "Could not make the detach."); + res->ok = false; + } else { + RCLCPP_INFO_STREAM(node_->get_logger(), "Detach was succesful"); + res->ok = true; + } + return true; } + +} // namespace gazebo From 72dae9b82f45ec0b871f1d36acd49eb408be8b39 Mon Sep 17 00:00:00 2001 From: Claudia Ramos Date: Wed, 17 Jan 2024 11:09:00 -0300 Subject: [PATCH 08/15] Add doc dir --- README.md | 2 +- doc/ss.png | Bin 0 -> 415452 bytes .../gazebo_ros_link_attacher.h | 70 +++++++++--------- 3 files changed, 38 insertions(+), 34 deletions(-) create mode 100644 doc/ss.png diff --git a/README.md b/README.md index fc89147..64fc20f 100644 --- a/README.md +++ b/README.md @@ -29,7 +29,7 @@ Which provides the `/link_attacher_node/attach` service to specify two models an And `/link_attacher_node/detach` service to specify two models and their links to be detached. -![gazebo screenshot](ss.png) +![gazebo screenshot](doc/ss.png) # Run demo diff --git a/doc/ss.png b/doc/ss.png new file mode 100644 index 0000000000000000000000000000000000000000..f1f1d99e22ca1e487347b3b3bb2675d1a6ccc20d GIT binary patch literal 415452 zcmcG$WmJ@H)HaNwph&26D-zO;^r(PzNcYg)AuCluH5I|$3FJ4_hq1hoH!N+2?h!Z3YMgVs3Hmqx-1IHohSFuz&D=> zf2D&TcN||!D>}=RKoO;4`t4n7Wgat%;M1zJoD}sg13*F|(tggR!xVqnWMKE^31? z3d$1{Nzqrzu8CXIW479E-mBNA+1g^N>~!o(R5Wj86s0Z9`DMn<12o`$hD2fdde@C; 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b/include/gazebo_ros_link_attacher/gazebo_ros_link_attacher.h @@ -12,10 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -/* - * Desc: Gazebo link attacher plugin. - * Author: Sammy Pfeiffer (sam.pfeiffer@pal-robotics.com) - * Date: 05/04/2016 +/** + * @file gazebo_ros_link_attacher.h + * + * @brief Gazebo link attacher plugin class + * + * @date April 05, 2016 + * @authors Sammy Pfeiffer + * Claudia Ramos */ #ifndef GAZEBO_ROS_LINK_ATTACHER__GAZEBO_ROS_LINK_ATTACHER_H_ @@ -42,23 +46,23 @@ namespace gazebo { +/// \brief Internal representation of a fixed joint +struct fixedJoint +{ + std::string model1; + physics::ModelPtr m1; + std::string link1; + physics::LinkPtr l1; + std::string model2; + physics::ModelPtr m2; + std::string link2; + physics::LinkPtr l2; + physics::JointPtr joint; +}; + class GazeboRosLinkAttacher: public WorldPlugin { public: - /// \brief Internal representation of a fixed joint - struct fixedJoint - { - std::string model1; - physics::ModelPtr m1; - std::string link1; - physics::LinkPtr l1; - std::string model2; - physics::ModelPtr m2; - std::string link2; - physics::LinkPtr l2; - physics::JointPtr joint; - }; - /// \brief Constructor GazeboRosLinkAttacher(); @@ -83,24 +87,24 @@ class GazeboRosLinkAttacher: public WorldPlugin fixedJoint & joint); private: - gazebo_ros::Node::SharedPtr node_; - rclcpp::Service < gazebo_ros_link_attacher::srv::Attach > ::SharedPtr attach_service_; - rclcpp::Service < gazebo_ros_link_attacher::srv::Attach > ::SharedPtr detach_service_; + gazebo_ros::Node::SharedPtr node_; + rclcpp::Service < gazebo_ros_link_attacher::srv::Attach > ::SharedPtr attach_service_; + rclcpp::Service < gazebo_ros_link_attacher::srv::Attach > ::SharedPtr detach_service_; - bool attach_callback( - const std::shared_ptr < gazebo_ros_link_attacher::srv::Attach::Request > req, - std::shared_ptr < gazebo_ros_link_attacher::srv::Attach::Response > res); - bool detach_callback( - const std::shared_ptr < gazebo_ros_link_attacher::srv::Attach::Request > req, - std::shared_ptr < gazebo_ros_link_attacher::srv::Attach::Response > res); + bool attach_callback( + const std::shared_ptr < gazebo_ros_link_attacher::srv::Attach::Request > req, + std::shared_ptr < gazebo_ros_link_attacher::srv::Attach::Response > res); + bool detach_callback( + const std::shared_ptr < gazebo_ros_link_attacher::srv::Attach::Request > req, + std::shared_ptr < gazebo_ros_link_attacher::srv::Attach::Response > res); - std::vector < fixedJoint > joints_; + std::vector < fixedJoint > joints_; - /// \brief The physics engine. - physics::PhysicsEnginePtr physics; + /// \brief The physics engine. + physics::PhysicsEnginePtr physics; - /// \brief Pointer to the world. - physics::WorldPtr world; - }; + /// \brief Pointer to the world. + physics::WorldPtr world; +}; } // namespace gazebo #endif // GAZEBO_ROS_LINK_ATTACHER__GAZEBO_ROS_LINK_ATTACHER_H_ From 825064fad2ed577c39e30ca52ce95efacffa90c4 Mon Sep 17 00:00:00 2001 From: Claudia Ramos Date: Wed, 17 Jan 2024 12:22:38 -0300 Subject: [PATCH 09/15] Improve cmake install --- .github/CODEOWNERS | 3 ++ .github/ISSUE_TEMPLATE.md | 39 ++++++++++++++ .github/PULL_REQUEST_TEMPLATE.md | 45 ++++++++++++++++ .github/workflows/autoproj-ci-runner.yaml | 61 ++++++++++++++++++++++ .github/workflows/runner-ci-lint.yml | 54 +++++++++++++++++++ CMakeLists.txt | 36 +++++-------- ss.png | Bin 415452 -> 0 bytes 7 files changed, 216 insertions(+), 22 deletions(-) create mode 100644 .github/CODEOWNERS create mode 100644 .github/ISSUE_TEMPLATE.md create mode 100644 .github/PULL_REQUEST_TEMPLATE.md create mode 100644 .github/workflows/autoproj-ci-runner.yaml create mode 100644 .github/workflows/runner-ci-lint.yml delete mode 100644 ss.png diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS new file mode 100644 index 0000000..bfc9f8c --- /dev/null +++ b/.github/CODEOWNERS @@ -0,0 +1,3 @@ +# CODEOWNERS info: https://help.github.com/en/articles/about-code-owners +# Owners are automatically requested for review for PRs that changes code +* @claudiaelizabete diff --git a/.github/ISSUE_TEMPLATE.md b/.github/ISSUE_TEMPLATE.md new file mode 100644 index 0000000..519a7f1 --- /dev/null +++ b/.github/ISSUE_TEMPLATE.md @@ -0,0 +1,39 @@ +--- +name: Bug report +about: Create a report to help us improve +title: '' +labels: '' +assignees: '' + +--- + +### Configuration + +- Operating system: \ + +- Package version: \<0.0.0\> + +### Description of problem + +- \ + +### Steps to Reproduce + +1. step +2. step + +### Actual Results + +- \ + +### Expected Results + +- \ + +### Related Package/PR + +- N/A. + +### Notes + +- N/A. diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md new file mode 100644 index 0000000..9cff320 --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -0,0 +1,45 @@ + +#### **Overview** + +- \ +- \ + +#### **Use the following settings in the overrides file for docker testing** + +- Use these settings to compile and run the module using `autoproj`. +- The contents of the files manifest and `overrides.yaml` must be changed according to the `templates` below. +- Additional packages may be needed to test this module. + + e.g., + +- _overrides.yaml_ + + ```yaml + overrides: + - : + branch: + ``` + +- _manifest_ + + ```yaml + layout: + - + ``` + +#### **What was added/changed in this update** + +- \ + +#### **Depends On:** + +- \ + +#### **Related Issues:** + +- \ + +#### **Notes:** + +- Include notes and notes specific to this pull request here, if not, include the expression N/A. (Not Applicable) diff --git a/.github/workflows/autoproj-ci-runner.yaml b/.github/workflows/autoproj-ci-runner.yaml new file mode 100644 index 0000000..c32a4c5 --- /dev/null +++ b/.github/workflows/autoproj-ci-runner.yaml @@ -0,0 +1,61 @@ +# runner-ci-autoproj provides commands useful to build in CI environments +# run ci clean cache + +name: autoproj-ci-runner + +on: [pull_request] + +jobs: + job-autoproj-test: + runs-on: [self-hosted, cimatec-host, linux, x64] + strategy: + fail-fast: false + matrix: + distro: [jammy] + name: "runner-ci-autoproj" + steps: + - name: Setup Checkout Code Quality + uses: actions/checkout@v3 + with: + repository: Brazilian-Institute-of-Robotics/action-code-quality + token: ${{ secrets.PAT_ACTION_USER_CIBOT }} + ref: main + - name: Extract overrides from Pull Request Body + uses: ./ + id: code_quality + with: + pull_request_body: ${{ github.event.pull_request.body }} + local_repository: '- ${{ github.event.repository.name }}:' + local_branch: 'branch: ${{ github.head_ref }}' + - name: Setup Checkout autoproj CI + uses: actions/checkout@v3 + with: + repository: Brazilian-Institute-of-Robotics/bir-autoproj-action + token: ${{ secrets.PAT_ACTION_USER_CIBOT }} + ref: feat-colcon-suport-humble + - uses: ./ + with: + distro: ${{ matrix.distro }} + buildconf-url: git@github.com:Brazilian-Institute-of-Robotics/cbr_build_conf.git + buildconf-branch: main + seed-config: | + --- + apt_dpkg_update: true + osdeps_mode: all + GITORIOUS: ssh + GITHUB: ssh + GITHUB_ROOT: 'git@github.com:' + GITHUB_PUSH_ROOT: 'git@github.com:' + GITHUB_PRIVATE_ROOT: 'git@github.com:' + USE_PYTHON: true + python_executable: "/usr/bin/python3" + ros_version: 2 + ros_distro: 'humble' + user_shells: + - bash + project: 'cbr_build_conf' + packages: '${{ github.event.repository.name }}' + overrides: | + ${{ steps.code_quality.outputs.overrides }} + manifest: | + ${{ steps.code_quality.outputs.manifest }} diff --git a/.github/workflows/runner-ci-lint.yml b/.github/workflows/runner-ci-lint.yml new file mode 100644 index 0000000..46779dd --- /dev/null +++ b/.github/workflows/runner-ci-lint.yml @@ -0,0 +1,54 @@ +# This file configures a set of analyzers, which statically check code and configuration files +# using the following tools copyright, cppcheck, cpplint, gtest, lint_cmake, linter, uncrustify, +# xmllint. These tools look for formation errors, patterns and other warnings. +# +# Checkout This action checks-out your repository under $GITHUB_WORKSPACE, +# so your workflow can access it. +# https://github.com/actions/checkout +# https://github.com/marketplace/actions/checkout +# +# ROS 2 Tooling Working Group +# Github action to run linters on ROS 2 packages +# https://github.com/ros-tooling/action-ros-lint +# rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-desktop-latest +# https://github.com/ros-tooling/setup-ros-docker +# https://hub.docker.com/r/rostooling/setup-ros-docker/tags + +name: lint-runner + +on: + push: + branches: ['main'] + pull_request: + +env: + AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true + +jobs: + ament_lint_general: + name: ament_${{ matrix.linter }} + strategy: + fail-fast: false + matrix: + linter: [cppcheck, cpplint, copyright, flake8, lint_cmake, pep257, uncrustify, xmllint] + distro: [humble] + ubuntu: [jammy] + package: [gazebo_ros_link_attacher] + runs-on: [self-hosted, colcon-hosted, linux, x64] + container: + image: rostooling/setup-ros-docker:ubuntu-${{ matrix.ubuntu }}-latest + steps: + - + if: ${{ matrix.linter == 'cpplint' }} + name: Set env ${{ matrix.linter }} + run: | + echo "LINT_ARGUMENTS=--linelength=120" >> $GITHUB_ENV + + - uses: actions/checkout@v3 + - uses: ros-tooling/setup-ros@0.6.0 + - uses: ros-tooling/action-ros-lint@master + with: + linter: ${{ matrix.linter }} + distribution: ${{ matrix.distro }} + package-name: ${{ matrix.package }} + arguments: ${{ env.LINT_ARGUMENTS }} diff --git a/CMakeLists.txt b/CMakeLists.txt index 03e70cf..c999a35 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -79,30 +79,22 @@ install(TARGETS ${PROJECT_NAME}_plugin RUNTIME DESTINATION bin ) -install(PROGRAMS - scripts/demo.py - DESTINATION lib/${PROJECT_NAME} +# List of scripts to install +set(SCRIPTS + demo.py + demo_multiple.py + spawn_models.py + attach.py + detach.py ) -install(PROGRAMS - scripts/demo_multiple.py - DESTINATION lib/${PROJECT_NAME} -) - -install(PROGRAMS - scripts/spawn_models.py - DESTINATION lib/${PROJECT_NAME} -) - -install(PROGRAMS - scripts/attach.py - DESTINATION lib/${PROJECT_NAME} -) - -install(PROGRAMS - scripts/detach.py - DESTINATION lib/${PROJECT_NAME} -) +# Install each script +foreach(SCRIPT ${SCRIPTS}) + install(PROGRAMS + scripts/${SCRIPT} + DESTINATION lib/${PROJECT_NAME} + ) +endforeach() foreach(dir launch worlds) install(DIRECTORY ${dir}/ diff --git a/ss.png b/ss.png deleted file mode 100644 index f1f1d99e22ca1e487347b3b3bb2675d1a6ccc20d..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 415452 zcmcG$WmJ@H)HaNwph&26D-zO;^r(PzNcYg)AuCluH5I|$3FJ4_hq1hoH!N+2?h!Z3YMgVs3Hmqx-1IHohSFuz&D=> zf2D&TcN||!D>}=RKoO;4`t4n7Wgat%;M1zJoD}sg13*F|(tggR!xVqnWMKE^31? z3d$1{Nzqrzu8CXIW479E-mBNA+1g^N>~!o(R5Wj86s0Z9`DMn<12o`$hD2fdde@C; zCkDlY4|-Az^a@XGipKrw&_;15XUsj`aBkR?RgXx?81(T)MmZ*}elWnwei@DznGS#O 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zPd5UbOyIy^Fj;CjK(7}M_$wA=)z0^j0X6!5etv`y)pw(!{SNzOzj5OSDXTDCZMKB>dXfb>y8d`RqYu`yoU_D%q-v1WHf-$#)z z@XnmEt`~8|Fq=Kv?xH_$3P9g;o~&I75ZIqCuqHF2HCFC3A+e7Nj7~y9a#;lifh|tH zsv~4t0dW+0zGrBv&TDL4&ORnn>At;GbCa&Cee+0l!&TXfB@N8h1K$%p&bb>)S~A>H zGiUiJAdut!7d+Ny>{4CeAAVHwEcCH#qhs|;u?I4@NGz^Ze*Qrz;iUfWYXBBFodP%g zS(sX*r9Q)LmPA_)AWFZ*8bBY-CjU*MXEphEFYAz4l1QXo8-e8~n6d}+x^L|Fzoug3 zA+f6hO8+eEBCjl}k1|#lZXtHO>QXSpPQIi3cU$-;LO>QH2Qs@J*+e5CP;~=hq07%g z!xW?8-y|Wh|Ju!YKHfmICX(#he`MOy+}zx75cfsTxNRN`8zy3cJ{rQXY6SBE)iB$<`G};|>KMREtVx-%dApT$sqKM9+@*EBqXF{sLceYUWBFV2tEXI3n%xJiQO8aES*&! z-=(xo@YdASe8%B)$s9|Gv=ULrxPScGHzt1K=u`D|sWMOYx#v^(^Ve6i>5I6>y? zdSilF!%2gyk{~i1e={-qiHV68KV$oC(|B3Mza^#VJ3EK67 Z&xbY_%JKYT_n%wm9%<@pls&Y0@qeb#q5%K^ From 81aadd6b7974a31f974b8dd3c3b5a329c7e64980 Mon Sep 17 00:00:00 2001 From: Claudia Ramos Date: Wed, 17 Jan 2024 14:58:36 -0300 Subject: [PATCH 10/15] Update package xml tags --- package.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/package.xml b/package.xml index 3f0bbf4..ac419db 100644 --- a/package.xml +++ b/package.xml @@ -1,14 +1,14 @@ gazebo_ros_link_attacher - 0.0.0 + 0.1.0 The gazebo_ros_link_attacher package lets you attach by a virtual joint temporarily two links in a Gazebo simulation. Sam Pfeiffer + Claudia Ramos - - BSD + Apache v2.0 ament_cmake From 014764ea60ffa76e8123313f522409f0fd75d892 Mon Sep 17 00:00:00 2001 From: Claudia Ramos Date: Wed, 17 Jan 2024 15:09:45 -0300 Subject: [PATCH 11/15] Update ci runner --- .github/workflows/autoproj-ci-runner.yaml | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/.github/workflows/autoproj-ci-runner.yaml b/.github/workflows/autoproj-ci-runner.yaml index c32a4c5..7f7d8ce 100644 --- a/.github/workflows/autoproj-ci-runner.yaml +++ b/.github/workflows/autoproj-ci-runner.yaml @@ -1,6 +1,3 @@ -# runner-ci-autoproj provides commands useful to build in CI environments -# run ci clean cache - name: autoproj-ci-runner on: [pull_request] @@ -12,7 +9,7 @@ jobs: fail-fast: false matrix: distro: [jammy] - name: "runner-ci-autoproj" + name: "autoproj-ci-runner" steps: - name: Setup Checkout Code Quality uses: actions/checkout@v3 @@ -36,7 +33,7 @@ jobs: - uses: ./ with: distro: ${{ matrix.distro }} - buildconf-url: git@github.com:Brazilian-Institute-of-Robotics/cbr_build_conf.git + buildconf-url: git@github.com:Brazilian-Institute-of-Robotics/autoproj_runner_ci-buildconf.git buildconf-branch: main seed-config: | --- @@ -53,7 +50,7 @@ jobs: ros_distro: 'humble' user_shells: - bash - project: 'cbr_build_conf' + project: 'autoproj_runner_ci' packages: '${{ github.event.repository.name }}' overrides: | ${{ steps.code_quality.outputs.overrides }} From 72e002a09f5a71302a0eb840e2f06271fd02ae57 Mon Sep 17 00:00:00 2001 From: Claudia Ramos Date: Wed, 17 Jan 2024 15:23:38 -0300 Subject: [PATCH 12/15] Change buildconf --- .github/workflows/autoproj-ci-runner.yaml | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/.github/workflows/autoproj-ci-runner.yaml b/.github/workflows/autoproj-ci-runner.yaml index 7f7d8ce..c32a4c5 100644 --- a/.github/workflows/autoproj-ci-runner.yaml +++ b/.github/workflows/autoproj-ci-runner.yaml @@ -1,3 +1,6 @@ +# runner-ci-autoproj provides commands useful to build in CI environments +# run ci clean cache + name: autoproj-ci-runner on: [pull_request] @@ -9,7 +12,7 @@ jobs: fail-fast: false matrix: distro: [jammy] - name: "autoproj-ci-runner" + name: "runner-ci-autoproj" steps: - name: Setup Checkout Code Quality uses: actions/checkout@v3 @@ -33,7 +36,7 @@ jobs: - uses: ./ with: distro: ${{ matrix.distro }} - buildconf-url: git@github.com:Brazilian-Institute-of-Robotics/autoproj_runner_ci-buildconf.git + buildconf-url: git@github.com:Brazilian-Institute-of-Robotics/cbr_build_conf.git buildconf-branch: main seed-config: | --- @@ -50,7 +53,7 @@ jobs: ros_distro: 'humble' user_shells: - bash - project: 'autoproj_runner_ci' + project: 'cbr_build_conf' packages: '${{ github.event.repository.name }}' overrides: | ${{ steps.code_quality.outputs.overrides }} From f4cc6d94288bcbd3588cab56c55adb8f54361f96 Mon Sep 17 00:00:00 2001 From: Claudia Ramos Date: Thu, 18 Jan 2024 12:22:59 -0300 Subject: [PATCH 13/15] Fix issues in code style and transform3d dependency --- launch/test_attacher.py | 2 +- package.xml | 2 +- scripts/attach.py | 3 ++- scripts/demo.py | 3 ++- scripts/demo_multiple.py | 4 +++- scripts/detach.py | 3 ++- scripts/spawn_models.py | 6 +++--- 7 files changed, 14 insertions(+), 9 deletions(-) diff --git a/launch/test_attacher.py b/launch/test_attacher.py index d473209..0fd9fc9 100644 --- a/launch/test_attacher.py +++ b/launch/test_attacher.py @@ -23,7 +23,7 @@ from launch.actions import OpaqueFunction -def launch_setup(): +def launch_setup(context, *args, **kwargs): # Start Gazebo with an empty world file gazebo_launch = os.path.join( get_package_share_directory('gazebo_ros'), 'launch/gazebo.launch.py') diff --git a/package.xml b/package.xml index ac419db..b6fb112 100644 --- a/package.xml +++ b/package.xml @@ -17,7 +17,7 @@ gazebo std_msgs - python-transforms3d-pip + transforms3d rclcpp gazebo_ros diff --git a/scripts/attach.py b/scripts/attach.py index 879bb87..d89f686 100755 --- a/scripts/attach.py +++ b/scripts/attach.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python3 + # Copyright (c) 2023, SENAI Cimatec # # Licensed under the Apache License, Version 2.0 (the "License"); @@ -12,7 +14,6 @@ # See the License for the specific language governing permissions and # limitations under the License. -# !/usr/bin/env python3 import sys import rclpy diff --git a/scripts/demo.py b/scripts/demo.py index 96e0971..6a9ccf7 100755 --- a/scripts/demo.py +++ b/scripts/demo.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python3 + # Copyright (c) 2023, SENAI Cimatec # # Licensed under the Apache License, Version 2.0 (the "License"); @@ -12,7 +14,6 @@ # See the License for the specific language governing permissions and # limitations under the License. -# !/usr/bin/env python3 import sys from copy import deepcopy diff --git a/scripts/demo_multiple.py b/scripts/demo_multiple.py index 83ce658..b463d41 100755 --- a/scripts/demo_multiple.py +++ b/scripts/demo_multiple.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python3 + # Copyright (c) 2023, SENAI Cimatec # # Licensed under the Apache License, Version 2.0 (the "License"); @@ -12,7 +14,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -# !/usr/bin/env python3 + from copy import deepcopy import sys import rclpy diff --git a/scripts/detach.py b/scripts/detach.py index abcbe77..a68ee20 100755 --- a/scripts/detach.py +++ b/scripts/detach.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python3 + # Copyright (c) 2023, SENAI Cimatec # # Licensed under the Apache License, Version 2.0 (the "License"); @@ -12,7 +14,6 @@ # See the License for the specific language governing permissions and # limitations under the License. -# !/usr/bin/env python3 import sys import rclpy diff --git a/scripts/spawn_models.py b/scripts/spawn_models.py index 1f4a56b..e18ebbb 100755 --- a/scripts/spawn_models.py +++ b/scripts/spawn_models.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python3 + # Copyright (c) 2023, SENAI Cimatec # # Licensed under the Apache License, Version 2.0 (the "License"); @@ -12,10 +14,8 @@ # See the License for the specific language governing permissions and # limitations under the License. -# !/usr/bin/env python3 - -from copy import deepcopy import sys +from copy import deepcopy import rclpy from gazebo_msgs.srv import SpawnEntity from transforms3d.euler import euler2quat From 256f02a87d17adddfcafe394aa3c7e56aa83a5bf Mon Sep 17 00:00:00 2001 From: Claudia Ramos Date: Tue, 23 Jan 2024 12:21:33 -0300 Subject: [PATCH 14/15] Update readme --- README.md | 141 ++++++++++++++++++++++++++++++++++-------------------- 1 file changed, 88 insertions(+), 53 deletions(-) diff --git a/README.md b/README.md index 64fc20f..be17188 100644 --- a/README.md +++ b/README.md @@ -1,86 +1,121 @@ -Attach two Gazebo models with a virtual joint in a generalized grasp hack +# Gazebo Link Attacher -# Build +## Overview -```` -mkdir -p gazebo_link_attacher_ws/src -cd gazebo_link_attacher_ws/src -catkin_init_workspace -git clone https://github.com/pal-robotics/gazebo_ros_link_attacher.git -cd .. +- Attach two Gazebo models with a virtual joint in a generalized grasp hack. -rosdep update -rosdep install --from-paths src --ignore-src -y --rosdistro humble +**Keywords:** gazebo, link, model -colcon build -source install/setup.bash +## License +- The source code is released under a [Apache License 2.0](https://github.com/Brazilian-Institute-of-Robotics/gazebo_ros_link_attacher/blob/main/LICENSE). -```` +**Author:** Claudia Ramos\ +**Affiliation:** Brazilian Institute of Robotics\ +**Maintainer:** Claudia Ramos, +The `gazebo_ros_link_attacher` package has been tested under ROS2 humble and Ubuntu 22.04. This package has been forked from . -# Launch +## Installation - ros2 launch gazebo_ros_link_attacher test_attacher.py +### Building -Empty world with the plugin `libgazebo_ros_link_attacher.so` loaded (in the *worlds* folder). +- **Building with colcon** -Which provides the `/link_attacher_node/attach` service to specify two models and their links to be attached. +To build from source, clone the latest version from this repository into your `colcon` workspace and compile the package using -And `/link_attacher_node/detach` service to specify two models and their links to be detached. +```sh + cd YOUR_WORKSPACE/src + git clone https://github.com/Brazilian-Institute-of-Robotics/gazebo_ros_link_attacher.git + cd YOUR_WORKSPACE + source /opt/ros/${ROS_DISTRO}/setup.bash + colcon build --packages-select gazebo_ros_link_attacher --event-handlers console_direct+ + source install/setup.bash +``` -![gazebo screenshot](doc/ss.png) +- **Building from autoproj** -# Run demo +See build configuration based on autoproj. After Installation and configuration of autoproj, run the following commands: -In another shell, be sure to do `source install/setup.bash` of your workspace. +```sh + cd YOUR_WORKSPACE + source env.sh + amake gazebo_ros_link_attacher + source install/setup.bash +``` - ros2 run gazebo_ros_link_attacher spawn_models.py +### Unit Tests -Three cubes will be spawned. +Run the unit tests with - ros2 run gazebo_ros_link_attacher attach.py +```sh + colcon test --packages-select gazebo_ros_link_attacher --event-handlers console_direct+ +``` -The cubes will be attached all between themselves as (1,2), (2,3), (3,1). You can move them with the GUI and you'll see they will move together. +Run the unit tests with autoproj - ros2 run gazebo_ros_link_attacher detach.py +```sh + autoproj test enable gazebo_ros_link_attacher + amake + autoproj test exec gazebo_ros_link_attacher +``` -The cubes will be detached and you can move them separately again. +## Usage -You can also spawn items with the GUI and run a rosservice call: -```` -ros2 service call /attach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', -link_name_1: 'link', -model_name_2: 'cube2', -link_name_2: 'link'}' -```` +## Run demo -And same thing to detach: -```` -ros2 service call /detach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', -link_name_1: 'link', -model_name_2: 'cube2', -link_name_2: 'link'}' -```` +Run the command below to start an empty world with the plugin `libgazebo_ros_link_attacher.so` loaded (in the *worlds* folder). + +```sh +ros2 launch gazebo_ros_link_attacher test_attacher.py +``` +It provides the `/link_attacher_node/attach` service to specify two models and their links to be attached. And `/link_attacher_node/detach` service to specify two models and their links to be detached. -# Current status -It works! +![gazebo screenshot](doc/ss.png) -~~Currently it crashes with:~~ +In another shell, run the command below to spawn three cubes: +```sh + ros2 run gazebo_ros_link_attacher spawn_models.py +``` + +The cubes will be attached all between themselves as (1,2), (2,3), (3,1). You can move them with the GUI and you'll see they will move together. + + ```sh + ros2 run gazebo_ros_link_attacher attach.py + ``` + +And with 'detach.py' the cubes will be detached and you can move them separately again. + + ```sh + ros2 run gazebo_ros_link_attacher detach.py + ``` + +You can also spawn items with the GUI and run a rosservice call: + +```sh + ros2 service call /attach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', + link_name_1: 'link', + model_name_2: 'cube2', + link_name_2: 'link'}' ```` -***** Internal Program Error - assertion (self->inertial != __null) failed in static void gazebo::physics::ODELink::MoveCallback(dBodyID): -/tmp/buildd/gazebo4-4.1.3/gazebo/physics/ode/ODELink.cc(178): Inertial pointer is NULL -Aborted (core dumped) + +And same thing to detach: + +```sh + ros2 service call /detach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', + link_name_1: 'link', + model_name_2: 'cube2', + link_name_2: 'link'}' ```` -~~Which I've only seen this other useful information: [Bitbucket gazebo removing moving model with ode friction fails](https://bitbucket.org/osrf/gazebo/issues/1177/removing-moving-model-with-ode-friction). But it didn't help me solve my crash. I guess when attaching one model to the other it removes the second one to re-create it attached to the first or something like that.~~ +## Launch file + +- [test_attacher.py](launch/test_attacher.py) -~~And also this other issue: [Visualizing dynamically created joints](https://bitbucket.org/osrf/gazebo/issues/1077/visualizing-dynamically-created-joints) made me add a couple of lines more.~~ + - Start an empty world with the plugin `libgazebo_ros_link_attacher.so` loaded. Which provides the `/link_attacher_node/attach` service to specify two models and their links to be attached. -~~The method to attach the links is based on the grasp hack of the Gripper in gazebo/physics: -[Gripper.hh](https://bitbucket.org/osrf/gazebo/src/1d1e3a542af81670f43a120e1df7190592bc4c0f/gazebo/physics/Gripper.hh?at=default&fileviewer=file-view-default) -[Gripper.cc](https://bitbucket.org/osrf/gazebo/src/1d1e3a542af81670f43a120e1df7190592bc4c0f/gazebo/physics/Gripper.cc?at=default&fileviewer=file-view-default)~~ +## Bugs & Feature Requests -~~Which is to create a revolute joint on the first model (with range of motion 0) linking a link on the first model and a link on the second model.~~ +- Please report bugs and request features using the [Issue Tracker](https://github.com/Brazilian-Institute-of-Robotics/gazebo_ros_link_attacher/issues). From d1afd8f98b012a6dadaa6aefd431bcd1c6dbcefd Mon Sep 17 00:00:00 2001 From: Claudia Ramos Date: Fri, 26 Jan 2024 15:55:31 -0300 Subject: [PATCH 15/15] Rename scripts dir, fix uncrustify issues --- CMakeLists.txt | 2 +- {scripts => examples}/attach.py | 0 {scripts => examples}/demo.py | 0 {scripts => examples}/demo_multiple.py | 0 {scripts => examples}/detach.py | 0 {scripts => examples}/spawn_models.py | 0 ...ttacher.h => gazebo_ros_link_attacher.hpp} | 22 +++++++++---------- src/gazebo_ros_link_attacher.cpp | 2 +- test/placeholder | 0 9 files changed, 13 insertions(+), 13 deletions(-) rename {scripts => examples}/attach.py (100%) rename {scripts => examples}/demo.py (100%) rename {scripts => examples}/demo_multiple.py (100%) rename {scripts => examples}/detach.py (100%) rename {scripts => examples}/spawn_models.py (100%) rename include/gazebo_ros_link_attacher/{gazebo_ros_link_attacher.h => gazebo_ros_link_attacher.hpp} (76%) create mode 100644 test/placeholder diff --git a/CMakeLists.txt b/CMakeLists.txt index c999a35..ab71a93 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -91,7 +91,7 @@ set(SCRIPTS # Install each script foreach(SCRIPT ${SCRIPTS}) install(PROGRAMS - scripts/${SCRIPT} + examples/${SCRIPT} DESTINATION lib/${PROJECT_NAME} ) endforeach() diff --git a/scripts/attach.py b/examples/attach.py similarity index 100% rename from scripts/attach.py rename to examples/attach.py diff --git a/scripts/demo.py b/examples/demo.py similarity index 100% rename from scripts/demo.py rename to examples/demo.py diff --git a/scripts/demo_multiple.py b/examples/demo_multiple.py similarity index 100% rename from scripts/demo_multiple.py rename to examples/demo_multiple.py diff --git a/scripts/detach.py b/examples/detach.py similarity index 100% rename from scripts/detach.py rename to examples/detach.py diff --git a/scripts/spawn_models.py b/examples/spawn_models.py similarity index 100% rename from scripts/spawn_models.py rename to examples/spawn_models.py diff --git a/include/gazebo_ros_link_attacher/gazebo_ros_link_attacher.h b/include/gazebo_ros_link_attacher/gazebo_ros_link_attacher.hpp similarity index 76% rename from include/gazebo_ros_link_attacher/gazebo_ros_link_attacher.h rename to include/gazebo_ros_link_attacher/gazebo_ros_link_attacher.hpp index 14bfa3a..2174c3a 100644 --- a/include/gazebo_ros_link_attacher/gazebo_ros_link_attacher.h +++ b/include/gazebo_ros_link_attacher/gazebo_ros_link_attacher.hpp @@ -22,8 +22,8 @@ * Claudia Ramos */ -#ifndef GAZEBO_ROS_LINK_ATTACHER__GAZEBO_ROS_LINK_ATTACHER_H_ -#define GAZEBO_ROS_LINK_ATTACHER__GAZEBO_ROS_LINK_ATTACHER_H_ +#ifndef GAZEBO_ROS_LINK_ATTACHER__GAZEBO_ROS_LINK_ATTACHER_HPP_ +#define GAZEBO_ROS_LINK_ATTACHER__GAZEBO_ROS_LINK_ATTACHER_HPP_ #include #include @@ -60,7 +60,7 @@ struct fixedJoint physics::JointPtr joint; }; -class GazeboRosLinkAttacher: public WorldPlugin +class GazeboRosLinkAttacher : public WorldPlugin { public: /// \brief Constructor @@ -88,17 +88,17 @@ class GazeboRosLinkAttacher: public WorldPlugin private: gazebo_ros::Node::SharedPtr node_; - rclcpp::Service < gazebo_ros_link_attacher::srv::Attach > ::SharedPtr attach_service_; - rclcpp::Service < gazebo_ros_link_attacher::srv::Attach > ::SharedPtr detach_service_; + rclcpp::Service::SharedPtr attach_service_; + rclcpp::Service::SharedPtr detach_service_; bool attach_callback( - const std::shared_ptr < gazebo_ros_link_attacher::srv::Attach::Request > req, - std::shared_ptr < gazebo_ros_link_attacher::srv::Attach::Response > res); + const std::shared_ptr req, + std::shared_ptr res); bool detach_callback( - const std::shared_ptr < gazebo_ros_link_attacher::srv::Attach::Request > req, - std::shared_ptr < gazebo_ros_link_attacher::srv::Attach::Response > res); + const std::shared_ptr req, + std::shared_ptr res); - std::vector < fixedJoint > joints_; + std::vector joints_; /// \brief The physics engine. physics::PhysicsEnginePtr physics; @@ -107,4 +107,4 @@ class GazeboRosLinkAttacher: public WorldPlugin physics::WorldPtr world; }; } // namespace gazebo -#endif // GAZEBO_ROS_LINK_ATTACHER__GAZEBO_ROS_LINK_ATTACHER_H_ +#endif // GAZEBO_ROS_LINK_ATTACHER__GAZEBO_ROS_LINK_ATTACHER_HPP_ diff --git a/src/gazebo_ros_link_attacher.cpp b/src/gazebo_ros_link_attacher.cpp index a5d771a..64a9a2e 100644 --- a/src/gazebo_ros_link_attacher.cpp +++ b/src/gazebo_ros_link_attacher.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include namespace gazebo { diff --git a/test/placeholder b/test/placeholder new file mode 100644 index 0000000..e69de29