Merge pull request #11 from cyberbotics/update-webots-version

Update to new Webots Version
cyberbotics · Jan 15, 2020 · 59e4037 · 59e4037
2 parents 8ac76b8 + 7c6fab7
commit 59e4037
Show file tree

Hide file tree

Showing 13 changed files with 65 additions and 10 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -87,6 +87,8 @@ find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs sensor_msgs messag
     lidar_get_layer_range_image.srv
     motor_set_control_pid.srv
     mouse_get_state.srv
+    node_add_force_or_torque.srv
+    node_add_force_with_offset.srv
     node_get_center_of_mass.srv
     node_get_contact_point.srv
     node_get_field.srv

diff --git a/package.xml b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>webots_ros</name>
-  <version>2.0.5</version>
+  <version>2.0.6</version>
   <description>The ROS package containing examples for interfacing ROS with the standard ROS controller of Webots</description>
 
   <url>http://wiki.ros.org/webots_ros</url>

diff --git a/src/catch_the_bird.cpp b/src/catch_the_bird.cpp
@@ -1,4 +1,4 @@
-// Copyright 1996-2019 Cyberbotics Ltd.
+// Copyright 1996-2020 Cyberbotics Ltd.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/src/complete_test.cpp b/src/complete_test.cpp
@@ -1,4 +1,4 @@
-// Copyright 1996-2019 Cyberbotics Ltd.
+// Copyright 1996-2020 Cyberbotics Ltd.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -90,6 +90,8 @@
 #include <webots_ros/lidar_get_frequency_info.h>
 #include <webots_ros/lidar_get_info.h>
 #include <webots_ros/motor_set_control_pid.h>
+#include <webots_ros/node_add_force_or_torque.h>
+#include <webots_ros/node_add_force_with_offset.h>
 #include <webots_ros/node_get_center_of_mass.h>
 #include <webots_ros/node_get_contact_point.h>
 #include <webots_ros/node_get_field.h>
@@ -2929,6 +2931,46 @@ int main(int argc, char **argv) {
   node_velocity_client.shutdown();
   time_step_client.call(time_step_srv);
 
+  // node_add_force_or_torque
+  ros::ServiceClient node_add_force_or_torque_client;
+  webots_ros::node_add_force_or_torque node_add_force_or_torque_srv;
+  node_add_force_or_torque_client =
+    n.serviceClient<webots_ros::node_add_force_or_torque>(model_name + "/supervisor/node/add_torque");
+  node_add_force_or_torque_srv.request.node = cone_node;
+  node_add_force_or_torque_srv.request.force.x = 0.0;
+  node_add_force_or_torque_srv.request.force.y = 0.0;
+  node_add_force_or_torque_srv.request.force.z = 1.0;
+  node_add_force_or_torque_srv.request.relative = 0;
+  if (node_add_force_or_torque_client.call(node_add_force_or_torque_srv) && node_add_force_or_torque_srv.response.success == 1)
+    ROS_INFO("Node force added successfully.");
+  else
+    ROS_ERROR("Failed to call service node_add_force_or_torque.");
+
+  node_add_force_or_torque_client.shutdown();
+  time_step_client.call(time_step_srv);
+
+  // node_add_force_with_offset
+  ros::ServiceClient node_add_force_with_offset_client;
+  webots_ros::node_add_force_with_offset node_add_force_with_offset_srv;
+  node_add_force_with_offset_client =
+    n.serviceClient<webots_ros::node_add_force_with_offset>(model_name + "/supervisor/node/add_force_with_offset");
+  node_add_force_with_offset_srv.request.node = cone_node;
+  node_add_force_with_offset_srv.request.force.x = 0.0;
+  node_add_force_with_offset_srv.request.force.y = 0.0;
+  node_add_force_with_offset_srv.request.force.z = 1.0;
+  node_add_force_with_offset_srv.request.offset.x = 0.0;
+  node_add_force_with_offset_srv.request.offset.y = 0.0;
+  node_add_force_with_offset_srv.request.offset.z = 1.0;
+  node_add_force_with_offset_srv.request.relative = 0;
+  if (node_add_force_with_offset_client.call(node_add_force_with_offset_srv) &&
+      node_add_force_with_offset_srv.response.success == 1)
+    ROS_INFO("Node force added successfully.");
+  else
+    ROS_ERROR("Failed to call service node_add_force_with_offset.");
+
+  node_add_force_with_offset_client.shutdown();
+  time_step_client.call(time_step_srv);
+
   // node_get_parent
   ros::ServiceClient node_get_parent_node_client;
   webots_ros::node_get_parent_node node_get_parent_node_srv;

diff --git a/src/e_puck_line.cpp b/src/e_puck_line.cpp
@@ -1,4 +1,4 @@
-// Copyright 1996-2019 Cyberbotics Ltd.
+// Copyright 1996-2020 Cyberbotics Ltd.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/src/keyboard_teleop.cpp b/src/keyboard_teleop.cpp
@@ -1,4 +1,4 @@
-// Copyright 1996-2019 Cyberbotics Ltd.
+// Copyright 1996-2020 Cyberbotics Ltd.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/src/panoramic_view_recorder.cpp b/src/panoramic_view_recorder.cpp
@@ -1,4 +1,4 @@
-// Copyright 1996-2019 Cyberbotics Ltd.
+// Copyright 1996-2020 Cyberbotics Ltd.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/src/pioneer3at.cpp b/src/pioneer3at.cpp
@@ -1,4 +1,4 @@
-// Copyright 1996-2019 Cyberbotics Ltd.
+// Copyright 1996-2020 Cyberbotics Ltd.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/src/pr2_beer.cpp b/src/pr2_beer.cpp
@@ -1,4 +1,4 @@
-// Copyright 1996-2019 Cyberbotics Ltd.
+// Copyright 1996-2020 Cyberbotics Ltd.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/src/robot_information_parser.cpp b/src/robot_information_parser.cpp
@@ -1,4 +1,4 @@
-// Copyright 1996-2019 Cyberbotics Ltd.
+// Copyright 1996-2020 Cyberbotics Ltd.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/src/webots_launcher.py b/src/webots_launcher.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-# Copyright 1996-2019 Cyberbotics Ltd.
+# Copyright 1996-2020 Cyberbotics Ltd.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/srv/node_add_force_or_torque.srv b/srv/node_add_force_or_torque.srv
@@ -0,0 +1,5 @@
+uint64 node
+geometry_msgs/Vector3 force
+uint8 relative
+---
+int32 success
diff --git a/srv/node_add_force_with_offset.srv b/srv/node_add_force_with_offset.srv
@@ -0,0 +1,6 @@
+uint64 node
+geometry_msgs/Vector3 force
+geometry_msgs/Vector3 offset
+uint8 relative
+---
+int32 success