From 4e30756b75cb50db62a53544b73f8e081019a4a1 Mon Sep 17 00:00:00 2001 From: Derek Witcpalek Date: Fri, 3 Apr 2020 16:52:26 -0400 Subject: [PATCH] Added a basic plugin to read one arm joint's angle and publish that over ROS --- .../src/simulation_drivers/src/CMakeLists.txt | 1 + .../src/simulation_env/CMakeLists.txt | 211 ++++++++++++++++++ .../src/simulation_env/package.xml | 68 ++++++ .../src/arm_angle_sensor_plugin.cpp | 60 +++++ 4 files changed, 340 insertions(+) create mode 120000 rrrobot_src/src/simulation_drivers/src/CMakeLists.txt create mode 100644 rrrobot_src/src/simulation_drivers/src/simulation_env/CMakeLists.txt create mode 100644 rrrobot_src/src/simulation_drivers/src/simulation_env/package.xml create mode 100644 rrrobot_src/src/simulation_drivers/src/simulation_env/src/arm_angle_sensor_plugin.cpp diff --git a/rrrobot_src/src/simulation_drivers/src/CMakeLists.txt b/rrrobot_src/src/simulation_drivers/src/CMakeLists.txt new file mode 120000 index 0000000..66dd650 --- /dev/null +++ b/rrrobot_src/src/simulation_drivers/src/CMakeLists.txt @@ -0,0 +1 @@ +/opt/ros/melodic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/rrrobot_src/src/simulation_drivers/src/simulation_env/CMakeLists.txt b/rrrobot_src/src/simulation_drivers/src/simulation_env/CMakeLists.txt new file mode 100644 index 0000000..910828e --- /dev/null +++ b/rrrobot_src/src/simulation_drivers/src/simulation_env/CMakeLists.txt @@ -0,0 +1,211 @@ +cmake_minimum_required(VERSION 2.8.3) +project(simulation_env) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs + gazebo_ros +) +find_package(gazebo REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include +# LIBRARIES simulation_env + CATKIN_DEPENDS roscpp std_msgs gazebo_ros +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${roscpp_INCLUDE_DIRS} + ${std_msgs_INCLUDE_DIRS} + ${GAZEBO_INCLUDE_DIRS} +) + +## Declare a C++ library +add_library(arm_angles SHARED + src/arm_angle_sensor_plugin.cpp +) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/simulation_env_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +target_link_libraries(arm_angles + ${catkin_LIBRARIES} + ${GAZEBO_LIBRARIES} +) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +install(TARGETS arm_angles +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION /home/rrrobot/rrrobot_src/lib/ +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_simulation_env.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/rrrobot_src/src/simulation_drivers/src/simulation_env/package.xml b/rrrobot_src/src/simulation_drivers/src/simulation_env/package.xml new file mode 100644 index 0000000..8c6680c --- /dev/null +++ b/rrrobot_src/src/simulation_drivers/src/simulation_env/package.xml @@ -0,0 +1,68 @@ + + + simulation_env + 0.0.0 + The simulation_env package + + + + + root + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + std_msgs + gazebo_ros + roscpp + std_msgs + gazebo_ros + roscpp + std_msgs + gazebo_ros + + + + + + + + diff --git a/rrrobot_src/src/simulation_drivers/src/simulation_env/src/arm_angle_sensor_plugin.cpp b/rrrobot_src/src/simulation_drivers/src/simulation_env/src/arm_angle_sensor_plugin.cpp new file mode 100644 index 0000000..3be777b --- /dev/null +++ b/rrrobot_src/src/simulation_drivers/src/simulation_env/src/arm_angle_sensor_plugin.cpp @@ -0,0 +1,60 @@ +#include +#include +#include +#include +#include + +#include "ros/ros.h" + +using std::cout; +using std::endl; + +namespace gazebo +{ + class JointAngle : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) + { + cout << "Loading model" << endl; + + model = _parent; + + updateConnection = event::Events::ConnectWorldUpdateBegin(std::bind(&JointAngle::onUpdate, this)); + if(!ros::isInitialized()) + { + int argc = 0; + char **argv = NULL; + ros::init(argc, argv, "arm"); + } + + nh.reset(new ros::NodeHandle("arm_node")); + publisher = nh->advertise("arm_positions", 1); + } + + private: + + void onUpdate() + { + //cout << __func__ << endl; + std_msgs::Float32 msg; + msg.data = 0.0f; + gazebo::physics::BasePtr joint = model->GetChild("shoulder_joint"); + //cout << "Joint type: " << joint->GetType() << "joint type & EntityType::JOINT = " << (joint->GetType() & gazebo::physics::Base::EntityType::JOINT) << endl; + if((joint->GetType() & gazebo::physics::Base::EntityType::JOINT) != 0) + { + //cout << "Got an element of type JOINT" << endl; + //cout << "Joint Position: " << dynamic_cast(joint.get())->Position() << endl; + msg.data = dynamic_cast(joint.get())->Position(); + //cout << "Position: " << msg.data << endl; + } + if(msg.data != 0.0f) publisher.publish(msg); + ros::spinOnce(); + } + physics::ModelPtr model; + event::ConnectionPtr updateConnection; + std::unique_ptr nh; + ros::Publisher publisher; + }; + GZ_REGISTER_MODEL_PLUGIN(JointAngle) +}