sravan/RRRobot
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Clean up & commenting

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This commit is contained in:
Derek Witcpalek
2020-04-03 22:42:55 -04:00
parent dac62c69d5
commit 9050681d95
3 changed files with 13 additions and 26 deletions
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10
docker_env/gazebo/Dockerfile
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@@ -3,15 +3,15 @@
# Use official image for Gazebo 9.x
FROM gazebo:gzserver9
# COPY $PWD/gazebo_models /root/.gazebo/models
RUN apt-get update
# Install packages required for developing with gazebo
RUN apt-get install -y libgazebo9-dev
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN apt-get install -y curl
RUN curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | apt-key add -
RUN apt-get update
# Install packages required for developing with ROS
RUN apt-get install -y ros-melodic-desktop-full
RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
RUN apt install -y python-rosdep
@@ -28,16 +28,12 @@ RUN usermod -aG sudo rrrobot
WORKDIR /home/rrrobot
RUN chown -R rrrobot:rrrobot /home/rrrobot
#COPY $RRROBOT_HOME/src /home/rrrobot/src
#COPY /home/dwitcpa/eecs467/rrrobot/src /home/rrrobot
# Initialize the environment in .bashrc
RUN echo "source /opt/ros/melodic/setup.bash" >> /home/rrrobot/.bashrc
RUN echo "source /usr/share/gazebo/setup.sh" >> /home/rrrobot/.bashrc
RUN echo "export GAZEBO_MODEL_PATH=/home/rrrobot/rrrobot_src/src/gazebo_models:\$GAZEBO_MODEL_PATH" >> /home/rrrobot/.bashrc
RUN echo "export GAZEBO_PLUGIN_PATH=/home/rrrobot/rrrobot_src/lib:\$GAZEBO_PLUGIN_PATH" >> /home/rrrobot/.bashrc
#RUN chown -R rrrobot:rrrobot /home/rrrobot/.gazebo
USER rrrobot
CMD ["/bin/bash"]

27
rrrobot_src/src/simulation_drivers/src/simulation_env/src/arm_angle_sensor_plugin.cpp
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@@ -1,6 +1,5 @@
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <std_msgs/Float32.h>
#include <memory>
#include <iostream>
@@ -14,10 +13,10 @@ namespace gazebo
{
class JointAngle : public ModelPlugin
{
public:
public:
void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
{
cout << "Loading model" << endl;
cout << "Loading JointAngle sensor plugin for arm" << endl;
model = _parent;
@@ -33,13 +32,12 @@ namespace gazebo
publisher = nh->advertise<simulation_env::arm_angles>("arm_positions", 1);
}
private:
private:
void onUpdate()
{
//cout << __func__ << endl;
simulation_env::arm_angles msg;
//msg.data = 0.0f;
// read in the joint angle for each joint in the arm
msg.shoulder_pivot_angle = dynamic_cast<gazebo::physics::Joint*>(model->GetChild("shoulder_pivot").get())->Position();
msg.shoulder_joint_angle = dynamic_cast<gazebo::physics::Joint*>(model->GetChild("shoulder_joint").get())->Position();
msg.elbow_joint_angle = dynamic_cast<gazebo::physics::Joint*>(model->GetChild("elbow_joint").get())->Position();
@@ -47,18 +45,13 @@ namespace gazebo
msg.wrist_joint_angle = dynamic_cast<gazebo::physics::Joint*>(model->GetChild("wrist_joint").get())->Position();
msg.end_effector_pivot_angle = dynamic_cast<gazebo::physics::Joint*>(model->GetChild("end_effector_pivot").get())->Position();
//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<gazebo::physics::Joint*>(joint.get())->Position() << endl;
//msg.data = dynamic_cast<gazebo::physics::Joint*>(joint.get())->Position();
//cout << "Position: " << msg.data << endl;
//}
/*if(msg.data != 0.0f) */publisher.publish(msg);
// publish the updated sensor measurements
publisher.publish(msg);
// make sure the message gets published
ros::spinOnce();
}
physics::ModelPtr model;
event::ConnectionPtr updateConnection;
std::unique_ptr<ros::NodeHandle> nh;

2
run_rrrobot_image.sh
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@@ -1,5 +1,3 @@
#docker run -i -h rrrobot-env -t eecs467:rrrobot bash
xhost +local:docker #rrrobot-env
docker run -it --rm --device=/dev/input/event4 --device=/dev/dri:/dev/dri -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v $PWD/rrrobot_src:/home/rrrobot/rrrobot_src -h rrrobot-env eecs467:rrrobot
xhost -local:docker #rrrobot-env