Humble merge
This commit is contained in:
Bastian Hofmann
@@ -1,36 +1,31 @@
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cmake_minimum_required(VERSION 3.5.1)
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cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
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project(ign_actor_plugin)
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set(IGN_PLUGIN_VER 0)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(ignition-cmake2 REQUIRED)
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find_package(ignition-gazebo5 REQUIRED)
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find_package(ignition-gazebo6 REQUIRED)
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find_package(ign_actor_plugin_msgs REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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ign_find_package(ignition-plugin1 REQUIRED COMPONENTS register)
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find_package(ignition-plugin1 REQUIRED COMPONENTS register)
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set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
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rosidl_generate_interfaces(${PROJECT_NAME}
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"action/Animation.action"
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"action/Movement.action"
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)
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ament_export_dependencies(rosidl_default_runtime)
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ament_export_dependencies(ActorPlugin
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"rosidl_default_runtime"
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"ign_actor_plugin_msgs"
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"rclcpp"
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"rclcpp_action"
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"rclcpp_components")
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# Add sources for each plugin to be registered.
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add_library(ActorPlugin src/ActorSystem.cpp)
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ament_target_dependencies(ActorPlugin rclcpp)
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add_library(ActorPlugin SHARED src/ActorSystem.cpp)
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ament_target_dependencies(ActorPlugin rclcpp rclcpp_action ign_actor_plugin_msgs)
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set_property(TARGET ActorPlugin PROPERTY CXX_STANDARD 17)
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rosidl_target_interfaces(ActorPlugin
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${PROJECT_NAME} "rosidl_typesupport_cpp")
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target_link_libraries(ActorPlugin
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ignition-gazebo6::ignition-gazebo6
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ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
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ignition-gazebo5::ignition-gazebo5
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${rclcpp_LIBRARIES}
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${rclcpp_action_LIBRARIES}
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)
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@@ -8,20 +8,15 @@
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>rosidl_default_generators</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_action</depend>
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<depend>rclcpp_components</depend>
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<depend>ign_actor_plugin_messages</depend>
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<depend>action_msgs</depend>
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<depend>ign_actor_plugin_msgs</depend>
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<depend>ignition-cmake2</depend>
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<depend>ignition-gazebo5</depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<depend>ignition-gazebo6</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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@@ -2,27 +2,28 @@
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// Created by bastian on 31.08.22.
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//
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#include <ignition/gazebo/Entity.hh>
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#include <ignition/gazebo/Types.hh>
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#include <rclcpp_action/create_server.hpp>
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#include "ActorSystem.h"
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#include <rclcpp_action/server.hpp>
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#include "ActorSystem.hpp"
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#define AnimationGoalPtr const std::shared_ptr<const ign_actor_plugin::action::Animation::Goal>
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#define AnimationServerGoalPtr const std::shared_ptr<rclcpp_action::ServerGoalHandle<ign_actor_plugin::action::Animation>>&
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#define MovementGoalPtr const std::shared_ptr<const ign_actor_plugin::action::Movement::Goal>
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#define MovementServerGoalPtr const std::shared_ptr<rclcpp_action::ServerGoalHandle<ign_actor_plugin::action::Movement>>&
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IGNITION_ADD_PLUGIN(
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ActorSystem,
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ignition::gazebo::System,
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ActorSystem::ISystemPreUpdate,
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ActorSystem::ISystemConfigure)
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ActorSystem::ISystemConfigure);
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ActorSystem::ActorSystem() = default;
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ActorSystem::~ActorSystem() = default;
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void ActorSystem::PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) {
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//_ecm.EachNew<>()
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}
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// Found too late: https://github.com/AlanSixth/gazebo_ros_action_tutorial/blob/master/src/gazebo_ros_action_tutorial.cc
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@@ -30,6 +31,14 @@ void ActorSystem::PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition:
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void ActorSystem::Configure(const ignition::gazebo::Entity &_entity, const std::shared_ptr<const sdf::Element> &_sdf,
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ignition::gazebo::EntityComponentManager &_ecm, ignition::gazebo::EventManager &) {
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printf("Plugin configuring...\n");
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/*auto actorComp = _ecm.Component<Actor>(_entity);
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if (!actorComp)
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{
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gzerr << "Entity [" << _entity << "] is not an actor." << std::endl;
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return;
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}*/
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rclcpp::init(0, {});
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@@ -44,12 +53,14 @@ void ActorSystem::Configure(const ignition::gazebo::Entity &_entity, const std::
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node = rclcpp::Node::make_shared("moveService", topic);
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animationServer = rclcpp_action::create_server<ign_actor_plugin::action::Animation>(
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animationServer = rclcpp_action::create_server<ign_actor_plugin_msgs::action::Animation>(
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node,
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"animation",
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[](rclcpp_action::GoalUUID goalUuid,
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AnimationGoalPtr &animationGoal) {
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return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
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return rclcpp_action::GoalResponse::REJECT;
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},
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[](AnimationServerGoalPtr PH1) {
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return rclcpp_action::CancelResponse::ACCEPT;
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@@ -59,13 +70,15 @@ void ActorSystem::Configure(const ignition::gazebo::Entity &_entity, const std::
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}
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);
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movementServer = rclcpp_action::create_server<ign_actor_plugin::action::Movement>(
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movementServer = rclcpp_action::create_server<ign_actor_plugin_msgs::action::Movement>(
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node,
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"movement",
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[](rclcpp_action::GoalUUID goalUuid, MovementGoalPtr &movementGoal ){
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return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
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},
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[](MovementServerGoalPtr goalUuid ){
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return rclcpp_action::CancelResponse::ACCEPT;
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},
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[](MovementServerGoalPtr goalUuid ){}
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@@ -7,10 +7,18 @@
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#include <ignition/gazebo/System.hh>
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#include <ignition/plugin/Register.hh>
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#include <queue>
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#include <rclcpp/node.hpp>
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#include "rclcpp/rclcpp.hpp"
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#include "ign_actor_plugin/action/animation.hpp"
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#include "ign_actor_plugin/action/movement.hpp"
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#include <rclcpp/rclcpp.hpp>
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#include <rclcpp_action/server.hpp>
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#include <ign_actor_plugin_msgs/action/animation.hpp>
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#include <ign_actor_plugin_msgs/action/movement.hpp>
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#define AnimationGoalPtr const std::shared_ptr<const ign_actor_plugin_msgs::action::Animation::Goal>
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#define AnimationServerGoalPtr const std::shared_ptr<rclcpp_action::ServerGoalHandle<ign_actor_plugin_msgs::action::Animation>>&
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#define MovementGoalPtr const std::shared_ptr<const ign_actor_plugin_msgs::action::Movement::Goal>
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#define MovementServerGoalPtr const std::shared_ptr<rclcpp_action::ServerGoalHandle<ign_actor_plugin_msgs::action::Movement>>&
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class ActorSystem:
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public ignition::gazebo::System,
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@@ -19,8 +27,8 @@ class ActorSystem:
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private:
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std::shared_ptr<rclcpp::Node> node;
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std::shared_ptr<rclcpp_action::Server<ign_actor_plugin::action::Animation>> animationServer;
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std::shared_ptr<rclcpp_action::Server<ign_actor_plugin::action::Movement>> movementServer;
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std::shared_ptr<rclcpp_action::Server<ign_actor_plugin_msgs::action::Animation>> animationServer;
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std::shared_ptr<rclcpp_action::Server<ign_actor_plugin_msgs::action::Movement>> movementServer;
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public:
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ActorSystem();
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