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This commit is contained in:
yenon 2022-10-12 11:11:45 +02:00
parent 1ba1c7fc7b
commit 6b650fe594
4 changed files with 60 additions and 32 deletions
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4
src/gaz_simulation/world/gaz_ign.sdf
View File

@ -253,7 +253,7 @@
<animation name="walk">
<filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
</animation>
<!--<plugin name="actor1_plugin" filename="/home/bastian/dev_ws/build/gazebo_ros_actor/libRosActorPlugin.so">
<plugin name="ActorSystem" filename="/home/ros/workspace/build/ign_actor_plugin/libActorPlugin.so">
<target>2 2 1</target>
<target_weight>1.15</target_weight>
<obstacle_weight>1.8</obstacle_weight>
@ -261,7 +261,7 @@
<ignore_obstacles>
<model>ground_plane</model>
</ignore_obstacles>
</plugin>-->
</plugin>
</actor>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>

2
src/ign_actor_plugin/CMakeLists.txt
View File

@ -31,6 +31,8 @@ rosidl_target_interfaces(ActorPlugin
target_link_libraries(ActorPlugin
ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
ignition-gazebo5::ignition-gazebo5
${rclcpp_LIBRARIES}
${rclcpp_action_LIBRARIES}
)
ament_package()

51
src/ign_actor_plugin/src/ActorSystem.cpp
View File

@ -5,17 +5,20 @@
#include <rclcpp_action/create_server.hpp>
#include "ActorSystem.h"
#define AnimationGoalPtr const std::shared_ptr<const ign_actor_plugin::action::Animation::Goal>
#define AnimationServerGoalPtr const std::shared_ptr<rclcpp_action::ServerGoalHandle<ign_actor_plugin::action::Animation>>&
IGNITION_ADD_PLUGIN(
ActorSystem,
ignition::gazebo::System,
ActorSystem::ISystemPreUpdate)
ActorSystem::ISystemPreUpdate,
ActorSystem::ISystemConfigure)
ActorSystem::ActorSystem() = default;
ActorSystem::~ActorSystem() = default;
void ActorSystem::PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) {
//_ecm.EachNew<>()
}
@ -23,23 +26,53 @@ void ActorSystem::PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition:
void ActorSystem::Configure(const ignition::gazebo::Entity &_entity, const std::shared_ptr<const sdf::Element> &_sdf,
ignition::gazebo::EntityComponentManager &_ecm, ignition::gazebo::EventManager &) {
printf("Plugin configuring...\n");
rclcpp::init(0, {});
std::string topic = "ActorPlugin";
if(_sdf->HasElement("topic")){
if (_sdf->HasElement("topic")) {
topic = _sdf->Get<std::string>("topic");
}
std::string name = "Actor";
if(_sdf->HasElement("actor_name")){
if (_sdf->HasElement("actor_name")) {
name = _sdf->Get<std::string>("actor_name");
}
node = rclcpp::Node::make_shared("moveService",topic);
node = rclcpp::Node::make_shared("moveService", topic);
rclcpp_action::create_server<ign_actor_plugin::action::Animation>(node,"animation",
std::bind(&ActorSystem::handle_animation_goal,this,std::placeholders::_1,std::placeholders::_2),
std::bind(&ActorSystem::handle_animation_cancel,this,std::placeholders::_1),
std::bind(&ActorSystem::handle_animation_accepted,this,std::placeholders::_1)
#pragma clang diagnostic push
#pragma ide diagnostic ignored "UnusedValue"
animationServer = rclcpp_action::create_server<ign_actor_plugin::action::Animation>(
node,
"animation",
[](rclcpp_action::GoalUUID goalUuid,
AnimationGoalPtr &animationGoal) {
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
},
[](AnimationServerGoalPtr PH1) {
return rclcpp_action::CancelResponse::ACCEPT;
},
[](AnimationServerGoalPtr PH1) {
}
);
movementServer rclcpp_action::create_server<ign_actor_plugin::action::Movement>(
node,
"movement",
[](rclcpp_action::GoalUUID goalUuid, )
)
#pragma clang diagnostic pop
printf("Spinning node...\n");
std::thread spinThread([this]() {
while (true) {
printf("Wheee...\n");
rclcpp::spin(node);
}
});
spinThread.detach();
}
/*

23
src/ign_actor_plugin/src/ActorSystem.h
View File

@ -10,15 +10,17 @@
#include <rclcpp/node.hpp>
#include "rclcpp/rclcpp.hpp"
#include "ign_actor_plugin/action/animation.hpp"
#include "ign_actor_plugin/action/movement.hpp"
class ActorSystem:
public ignition::gazebo::System,
public ignition::gazebo::ISystemPreUpdate,
public ignition::gazebo::ISystemConfigure{
public ignition::gazebo::ISystemConfigure {
private:
std::shared_ptr<rclcpp::Node> node;
std::shared_ptr<rclcpp_action::Server<ign_actor_plugin::action::Animation>> animationServer;
std::shared_ptr<rclcpp_action::Server<ign_actor_plugin::action::Movement>> movementServer;
public:
ActorSystem();
@ -26,26 +28,17 @@ public:
public:
~ActorSystem() override;
public: void PreUpdate(const ignition::gazebo::UpdateInfo &_info,
public:
void PreUpdate(const ignition::gazebo::UpdateInfo &_info,
ignition::gazebo::EntityComponentManager &_ecm) override;
public: void Configure(const ignition::gazebo::Entity &_entity,
public:
void Configure(const ignition::gazebo::Entity &_entity,
const std::shared_ptr<const sdf::Element> &_sdf,
ignition::gazebo::EntityComponentManager &_ecm,
ignition::gazebo::EventManager &/*_eventMgr*/) override;
private: rclcpp_action::GoalResponse handle_animation_goal(const rclcpp_action::GoalUUID & uuid,
std::shared_ptr<const ign_actor_plugin::action::Animation::Goal> goal);
private: rclcpp_action::CancelResponse handle_animation_cancel(
const std::shared_ptr<rclcpp_action::ServerGoalHandle<ign_actor_plugin::action::Animation>> goal_handle);
private: void handle_animation_accepted(
const std::shared_ptr<rclcpp_action::ServerGoalHandle<ign_actor_plugin::action::Animation>> goal_handle);
};
#endif //BUILD_ACTORSYSTEM_H