From 80da2d4153a67c47c3a2e907c26a04a0f44a3329 Mon Sep 17 00:00:00 2001 From: Bastian Hofmann Date: Mon, 14 Mar 2022 21:02:55 +0100 Subject: [PATCH] Never changed ActorPlugin to Action, instead minor renaming and tweaks. Updated launch file to support GPU-acceleration of the gazebo client. Created behavior tree for actor Updated robot urdf, added better visualization and colliders. --- src/btree_nodes/CMakeLists.txt | 8 +- src/btree_nodes/nodes.xml | 26 +- src/btree_nodes/src/MinimalSubscriber.cpp | 9 +- src/btree_nodes/src/Tree.cpp | 230 +++++---- src/btree_nodes/src/WeightedRandomNode.cpp | 70 +++ src/btree_nodes/src/WeightedRandomNode.h | 35 ++ src/btree_nodes/tree.xml | 42 ++ .../src/publisher_member_function.cpp | 2 +- src/gaz_simulation/CMakeLists.txt | 1 + src/gaz_simulation/launch/test_launch.py | 14 +- src/gaz_simulation/stl/base_bottom_coll.stl | Bin 0 -> 4334 bytes src/gaz_simulation/stl/base_bottom_low.stl | Bin 0 -> 175034 bytes src/gaz_simulation/stl/base_top_low.stl | Bin 0 -> 26284 bytes src/gaz_simulation/stl/link_1_full_coll.stl | Bin 0 -> 2284 bytes src/gaz_simulation/stl/link_1_full_low.stl | Bin 0 -> 50484 bytes src/gaz_simulation/stl/link_2_bottom_low.stl | Bin 0 -> 32334 bytes src/gaz_simulation/stl/link_2_top_coll.stl | Bin 0 -> 1284 bytes src/gaz_simulation/stl/link_2_top_low.stl | Bin 0 -> 46184 bytes src/gaz_simulation/stl/link_3_bottom_coll.stl | Bin 0 -> 1284 bytes src/gaz_simulation/stl/link_3_bottom_low.stl | Bin 0 -> 29584 bytes src/gaz_simulation/stl/link_3_top_coll.stl | Bin 0 -> 2484 bytes src/gaz_simulation/stl/link_3_top_low.stl | Bin 0 -> 201284 bytes src/gaz_simulation/urdf/iisy.urdf | 446 ++++++++++-------- src/gaz_simulation/world/test2.xml | 17 +- src/gazebo_ros_actor/src/PosePublisher.cc | 6 +- src/gazebo_ros_actor/src/RosActorPlugin.cc | 13 +- src/moveit2_tutorials | 1 + src/moveit_visual_tools | 1 + 28 files changed, 610 insertions(+), 311 deletions(-) create mode 100644 src/btree_nodes/src/WeightedRandomNode.cpp create mode 100644 src/btree_nodes/src/WeightedRandomNode.h create mode 100644 src/btree_nodes/tree.xml create mode 100755 src/gaz_simulation/stl/base_bottom_coll.stl create mode 100755 src/gaz_simulation/stl/base_bottom_low.stl create mode 100755 src/gaz_simulation/stl/base_top_low.stl create mode 100755 src/gaz_simulation/stl/link_1_full_coll.stl create mode 100755 src/gaz_simulation/stl/link_1_full_low.stl create mode 100755 src/gaz_simulation/stl/link_2_bottom_low.stl create mode 100755 src/gaz_simulation/stl/link_2_top_coll.stl create mode 100755 src/gaz_simulation/stl/link_2_top_low.stl create mode 100755 src/gaz_simulation/stl/link_3_bottom_coll.stl create mode 100755 src/gaz_simulation/stl/link_3_bottom_low.stl create mode 100755 src/gaz_simulation/stl/link_3_top_coll.stl create mode 100755 src/gaz_simulation/stl/link_3_top_low.stl create mode 160000 src/moveit2_tutorials create mode 160000 src/moveit_visual_tools diff --git a/src/btree_nodes/CMakeLists.txt b/src/btree_nodes/CMakeLists.txt index 6469ed5..c3ffa0e 100644 --- a/src/btree_nodes/CMakeLists.txt +++ b/src/btree_nodes/CMakeLists.txt @@ -1,7 +1,7 @@ cmake_minimum_required(VERSION VERSION 3.5.1) project(btree_nodes) -set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD 20) add_compile_options(-Wall -Wextra -Wpedantic) set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_POSITION_INDEPENDENT_CODE ON) @@ -11,13 +11,15 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON) find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(geometry_msgs REQUIRED) +find_package(std_msgs REQUIRED) find_package(behaviortree_cpp_v3 REQUIRED) + # uncomment the following section in order to fill in # further dependencies manually. # find_package( REQUIRED) -add_executable(tree src/Tree.cpp src/Extensions.cpp) -ament_target_dependencies(tree geometry_msgs behaviortree_cpp_v3 rclcpp) +add_executable(tree src/Tree.cpp src/Extensions.cpp src/WeightedRandomNode.cpp) +ament_target_dependencies(tree rclcpp geometry_msgs std_msgs behaviortree_cpp_v3) #add_executable(talker src/publisher_member_function.cpp) #ament_target_dependencies(talker geometry_msgs rclcpp) diff --git a/src/btree_nodes/nodes.xml b/src/btree_nodes/nodes.xml index 95c5c53..2b3fdd5 100644 --- a/src/btree_nodes/nodes.xml +++ b/src/btree_nodes/nodes.xml @@ -7,16 +7,28 @@ - - Target area - Generated pose in target area + + called status - - Where to publish target pose - Where to get current pose - Actual target pose + + Generated pose in safe area + + Generated pose in warning area + + + Generated pose in unsafe area + + + + Current actor position + Target to move actor to + + + + Weights for the children, separated by semicolon. + diff --git a/src/btree_nodes/src/MinimalSubscriber.cpp b/src/btree_nodes/src/MinimalSubscriber.cpp index 6042adf..16892b9 100644 --- a/src/btree_nodes/src/MinimalSubscriber.cpp +++ b/src/btree_nodes/src/MinimalSubscriber.cpp @@ -9,7 +9,7 @@ template class MinimalSubscriber : public rclcpp::Node { public: - MinimalSubscriber(const std::string &node_name, const std::string &topic_name, void(*callback)(T)) : + MinimalSubscriber(const std::string &node_name, const std::string &topic_name, std::function callback) : Node(node_name) { this->subscription_ = this->create_subscription( topic_name, 10, [callback](const T result) { @@ -22,9 +22,10 @@ private: }; template -std::thread spinMinimalSubscriber(const std::string &node_name, const std::string &topic_name, void(*callback)(T)) { - return std::thread([node_name, topic_name, callback]() { - rclcpp::spin(std::make_shared>(node_name, topic_name, callback)); +std::thread spinMinimalSubscriber(const std::string &node_name, const std::string &topic_name, std::function callback) { + auto subscriber = std::make_shared>(node_name, topic_name, callback); + return std::thread([subscriber]() { + rclcpp::spin(subscriber); rclcpp::shutdown(); }); } \ No newline at end of file diff --git a/src/btree_nodes/src/Tree.cpp b/src/btree_nodes/src/Tree.cpp index 42dc868..12ea005 100644 --- a/src/btree_nodes/src/Tree.cpp +++ b/src/btree_nodes/src/Tree.cpp @@ -3,7 +3,9 @@ #include #include #include +#include #include "MinimalSubscriber.cpp" +#include "WeightedRandomNode.h" //------------------------------------------------------------- // Simple Action to print a number @@ -11,73 +13,96 @@ using namespace BT; +class AmICalled: public ConditionNode +{ +public: + AmICalled(const std::string& name, const NodeConfiguration& config): + ConditionNode(name,config) + {} + + static PortsList providedPorts() + { + return { InputPort("called") }; + } + + NodeStatus tick() override + { + bool called; + if(!getInput("called",called)){ + return NodeStatus::FAILURE; + } + if(called){ + return NodeStatus::SUCCESS; + } + return NodeStatus::FAILURE; + } +}; + typedef std::chrono::milliseconds Milliseconds; -class MyAsyncAction : public CoroActionNode { +class MoveActorToTarget : public StatefulActionNode { public: - MyAsyncAction(const std::string &name) : - CoroActionNode(name, {}) {} + MoveActorToTarget(const std::string &name, const NodeConfiguration &config) + : StatefulActionNode(name, config) {} -private: - // This is the ideal skeleton/template of an async action: - // - A request to a remote service provider. - // - A loop where we check if the reply has been received. - // - You may call setStatusRunningAndYield() to "pause". - // - Code to execute after the reply. - // - A simple way to handle halt(). - NodeStatus tick() override { - std::cout << name() << ": Started. Send Request to server." << std::endl; - - TimePoint initial_time = Now(); - TimePoint time_before_reply = initial_time + Milliseconds(100); - - int count = 0; - bool reply_received = false; - - while (!reply_received) { - if (count++ == 0) { - // call this only once - std::cout << name() << ": Waiting Reply..." << std::endl; - } - // pretend that we received a reply - if (Now() >= time_before_reply) { - reply_received = true; - } - - if (!reply_received) { - // set status to RUNNING and "pause/sleep" - // If halt() is called, we will NOT resume execution - setStatusRunningAndYield(); - } - } - - // This part of the code is never reached if halt() is invoked, - // only if reply_received == true; - std::cout << name() << ": Done. 'Waiting Reply' loop repeated " - << count << " times" << std::endl; - cleanup(false); - return NodeStatus::SUCCESS; + static PortsList providedPorts() { + return { + InputPort("current"), + InputPort("target") + }; } - // you might want to cleanup differently if it was halted or successful - void cleanup(bool halted) { - if (halted) { - std::cout << name() << ": cleaning up after an halt()\n" << std::endl; + geometry_msgs::msg::Pose target; + + + NodeStatus onStart() override { + std::cout << "started moving" << std::endl; + + rclcpp::Node node("targetPublisherNode"); + auto publisher = node.create_publisher("targetPose", 10); + + auto res = getInput("target", target); + if (!res) { + std::cout << "[ no target available ]" << std::endl; + std::cout << res.error() << std::endl; + return NodeStatus::FAILURE; + } + + publisher->publish(target); + return NodeStatus::RUNNING; + } + + NodeStatus onRunning() override { + geometry_msgs::msg::Pose current; + + auto res = getInput("current", current); + if (!res) { + std::cout << "[ no current position available ]" << std::endl; + std::cout << res.error() << std::endl; + return NodeStatus::FAILURE; + } + + double dX = target.position.x - current.position.x; + double dY = target.position.y - current.position.y; + + auto distance = sqrt(dX * dX + dY * dY); + + if (distance < 0.3) { + return NodeStatus::SUCCESS; } else { - std::cout << name() << ": cleaning up after SUCCESS\n" << std::endl; + return NodeStatus::RUNNING; } } - void halt() override { - std::cout << name() << ": Halted." << std::endl; - cleanup(true); - // Do not forget to call this at the end. - CoroActionNode::halt(); + void onHalted() override { + std::cout << "halted move" << std::endl; + rclcpp::Node node("targetPublisherNode"); + auto publisher = node.create_publisher("targetPose", 10); + geometry_msgs::msg::Pose inf; + inf.position.x = HUGE_VAL; + inf.position.y = HUGE_VAL; + publisher->publish(inf); } - - TimePoint Now() { - return std::chrono::high_resolution_clock::now(); - }; }; // This class cannot guarantee valid results with every polygon, triangles are assumed to be a valid triangle-strip. @@ -153,7 +178,7 @@ public: static PortsList providedPorts() { // Optionally, a port can have a human readable description const char *description = "Generates a random position in an area defined by a triangle strip"; - return {OutputPort("target", description)}; + return {OutputPort("target", description)}; } @@ -163,57 +188,88 @@ public: while (triangleRandom < weights[i + 1] && i < weights.size() - 1) { i++; } - Position2D randomPos = getRandomPosInTriangle(i); + auto pos = getRandomPosInTriangle(i); - setOutput("targetPosition", randomPos); + geometry_msgs::msg::Pose randomPose; + randomPose.position.x=pos.x; + randomPose.position.y=pos.y; + + printf("Generated Target: %f %f\n",pos.x,pos.y); + setOutput("target", randomPose); return NodeStatus::SUCCESS; } }; int main(int argc, char **argv) { + std::cout << "Registering nodes." << std::endl; NodeBuilder builderGenerateSafeTarget = [](const std::string &name, const NodeConfiguration &config) { - const Area areaSafe = {std::vector({{1, 1}, + const Area area = {std::vector({{1, 1}, + {5, 1}, + {5, 5}, + {1, 5}})}; + return std::make_unique(name, config, area); + }; + NodeBuilder builderGenerateWarningTarget = [](const std::string &name, const NodeConfiguration &config) { + const Area area = {std::vector({{1, 1}, {2, 2}, {1, 2}})}; - return std::make_unique(name, config, areaSafe); + return std::make_unique(name, config, area); + }; + NodeBuilder builderGenerateUnsafeTarget = [](const std::string &name, const NodeConfiguration &config) { + const Area area = {std::vector({{1, 1}, + {2, 2}, + {1, 2}})}; + return std::make_unique(name, config, area); }; rclcpp::init(argc, argv); - new Area(); - BehaviorTreeFactory factory; factory.registerBuilder("GenerateSafeTarget", builderGenerateSafeTarget); - factory.registerBuilder("GenerateWarningTarget", builderGenerateSafeTarget); - factory.registerBuilder("GenerateUnsafeTarget", builderGenerateSafeTarget); + factory.registerBuilder("GenerateWarningTarget", builderGenerateWarningTarget); + factory.registerBuilder("GenerateUnsafeTarget", builderGenerateUnsafeTarget); - Tree tree = factory.createTreeFromFile("actor_tree.xml"); + factory.registerNodeType("AmICalled"); + + factory.registerNodeType("MoveActorToTarget"); + factory.registerNodeType("WeightedRandom"); + + std::cout << "Creating tree." << std::endl; + + Tree tree = factory.createTreeFromFile("/home/bastian/dev_ws/src/btree_nodes/tree.xml"); + + std::mutex mutex; + + std::cout << "Starting subscriber." << std::endl; + + geometry_msgs::msg::Pose init; + tree.rootBlackboard()->set("current",init); + tree.rootBlackboard()->set("target",init); + tree.rootBlackboard()->set("called",false); + + spinMinimalSubscriber("tree_get_currentPose", "currentPose", + [&tree, &mutex](geometry_msgs::msg::Pose pose) { + mutex.lock(); + tree.rootBlackboard()->set("current", pose); + mutex.unlock(); + }).detach(); + + spinMinimalSubscriber("tree_get_called", "called", + [&tree, &mutex](std_msgs::msg::Bool called) { + mutex.lock(); + tree.rootBlackboard()->set("called", (bool) called.data); + mutex.unlock(); + }).detach(); + + std::cout << "Looping." << std::endl; while (rclcpp::ok()) { + mutex.lock(); tree.tickRoot(); + mutex.unlock(); } - /* - NodeHandle nh; - BehaviorTreeFactory factory; - - //factory.registerNodeType("PrintValue"); - //RegisterRosService(factory, "AddTwoInts", nh); - //RegisterRosAction(factory, "Fibonacci", nh); - - auto tree = factory.createTreeFromText(""); - - NodeStatus status = NodeStatus::IDLE; - - while( rclcpp::ok() && (status == NodeStatus::IDLE || status == NodeStatus::RUNNING)) - { - rclcpp::spinOnce(); - status = tree.tickRoot(); - std::cout << status << std::endl; - ros::Duration sleep_time(0.01); - sleep_time.sleep(); - } - */ + std::cout << "End." << std::endl; return 0; } \ No newline at end of file diff --git a/src/btree_nodes/src/WeightedRandomNode.cpp b/src/btree_nodes/src/WeightedRandomNode.cpp new file mode 100644 index 0000000..513a38e --- /dev/null +++ b/src/btree_nodes/src/WeightedRandomNode.cpp @@ -0,0 +1,70 @@ +// +// Created by bastian on 08.03.22. +// + +#include "WeightedRandomNode.h" +#include + +WeightedRandomNode::WeightedRandomNode(const std::string &name, const NodeConfiguration &config) + : ControlNode::ControlNode(name, config), selected_child_index(0), select_next(true) { + setRegistrationID("Sequence"); +} + +void WeightedRandomNode::halt() { + select_next = true; + ControlNode::halt(); +} + +NodeStatus WeightedRandomNode::tick() { + if (select_next) { + const size_t children_count = children_nodes_.size(); + + std::string weightString; + + if(!getInput("weights",weightString)){ + std::cout<< "Weights are REQUIRED." < weights; + double sum = 0; + unsigned long i=0; + for (; iter != end; ++iter) { + sum+=stod(*iter); + weights.push_back(sum); + i++; + } + + if(weights.size()!=children_count){ + std::cout<< "Number of weights doesn't match child count." < randomRange(0, sum); + double random = randomRange(rng); + + i=0; + while (iweights[i]){ + i++; + } + + selected_child_index = i; + select_next = false; + } + + TreeNode *current_child_node = children_nodes_[selected_child_index]; + const NodeStatus child_status = current_child_node->executeTick(); + + if (child_status != NodeStatus::RUNNING) { + select_next = true; + printf("node %zu finished.\n",selected_child_index); + } + + return child_status; +} \ No newline at end of file diff --git a/src/btree_nodes/src/WeightedRandomNode.h b/src/btree_nodes/src/WeightedRandomNode.h new file mode 100644 index 0000000..a2f704b --- /dev/null +++ b/src/btree_nodes/src/WeightedRandomNode.h @@ -0,0 +1,35 @@ +// +// Created by bastian on 08.03.22. +// + +#ifndef BUILD_WEIGHTEDRANDOMNODE_H +#define BUILD_WEIGHTEDRANDOMNODE_H + +#include +#include +#include + +using namespace BT; + +class WeightedRandomNode : public ControlNode +{ +public: + WeightedRandomNode(const std::string& name, const NodeConfiguration &config); + + virtual ~WeightedRandomNode() override = default; + + virtual void halt() override; + + static PortsList providedPorts(){ + return { InputPort("weights") }; + } +private: + size_t selected_child_index; + bool select_next{}; + std::mt19937_64 rng; + + virtual BT::NodeStatus tick() override; +}; + + +#endif //BUILD_WEIGHTEDRANDOMNODE_H diff --git a/src/btree_nodes/tree.xml b/src/btree_nodes/tree.xml new file mode 100644 index 0000000..18e3ded --- /dev/null +++ b/src/btree_nodes/tree.xml @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + called status + + + Generated pose in safe area + + + Generated pose in unsafe area + + + Generated pose in warning area + + + + Current actor position + Target to move actor to + + + Weights for the children, separated by semicolon. + + + + + diff --git a/src/cpp_pubsub/src/publisher_member_function.cpp b/src/cpp_pubsub/src/publisher_member_function.cpp index 5d6d2ba..2b46cb8 100644 --- a/src/cpp_pubsub/src/publisher_member_function.cpp +++ b/src/cpp_pubsub/src/publisher_member_function.cpp @@ -27,7 +27,7 @@ using namespace std::chrono_literals; class MinimalPublisher : public rclcpp::Node{ public: MinimalPublisher(): Node("minimal_publisher") { - publisher_ = this->create_publisher("topic", 10); + publisher_ = this->create_publisher("targetPose", 10); timer_ = this->create_wall_timer( 500ms, [this]{ auto message = geometry_msgs::msg::Pose(); diff --git a/src/gaz_simulation/CMakeLists.txt b/src/gaz_simulation/CMakeLists.txt index 7e51433..58a02eb 100644 --- a/src/gaz_simulation/CMakeLists.txt +++ b/src/gaz_simulation/CMakeLists.txt @@ -14,6 +14,7 @@ find_package(ament_cmake REQUIRED) install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) install(DIRECTORY world DESTINATION share/${PROJECT_NAME}) install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY stl DESTINATION share/${PROJECT_NAME}) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) diff --git a/src/gaz_simulation/launch/test_launch.py b/src/gaz_simulation/launch/test_launch.py index faac12b..9858884 100644 --- a/src/gaz_simulation/launch/test_launch.py +++ b/src/gaz_simulation/launch/test_launch.py @@ -14,11 +14,19 @@ def generate_launch_description(): world_path = os.path.join(path, "world/test2.xml") urdf_path = os.path.join(path, "urdf/iisy.urdf") return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')), - launch_arguments={'world': world_path}.items() + #IncludeLaunchDescription( + # PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')), + # launch_arguments={'world': world_path}.items() + #), + + ExecuteProcess( + cmd=[[ + 'LIBGL_ALWAYS_SOFTWARE=true ros2 launch gazebo_ros gzserver.launch.py 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zyQ2xMbr7rrSU21k9zBl5-_>MOJkt=2zkyz0cx#i7i7lHsc##JUnLJm$cr2s^>7n(> z@^@wQPbCR^{%mW=n8#Nc;;f3bcf*D8-{tSC&AYHj=)BSn?fSqoh2(_`+r2v>#WD4+ zX#emKysGArWRcACmprmY0}lL0{P|0fI>iFIyZ<^lazhfRpBuX7Q%K4^)$a-aFA(N= A*8l(j literal 0 HcmV?d00001 diff --git a/src/gaz_simulation/urdf/iisy.urdf b/src/gaz_simulation/urdf/iisy.urdf index 4bca97e..ea77848 100644 --- a/src/gaz_simulation/urdf/iisy.urdf +++ b/src/gaz_simulation/urdf/iisy.urdf @@ -1,195 +1,263 @@ - - - true - - 0.025 0 0.05 0 0 0 - - - - - - - - - - - - - - - - - - 0 0 0.155 0 0 0 - - - - - - - - - - - - - - - - - - 0 0 0.36 0 0 0 - - - - - - - - - - - - - - - - - - 0 0 0.585 0 0 0 - - - - - - - - - - - - - - - - - - 0 0 0.735 0 0 0 - - - - - - - - - - - - - - - - - - 0 0 0.86 0 0 0 - - - - - - - - - - - - - - - - - - 0 0 0.94025 0 0 0 - - - - - - - - - - - - - - - - - - 0 0 -0.055 0 0 0 - - - - 0 0 1 - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + /simple_model + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface - - - 0 0 -0.15 0 0 0 - - - - 1 0 0 - - + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface - - - 0 0 -0.075 0 0 0 - - - - 1 0 0 - - + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface - - - 0 0 -0.075 0 0 0 - - - - 0 0 1 - - + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface - - - 0 0 -0.05 0 0 0 - - - - 1 0 0 - - + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface - - - 0 0 -0.03025 0 0 0 - - - - 0 0 1 - - + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface - - - - /simple_model - - - + + hardware_interface/EffortJointInterface + 1 + + + + + / + + + \ No newline at end of file diff --git a/src/gaz_simulation/world/test2.xml b/src/gaz_simulation/world/test2.xml index 9d47c94..7d0329c 100644 --- a/src/gaz_simulation/world/test2.xml +++ b/src/gaz_simulation/world/test2.xml @@ -111,7 +111,7 @@ --> - + 0.1 0 0 0 0 0 @@ -132,21 +132,21 @@ 10 true - + /lidar_1 --ros-args --remap ~/out:=scan sensor_msgs/PointCloud2 - + 1 - -2 1 1 0 0 - + -1.9 1 1 0 0 + + @@ -181,7 +180,7 @@ 10 true - + /lidar_2 /lidar_2_link diff --git a/src/gazebo_ros_actor/src/PosePublisher.cc b/src/gazebo_ros_actor/src/PosePublisher.cc index 4d32235..3695adc 100644 --- a/src/gazebo_ros_actor/src/PosePublisher.cc +++ b/src/gazebo_ros_actor/src/PosePublisher.cc @@ -8,10 +8,10 @@ class PosePublisher : public rclcpp::Node{ public: - PosePublisher(): Node("minimal_publisher") { - publisher_ = this->create_publisher("currentPose", 10); + PosePublisher(): Node("gazebo_actor_current") { + publisher_ = this->create_publisher("currentPose",10); } - void update(ignition::math::Pose3d newPose){ + void update(const ignition::math::Pose3d& newPose){ geometry_msgs::msg::Pose pose; pose.position.x=newPose.X(); pose.position.y=newPose.Y(); diff --git a/src/gazebo_ros_actor/src/RosActorPlugin.cc b/src/gazebo_ros_actor/src/RosActorPlugin.cc index ebeb602..cff83fb 100644 --- a/src/gazebo_ros_actor/src/RosActorPlugin.cc +++ b/src/gazebo_ros_actor/src/RosActorPlugin.cc @@ -38,16 +38,16 @@ RosActorPlugin::RosActorPlugin() class PoseSubscriber : public rclcpp::Node{ public: - explicit PoseSubscriber(RosActorPlugin* plugin): Node("targetPose"){ + explicit PoseSubscriber(RosActorPlugin* plugin): Node("gazebo_actor_target"){ this->plugin = plugin; } private: RosActorPlugin* plugin; rclcpp::Subscription::SharedPtr subscription_ = this->create_subscription( - "actorTarget", 10, [this](const geometry_msgs::msg::Pose PH1) { + "targetPose", 10, [this](const geometry_msgs::msg::Pose PH1) { RCLCPP_INFO(this->get_logger(), "I heard: '%f %f %f'", PH1.position.x,PH1.position.y,PH1.position.z); - plugin->target.Set(PH1.position.x,PH1.position.y,PH1.position.z); + plugin->target.Set(PH1.position.x,PH1.position.y,1.0); }); }; @@ -160,6 +160,9 @@ void RosActorPlugin::HandleObstacles(ignition::math::Vector3d &_pos) ///////////////////////////////////////////////// void RosActorPlugin::OnUpdate(const common::UpdateInfo &_info) { + if(target.X()==HUGE_VAL || target.Y() == HUGE_VAL){ + return; + } // Time delta double dt = (_info.simTime - this->lastUpdate).Double(); @@ -169,7 +172,7 @@ void RosActorPlugin::OnUpdate(const common::UpdateInfo &_info) double distance = pos.Length(); - if (distance < 0.3) + if (distance < 0.01) { return; } @@ -178,7 +181,7 @@ void RosActorPlugin::OnUpdate(const common::UpdateInfo &_info) pos = pos.Normalize() * this->targetWeight; // Adjust the direction vector by avoiding obstacles - this->HandleObstacles(pos); + // this->HandleObstacles(pos); // Compute the yaw orientation ignition::math::Angle yaw = atan2(pos.Y(), pos.X()) + 1.5707 - rpy.Z(); diff --git a/src/moveit2_tutorials b/src/moveit2_tutorials new file mode 160000 index 0000000..e02236a --- /dev/null +++ b/src/moveit2_tutorials @@ -0,0 +1 @@ +Subproject commit e02236a8096f540c356504a5ceeb1a08212421e9 diff --git a/src/moveit_visual_tools b/src/moveit_visual_tools new file mode 160000 index 0000000..ef16670 --- /dev/null +++ b/src/moveit_visual_tools @@ -0,0 +1 @@ +Subproject commit ef16670fab41acb5a9f265ce2de6d7875c6358eb