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[ros2] Adding option to select the frame where the force will be applied #978

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merged 5 commits into from
Aug 23, 2019
Merged

[ros2] Adding option to select the frame where the force will be applied #978

merged 5 commits into from
Aug 23, 2019

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alexfneves
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I ended up doing this change for the simulation my project, and felt that it's a valid option when using the force plugin.

A new parameter was added on the plugin with the options world and body frame.
Internally the AddRelativeForce() and torque functions are used instead of the AddForce() when the body option is selected.

@chapulina chapulina added the ros2 label Aug 14, 2019
@chapulina chapulina self-requested a review August 14, 2019 20:00
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chapulina suggested changes Aug 14, 2019
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Thank you for the PR. I just have a couple of comments regarding keeping backwards compatibility. It would also be good to change body to link, since body is not a well defined term within Gazebo or SDF/URDF.

A nice bonus would be to add a test case which uses the link frame, making sure the link is not aligned with the world in the test.

gazebo_plugins/src/gazebo_ros_force.cpp Outdated Show resolved Hide resolved
gazebo_plugins/include/gazebo_plugins/gazebo_ros_force.hpp Outdated Show resolved Hide resolved
gazebo_plugins/src/gazebo_ros_force.cpp Outdated Show resolved Hide resolved
gazebo_plugins/worlds/gazebo_ros_force_demo.world Outdated Show resolved Hide resolved
@alexfneves
Adding option to select the frame where the force will be applied
0ea5114 
A new parameter was added on the plugin with the options 'world' and 'link' frame.
The default value is 'world'.
Internally the AddRelativeForce() and torque functions are used instead of the AddForce() when the body option is selected.
@alexfneves
Modifying force test for the 'world' frame, and adding test for the f…
8a1ab8a 
…orce on the 'link' frame

The new world file starts with the box rotated.
@alexfneves
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I did the changes you asked me to do. I also changed the force test little bit so that it would do the normal test with force on the world frame and a new with the force on the link frame.

@alexfneves
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I think the test failing is on the GazeboRosAckermannDriveTest, which has nothing to do with the code I wrote. Is the last commit alright then?

@alexfneves alexfneves changed the title Adding option to select the frame where the force will be applied [ros2] Adding option to select the frame where the force will be applied Aug 18, 2019
alexfneves and others added 2 commits August 22, 2019 10:34
@alexfneves
Removing OnUpdateRelative() from the force plugin
0f50c5d 
This function could potentially break the ABI, therefore is been removed.
@chapulina
body -> link, warn -> info, more examples
95fbd6c 
Signed-off-by: Louise Poubel <louise@openrobotics.org>
chapulina
chapulina approved these changes Aug 23, 2019
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LGTM, thank you again for the contribution!

I pushed some changes in 95fbd6c:

  • remove some remaining body
  • made the warning into info, because it's not wrong to leave out the new element
  • added another box to the demo so it's easier to test both frames at the same time

I also added a migration page for the plugin, because it didn't exist.

@chapulina chapulina merged commit ace6e0f into ros-simulation:dashing Aug 23, 2019
@alexfneves
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Fair enough, thanks!

jacobperron pushed a commit to jacobperron/gazebo_ros_pkgs that referenced this pull request Sep 10, 2019
@alexfneves @jacobperron
[ros2] Adding option to select the frame where the force will be appl…
8174a9b 
…ied (ros-simulation#978)

* Adding option to select the frame where the force will be applied

A new parameter was added on the plugin with the options 'world' and 'link' frame.
The default value is 'world'.
Internally the AddRelativeForce() and torque functions are used instead of the AddForce() when the body option is selected.

* Modifying force test for the 'world' frame, and adding test for the force on the 'link' frame

The new world file starts with the box rotated.

* Fix cpplint and uncrustify on force plugin files

* Removing OnUpdateRelative() from the force plugin

This function could potentially break the ABI, therefore is been removed.

* body -> link, warn -> info, more examples

Signed-off-by: Louise Poubel <louise@openrobotics.org>
j-rivero pushed a commit that referenced this pull request Oct 3, 2019
@alexfneves @j-rivero
[ros2] Adding option to select the frame where the force will be appl…
fadcbda 
…ied (#978)

* Adding option to select the frame where the force will be applied

A new parameter was added on the plugin with the options 'world' and 'link' frame.
The default value is 'world'.
Internally the AddRelativeForce() and torque functions are used instead of the AddForce() when the body option is selected.

* Modifying force test for the 'world' frame, and adding test for the force on the 'link' frame

The new world file starts with the box rotated.

* Fix cpplint and uncrustify on force plugin files

* Removing OnUpdateRelative() from the force plugin

This function could potentially break the ABI, therefore is been removed.

* body -> link, warn -> info, more examples

Signed-off-by: Louise Poubel <louise@openrobotics.org>
antarikshnarain added a commit to antarikshnarain/gazebo_ros_pkgs that referenced this pull request Jul 7, 2020
@antarikshnarain @shiveshkhaitan
@chapulina @Karsten1987 @alexfneves @jacobperron @jnoyola @j-rivero @dirk-thomas @scpeters @seanyen @scgroot
Update from Original (#1)
348df12 
* [ros2] Port elevator to ROS2

* [ros2] Fix test for diff drive (ros-simulation#951)

* use c_str() (ros-simulation#950) (ros-simulation#954)

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* [ros2] Port projector to ROS2 (ros-simulation#956)

* [ros2] Port projector to ROS2

* fix small typo

* [ros2] Port planar move to ROS2 (ros-simulation#958)

* [ros2] Port planar move to ROS2

* Add test for pose conversion

* [ros2] Add ackermann drive plugin (ros-simulation#947)

* [ros2] Add ackermann drive plugin

* Minor fixes

Use gazebo database model

* Update example usage

* Fix TF for demo

* changelog

* 3.3.2

* [ros2] Port harness to ROS2 (ros-simulation#944)

* [ros2] Port hand of god to ROS2 (ros-simulation#957)

* [ros2] Port hand of god to ROS2

* Minor fixes

* [ros2] Port model states to ROS2 (ros-simulation#968)

* [ros2] Port model states to ROS2

* remove unported code

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Add Gazebo builtin plugins to LD_LIBRARY_PATH (ros-simulation#974)

* Add Gazebo builtin plugins to LD_LIBRARY_PATH

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* cross-platform

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* [ros2] Fix tests on Dashing (ros-simulation#953)

* [ros2] Fix camera triggered test on Dashing

backport remove noe fix and re-enable distortion tests

* improve robustness of joint state pub test

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Fix for multiple video plugins (ros-simulation#898) (ros-simulation#937)

* Fix for multiple video plugins (ros-simulation#898)

* Fix crash on shutdown

* Fix gazebo node destructor

* [ros2] Port bumper sensor to ROS2 (ros-simulation#943)

* [ros2] Port bumper sensor to ROS2

* Add author name

* Minor fixes and add contact msg conversion

* Remove unused header includes

* [ros2] Port gazebo_ros_path plugin to ROS2 (ros-simulation#925)

* [ros2] Port gazebo_ros_path plugin

* Minor fixes

* Change plugin launch file to python script

* Fix for flake8 test

* set gazebo library dirs (ros-simulation#963)

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* [ros2] Port Link states to ROS2 (ros-simulation#969)

* [ros2] Port model states to ROS2

* [ros2] Port link states to ROS2

* Change usage of body -> link

* Remove link_states from .ros1_unported

* fix video test

Signed-off-by: chapulina <louise@openrobotics.org>

* [ros2] Port joint pose trajectory to ROS2 (ros-simulation#955)

* [ros2] Port joint pose trajectory to ROS2

* Add conversion tests

Minor fixes

* [ros2] Port gazebo launch scripts to ROS2 (ros-simulation#962)

* [ros2] Port gazebo launch scripts to ROS2

* Add gdb and valgrind option

* Use shell command for extra gazebo args

* [ros2] Port vacuum gripper to ROS2 (ros-simulation#960)

* [ros2] Port vacuum gripper to ROS2

* Fix gripper forces

* Add option to set max_distance

Change SetForce -> Add Force

* [ros2] Port spawn model to ROS2 (ros-simulation#948)

* [ros2] Port spawn model to ROS2

* Delete .ros1_unported files

* Fixes and add demo

Change spawn_model to spawn_entity

* Rename demo launch and add checks for service

* Fix reading xml file from param and model states

* remove diplicate

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Use gazebo launch file

* Change topic behaviour

* [ros2] Spawn <plugin> without <ros> (ros-simulation#983)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* [ros2] Backport depth camera to dashing (ros-simulation#967)

* [ros2] Backport depth camera to dashing

* don't install header that will be removed

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* fix linting error

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Address reviews on ros-simulation#868 (ros-simulation#972)

* [ros2] World plugin to get/set entity state services (ros-simulation#839)

remove status_message

* [ros2] Port time commands (pause / reset) (ros-simulation#866)

* [ros2] Migration of get/set world, model, joint, link, light properties

* Trying to pass CI test, try n1.

* clean up some linter warnings

* Requested changes in review, unfinished

* Fix uncrustify

* Address reviews

* more tests, joint types

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Revert changes to GetModelProperties message

Document gazebo_ros_properties header

* Convert msgs pose to math pose and use it on SetCoG

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* [ros2] Adding GPS plugin (ros-simulation#982)

* Adding gps plugin sensor

* Adding test for the gps plugin

* Adding GPS world demo and other small text corrections

* [ros2] Adding option to select the frame where the force will be applied (ros-simulation#978)

* Adding option to select the frame where the force will be applied

A new parameter was added on the plugin with the options 'world' and 'link' frame.
The default value is 'world'.
Internally the AddRelativeForce() and torque functions are used instead of the AddForce() when the body option is selected.

* Modifying force test for the 'world' frame, and adding test for the force on the 'link' frame

The new world file starts with the box rotated.

* Fix cpplint and uncrustify on force plugin files

* Removing OnUpdateRelative() from the force plugin

This function could potentially break the ABI, therefore is been removed.

* body -> link, warn -> info, more examples

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* [backport] Backport multicamera to dashing (ros-simulation#984)

* [backport] Backport multicamera to dashing

* fix test - use correct world

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Add maintainer (ros-simulation#985)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* [ros2] Conditional launch includes (ros-simulation#979)

* [ros2] Conditional launch includes

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* remove unused import

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* changelog

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* 3.3.3

* [ros2] Uncommenting bond option on spawn_entity (wait Ctrl+C then remove entity) (ros-simulation#986)

* Uncommenting bond option on spawn_entity (wait Ctrl+C then remove entity)

Instead of waiting for a shutdown callback to be created in rclpy,
we can use the try/except to get the SIGINT signal, then delete the entity.

* Message formatting

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* linter 😅

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* [ros2] Remove ported / deprecated (ros-simulation#989)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Remove ROS-specific arguments before passing to argparse (ros-simulation#994)

This resolves argparse errors when trying to launch the spawn_entity script as a ROS node.

For example, a launch file like the following wouldn't work without this change:

    <launch>
      <arg name="model_urdf" default="$(find-pkg-share mymodels)/urdf/ball.urdf" />
      <node
        pkg="gazebo_ros"
        exec="spawn_entity.py"
        name="spawner"
        args="-entity foo -file /path/to/my/model/foo.urdf" />
    </launch>

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* fix multi_camera_plugin on windows (ros-simulation#999)

* changelog

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* 3.3.4

* Update changelogs

* 3.4.0

* generate a .dsv file for the environment hook

* Update changelogs

* 3.4.1

* changelog

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* 3.4.2

* fix pathsep for windows (ros-simulation#1028)

* Image publishers use SensorDataQoSProfile (ros-simulation#1031)

All other sensor publishers were updated previously to use the same profile (ros-simulation#926).
I'm not sure if the image publishers were overlooked or the image_transport API didn't
support setting the QoS profile at the time.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* [backport][ros2] make transient local reliable (ros-simulation#1033) (ros-simulation#1036)

* [ros2] make transient local reliable (ros-simulation#1033)

* make transient local reliable

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* fix master

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* add launch test

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* make it actual latched

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* alpha sort

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* add launch_test dependency

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* more dependencies

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* remove debug print

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* is_initialized -> ok

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* Update gazebo_ros/test/entity_spawner.test.py

Co-Authored-By: chapulina <louise@openrobotics.org>

* use erase-remove idiom

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* use ReadyToTest()

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Co-authored-by: chapulina <louise@openrobotics.org>

* Set timeout and call gzserver directly

Signed-off-by: Louise Poubel <louise@openrobotics.org>

Co-authored-by: chapulina <louise@openrobotics.org>

* changelog

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* 3.4.3

* Measure IMU orientation with respect to world (ros-simulation#1058)

Report the IMU orientation from the sensor plugin with respect to the world frame.
This complies with convention documented in REP 145: https://www.ros.org/reps/rep-0145.html

In order to not break existing behavior, users should opt-in by adding a new SDF tag.

Co-authored-by: Jacob Perron <jacob@openrobotics.org>

* Measure IMU orientation with respect to world (dashing) (ros-simulation#1065)

Report the IMU orientation from the sensor plugin
with respect to the world frame.
This complies with convention documented in REP 145:
https://www.ros.org/reps/rep-0145.html

In order to not break existing behavior,
users should opt-in by adding a new SDF tag.

Co-authored-by: Jacob Perron <jacob@openrobotics.org>

* wait for service with variable timeout (ros-simulation#1090)

* wait for service with variable timeout

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Co-authored-by: chapulina <louise@openrobotics.org>

* Backport Gazebo11/Bionic fix for boost variant (ros-simulation#1102)

* Backport Gazebo11/Bionic fix for boost variant (ros-simulation#1103)

* Prepare changelogs

* 3.3.5

* Prepare changelogs

* 3.4.4

* [eloquent] Fix Windows build. (ros-simulation#1077)

* Adding Windows bringup.

* Remove unported gazebo_ros_control (ros-simulation#1108)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* use target include directories (ros-simulation#1040)

Signed-off-by: Karsten Knese <karsten@openrobotics.org>
Co-authored-by: Louise Poubel <louise@openrobotics.org>

* Apply acceleration until both left and right reach targetspeed (ros-simulation#1009)

Co-authored-by: Louise Poubel <louise@openrobotics.org>

* Fix all Foxy tests

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* uncrustifyyyyyy

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* changelog

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* 3.5.0

Co-authored-by: Shivesh Khaitan <shiveshkhaitan@gmail.com>
Co-authored-by: chapulina <louise@openrobotics.org>
Co-authored-by: Karsten Knese <Karsten1987@users.noreply.github.com>
Co-authored-by: alexfneves <alexfneves@gmail.com>
Co-authored-by: Jacob Perron <jacob@openrobotics.org>
Co-authored-by: Jonathan Noyola <noyolajonathan@gmail.com>
Co-authored-by: Jose Luis Rivero <jrivero@osrfoundation.org>
Co-authored-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>
Co-authored-by: Steven Peters <scpeters@openrobotics.org>
Co-authored-by: Sean Yen <seanyen@microsoft.com>
Co-authored-by: scgroot <steffen@boast.nl>
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