Add support for nested models #32
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- Search for links, joints and sensors in nested models - Add a custom version of Model::JointByName implemented as a lambda - Search for entities given a scoped name and then check that those found support the required components (Joint and JointVelocity) - Rewrite the search for the IMU sensor component to use scoped names - In the `ApplyForce` function add a check that the JointVelocity and JointPosition components are valid before dereferencing them - Rename modeLink to imuLink (it is the pose of the link containing the IMU that is passed to the flight controller). - Fix initialisation of imuLink after rebase. - Replace references to ignition with gz replacements. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Add support for nested models - Add utility to search for all descendent entities matching an un-scoped name. - Ensure initialisation of IMU sensor is backwards compatible. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Add support for nested models - Move JointByName into Utils.hh Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Add support for nested models - Update Iris models. The basic model now has no plugins. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
4 tasks
clydemcqueen
approved these changes
Dec 15, 2022
- Review feedback - remove commented code. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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This PR adds support for nested models. This feature was available in the original version of the plugin for Gazebo11.
Enhancement
Details
Ensure methods to find links, joints and sensors search in nested models.
This change will permit more complex models containing sensors and other peripherals to be composed from a collection of simpler models.
ArduPilot plugin
Model::JointByName.JointandJointVelocity).ApplyForcefunction add a check that theJointVelocityandJointPositioncomponents are valid before dereferencing them.Models
iris_with_standoffsdefines the frame and rotor joints. The composite modeliris_with_ardupilotadds plugins and uses scoped names to refer to the included models joints and sensors.