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gazebo_wind_plugin.cpp
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gazebo_wind_plugin.cpp
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/*
* Copyright 2015 Fadri Furrer, ASL, ETH Zurich, Switzerland
* Copyright 2015 Michael Burri, ASL, ETH Zurich, Switzerland
* Copyright 2015 Mina Kamel, ASL, ETH Zurich, Switzerland
* Copyright 2015 Janosch Nikolic, ASL, ETH Zurich, Switzerland
* Copyright 2015 Markus Achtelik, ASL, ETH Zurich, Switzerland
* Copyright 2016 Anton Matosov
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "gazebo_wind_plugin.h"
#include "common.h"
namespace gazebo {
GazeboWindPlugin::~GazeboWindPlugin() {
update_connection_->~Connection();
}
void GazeboWindPlugin::Load(physics::WorldPtr world, sdf::ElementPtr sdf) {
world_ = world;
double wind_gust_start = kDefaultWindGustStart;
double wind_gust_duration = kDefaultWindGustDuration;
double wind_ramp_start = kDefaultWindRampStart;
double wind_ramp_duration = kDefaultWindRampDuration;
if (sdf->HasElement("robotNamespace")) {
namespace_ = sdf->GetElement("robotNamespace")->Get<std::string>();
} else {
gzerr << "[gazebo_wind_plugin] Please specify a robotNamespace.\n";
}
node_handle_ = transport::NodePtr(new transport::Node());
node_handle_->Init(namespace_);
getSdfParam<std::string>(sdf, "windPubTopic", wind_pub_topic_, wind_pub_topic_);
double pub_rate = 2.0;
getSdfParam<double>(sdf, "publishRate", pub_rate, pub_rate); //Wind topic publishing rates
pub_interval_ = (pub_rate > 0.0) ? 1/pub_rate : 0.0;
getSdfParam<std::string>(sdf, "frameId", frame_id_, frame_id_);
// Get the wind params from SDF.
getSdfParam<double>(sdf, "windVelocityMean", wind_velocity_mean_, wind_velocity_mean_);
getSdfParam<double>(sdf, "windVelocityMax", wind_velocity_max_, wind_velocity_max_);
getSdfParam<double>(sdf, "windVelocityVariance", wind_velocity_variance_, wind_velocity_variance_);
getSdfParam<ignition::math::Vector3d>(sdf, "windDirectionMean", wind_direction_mean_, wind_direction_mean_);
getSdfParam<double>(sdf, "windDirectionVariance", wind_direction_variance_, wind_direction_variance_);
// Get the wind gust params from SDF.
getSdfParam<double>(sdf, "windGustStart", wind_gust_start, wind_gust_start);
getSdfParam<double>(sdf, "windGustDuration", wind_gust_duration, wind_gust_duration);
getSdfParam<double>(sdf, "windGustVelocityMean", wind_gust_velocity_mean_, wind_gust_velocity_mean_);
getSdfParam<double>(sdf, "windGustVelocityMax", wind_gust_velocity_max_, wind_gust_velocity_max_);
getSdfParam<double>(sdf, "windGustVelocityVariance", wind_gust_velocity_variance_, wind_gust_velocity_variance_);
getSdfParam<ignition::math::Vector3d>(sdf, "windGustDirectionMean", wind_gust_direction_mean_, wind_gust_direction_mean_);
getSdfParam<double>(sdf, "windGustDirectionVariance", wind_gust_direction_variance_, wind_gust_direction_variance_);
wind_direction_mean_.Normalize();
wind_gust_direction_mean_.Normalize();
wind_gust_start_ = common::Time(wind_gust_start);
wind_gust_end_ = common::Time(wind_gust_start + wind_gust_duration);
// Set random wind velocity mean and standard deviation
wind_velocity_distribution_.param(std::normal_distribution<double>::param_type(wind_velocity_mean_, sqrt(wind_velocity_variance_)));
// Set random wind direction mean and standard deviation
wind_direction_distribution_X_.param(std::normal_distribution<double>::param_type(wind_direction_mean_.X(), sqrt(wind_direction_variance_)));
wind_direction_distribution_Y_.param(std::normal_distribution<double>::param_type(wind_direction_mean_.Y(), sqrt(wind_direction_variance_)));
wind_direction_distribution_Z_.param(std::normal_distribution<double>::param_type(wind_direction_mean_.Z(), sqrt(wind_direction_variance_)));
// Set random wind gust velocity mean and standard deviation
wind_gust_velocity_distribution_.param(std::normal_distribution<double>::param_type(wind_gust_velocity_mean_, sqrt(wind_gust_velocity_variance_)));
// Set random wind gust direction mean and standard deviation
wind_gust_direction_distribution_X_.param(std::normal_distribution<double>::param_type(wind_gust_direction_mean_.X(), sqrt(wind_gust_direction_variance_)));
wind_gust_direction_distribution_Y_.param(std::normal_distribution<double>::param_type(wind_gust_direction_mean_.Y(), sqrt(wind_gust_direction_variance_)));
wind_gust_direction_distribution_Z_.param(std::normal_distribution<double>::param_type(wind_gust_direction_mean_.Z(), sqrt(wind_gust_direction_variance_)));
// Get the ramped wind params from SDF.
getSdfParam<double>(sdf, "windRampStart", wind_ramp_start, wind_ramp_start);
getSdfParam<double>(sdf, "windChangeRampDuration", wind_ramp_duration, wind_ramp_duration);
getSdfParam<ignition::math::Vector3d>(sdf, "windRampWindVectorComponents", ramped_wind_vector, ramped_wind_vector);
wind_ramp_start_ = common::Time(wind_ramp_start);
wind_ramp_duration_ = common::Time(wind_ramp_duration);
// Listen to the update event. This event is broadcast every
// simulation iteration.
update_connection_ = event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboWindPlugin::OnUpdate, this, _1));
wind_pub_ = node_handle_->Advertise<physics_msgs::msgs::Wind>("~/" + wind_pub_topic_, 10);
#if GAZEBO_MAJOR_VERSION >= 9
last_time_ = world_->SimTime();
#else
last_time_ = world_->GetSimTime();
#endif
}
// This gets called by the world update start event.
void GazeboWindPlugin::OnUpdate(const common::UpdateInfo& _info) {
// Get the current simulation time.
#if GAZEBO_MAJOR_VERSION >= 9
common::Time now = world_->SimTime();
#else
common::Time now = world_->GetSimTime();
#endif
if ((now - last_time_).Double() < pub_interval_ || pub_interval_ == 0.0) {
return;
}
last_time_ = now;
// Calculate the wind force.
// Get normal distribution wind strength
double wind_strength = std::abs(wind_velocity_distribution_(wind_velocity_generator_));
wind_strength = (wind_strength > wind_velocity_max_) ? wind_velocity_max_ : wind_strength;
// Get normal distribution wind direction
ignition::math::Vector3d wind_direction;
wind_direction.X() = wind_direction_distribution_X_(wind_direction_generator_);
wind_direction.Y() = wind_direction_distribution_Y_(wind_direction_generator_);
wind_direction.Z() = wind_direction_distribution_Z_(wind_direction_generator_);
// Calculate total wind velocity
ignition::math::Vector3d wind = wind_strength * wind_direction;
ignition::math::Vector3d wind_gust(0, 0, 0);
// Calculate the wind gust velocity.
if (now >= wind_gust_start_ && now < wind_gust_end_) {
// Get normal distribution wind gust strength
double wind_gust_strength = std::abs(wind_gust_velocity_distribution_(wind_gust_velocity_generator_));
wind_gust_strength = (wind_gust_strength > wind_gust_velocity_max_) ? wind_gust_velocity_max_ : wind_gust_strength;
// Get normal distribution wind gust direction
ignition::math::Vector3d wind_gust_direction;
wind_gust_direction.X() = wind_gust_direction_distribution_X_(wind_gust_direction_generator_);
wind_gust_direction.Y() = wind_gust_direction_distribution_Y_(wind_gust_direction_generator_);
wind_gust_direction.Z() = wind_gust_direction_distribution_Z_(wind_gust_direction_generator_);
wind_gust = wind_gust_strength * wind_gust_direction;
}
// Calculate the wind with the added ramped up wind component
double ramp_factor = 0.;
if (wind_ramp_duration_.Double() > 0) {
ramp_factor = constrain((now - wind_ramp_start_).Double() / wind_ramp_duration_.Double(), 0., 1.);
}
wind += ramp_factor * ramped_wind_vector;
gazebo::msgs::Vector3d* wind_v = new gazebo::msgs::Vector3d();
wind_v->set_x(wind.X() + wind_gust.X());
wind_v->set_y(wind.Y() + wind_gust.Y());
wind_v->set_z(wind.Z() + wind_gust.Z());
wind_msg.set_frame_id(frame_id_);
wind_msg.set_time_usec(now.Double() * 1e6);
wind_msg.set_allocated_velocity(wind_v);
wind_pub_->Publish(wind_msg);
}
GZ_REGISTER_WORLD_PLUGIN(GazeboWindPlugin);
}