Skip to content

[as2_ign_gazebo_assets] Added debug model for visualize in rviz #202

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Mar 24, 2023
Merged

[as2_ign_gazebo_assets] Added debug model for visualize in rviz #202

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
36 changes: 36 additions & 0 deletions as2_simulation_assets/as2_ign_gazebo_assets/models/windmill/windmill.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -130,6 +130,42 @@
</plugin>
</include>

<model name="debug_viz">
<pose relative_to="blades_link">
0.0 0.0 0.0 0 0 -1.57
</pose>
<link name='debug_viz_link'>
<visual name="debug_viz">
<geometry>
<box>
<size>0.25 0.25 0.25</size>
</box>
</geometry>
<material>
<ambient>0 0 0 1</ambient>
<diffuse>0 0 0 1</diffuse>
<specular>0 0 0 0</specular>
<emissive>0 1 0 1</emissive>
</material>
</visual>
</link>
<plugin filename="ignition-gazebo-pose-publisher-system"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>true</publish_nested_model_pose>
<publish_model_pose>true</publish_model_pose>
<use_pose_vector_msg>false</use_pose_vector_msg>
<static_publisher>false</static_publisher>
<update_frequency>10</update_frequency>
</plugin>
</model>
<joint name="debug_viz_joint" type="fixed">
<parent>blades_link</parent>
<child>debug_viz::debug_viz_link</child>
</joint>

<joint name="gps_joint" type="fixed">
<parent>motor_link</parent>
<child>gps</child>
Expand Down
2 changes: 1 addition & 1 deletion as2_simulation_assets/as2_ign_gazebo_assets/src/ign_assets/bridges.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,7 @@ def pose_static(model_name):
ign_type='ignition.msgs.Pose_V',
ros_type='tf2_msgs/msg/TFMessage',
direction=BridgeDirection.IGN_TO_ROS)


def cmd_vel(model_name):
return Bridge(
Expand Down
37 changes: 23 additions & 14 deletions as2_simulation_assets/as2_ign_gazebo_assets/src/ign_assets/model.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,16 +15,17 @@
import codecs
import os
import subprocess
import json
from abc import ABC, abstractmethod

from ament_index_python.packages import get_package_share_directory

from launch_ros.actions import Node
from ign_assets.bridge import Bridge, BridgeDirection

import ign_assets.bridges

import yaml
import json


UAVS = [
Expand Down Expand Up @@ -429,8 +430,16 @@ def bridges(self, world_name):
# ign_assets.bridges.pose(self.model_name),
# pose static
# ign_assets.bridges.pose_static(self.model_name),

]
# TODO: temporal
if self.model_type == 'windmill':
bridges.append(
Bridge(ign_topic='/model/windmill_0/model/debug_viz/pose',
ros_topic='debug/pose',
ign_type='ignition.msgs.Pose',
ros_type='geometry_msgs/msg/PoseStamped',
direction=BridgeDirection.IGN_TO_ROS)
)
nodes = []
if (self.model_type in gps_object_models()):
nodes = [Node(
Expand All @@ -456,18 +465,18 @@ def bridges(self, world_name):
]
)]
nodes.extend([Node(
package='as2_ign_gazebo_assets',
executable='object_tf_broadcaster',
namespace=self.model_name,
output='screen',
parameters=[
{
'world_frame': 'earth',
'namespace': self.model_name,
'world_name': world_name,
}
]
)])
package='as2_ign_gazebo_assets',
executable='object_tf_broadcaster',
namespace=self.model_name,
output='screen',
parameters=[
{
'world_frame': 'earth',
'namespace': self.model_name,
'world_name': world_name,
}
]
)])
bridges.extend(self.joint_bridges())

return bridges, nodes
Expand Down