Publish IR Opcodes #66

rjcausarano · 2021-10-02T05:28:44Z

Description

This PR Adds:

Visual rays to the robot to represent the Omnidirectional IR receiver and the Forward facing IR receiver.
Visual rays to the dock to represent the Force Field (Halo) IR emitter and the Red and Green IR emitter Buoys.

A gazebo plugin that published IR Opcodes that describe what the robot receivers see from the dock's emitters

Fixes #61 Fixes #84

Type of change

Bug fix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)

How Has This Been Tested?

To test you can teleop the robot and position it in different poses around the dock. The published IR Opcode should reflect what the rays visuals show in gazebo. When the robot's receivers intersect the dock's emitters the corresponding IR Opcode should be published.
Keep in mind that an IR Opcode msg with sensor = 0 represents the Omni receiver and sensor = 1 represents the forward facing receiver.

Checklist

I have performed a self-review of my own code
I have commented my code, particularly in hard-to-understand areas
I have made corresponding changes to the documentation
Remove hardcoded visualization flags before merge

rjcausarano · 2021-10-02T23:08:03Z

As of now this PR is in WIP state. The dock's emitter range and fov parameters are hard-coded to the plugin. The idea is to detect these parameters within the plugin automatically.

eborghi10 · 2021-10-04T11:18:08Z

Visual rays to the robot to represent the Omnidirectional IR receiver and the Forward facing IR receiver.

Visual rays to the dock to represent the Force Field (Halo) IR emitter and the Red and Green IR emitter Buoys.

Do you have a screenshot to see how it looks like?

irobot_create_description/urdf/create3.urdf.xacro

irobot_create_description/urdf/dock/ir_emitter.urdf.xacro

irobot_create_description/urdf/dock/standard.urdf.xacro

irobot_create_gazebo_plugins/src/gazebo_ros_ir_opcode.cpp

rjcausarano

All comments addressed!

irobot_create_gazebo_plugins/CMakeLists.txt

irobot_create_gazebo_plugins/include/irobot_create_gazebo_plugins/docking_manager.hpp

irobot_create_gazebo_plugins/include/irobot_create_gazebo_plugins/gazebo_ros_ir_opcode.hpp

irobot_create_gazebo_plugins/src/gazebo_ros_ir_opcode.cpp

apojomovsky

Thanks for the changes, Rodri.
Left a round of comments for you. PTAL.

irobot_create_gazebo_plugins/src/docking_manager.cpp

irobot_create_description/urdf/dock/ir_emitter.urdf.xacro

irobot_create_description/urdf/dock/standard.urdf.xacro

irobot_create_gazebo_plugins/src/docking_manager.cpp

irobot_create_gazebo_plugins/src/gazebo_ros_ir_opcode.cpp

irobot_create_description/urdf/dock/standard.urdf.xacro

irobot_create_gazebo_plugins/include/irobot_create_gazebo_plugins/gazebo_ros_ir_opcode.hpp

irobot_create_gazebo_plugins/src/docking_manager.cpp

irobot_create_gazebo_plugins/src/gazebo_ros_ir_opcode.cpp

rjcausarano · 2021-10-13T16:45:38Z

@eborghi10 All your comments were addressed

rjcausarano · 2021-10-13T17:38:11Z

@apojomovsky @lchico @LolaSegura @eborghi10 I finally got pipelines to pass. Can I please get a review?

lchico

Wow, the PR looks very nice! I left some comments! Thanks for the hard works done here!

irobot_create_description/urdf/dock/ir_emitter.urdf.xacro

irobot_create_description/urdf/sensors/ir_opcode_receivers.urdf.xacro

irobot_create_gazebo_plugins/include/irobot_create_gazebo_plugins/docking_manager.hpp

irobot_create_gazebo_plugins/include/irobot_create_gazebo_plugins/gazebo_ros_ir_opcode.hpp

fixed plugin dock with links Halo detection Force field detection working Buoy detection working Publishing IR opcodes for both Force field and buoys detection Fix clang format Improved Red, Green and Yellow Buoys detection Update gazebo_ros_ir_opcode.cpp Fixes red and green buoy detection Fix corner case when buoys are detected when they shouldn't Update irobot_create_description/urdf/create3.urdf.xacro Co-authored-by: Emiliano Borghi <creativa_eborghi@irobot.com> Update irobot_create_description/urdf/dock/ir_emitter.urdf.xacro Co-authored-by: Emiliano Borghi <creativa_eborghi@irobot.com> Update irobot_create_description/urdf/dock/standard.urdf.xacro Co-authored-by: Emiliano Borghi <creativa_eborghi@irobot.com> Update irobot_create_description/urdf/dock/standard.urdf.xacro Co-authored-by: Emiliano Borghi <creativa_eborghi@irobot.com> Update irobot_create_gazebo_plugins/src/gazebo_ros_ir_opcode.cpp Co-authored-by: Emiliano Borghi <creativa_eborghi@irobot.com> Fix update_rate Created docking_manager class Improvements to class renames file Both sensors in a single plugin to ensure publish rate self review Address peer review comments Unused includes removed, fixed clang_format Address comments Stop using Vector2d to represent polar coordinates const references for docking manager Adding const where needed Address code style comments New opcodes logic Updates IR opcode logic publish rate at 31 Hz corrects comment Debug message instead of WARN fix base_link Lint errors Fix lint restore file

irobot_create_gazebo_plugins/include/irobot_create_gazebo_plugins/gazebo_ros_ir_opcode.hpp

irobot_create_gazebo_plugins/src/gazebo_ros_ir_opcode.cpp

irobot_create_description/urdf/dock/standard.urdf.xacro

irobot_create_gazebo_plugins/include/irobot_create_gazebo_plugins/docking_manager.hpp

irobot_create_gazebo_plugins/include/irobot_create_gazebo_plugins/gazebo_ros_ir_opcode.hpp

irobot_create_gazebo_plugins/src/gazebo_ros_ir_opcode.cpp

irobot_create_gazebo_plugins/CMakeLists.txt

rjcausarano · 2021-10-14T18:45:16Z

@eborghi10 @lchico @apojomovsky All your comments were addressed will you PTAL?

.gitignore

irobot_create_description/urdf/create3.urdf.xacro

irobot_create_description/urdf/dock/standard.urdf.xacro

irobot_create_gazebo_plugins/include/irobot_create_gazebo_plugins/gazebo_ros_ir_opcode.hpp

irobot_create_gazebo_plugins/src/gazebo_ros_ir_opcode.cpp

rjcausarano

@eborghi10 @lchico @apojomovsky Can I get a review?

apojomovsky

LGTM

rjcausarano added the WIP PR is not ready for review label Oct 2, 2021

rjcausarano added this to the release milestone Oct 2, 2021

rjcausarano self-assigned this Oct 2, 2021

rjcausarano added this to In progress in Create 3 via automation Oct 2, 2021

eborghi10 requested changes Oct 4, 2021

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Create 3 automation moved this from In progress to Review in progress Oct 4, 2021

rjcausarano mentioned this pull request Oct 4, 2021

Rename tf frame to match the real robot model #63

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rjcausarano changed the title ~~[WIP] Publish IR Opcodes~~ Publish IR Opcodes Oct 11, 2021

rjcausarano added please review PR is ready for review and removed WIP PR is not ready for review labels Oct 11, 2021

rjcausarano commented Oct 11, 2021

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eborghi10 requested changes Oct 12, 2021

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shamlian mentioned this pull request Oct 12, 2021

Dock should produce buoy and forcefield codes separately. #84

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rjcausarano force-pushed the rjcausarano/ir_opcode branch 2 times, most recently from d2fa814 to d3c76b4 Compare October 12, 2021 19:11

rjcausarano commented Oct 12, 2021

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rjcausarano force-pushed the rjcausarano/ir_opcode branch from 5c3bd97 to 6351e58 Compare October 13, 2021 17:15

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Luis' comments

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rjcausarano added 5 commits October 14, 2021 11:09

Another review address round

e528ecb

Rename functions

27b6129

modify SensorParams

f4fb1c4

Fix lint

668012c

rename variable

05ebf85

eborghi10 requested changes Oct 14, 2021

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Address comments

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rjcausarano commented Oct 15, 2021

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Fix collision offset

bb3b995

apojomovsky approved these changes Oct 15, 2021

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eborghi10 approved these changes Oct 15, 2021

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rjcausarano merged commit 3ee5792 into master Oct 15, 2021

Create 3 automation moved this from Review in progress to Done Oct 15, 2021

rjcausarano deleted the rjcausarano/ir_opcode branch October 15, 2021 12:37

apojomovsky mentioned this pull request Oct 15, 2021

Links need correction #87

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Publish IR Opcodes #66

Publish IR Opcodes #66

rjcausarano commented Oct 2, 2021 •

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Publish IR Opcodes #66

Publish IR Opcodes #66

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rjcausarano commented Oct 2, 2021 • edited Loading

Description

Type of change

How Has This Been Tested?

Checklist

rjcausarano commented Oct 2, 2021

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rjcausarano commented Oct 2, 2021 •

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