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Add Ignition simulation plugins and demos #152
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…gn demo Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
…d refactor with existing Gazebo plugins (#124) * Create initial TeleportIngestor and TeleportDispenser Ignition plugins New ignition plugins mimic behavior of the existing Gazebo plugins with the same name. Also created empty new rmf_plugins_common package which will house code common to both the Ignition and Gazebo plugins. * Create modularized TeleportDispenser Ignition and Gazebo plugins Modify Gazebo plugin to mimic asynchronous control flow of the Ignition plugin. Refactor both plugins to separate the ROS node and message passing from the simulation aspects, moving the former to the new TeleportDispenserCommon class. Currently, the TeleportDispenser state and any publishers/subscribers are in the TeleportDispenserCommonClass, while any functions to locate and move objects are located in the respective Ignition/Gazebo plugin classes. * Create modularized TeleportIngestor Ignition and Gazebo plugins Modify Gazebo plugin to mimic asynchronous control flow of the Ignition plugin. Refactor both plugins to separate the ROS node and message passing from the simulation aspects, moving the former to the new TeleportIngestorCommon class. * Miscellaneous minor enhancements and cleanup - Check if ingestor is filled before attempting to ingest item. - Check if bounding box of ingestor contains item in addition to merely checking distance. - Send failure status for ingesting if request does not succeed. - Move _non_static_init_model_poses to TeleportIngestorCommon - Standardize indentation to 2 spaces and remove redundant includes - Move function definitions out of class - Remove logger() function - Simplify plugin names amd change Teleport{Ingestor|Dispenser}Common member object names - Add comments * Use AxisAlignedBox component(s) when dispensing items Creates an AxisAlignedBox (AABB) component for item to be dispensed. When dispensing item, uses the AABB of the robot model to calculate its subsequent position. Also adds minor indentation changes for various functions. * Update Changelog for rmf_ignition_plugins Update Changelog description for new package containing Ignition Gazebo plugins for the rmf demos. * Incorporate rmf_ingestor_msgs and enable demos to run with Gazebo >9 Modifies Ignition and Gazebo TeleportIngestor plugins to send receive messages defined in rmf_ingestor_msgs. Adds flags to check for Gazebo version and create bounding boxes of the appropriate type. Lastly, modifies CMakeLists and package.xml files where appropriate to run with the latest Gazebo versions. * Change indentation and formatting to adhere to style guidelines Adjust indentation, line widths and spacing. Remove underscores for public var names in classes. Add Ignition plugin paths to Airport and Lift demos. * Refactor utils lib and Ingestor/Dispenser code structure improvements - Move utils library to rmf_plugins_common package - Removes `_load_complete` flag where not necessary. - Upgrades sdformat version form 9 to 10 - Incorporates static() checking when generating robot lists instead of in `find_nearest_non_static_model()` - ingest_from_nearest_robot and dispense_onto_nearest_robot now return boolean values instead of void * Use generic callback fns for Ingesting/Dispensing Moves the bulk of the code in the TeleportIngestor and TeleportDispensers' on_update() or pre_update() functions into common functions. Passes callback functions to the common function instead to inject ignition/gazebo-specific code. * Ignition Math version bump Use ign-math6 instead of ign-math4. Minor style changes to request_lift.py * Fix ign-math dependency in rmf_plugins_common * Shift simulation_now and response construction into utils Refactor TeleportIngestorCommon and TeleportDispenserCommon to move common functions into utils library where possible. * Move dispenser refill check and current_state updates to common TeleportDispenserCommon Moves the periodic check for refilling the dispenser into the TeleportDispenserCommon class. Also moves the current_state updates to the common classes to ensure no publishers or subscribers are needed in the individual Ignition or Gazebo plugin classes. * Move ingesting and disepnsing control logic to common classes Creates a new SimEntity class to hold identifiers for either Ignition or Gazebo simulations. This enables dispense_on_nearest() and ingest_from_nearest_robot() to be moved to the common classes, with callbacks injected for simulation specific tasks such as moving objects or identifying the nearest objects. * Modify SimEntity struct field to be dependent on simulator type Accessing the entity or name field of a SimEntity object is now dependent on the Simulator type it is to be used for, which is implicitly specified when first initializing a SimEntity object. * Fix Dispenser bounding box generation - Store the bounding box created in _dispenser_vicinity_box and use that value instead of assigning it to the Dispenser's BoundingBox/AxisAlignedBox property. - Mention use of new rmf_ingestor_msgs in changelog * Convert utils functions to generic versions Remove any dependency on Gazebo or sdformat in the sim_utils library by converting existing functions to templated versions. Clean up dependencies in the corresponding CMakeLists file. * Convert Pose data to Eigen Isometry values to work with multiple Gazebo versions Create template functions to convert between the Pose data type and Eigen Isometry3d values, and incorporate these into the TeleportIngestor plugins. Removes the dependency on Ignition Math 6 and enables it to work with both Gazebo 11 and 9. * Fix Eigen3 Dependencies in CMakeLists file Add Eigen3 as target dependency for TeleporIngestorCommon and move template functions from utils to TeleportIngestorCommon.
* Create functional Readonly Ignition plugin and replace map placeholders New Readonly Ignition plugin mimics the existing Gazebo readonly plugin in terms of behavior. robot_placeholder(s) in the Airport Terminal map have been replaced with the actual robots themselves. * Refactor Readonly Gazebo plugin to use ReadonlyCommon class Moves all non simulator specific code to the ReadOnlyCommon class for reuse by other simulator plugins. Refactor the existing Gazebo Readonly plugin to make use of this common class. * Refactor Readonly Ignition plugin to make use of ReadonlyCommon class Move non Ignition Gazebo specific code to the common class. Amend CmakeLists file to remove redundant includes. * Fix airport demo launch files Edit description for ignition airport demo launch files, and set default caddy model plugin name in sdf file to point to the Gazebo plugin. * Enable both differential drive plugins to work without needing to recompile - Add both diff drive plugins to sdf file. Serves as a workaround to run both Ignition and Gazebo classic simulations without needing to edit the Caddy sdf file to modify plugin names. - Convert CMake target_link_libraries to ament_target_directories. Remove comment markers around caddy in launch file. * Remove ignition math dependency and substitute Eigen library Removes use of ignition math in ReadonlyCommon, by replacing it with equivalent Eigen types and functions. Added minor comments in the Caddy sdf file describing addition of both plugins, as well as some in the readonly plugin. * Miscellaneous minor Readonly plugin improvements - Pass pose and sim time as arguments to `on_update` function to ensure they get computed each time - Removed unused `update_count` variable - Added getter/setter for name variable in `ReadonlyCommon` and changed its access specifier from public to private - Modified mutex name to be more descriptive * Remove _pose and _sim_time local variables from Readonly plugin classes Initialize the aforementioned variables in the `on_update()` function instead.
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
…demo (#144) * Add paths to Ignition GUI plugins Modify ignition demo launch files to add path to Ignition GUI plugins.
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Currently, the wheels of the TinyRobot slip when attempting to turn on Ignition with the DART physics engine. This fix modifies the mass slightly for now, to allow it to run smoothly.
… on Ignition (#150) * Send Ignition transport messages from TeleportIngestor and Dispenser Required for slotcar plugin to know when a payload has been dispensed to/ ingested from it. * Add Clinic Ignition demo launch file * Reset velocity cmds when ingesting object Makes TeleportIngestor responsible for all movement of object once it has been ingested. Remove debugging statements and modifies some comments. * Change TeleportIngestor ignition msg type from Uint64 to Entity Improves maintainability if the current Entity type were ever to change in Ignition. Also makes a few code style improvements.
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Yadunund
suggested changes
Nov 2, 2020
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Thanks for this amazing effort to support demos with ignition. In evaluating this PR, I tried to launch the various demos in gazebo and ignition to test basic functionality (after performing a clean build). I ran into errors (mostly linking with rmf_plugin_utils) when trying to launch worlds as described below.
Office world:
- Simulation crashes during startup when launched with gazebo (without fail each time).
[gzserver-9] gzserver: symbol lookup error: /home/yadu/rmf_demos_ws/install/rmf_plugins_common/lib/libdispenser_common.so: undefined symbol: _ZN17rmf_plugins_utils14simulation_nowEd [ERROR] [gzserver-9]: process has died [pid 9254, exit code 127, cmd 'gzserver --verbose -s libgazebo_ros_factory.so -s libgazebo_ros_init.so /home/yadu/rmf_demos_ws/install/rmf_demo_maps/share/rmf_demo_maps/maps/office/office.world'].
Demangled symbol :rmf_plugins_utils::simulation_now(double)
Airport world:
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Ign simulation crashes at launch with error:
[ign-9] ign gazebo server: symbol lookup error: /home/yadu/rmf_demos_ws/install/rmf_plugins_common/lib/libreadonly_common.so: undefined symbol: _ZN17rmf_plugins_utils14simulation_nowEd
Demangled symbol:rmf_plugins_utils::simulation_now(double) -
Gazebo simulation crashes at launch with error
[gzserver-9] [libprotobuf ERROR google/protobuf/descriptor_database.cc:58] File already exists in database: ignition/msgs/actor.proto [gzserver-9] [libprotobuf FATAL google/protobuf/descriptor.cc:1358] CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size): [gzserver-9] terminate called after throwing an instance of 'google::protobuf::FatalException' [gzserver-9] what(): CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size): [gzclient-10] [INFO] [1604284988.355876535] [gazebo_ros_node]: ROS was initialized without arguments. [ERROR] [gzserver-9]: process has died [pid 10265, exit code -6, cmd 'gzserver --verbose -s libgazebo_ros_init.so -s libgazebo_ros_factory.so /home/yadu/rmf_demos_ws/install/rmf_demo_maps/share/rmf_demo_maps/maps/airport_terminal/airport_terminal.world']. [gzserver-9]
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The linking problem related to On a side note, since we have replaced the robot placeholders with robot models in the airport world, we can go ahead and delete the |
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
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Went through a clean build, yet still facing issue on crowdsim plugin: |
Do you have the latest traffic editor master? |
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@luca-della-vedova yes, latest |
It shouldn't be an issue but did you include menge in your workspace? |
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Did another clean build after pulling master on
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Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
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OK!
"Fixed" in the last commit. I had to comment out the ignition caddy plugin which means the caddy in ignition is not working but at least it won't break the existing simulation, we can figure out how to load its plugin in a future PR.
This should be fixed in the traffic_editor PR #262 |
Yadunund
approved these changes
Nov 11, 2020
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This (large!) PR introduces support for Ignition Gazebo in RMF demos, it includes:
office.launch.xmlbecomesoffice_ign.launch.xml).rmf_demos_pluginshave been refactored in common library + ignition / gazebo wrapper, the same way it has been done in traffic_editor.ros_ign, used for synchronizing Ignition and ROS clock, as well asmenge_coreused for crowd simulation (no crowd simulation demos have been generated yet).For now all the simulations run with the DART physics engine. Support for the higher performance TPE is in progress, there is still a few features pending in the core libraries.
Testing any of the environments should be as simple as building the new packages in the yaml file, running
sudo apt install ignition-domeand appendinguse_ignition:=1when launching demos through theros2 launch.