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gazebo_ros_api_plugin.cpp
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gazebo_ros_api_plugin.cpp
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/*
* Copyright 2013 Open Source Robotics Foundation
*
* 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.
*
*/
/* Desc: External interfaces for Gazebo
* Author: Nate Koenig, John Hsu, Dave Coleman
* Date: Jun 10 2013
*/
#include <gazebo/common/Events.hh>
#include <gazebo/gazebo_config.h>
#include "gazebo_ros_api_plugin.h"
namespace gazebo
{
GazeboRosApiPlugin::GazeboRosApiPlugin() :
physics_reconfigure_initialized_(false),
world_created_(false),
stop_(false),
plugin_loaded_(false)
{
robot_namespace_.clear();
}
GazeboRosApiPlugin::~GazeboRosApiPlugin()
{
ROS_DEBUG_STREAM_NAMED("api_plugin","GazeboRosApiPlugin Deconstructor start");
// Unload the sigint event
gazebo::event::Events::DisconnectSigInt(sigint_event_);
ROS_DEBUG_STREAM_NAMED("api_plugin","After sigint_event unload");
// Don't attempt to unload this plugin if it was never loaded in the Load() function
if(!plugin_loaded_)
{
ROS_DEBUG_STREAM_NAMED("api_plugin","Deconstructor skipped because never loaded");
return;
}
// Disconnect slots
gazebo::event::Events::DisconnectWorldUpdateBegin(wrench_update_event_);
gazebo::event::Events::DisconnectWorldUpdateBegin(force_update_event_);
gazebo::event::Events::DisconnectWorldUpdateBegin(time_update_event_);
ROS_DEBUG_STREAM_NAMED("api_plugin","Slots disconnected");
if (pub_link_states_connection_count_ > 0) // disconnect if there are subscribers on exit
gazebo::event::Events::DisconnectWorldUpdateBegin(pub_link_states_event_);
if (pub_model_states_connection_count_ > 0) // disconnect if there are subscribers on exit
gazebo::event::Events::DisconnectWorldUpdateBegin(pub_model_states_event_);
ROS_DEBUG_STREAM_NAMED("api_plugin","Disconnected World Updates");
// Stop the multi threaded ROS spinner
async_ros_spin_->stop();
ROS_DEBUG_STREAM_NAMED("api_plugin","Async ROS Spin Stopped");
// Shutdown the ROS node
nh_->shutdown();
ROS_DEBUG_STREAM_NAMED("api_plugin","Node Handle Shutdown");
// Shutdown ROS queue
gazebo_callback_queue_thread_->join();
ROS_DEBUG_STREAM_NAMED("api_plugin","Callback Queue Joined");
// Physics Dynamic Reconfigure
physics_reconfigure_thread_->join();
ROS_DEBUG_STREAM_NAMED("api_plugin","Physics reconfigure joined");
// Delete Force and Wrench Jobs
lock_.lock();
for (std::vector<GazeboRosApiPlugin::ForceJointJob*>::iterator iter=force_joint_jobs_.begin();iter!=force_joint_jobs_.end();)
delete (*iter);
force_joint_jobs_.clear();
ROS_DEBUG_STREAM_NAMED("api_plugin","ForceJointJobs deleted");
for (std::vector<GazeboRosApiPlugin::WrenchBodyJob*>::iterator iter=wrench_body_jobs_.begin();iter!=wrench_body_jobs_.end();)
delete (*iter);
wrench_body_jobs_.clear();
lock_.unlock();
ROS_DEBUG_STREAM_NAMED("api_plugin","WrenchBodyJobs deleted");
ROS_DEBUG_STREAM_NAMED("api_plugin","Unloaded");
}
void GazeboRosApiPlugin::shutdownSignal()
{
ROS_DEBUG_STREAM_NAMED("api_plugin","shutdownSignal() recieved");
stop_ = true;
}
void GazeboRosApiPlugin::Load(int argc, char** argv)
{
ROS_DEBUG_STREAM_NAMED("api_plugin","Load");
// connect to sigint event
sigint_event_ = gazebo::event::Events::ConnectSigInt(boost::bind(&GazeboRosApiPlugin::shutdownSignal,this));
// setup ros related
if (!ros::isInitialized())
ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler);
else
ROS_ERROR("Something other than this gazebo_ros_api plugin started ros::init(...), command line arguments may not be parsed properly.");
// check if the ros master is available - required
while(!ros::master::check())
{
ROS_WARN_STREAM_NAMED("api_plugin","No ROS master - start roscore to continue...");
// wait 0.5 second
usleep(500*1000); // can't use ROS Time here b/c node handle is not yet initialized
if(stop_)
{
ROS_WARN_STREAM_NAMED("api_plugin","Canceled loading Gazebo ROS API plugin by sigint event");
return;
}
}
nh_.reset(new ros::NodeHandle("~")); // advertise topics and services in this node's namespace
// Built-in multi-threaded ROS spinning
async_ros_spin_.reset(new ros::AsyncSpinner(0)); // will use a thread for each CPU core
async_ros_spin_->start();
/// \brief setup custom callback queue
gazebo_callback_queue_thread_.reset(new boost::thread( &GazeboRosApiPlugin::gazeboQueueThread, this) );
/// \brief start a thread for the physics dynamic reconfigure node
physics_reconfigure_thread_.reset(new boost::thread(boost::bind(&GazeboRosApiPlugin::physicsReconfigureThread, this)));
// below needs the world to be created first
load_gazebo_ros_api_plugin_event_ = gazebo::event::Events::ConnectWorldCreated(boost::bind(&GazeboRosApiPlugin::loadGazeboRosApiPlugin,this,_1));
plugin_loaded_ = true;
ROS_INFO("Finished loading Gazebo ROS API Plugin.");
}
void GazeboRosApiPlugin::loadGazeboRosApiPlugin(std::string world_name)
{
// make sure things are only called once
gazebo::event::Events::DisconnectWorldCreated(load_gazebo_ros_api_plugin_event_);
lock_.lock();
if (world_created_)
{
lock_.unlock();
return;
}
// set flag to true and load this plugin
world_created_ = true;
lock_.unlock();
world_ = gazebo::physics::get_world(world_name);
if (!world_)
{
//ROS_ERROR("world name: [%s]",world->GetName().c_str());
// connect helper function to signal for scheduling torque/forces, etc
ROS_FATAL("cannot load gazebo ros api server plugin, physics::get_world() fails to return world");
return;
}
gazebonode_ = gazebo::transport::NodePtr(new gazebo::transport::Node());
gazebonode_->Init(world_name);
//stat_sub_ = gazebonode_->Subscribe("~/world_stats", &GazeboRosApiPlugin::publishSimTime, this); // TODO: does not work in server plugin?
factory_pub_ = gazebonode_->Advertise<gazebo::msgs::Factory>("~/factory");
request_pub_ = gazebonode_->Advertise<gazebo::msgs::Request>("~/request");
response_sub_ = gazebonode_->Subscribe("~/response",&GazeboRosApiPlugin::onResponse, this);
// reset topic connection counts
pub_link_states_connection_count_ = 0;
pub_model_states_connection_count_ = 0;
/// \brief advertise all services
advertiseServices();
// hooks for applying forces, publishing simtime on /clock
wrench_update_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::wrenchBodySchedulerSlot,this));
force_update_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::forceJointSchedulerSlot,this));
time_update_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::publishSimTime,this));
}
void GazeboRosApiPlugin::onResponse(ConstResponsePtr &response)
{
}
void GazeboRosApiPlugin::gazeboQueueThread()
{
static const double timeout = 0.001;
while (nh_->ok())
{
gazebo_queue_.callAvailable(ros::WallDuration(timeout));
}
}
void GazeboRosApiPlugin::advertiseServices()
{
// publish clock for simulated ros time
pub_clock_ = nh_->advertise<rosgraph_msgs::Clock>("/clock",10);
// Advertise spawn services on the custom queue - DEPRECATED IN HYDRO
std::string spawn_gazebo_model_service_name("spawn_gazebo_model");
ros::AdvertiseServiceOptions spawn_gazebo_model_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::SpawnModel>(
spawn_gazebo_model_service_name,
boost::bind(&GazeboRosApiPlugin::spawnGazeboModel,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
spawn_gazebo_model_service_ = nh_->advertiseService(spawn_gazebo_model_aso);
// Advertise spawn services on the custom queue
std::string spawn_sdf_model_service_name("spawn_sdf_model");
ros::AdvertiseServiceOptions spawn_sdf_model_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::SpawnModel>(
spawn_sdf_model_service_name,
boost::bind(&GazeboRosApiPlugin::spawnSDFModel,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
spawn_sdf_model_service_ = nh_->advertiseService(spawn_sdf_model_aso);
// Advertise spawn services on the custom queue
std::string spawn_urdf_model_service_name("spawn_urdf_model");
ros::AdvertiseServiceOptions spawn_urdf_model_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::SpawnModel>(
spawn_urdf_model_service_name,
boost::bind(&GazeboRosApiPlugin::spawnURDFModel,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
spawn_urdf_model_service_ = nh_->advertiseService(spawn_urdf_model_aso);
// Advertise delete services on the custom queue
std::string delete_model_service_name("delete_model");
ros::AdvertiseServiceOptions delete_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::DeleteModel>(
delete_model_service_name,
boost::bind(&GazeboRosApiPlugin::deleteModel,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
delete_model_service_ = nh_->advertiseService(delete_aso);
// Advertise more services on the custom queue
std::string get_model_properties_service_name("get_model_properties");
ros::AdvertiseServiceOptions get_model_properties_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::GetModelProperties>(
get_model_properties_service_name,
boost::bind(&GazeboRosApiPlugin::getModelProperties,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
get_model_properties_service_ = nh_->advertiseService(get_model_properties_aso);
// Advertise more services on the custom queue
std::string get_model_state_service_name("get_model_state");
ros::AdvertiseServiceOptions get_model_state_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::GetModelState>(
get_model_state_service_name,
boost::bind(&GazeboRosApiPlugin::getModelState,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
get_model_state_service_ = nh_->advertiseService(get_model_state_aso);
// Advertise more services on the custom queue
std::string get_world_properties_service_name("get_world_properties");
ros::AdvertiseServiceOptions get_world_properties_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::GetWorldProperties>(
get_world_properties_service_name,
boost::bind(&GazeboRosApiPlugin::getWorldProperties,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
get_world_properties_service_ = nh_->advertiseService(get_world_properties_aso);
// Advertise more services on the custom queue
std::string get_joint_properties_service_name("get_joint_properties");
ros::AdvertiseServiceOptions get_joint_properties_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::GetJointProperties>(
get_joint_properties_service_name,
boost::bind(&GazeboRosApiPlugin::getJointProperties,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
get_joint_properties_service_ = nh_->advertiseService(get_joint_properties_aso);
// Advertise more services on the custom queue
std::string get_link_properties_service_name("get_link_properties");
ros::AdvertiseServiceOptions get_link_properties_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::GetLinkProperties>(
get_link_properties_service_name,
boost::bind(&GazeboRosApiPlugin::getLinkProperties,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
get_link_properties_service_ = nh_->advertiseService(get_link_properties_aso);
// Advertise more services on the custom queue
std::string get_link_state_service_name("get_link_state");
ros::AdvertiseServiceOptions get_link_state_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::GetLinkState>(
get_link_state_service_name,
boost::bind(&GazeboRosApiPlugin::getLinkState,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
get_link_state_service_ = nh_->advertiseService(get_link_state_aso);
// Advertise more services on the custom queue
std::string get_physics_properties_service_name("get_physics_properties");
ros::AdvertiseServiceOptions get_physics_properties_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::GetPhysicsProperties>(
get_physics_properties_service_name,
boost::bind(&GazeboRosApiPlugin::getPhysicsProperties,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
get_physics_properties_service_ = nh_->advertiseService(get_physics_properties_aso);
// publish complete link states in world frame
ros::AdvertiseOptions pub_link_states_ao =
ros::AdvertiseOptions::create<gazebo_msgs::LinkStates>(
"link_states",10,
boost::bind(&GazeboRosApiPlugin::onLinkStatesConnect,this),
boost::bind(&GazeboRosApiPlugin::onLinkStatesDisconnect,this),
ros::VoidPtr(), &gazebo_queue_);
pub_link_states_ = nh_->advertise(pub_link_states_ao);
// publish complete model states in world frame
ros::AdvertiseOptions pub_model_states_ao =
ros::AdvertiseOptions::create<gazebo_msgs::ModelStates>(
"model_states",10,
boost::bind(&GazeboRosApiPlugin::onModelStatesConnect,this),
boost::bind(&GazeboRosApiPlugin::onModelStatesDisconnect,this),
ros::VoidPtr(), &gazebo_queue_);
pub_model_states_ = nh_->advertise(pub_model_states_ao);
// Advertise more services on the custom queue
std::string set_link_properties_service_name("set_link_properties");
ros::AdvertiseServiceOptions set_link_properties_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::SetLinkProperties>(
set_link_properties_service_name,
boost::bind(&GazeboRosApiPlugin::setLinkProperties,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
set_link_properties_service_ = nh_->advertiseService(set_link_properties_aso);
// Advertise more services on the custom queue
std::string set_physics_properties_service_name("set_physics_properties");
ros::AdvertiseServiceOptions set_physics_properties_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::SetPhysicsProperties>(
set_physics_properties_service_name,
boost::bind(&GazeboRosApiPlugin::setPhysicsProperties,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
set_physics_properties_service_ = nh_->advertiseService(set_physics_properties_aso);
// Advertise more services on the custom queue
std::string set_model_state_service_name("set_model_state");
ros::AdvertiseServiceOptions set_model_state_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::SetModelState>(
set_model_state_service_name,
boost::bind(&GazeboRosApiPlugin::setModelState,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
set_model_state_service_ = nh_->advertiseService(set_model_state_aso);
// Advertise more services on the custom queue
std::string set_model_configuration_service_name("set_model_configuration");
ros::AdvertiseServiceOptions set_model_configuration_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::SetModelConfiguration>(
set_model_configuration_service_name,
boost::bind(&GazeboRosApiPlugin::setModelConfiguration,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
set_model_configuration_service_ = nh_->advertiseService(set_model_configuration_aso);
// Advertise more services on the custom queue
std::string set_joint_properties_service_name("set_joint_properties");
ros::AdvertiseServiceOptions set_joint_properties_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::SetJointProperties>(
set_joint_properties_service_name,
boost::bind(&GazeboRosApiPlugin::setJointProperties,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
set_joint_properties_service_ = nh_->advertiseService(set_joint_properties_aso);
// Advertise more services on the custom queue
std::string set_link_state_service_name("set_link_state");
ros::AdvertiseServiceOptions set_link_state_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::SetLinkState>(
set_link_state_service_name,
boost::bind(&GazeboRosApiPlugin::setLinkState,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
set_link_state_service_ = nh_->advertiseService(set_link_state_aso);
// Advertise topic on custom queue
// topic callback version for set_link_state
ros::SubscribeOptions link_state_so =
ros::SubscribeOptions::create<gazebo_msgs::LinkState>(
"set_link_state",10,
boost::bind( &GazeboRosApiPlugin::updateLinkState,this,_1),
ros::VoidPtr(), &gazebo_queue_);
set_link_state_topic_ = nh_->subscribe(link_state_so);
// topic callback version for set_model_state
ros::SubscribeOptions model_state_so =
ros::SubscribeOptions::create<gazebo_msgs::ModelState>(
"set_model_state",10,
boost::bind( &GazeboRosApiPlugin::updateModelState,this,_1),
ros::VoidPtr(), &gazebo_queue_);
set_model_state_topic_ = nh_->subscribe(model_state_so);
// Advertise more services on the custom queue
std::string pause_physics_service_name("pause_physics");
ros::AdvertiseServiceOptions pause_physics_aso =
ros::AdvertiseServiceOptions::create<std_srvs::Empty>(
pause_physics_service_name,
boost::bind(&GazeboRosApiPlugin::pausePhysics,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
pause_physics_service_ = nh_->advertiseService(pause_physics_aso);
// Advertise more services on the custom queue
std::string unpause_physics_service_name("unpause_physics");
ros::AdvertiseServiceOptions unpause_physics_aso =
ros::AdvertiseServiceOptions::create<std_srvs::Empty>(
unpause_physics_service_name,
boost::bind(&GazeboRosApiPlugin::unpausePhysics,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
unpause_physics_service_ = nh_->advertiseService(unpause_physics_aso);
// Advertise more services on the custom queue
std::string apply_body_wrench_service_name("apply_body_wrench");
ros::AdvertiseServiceOptions apply_body_wrench_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::ApplyBodyWrench>(
apply_body_wrench_service_name,
boost::bind(&GazeboRosApiPlugin::applyBodyWrench,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
apply_body_wrench_service_ = nh_->advertiseService(apply_body_wrench_aso);
// Advertise more services on the custom queue
std::string apply_joint_effort_service_name("apply_joint_effort");
ros::AdvertiseServiceOptions apply_joint_effort_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::ApplyJointEffort>(
apply_joint_effort_service_name,
boost::bind(&GazeboRosApiPlugin::applyJointEffort,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
apply_joint_effort_service_ = nh_->advertiseService(apply_joint_effort_aso);
// Advertise more services on the custom queue
std::string clear_joint_forces_service_name("clear_joint_forces");
ros::AdvertiseServiceOptions clear_joint_forces_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::JointRequest>(
clear_joint_forces_service_name,
boost::bind(&GazeboRosApiPlugin::clearJointForces,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
clear_joint_forces_service_ = nh_->advertiseService(clear_joint_forces_aso);
// Advertise more services on the custom queue
std::string clear_body_wrenches_service_name("clear_body_wrenches");
ros::AdvertiseServiceOptions clear_body_wrenches_aso =
ros::AdvertiseServiceOptions::create<gazebo_msgs::BodyRequest>(
clear_body_wrenches_service_name,
boost::bind(&GazeboRosApiPlugin::clearBodyWrenches,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
clear_body_wrenches_service_ = nh_->advertiseService(clear_body_wrenches_aso);
// Advertise more services on the custom queue
std::string reset_simulation_service_name("reset_simulation");
ros::AdvertiseServiceOptions reset_simulation_aso =
ros::AdvertiseServiceOptions::create<std_srvs::Empty>(
reset_simulation_service_name,
boost::bind(&GazeboRosApiPlugin::resetSimulation,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
reset_simulation_service_ = nh_->advertiseService(reset_simulation_aso);
// Advertise more services on the custom queue
std::string reset_world_service_name("reset_world");
ros::AdvertiseServiceOptions reset_world_aso =
ros::AdvertiseServiceOptions::create<std_srvs::Empty>(
reset_world_service_name,
boost::bind(&GazeboRosApiPlugin::resetWorld,this,_1,_2),
ros::VoidPtr(), &gazebo_queue_);
reset_world_service_ = nh_->advertiseService(reset_world_aso);
// set param for use_sim_time if not set by user already
nh_->setParam("/use_sim_time", true);
// todo: contemplate setting environment variable ROBOT=sim here???
}
void GazeboRosApiPlugin::onLinkStatesConnect()
{
pub_link_states_connection_count_++;
if (pub_link_states_connection_count_ == 1) // connect on first subscriber
pub_link_states_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::publishLinkStates,this));
}
void GazeboRosApiPlugin::onModelStatesConnect()
{
pub_model_states_connection_count_++;
if (pub_model_states_connection_count_ == 1) // connect on first subscriber
pub_model_states_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::publishModelStates,this));
}
void GazeboRosApiPlugin::onLinkStatesDisconnect()
{
pub_link_states_connection_count_--;
if (pub_link_states_connection_count_ <= 0) // disconnect with no subscribers
{
gazebo::event::Events::DisconnectWorldUpdateBegin(pub_link_states_event_);
if (pub_link_states_connection_count_ < 0) // should not be possible
ROS_ERROR("one too mandy disconnect from pub_link_states_ in gazebo_ros.cpp? something weird");
}
}
void GazeboRosApiPlugin::onModelStatesDisconnect()
{
pub_model_states_connection_count_--;
if (pub_model_states_connection_count_ <= 0) // disconnect with no subscribers
{
gazebo::event::Events::DisconnectWorldUpdateBegin(pub_model_states_event_);
if (pub_model_states_connection_count_ < 0) // should not be possible
ROS_ERROR("one too mandy disconnect from pub_model_states_ in gazebo_ros.cpp? something weird");
}
}
bool GazeboRosApiPlugin::spawnURDFModel(gazebo_msgs::SpawnModel::Request &req,
gazebo_msgs::SpawnModel::Response &res)
{
// get name space for the corresponding model plugins
robot_namespace_ = req.robot_namespace;
// incoming robot name
std::string model_name = req.model_name;
// incoming robot model string
std::string model_xml = req.model_xml;
if (!isURDF(model_xml))
{
ROS_ERROR("SpawnModel: Failure - model format is not URDF.");
res.success = false;
res.status_message = "SpawnModel: Failure - model format is not URDF.";
return false;
}
/// STRIP DECLARATION <? ... xml version="1.0" ... ?> from model_xml
/// @todo: does tinyxml have functionality for this?
/// @todo: should gazebo take care of the declaration?
{
std::string open_bracket("<?");
std::string close_bracket("?>");
size_t pos1 = model_xml.find(open_bracket,0);
size_t pos2 = model_xml.find(close_bracket,0);
if (pos1 != std::string::npos && pos2 != std::string::npos)
model_xml.replace(pos1,pos2-pos1+2,std::string(""));
}
// Now, replace package://xxx with the full path to the package
{
std::string package_prefix("package://");
size_t pos1 = model_xml.find(package_prefix,0);
while (pos1 != std::string::npos)
{
size_t pos2 = model_xml.find("/", pos1+10);
//ROS_DEBUG(" pos %d %d",(int)pos1, (int)pos2);
if (pos2 == std::string::npos || pos1 >= pos2)
{
ROS_ERROR("malformed package name?");
break;
}
std::string package_name = model_xml.substr(pos1+10,pos2-pos1-10);
//ROS_DEBUG("package name [%s]", package_name.c_str());
std::string package_path = ros::package::getPath(package_name);
if (package_path.empty())
{
ROS_FATAL("Package[%s] does not have a path",package_name.c_str());
res.success = false;
res.status_message = std::string("urdf reference package name does not exist: ")+package_name;
return false;
}
ROS_DEBUG_ONCE("Package name [%s] has path [%s]", package_name.c_str(), package_path.c_str());
model_xml.replace(pos1,(pos2-pos1),package_path);
pos1 = model_xml.find(package_prefix,0);
}
}
// ROS_DEBUG("Model XML\n\n%s\n\n ",model_xml.c_str());
req.model_xml = model_xml;
// Model is now considered convert to SDF
return spawnSDFModel(req,res);
}
// DEPRECATED IN HYDRO
bool GazeboRosApiPlugin::spawnGazeboModel(gazebo_msgs::SpawnModel::Request &req,
gazebo_msgs::SpawnModel::Response &res)
{
ROS_WARN_STREAM_NAMED("api_plugin","/gazebo/spawn_gazebo_model is deprecated, use /gazebo/spawn_sdf_model instead");
spawnSDFModel(req, res);
}
bool GazeboRosApiPlugin::spawnSDFModel(gazebo_msgs::SpawnModel::Request &req,
gazebo_msgs::SpawnModel::Response &res)
{
// incoming robot name
std::string model_name = req.model_name;
// get name space for the corresponding model plugins
robot_namespace_ = req.robot_namespace;
// get initial pose of model
gazebo::math::Vector3 initial_xyz(req.initial_pose.position.x,req.initial_pose.position.y,req.initial_pose.position.z);
// get initial roll pitch yaw (fixed frame transform)
gazebo::math::Quaternion initial_q(req.initial_pose.orientation.w,req.initial_pose.orientation.x,req.initial_pose.orientation.y,req.initial_pose.orientation.z);
// refernce frame for initial pose definition, modify initial pose if defined
gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->GetEntity(req.reference_frame));
if (frame)
{
// convert to relative pose
gazebo::math::Pose frame_pose = frame->GetWorldPose();
initial_xyz = frame_pose.rot.RotateVector(initial_xyz);
initial_xyz += frame_pose.pos;
initial_q *= frame_pose.rot;
}
/// @todo: map is really wrong, need to use tf here somehow
else if (req.reference_frame == "" || req.reference_frame == "world" || req.reference_frame == "map" || req.reference_frame == "/map")
{
ROS_DEBUG("SpawnModel: reference_frame is empty/world/map, using inertial frame");
}
else
{
res.success = false;
res.status_message = "SpawnModel: reference reference_frame not found, did you forget to scope the link by model name?";
return true;
}
// incoming robot model string
std::string model_xml = req.model_xml;
// store resulting Gazebo Model XML to be sent to spawn queue
// get incoming string containg either an URDF or a Gazebo Model XML
// grab from parameter server if necessary convert to SDF if necessary
stripXmlDeclaration(model_xml);
// put string in TiXmlDocument for manipulation
TiXmlDocument gazebo_model_xml;
gazebo_model_xml.Parse(model_xml.c_str());
// optional model manipulations: update initial pose && replace model name
if (isSDF(model_xml))
{
updateSDFAttributes(gazebo_model_xml, model_name, initial_xyz, initial_q);
// Walk recursively through the entire SDF, locate plugin tags and
// add robotNamespace as a child with the correct namespace
if (!this->robot_namespace_.empty())
{
// Get root element for SDF
TiXmlNode* model_tixml = gazebo_model_xml.FirstChild("sdf");
model_tixml = (!model_tixml) ?
gazebo_model_xml.FirstChild("gazebo") : model_tixml;
if (model_tixml)
{
walkChildAddRobotNamespace(model_tixml);
}
else
{
ROS_WARN("Unable to add robot namespace to xml");
}
}
}
else if (isURDF(model_xml))
{
updateURDFModelPose(gazebo_model_xml, initial_xyz, initial_q);
updateURDFName(gazebo_model_xml, model_name);
// Walk recursively through the entire URDF, locate plugin tags and
// add robotNamespace as a child with the correct namespace
if (!this->robot_namespace_.empty())
{
// Get root element for URDF
TiXmlNode* model_tixml = gazebo_model_xml.FirstChild("robot");
if (model_tixml)
{
walkChildAddRobotNamespace(model_tixml);
}
else
{
ROS_WARN("Unable to add robot namespace to xml");
}
}
}
else
{
ROS_ERROR("GazeboRosApiPlugin SpawnModel Failure: input xml format not recognized");
res.success = false;
res.status_message = std::string("GazeboRosApiPlugin SpawnModel Failure: input model_xml not SDF or URDF, or cannot be converted to Gazebo compatible format.");
return true;
}
// do spawning check if spawn worked, return response
return spawnAndConform(gazebo_model_xml, model_name, res);
}
bool GazeboRosApiPlugin::deleteModel(gazebo_msgs::DeleteModel::Request &req,
gazebo_msgs::DeleteModel::Response &res)
{
// clear forces, etc for the body in question
gazebo::physics::ModelPtr model = world_->GetModel(req.model_name);
if (!model)
{
ROS_ERROR("DeleteModel: model [%s] does not exist",req.model_name.c_str());
res.success = false;
res.status_message = "DeleteModel: model does not exist";
return true;
}
// delete wrench jobs on bodies
for (unsigned int i = 0 ; i < model->GetChildCount(); i ++)
{
gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(model->GetChild(i));
if (body)
{
// look for it in jobs, delete body wrench jobs
clearBodyWrenches(body->GetScopedName());
}
}
// delete force jobs on joints
gazebo::physics::Joint_V joints = model->GetJoints();
for (unsigned int i=0;i< joints.size(); i++)
{
// look for it in jobs, delete joint force jobs
clearJointForces(joints[i]->GetName());
}
// send delete model request
gazebo::msgs::Request *msg = gazebo::msgs::CreateRequest("entity_delete",req.model_name);
request_pub_->Publish(*msg,true);
ros::Duration model_spawn_timeout(60.0);
ros::Time timeout = ros::Time::now() + model_spawn_timeout;
// wait and verify that model is deleted
while (true)
{
if (ros::Time::now() > timeout)
{
res.success = false;
res.status_message = std::string("DeleteModel: Model pushed to delete queue, but delete service timed out waiting for model to disappear from simulation");
return true;
}
{
//boost::recursive_mutex::scoped_lock lock(*world->GetMRMutex());
if (!world_->GetModel(req.model_name)) break;
}
ROS_DEBUG("Waiting for model deletion (%s)",req.model_name.c_str());
usleep(1000);
}
// set result
res.success = true;
res.status_message = std::string("DeleteModel: successfully deleted model");
return true;
}
bool GazeboRosApiPlugin::getModelState(gazebo_msgs::GetModelState::Request &req,
gazebo_msgs::GetModelState::Response &res)
{
gazebo::physics::ModelPtr model = world_->GetModel(req.model_name);
gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->GetEntity(req.relative_entity_name));
if (!model)
{
ROS_ERROR("GetModelState: model [%s] does not exist",req.model_name.c_str());
res.success = false;
res.status_message = "GetModelState: model does not exist";
return true;
}
else
{
// get model pose
gazebo::math::Pose model_pose = model->GetWorldPose();
gazebo::math::Vector3 model_pos = model_pose.pos;
gazebo::math::Quaternion model_rot = model_pose.rot;
// get model twist
gazebo::math::Vector3 model_linear_vel = model->GetWorldLinearVel();
gazebo::math::Vector3 model_angular_vel = model->GetWorldAngularVel();
if (frame)
{
// convert to relative pose
gazebo::math::Pose frame_pose = frame->GetWorldPose();
model_pos = model_pos - frame_pose.pos;
model_pos = frame_pose.rot.RotateVectorReverse(model_pos);
model_rot *= frame_pose.rot.GetInverse();
// convert to relative rates
gazebo::math::Vector3 frame_vpos = frame->GetWorldLinearVel(); // get velocity in gazebo frame
gazebo::math::Vector3 frame_veul = frame->GetWorldAngularVel(); // get velocity in gazebo frame
model_linear_vel = frame_pose.rot.RotateVector(model_linear_vel - frame_vpos);
model_angular_vel = frame_pose.rot.RotateVector(model_angular_vel - frame_veul);
}
/// @todo: FIXME map is really wrong, need to use tf here somehow
else if (req.relative_entity_name == "" || req.relative_entity_name == "world" || req.relative_entity_name == "map" || req.relative_entity_name == "/map")
{
ROS_DEBUG("GetModelState: relative_entity_name is empty/world/map, using inertial frame");
}
else
{
res.success = false;
res.status_message = "GetModelState: reference relative_entity_name not found, did you forget to scope the body by model name?";
return true;
}
// fill in response
res.pose.position.x = model_pos.x;
res.pose.position.y = model_pos.y;
res.pose.position.z = model_pos.z;
res.pose.orientation.w = model_rot.w;
res.pose.orientation.x = model_rot.x;
res.pose.orientation.y = model_rot.y;
res.pose.orientation.z = model_rot.z;
res.twist.linear.x = model_linear_vel.x;
res.twist.linear.y = model_linear_vel.y;
res.twist.linear.z = model_linear_vel.z;
res.twist.angular.x = model_angular_vel.x;
res.twist.angular.y = model_angular_vel.y;
res.twist.angular.z = model_angular_vel.z;
res.success = true;
res.status_message = "GetModelState: got properties";
return true;
}
return true;
}
bool GazeboRosApiPlugin::getModelProperties(gazebo_msgs::GetModelProperties::Request &req,
gazebo_msgs::GetModelProperties::Response &res)
{
gazebo::physics::ModelPtr model = world_->GetModel(req.model_name);
if (!model)
{
ROS_ERROR("GetModelProperties: model [%s] does not exist",req.model_name.c_str());
res.success = false;
res.status_message = "GetModelProperties: model does not exist";
return true;
}
else
{
// get model parent name
gazebo::physics::ModelPtr parent_model = boost::dynamic_pointer_cast<gazebo::physics::Model>(model->GetParent());
if (parent_model) res.parent_model_name = parent_model->GetName();
// get list of child bodies, geoms
res.body_names.clear();
res.geom_names.clear();
for (unsigned int i = 0 ; i < model->GetChildCount(); i ++)
{
gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(model->GetChild(i));
if (body)
{
res.body_names.push_back(body->GetName());
// get list of geoms
for (unsigned int j = 0; j < body->GetChildCount() ; j++)
{
gazebo::physics::CollisionPtr geom = boost::dynamic_pointer_cast<gazebo::physics::Collision>(body->GetChild(j));
if (geom)
res.geom_names.push_back(geom->GetName());
}
}
}
// get list of joints
res.joint_names.clear();
gazebo::physics::Joint_V joints = model->GetJoints();
for (unsigned int i=0;i< joints.size(); i++)
res.joint_names.push_back( joints[i]->GetName() );
// get children model names
res.child_model_names.clear();
for (unsigned int j = 0; j < model->GetChildCount(); j++)
{
gazebo::physics::ModelPtr child_model = boost::dynamic_pointer_cast<gazebo::physics::Model>(model->GetChild(j));
if (child_model)
res.child_model_names.push_back(child_model->GetName() );
}
// is model static
res.is_static = model->IsStatic();
res.success = true;
res.status_message = "GetModelProperties: got properties";
return true;
}
return true;
}
bool GazeboRosApiPlugin::getWorldProperties(gazebo_msgs::GetWorldProperties::Request &req,
gazebo_msgs::GetWorldProperties::Response &res)
{
res.sim_time = world_->GetSimTime().Double();
res.model_names.clear();
for (unsigned int i = 0; i < world_->GetModelCount(); i ++)
res.model_names.push_back(world_->GetModel(i)->GetName());
gzerr << "disablign rendering has not been implemented, rendering is always enabled\n";
res.rendering_enabled = true; //world->GetRenderEngineEnabled();
res.success = true;
res.status_message = "GetWorldProperties: got properties";
return true;
}
bool GazeboRosApiPlugin::getJointProperties(gazebo_msgs::GetJointProperties::Request &req,
gazebo_msgs::GetJointProperties::Response &res)
{
gazebo::physics::JointPtr joint;
for (unsigned int i = 0; i < world_->GetModelCount(); i ++)
{
joint = world_->GetModel(i)->GetJoint(req.joint_name);
if (joint) break;
}
if (!joint)
{
res.success = false;
res.status_message = "GetJointProperties: joint not found";
return true;
}
else
{
/// @todo: FIXME
res.type = res.REVOLUTE;
res.damping.clear(); // to be added to gazebo
//res.damping.push_back(joint->GetDamping(0));
res.position.clear(); // use GetAngle(i)
res.position.push_back(joint->GetAngle(0).Radian());
res.rate.clear(); // use GetVelocity(i)
res.rate.push_back(joint->GetVelocity(0));
res.success = true;
res.status_message = "GetJointProperties: got properties";
return true;
}
}
bool GazeboRosApiPlugin::getLinkProperties(gazebo_msgs::GetLinkProperties::Request &req,
gazebo_msgs::GetLinkProperties::Response &res)
{
gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->GetEntity(req.link_name));
if (!body)
{
res.success = false;
res.status_message = "GetLinkProperties: link not found, did you forget to scope the link by model name?";
return true;
}
else
{
/// @todo: validate
res.gravity_mode = body->GetGravityMode();
res.mass = body->GetInertial()->GetMass();
gazebo::physics::InertialPtr inertia = body->GetInertial();
res.ixx = inertia->GetIXX();
res.iyy = inertia->GetIYY();
res.izz = inertia->GetIZZ();
res.ixy = inertia->GetIXY();
res.ixz = inertia->GetIXZ();
res.iyz = inertia->GetIYZ();
gazebo::math::Vector3 com = body->GetInertial()->GetCoG();
res.com.position.x = com.x;
res.com.position.y = com.y;
res.com.position.z = com.z;
res.com.orientation.x = 0; // @todo: gazebo do not support rotated inertia yet
res.com.orientation.y = 0;
res.com.orientation.z = 0;
res.com.orientation.w = 1;
res.success = true;
res.status_message = "GetLinkProperties: got properties";
return true;
}
}
bool GazeboRosApiPlugin::getLinkState(gazebo_msgs::GetLinkState::Request &req,
gazebo_msgs::GetLinkState::Response &res)
{
gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->GetEntity(req.link_name));
gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->GetEntity(req.reference_frame));
if (!body)
{
res.success = false;
res.status_message = "GetLinkState: link not found, did you forget to scope the link by model name?";
return true;
}
// get body pose
gazebo::math::Pose body_pose = body->GetWorldPose();
// Get inertial rates