Skip to content
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.

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

gazebo_plugins: Port the gazebo_ros_p3d plugin #845

Merged
merged 6 commits into from Jan 2, 2019

Conversation

@mjeronimo
Copy link

commented Nov 28, 2018

This is a port of the gazebo_ros_p3d plugin to ROS2. Tested with gazebo 9.0.0.

Example plugin XML:

<plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
  <ros>
    <namespace></namespace>
    <argument></argument>
  </ros>
  <update_rate>50.0</update_rate>
  <body_name>base_link</body_name>
  <topic_name>base_pose_ground_truth</topic_name>
  <frame_name>world</frame_name>
  <xyz_offsets>0 0 0</xyz_offsets>
  <rpy_offsets>0 0 0</rpy_offsets>
  <gaussian_noise>0.01</gaussian_noise>
</plugin>
@chapulina chapulina self-assigned this Nov 28, 2018
@chapulina chapulina added the ros2 label Nov 28, 2018
Copy link
Contributor

left a comment

Thank you again for the PR, @mjeronimo ! I know I left a lot of comments, but that's mainly our fault, not yours. A lot has changed from ROS 1 to ROS 2, and although we've been writing migration guides for downstream developers, we're lacking a guide specific for contributors like you. I'm going to work on this soon.

Meanwhile, besides the comments I left:

  • Please remove the files from .ros1_unported which you've ported
  • Please add a basic test for the plugin. You should be able to start from one of the tests for plugins already ported.
  • Also add a demo world with instructions similar to the ones here.
  • Add usage documentation to the header, see the other plugins for examples.
  • Add a migration guide for downstream users to the wiki.

I realize this seems like a lot, but hopefully the existing plugins will take you a long way. Don't hesitate to ask questions.

gazebo_plugins/src/gazebo_ros_p3d.cpp Outdated Show resolved Hide resolved
gazebo_plugins/src/gazebo_ros_p3d.cpp Outdated Show resolved Hide resolved
gazebo_plugins/src/gazebo_ros_p3d.cpp Outdated Show resolved Hide resolved
gazebo_plugins/src/gazebo_ros_p3d.cpp Outdated Show resolved Hide resolved
gazebo_plugins/src/gazebo_ros_p3d.cpp Outdated Show resolved Hide resolved
gazebo_plugins/src/gazebo_ros_p3d.cpp Outdated Show resolved Hide resolved
gazebo_plugins/src/gazebo_ros_p3d.cpp Outdated Show resolved Hide resolved
gazebo_plugins/src/gazebo_ros_p3d.cpp Outdated Show resolved Hide resolved
gazebo_plugins/src/gazebo_ros_p3d.cpp Outdated Show resolved Hide resolved
@chapulina chapulina force-pushed the mjeronimo:port-p3d-plugin branch from 29b50f8 to 662081a Dec 27, 2018
@chapulina

This comment has been minimized.

Copy link
Contributor

commented Dec 27, 2018

@mjeronimo , I went ahead and tackled the remaining items in the list:

Let me know if you have any concerns, I'm ready to merge once you approve the latest changes.

By the way, I also added a contribution guide here.

@mjeronimo

This comment has been minimized.

Copy link
Author

commented Jan 2, 2019

@chapulina Thanks! Looks good to me. I was planning to get back to this after vacation (just back today), but glad to see you've taken care of it.

@chapulina chapulina merged commit 1e4e107 into ros-simulation:ros2 Jan 2, 2019
0 of 2 checks passed
0 of 2 checks passed
Cpr__gazebo_ros_pkgs__ubuntu_bionic_amd64 Build finished.
Details
ros2_gazebo_pkgs-ci-pr_any_crystal-bionic-amd64 Build finished.
Details
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Projects
None yet
2 participants
You can’t perform that action at this time.