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[ros2] Port F3d and FTSensor plugin to ros2 #921

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merged 4 commits into from Jun 18, 2019

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@shiveshkhaitan
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commented May 6, 2019

Port gazebo_ros_f3d plugin to ROS2.

Example:

<plugin name="gazebo_ros_f3d" filename="libgazebo_ros_f3d.so">
    <ros>
        <!-- Add a namespace -->
        <namespace>/demo</namespace>
        <!-- Remap the default topic -->
        <argument>wrench:=wrench_demo</argument>
    </ros>

    <!-- Link name -->
    <body_name>link</body_name>
    
    <!-- Frame id of published message -->
    <frame_name>demo_world</frame_name>

</plugin>

@chapulina chapulina self-requested a review May 6, 2019

@chapulina chapulina added the ros2 label May 6, 2019

@chapulina chapulina self-assigned this May 10, 2019

@shiveshkhaitan shiveshkhaitan force-pushed the shiveshkhaitan:f3d_plugin branch from f6d54bc to 203c392 May 27, 2019

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commented May 27, 2019

Merged similar plugins gazebo_ros_f3d and gazebo_ros_ft_sensor into gazebo_ros_ft_sensor for ROS2.

Example:

<plugin name="gazebo_ros_ft_sensor" filename="libgazebo_ros_ft_sensor.so">
    <ros>
        <!-- Add a namespace -->
        <namespace>/demo</namespace>
        <!-- Remap the default topic -->
        <argument>wrench:=wrench_demo</argument>
    </ros>

    <!-- Link name -->
    <body_name>link</body_name>
    
    <!-- Frame id of published message -->
    <frame_name>demo_world</frame_name>
    
    <!-- Update rate in Hz, defaults to 0.0, which means as fast as possible -->
    <update_rate>1</update_rate>

    <!-- Standard deviation of the noise to be added to the reported wrench messages. -->
    <gaussian_noise>0.01</gaussian_noise>
</plugin>

If <body_name> is specified, it acts as original f3d_plugin. Otherwise if <joint_name> is specified, it acts as original ft_sensor

@shiveshkhaitan shiveshkhaitan changed the title [ros2] Port F3d plugin to ros2 [ros2] Port F3d and FTSensor plugin to ros2 May 27, 2019

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commented Jun 4, 2019

Migration guides are available at ROS 2 Migration: FT sensor and ROS 2 Migration: F3D

@chapulina
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Thank you for the migration guides, this works for me!

I just have a few minor comments. Also, don't forget to delete gazebo_ros_ft_sensor from .ros1_unported

gazebo_plugins/src/gazebo_ros_ft_sensor.cpp Outdated Show resolved Hide resolved
gazebo_plugins/src/gazebo_ros_ft_sensor.cpp Outdated Show resolved Hide resolved
gazebo_plugins/src/gazebo_ros_ft_sensor.cpp Outdated Show resolved Hide resolved
gazebo_plugins/test/test_gazebo_ros_ft_sensor.cpp Outdated Show resolved Hide resolved

@chapulina chapulina merged commit a3e05f7 into ros-simulation:ros2 Jun 18, 2019

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@shiveshkhaitan shiveshkhaitan deleted the shiveshkhaitan:f3d_plugin branch Jun 22, 2019

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