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[ros2] Port elevator to ROS2 #945

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merged 1 commit into from Jul 11, 2019

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@shiveshkhaitan
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commented Jul 4, 2019

Port gazebo_ros_elevator plugin to ROS2.

Example:

 <plugin name="elevator" filename="libgazebo_ros_elevator.so">
  <ros>
    <namespace>demo</namespace>
    <argument>elevator:=elevator_demo</argument>
  </ros>
  <bottom_floor>0</bottom_floor>
  <top_floor>1</top_floor>

  <lift_joint>elevator::lift</lift_joint>
  <door_joint>elevator::door</door_joint>
  <floor_height>3.075</floor_height>

  <!-- Time the elevator door will stay open in seconds -->
  <door_wait_time>10</door_wait_time>
</plugin>

Migration guide at ROS 2 Migration: Elevator

@chapulina chapulina added the ros2 label Jul 8, 2019

@chapulina chapulina self-requested a review Jul 8, 2019

@chapulina
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Works for me!

I noticed that the elevator sometimes doesn't respond to commands. I needed to send a command a couple of times before it moved. But the problem seems to be in the Gazebo plugin, because I checked that the MoveToFloor commands are going through.

Merging!

impl_->top_ = _sdf->Get<int>("top_floor", std::numeric_limits<int>::max()).first;
}

void GazeboRosElevator::OnElevator(const std_msgs::msg::String::ConstSharedPtr msg)

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chapulina Jul 11, 2019

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So strange that the original plugin takes a string when we need an int 🤔 We could easily change this to Int32 for a cleaner implementation.

I wonder if it was done like this because Gazebo's ElevatorPlugin uses a string message. And the reason for that is that gazebo::msgs doesn't have an integer message...

@chapulina chapulina merged commit 22d782e into ros-simulation:dashing Jul 11, 2019

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