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add reset_positions service to stage #19

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merged 2 commits into from
Jun 1, 2015
Merged

add reset_positions service to stage #19

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c1b9ad3
add reset_positions service to stage
May 27, 2015
4f3e60d
Changed CMake und package to include std_srvs
Jun 1, 2015
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1 change: 1 addition & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@ find_package(catkin REQUIRED
roscpp
sensor_msgs
std_msgs
std_srvs
tf
)

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4 changes: 3 additions & 1 deletion package.xml
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Expand Up @@ -25,6 +25,7 @@
<build_depend>sensor_msgs</build_depend>
<build_depend>stage</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>std_srvs</build_depend>
<build_depend>tf</build_depend>

<run_depend>boost</run_depend>
Expand All @@ -35,5 +36,6 @@
<run_depend>sensor_msgs</run_depend>
<run_depend>stage</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>std_srvs</run_depend>
<run_depend>tf</run_depend>
</package>
</package>
38 changes: 35 additions & 3 deletions src/stageros.cpp
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Expand Up @@ -49,6 +49,8 @@
#include <geometry_msgs/Twist.h>
#include <rosgraph_msgs/Clock.h>

#include <std_srvs/Empty.h>

#include "tf/transform_broadcaster.h"

#define USAGE "stageros <worldfile>"
Expand Down Expand Up @@ -98,7 +100,10 @@ class StageNode

std::vector<StageRobot const *> robotmodels_;


// Used to remember initial poses for soft reset
std::vector<Stg::Pose> initial_poses;
ros::ServiceServer reset_srv_;

ros::Publisher clock_pub_;

bool isDepthCanonical;
Expand Down Expand Up @@ -156,6 +161,9 @@ class StageNode
// Message callback for a MsgBaseVel message, which set velocities.
void cmdvelReceived(int idx, const boost::shared_ptr<geometry_msgs::Twist const>& msg);

// Service callback for soft reset
bool cb_reset_srv(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);

// The main simulator object
Stg::World* world;
};
Expand Down Expand Up @@ -222,12 +230,32 @@ StageNode::ghfunc(Stg::Model* mod, StageNode* node)
{
if (dynamic_cast<Stg::ModelRanger *>(mod))
node->lasermodels.push_back(dynamic_cast<Stg::ModelRanger *>(mod));
if (dynamic_cast<Stg::ModelPosition *>(mod))
node->positionmodels.push_back(dynamic_cast<Stg::ModelPosition *>(mod));
if (dynamic_cast<Stg::ModelPosition *>(mod)) {
Stg::ModelPosition * p = dynamic_cast<Stg::ModelPosition *>(mod);
// remember initial poses
node->positionmodels.push_back(p);
node->initial_poses.push_back(p->GetGlobalPose());
}
if (dynamic_cast<Stg::ModelCamera *>(mod))
node->cameramodels.push_back(dynamic_cast<Stg::ModelCamera *>(mod));
}




bool
StageNode::cb_reset_srv(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
{
ROS_INFO("Resetting stage!");
for (size_t r = 0; r < this->positionmodels.size(); r++) {
this->positionmodels[r]->SetPose(this->initial_poses[r]);
this->positionmodels[r]->SetStall(false);
}
return true;
}



void
StageNode::cmdvelReceived(int idx, const boost::shared_ptr<geometry_msgs::Twist const>& msg)
{
Expand Down Expand Up @@ -355,6 +383,10 @@ StageNode::SubscribeModels()
this->robotmodels_.push_back(new_robot);
}
clock_pub_ = n_.advertise<rosgraph_msgs::Clock>("/clock", 10);

// advertising reset service
reset_srv_ = n_.advertiseService("reset_positions", &StageNode::cb_reset_srv, this);

return(0);
}

Expand Down