Distance Sensor Capabilities #88

xabierolaz · 2020-09-14T12:51:31Z

Description of the Change

Before we implement a new distance sensor into the aircraft we first have to work on GymFC in order to have those capabilities.

-Distance Sensor Message included in State.proto
-Distance Sensor added in FlightControllerPlugin.cpp

Distance Sensor included in State.proto
Used IMU as an example in FlightControllerPlugin.cpp to add distance sensor
DistanceSensor.proto added

Verification Process

Running build_plugin.sh error

[ 87%] Building CXX object CMakeFiles/FlightControllerPlugin.dir/FlightControllerPlugin.cpp.o
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp: In member function ‘virtual void gazebo::FlightControllerPlugin::Load(gazebo::physics::WorldPtr, sdf::ElementPtr)’:
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:195:98: error: ‘class gazebo::FlightControllerPlugin’ has no member named ‘distanceSubTopic’; did you mean ‘distanceSub’?
         this->distanceSub = this->nodeHandle->Subscribe<sensor_msgs::msgs::DistanceSensor>(this->distanceSubTopic, &FlightControllerPlugin::DistanceSensorCallback, this);
                                                                                                  ^~~~~~~~~~~~~~~~
                                                                                                  distanceSub
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:195:141: error: ‘DistanceSensorCallback’ is not a member of ‘gazebo::FlightControllerPlugin’
         this->distanceSub = this->nodeHandle->Subscribe<sensor_msgs::msgs::DistanceSensor>(this->distanceSubTopic, &FlightControllerPlugin::DistanceSensorCallback, this);
                                                                                                                                             ^~~~~~~~~~~~~~~~~~~~~~
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp: In member function ‘void gazebo::FlightControllerPlugin::InitState()’:
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:290:17: error: ‘class gymfc::msgs::State’ has no member named ‘add_distance’; did you mean ‘add_force’?
     this->state.add_distance(0);
                 ^~~~~~~~~~~~
                 add_force
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp: At global scope:
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:311:87: error: no ‘void gazebo::FlightControllerPlugin::DistanceSensorCallback(gazebo::DistanceSensorPtr&)’ member function declared in class ‘gazebo::FlightControllerPlugin’
 void FlightControllerPlugin::DistanceSensorCallback(DistanceSensorPtr &_distanceSensor)
                                                                                       ^
CMakeFiles/FlightControllerPlugin.dir/build.make:62: recipe for target 'CMakeFiles/FlightControllerPlugin.dir/FlightControllerPlugin.cpp.o' failed
make[2]: *** [CMakeFiles/FlightControllerPlugin.dir/FlightControllerPlugin.cpp.o] Error 1
CMakeFiles/Makefile2:68: recipe for target 'CMakeFiles/FlightControllerPlugin.dir/all' failed
make[1]: *** [CMakeFiles/FlightControllerPlugin.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
(env) xabi@xabi-VirtualBox:~/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins$

State.proto and FlightControllerPlugin.cpp

wil3 · 2020-09-14T13:32:02Z

This PR, and your commit needs a meaningful title, please review CONTRIBUTING.md.

Your build is also failing, you can click the details to find out why.

Also before opening a PR its important to first be able to verify the code otherwise there's no way for me or another reviewer to verify your code. This may include unit tests, functional tests and/or additional python scripts, that is essentially what the scripts in the /tests directory are used for. Under the PR's Verification Process should include the steps to be able to reproduce the changes to the PR. A test for this would probably look like a stub distance sensor plugin / model (these can be external to GymFC).

I guess a more meaningful questions is, how are you verifying what you posted as a PR works?

Code related to distance sensor added, using as reference the IMU and ESC parts

xabierolaz · 2020-09-18T12:16:36Z

This PR, and your commit needs a meaningful title, please review CONTRIBUTING.md.

Your build is also failing, you can click the details to find out why.

Also before opening a PR its important to first be able to verify the code otherwise there's no way for me or another reviewer to verify your code. This may include unit tests, functional tests and/or additional python scripts, that is essentially what the scripts in the /tests directory are used for. Under the PR's Verification Process should include the steps to be able to reproduce the changes to the PR. A test for this would probably look like a stub distance sensor plugin / model (these can be external to GymFC).

I guess a more meaningful questions is, how are you verifying what you posted as a PR works?

Noted, fixing and completing everything now

xabierolaz

@wil3 while running build_plugin.sh, the #include DistanceSensor.pb.h (as it is with IMU) says that file or directory missing file, output error in first message

L65 commented

…ierolaz/gymfc into distance-sensor-capabilities

wil3 · 2020-09-21T18:19:49Z

doesn't look like you ever modified cmakelists.txt

Included DistanceSensor in sensor_msgs

xabierolaz · 2020-09-22T06:35:54Z

doesn't look like you ever modified cmakelists.txt

sorry, I hadn't pull that one, still throwing same error message though

Changed distance value from 0 to 13, its current value in State.proto

xabierolaz · 2020-09-22T09:11:44Z

As cmakelist and distancesensor.proto are fixed now, new errors are thrown, most of them being the sensor not well declared in the flightcontrollerplugin.cpp working on them right now

[ 87%] Building CXX object CMakeFiles/FlightControllerPlugin.dir/FlightControllerPlugin.cpp.o
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp: In member function ‘virtual void gazebo::FlightControllerPlugin::Load(gazebo::physics::WorldPtr, sdf::ElementPtr)’:
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:193:12: error: ‘DISTANCE’ was not declared in this scope
       case DISTANCE:  //distance sensor
            ^~~~~~~~
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:193:12: note: suggested alternative: ‘ESTALE’
       case DISTANCE:  //distance sensor
            ^~~~~~~~
            ESTALE
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:195:15: error: ‘class gazebo::FlightControllerPlugin’ has no member named ‘distanceSub’
         this->distanceSub = this->nodeHandle->Subscribe<sensor_msgs::msgs::DistanceSensor>(this->distanceSubTopic, &FlightControllerPlugin::ImuCallback, this);
               ^~~~~~~~~~~
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:195:98: error: ‘class gazebo::FlightControllerPlugin’ has no member named ‘distanceSubTopic’; did you mean ‘escSubTopic’?
 his->nodeHandle->Subscribe<sensor_msgs::msgs::DistanceSensor>(this->distanceSubTopic, &FlightControllerPlugin::ImuCallback, this);
                                                                     ^~~~~~~~~~~~~~~~
                                                                                                  escSubTopic
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp: In member function ‘void gazebo::FlightControllerPlugin::InitState()’:
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:290:17: error: ‘class gymfc::msgs::State’ has no member named ‘add_distance’; did you mean ‘add_force’?
     this->state.add_distance(0);
                 ^~~~~~~~~~~~
                 add_force
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp: At global scope:
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:311:53: error: variable or field ‘DistanceSensorCallback’ declared void
 void FlightControllerPlugin::DistanceSensorCallback(DistanceSensorPtr &_distanceSensor)
                                                     ^~~~~~~~~~~~~~~~~
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:311:53: error: ‘DistanceSensorPtr’ was not declared in this scope
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:311:53: note: suggested alternative: ‘ConstSensorPtr’
 void FlightControllerPlugin::DistanceSensorCallback(DistanceSensorPtr &_distanceSensor)
                                                     ^~~~~~~~~~~~~~~~~
                                                     ConstSensorPtr
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:311:72: error: ‘_distanceSensor’ was not declared in this scope
 d FlightControllerPlugin::DistanceSensorCallback(DistanceSensorPtr &_distanceSensor)
                                                                     ^~~~~~~~~~~~~~~
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp: In member function ‘void gazebo::FlightControllerPlugin::ParseDigitalTwinSDF()’:
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:462:40: error: ‘DISTANCE’ was not declared in this scope
       this->supportedSensors.push_back(DISTANCE);
                                        ^~~~~~~~
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:462:40: note: suggested alternative: ‘ESTALE’
       this->supportedSensors.push_back(DISTANCE);
                                        ^~~~~~~~
                                        ESTALE
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp: In member function ‘void gazebo::FlightControllerPlugin::CalculateCallbackCount()’:
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:704:12: error: ‘DISTANCE’ was not declared in this scope
       case DISTANCE:
            ^~~~~~~~
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:704:12: note: suggested alternative: ‘ESTALE’
       case DISTANCE:
            ^~~~~~~~
            ESTALE
CMakeFiles/FlightControllerPlugin.dir/build.make:62: recipe for target 'CMakeFiles/FlightControllerPlugin.dir/FlightControllerPlugin.cpp.o' failed
make[2]: *** [CMakeFiles/FlightControllerPlugin.dir/FlightControllerPlugin.cpp.o] Error 1
CMakeFiles/Makefile2:68: recipe for target 'CMakeFiles/FlightControllerPlugin.dir/all' failed
make[1]: *** [CMakeFiles/FlightControllerPlugin.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
(env) xabi@xabi-VirtualBox:~/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins$

Added distance in enum Sensors In cluded DistanceSensor.pb.h

callback to receive distance sensor values

xabierolaz · 2020-10-08T14:50:10Z

Still getting some building errors with the new distance sensor implementation files published in the PR, any guess @wil3 ?

Thanks

[ 87%] Building CXX object CMakeFiles/FlightControllerPlugin.dir/FlightControllerPlugin.cpp.o
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp: In member function ‘void gazebo::FlightControllerPlugin::InitState()’:
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:290:17: error: ‘class gymfc::msgs::State’ has no member named ‘add_distance’; did you mean ‘add_force’?
     this->state.add_distance(0);
                 ^~~~~~~~~~~~
                 add_force
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp: In member function ‘void gazebo::FlightControllerPlugin::DistanceSensorCallback(gazebo::DistanceSensorPtr&)’:
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:313:34: error: ‘const class sensor_msgs::msgs::DistanceSensor’ has no member named ‘id’
   uint32_t id = _distanceSensor->id();
                                  ^~
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:317:15: error: ‘class gymfc::msgs::State’ has no member named ‘set_distance’; did you mean ‘set_sim_time’?
   this->state.set_distance(id, _distanceSensor->distance_meters());
               ^~~~~~~~~~~~
               set_sim_time
/home/xabi/projects/gymfc-xabi/gymfc/envs/assets/gazebo/plugins/FlightControllerPlugin.cpp:317:49: error: ‘const class sensor_msgs::msgs::DistanceSensor’ has no member named ‘distance_meters’; did you mean ‘distance_’?
   this->state.set_distance(id, _distanceSensor->distance_meters());
                                                 ^~~~~~~~~~~~~~~
                                                 distance_
CMakeFiles/FlightControllerPlugin.dir/build.make:62: recipe for target 'CMakeFiles/FlightControllerPlugin.dir/FlightControllerPlugin.cpp.o' failed
make[2]: *** [CMakeFiles/FlightControllerPlugin.dir/FlightControllerPlugin.cpp.o] Error 1
CMakeFiles/Makefile2:68: recipe for target 'CMakeFiles/FlightControllerPlugin.dir/all' failed
make[1]: *** [CMakeFiles/FlightControllerPlugin.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

wil3 · 2020-10-08T18:34:16Z

All of those errors are in reference to the new entry you added to the State.proto message. The compiler is saying they don't exist so it doesn't appear the source files for the proto are getting compiled with it. Inspect the generated build files in the build directory and confirm its being generated as expected.

xabierolaz · 2021-02-02T08:51:04Z

Closed as its outdated, newest in #95

First Commit

4278afc

State.proto and FlightControllerPlugin.cpp

xabierolaz changed the title ~~First Commit~~ Distance Sensor Capabilities Sep 15, 2020

Distance sensor code added

b8cef5a

Code related to distance sensor added, using as reference the IMU and ESC parts

Update State.proto

5fe40d0

xabierolaz commented Sep 21, 2020

View reviewed changes

xabierolaz added 2 commits September 21, 2020 11:37

Update FlightControllerPlugin.cpp

fd9ae69

L65 commented

Merge branch 'distance-sensor-capabilities' of https://github.com/xab…

81dd153

…ierolaz/gymfc into distance-sensor-capabilities

Update Cmakelists.txt

2d7cb4d

Included DistanceSensor in sensor_msgs

Update DistanceSensor.proto

39220f6

Changed distance value from 0 to 13, its current value in State.proto

xabierolaz added 4 commits September 22, 2020 13:22

Update FlightControllerPlugin.hh

5544601

Added distance in enum Sensors In cluded DistanceSensor.pb.h

Update FlightControllerPlugin.cpp

0008957

Update FlightControllerPlugin.hh

b0add3f

Update FlightControllerPlugin.hh

c0a30a7

callback to receive distance sensor values

wil3 added the WIP work in progress label Oct 8, 2020

xabierolaz mentioned this pull request Jan 19, 2021

New Distance Sensor Feature #79

Open

xabierolaz closed this Feb 2, 2021

xabierolaz reopened this Feb 2, 2021

xabierolaz closed this Feb 2, 2021

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Distance Sensor Capabilities #88

Distance Sensor Capabilities #88

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Distance Sensor Capabilities #88

Distance Sensor Capabilities #88

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xabierolaz commented Sep 14, 2020 • edited Loading

Description of the Change

Verification Process

wil3 commented Sep 14, 2020

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