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Cleanup of gazebo plugins (#46)

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* Upgraded plugins for gazebo 7
* Fixed documentation on sensors
This commit is contained in:
Peter Mitrano
2016-05-24 23:27:24 -04:00
committed by Peter Johnson
parent 6d9b3b0aaa
commit e3eae023da
13 changed files with 21 additions and 22 deletions
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2
.travis.yml
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@@ -7,7 +7,7 @@ before_install:
- wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
- sudo add-apt-repository ppa:wpilib/toolchain -y
- sudo apt-get update -q || true
- sudo apt-get install frc-toolchain libgazebo6-dev protobuf-compiler libprotobuf-dev -y
- sudo apt-get install frc-toolchain libgazebo7-dev protobuf-compiler libprotobuf-dev -y
before_cache:

2
simulation/frc_gazebo_plugins/clock/src/clock.h
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@@ -24,7 +24,7 @@ using namespace gazebo;
* To add a clock to your robot, add the following XML to your robot
* model:
*
* <plugin name="my_clock" filename="libgz_clock.so">
* <plugin name="my_clock" filename="libclock.so">
* <topic>~/my/topic</topic>
* </plugin>
*

2
simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.h
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@@ -25,7 +25,7 @@ using namespace gazebo;
* To add a DC motor to your robot, add the following XML to your
* robot model:
*
* <plugin name="my_motor" filename="libgz_dc_motor.so">
* <plugin name="my_motor" filename="libdc_motor.so">
* <joint>Joint Name</joint>
* <topic>~/my/topic</topic>
* <multiplier>Number</multiplier>

2
simulation/frc_gazebo_plugins/encoder/src/encoder.h
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@@ -30,7 +30,7 @@ using namespace gazebo;
* To add a encoder to your robot, add the following XML to your
* robot model:
*
* <plugin name="my_encoder" filename="libgz_encoder.so">
* <plugin name="my_encoder" filename="libencoder.so">
* <joint>Joint Name</joint>
* <topic>~/my/topic</topic>
* <units>{degrees, radians}</units>

2
simulation/frc_gazebo_plugins/gyro/src/gyro.h
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@@ -29,7 +29,7 @@ typedef enum { Roll /*X*/, Pitch /*Y*/, Yaw /*Z*/ } ROTATION;
* To add a gyro to your robot, add the following XML to your robot
* model:
*
* <plugin name="my_gyro" filename="libgz_gyro.so">
* <plugin name="my_gyro" filename="libgyro.so">
* <link>Joint Name</link>
* <topic>~/my/topic</topic>
* <units>{degrees, radians}</units>

6
simulation/frc_gazebo_plugins/limit_switch/src/external_limit_switch.cpp
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@@ -8,15 +8,15 @@
#include "external_limit_switch.h"
ExternalLimitSwitch::ExternalLimitSwitch(sdf::ElementPtr sdf) {
sensor = boost::dynamic_pointer_cast<sensors::ContactSensor>(
sensor = std::dynamic_pointer_cast<sensors::ContactSensor>(
sensors::get_sensor(sdf->Get<std::string>("sensor")));
gzmsg << "\texternal limit switch: "
<< " sensor=" << sensor->GetName() << std::endl;
<< " sensor=" << sensor->Name() << std::endl;
}
ExternalLimitSwitch::~ExternalLimitSwitch() {}
bool ExternalLimitSwitch::Get() {
return sensor->GetContacts().contact().size() > 0;
return sensor->Contacts().contact().size() > 0;
}

4
simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.h
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@@ -36,7 +36,7 @@ using namespace gazebo;
*
* Internal:
*
* <plugin name="my_limit_switch" filename="libgz_limit_switch.so">
* <plugin name="my_limit_switch" filename="liblimit_switch.so">
* <topic>~/my/topic</topic>
* <type>internal</type>
* <joint>Joint Name</joint>
@@ -47,7 +47,7 @@ using namespace gazebo;
*
* External:
*
* <plugin name="my_limit_switch" filename="libgz_limit_switch.so">
* <plugin name="my_limit_switch" filename="liblimit_switch.so">
* <topic>~/my/topic</topic>
* <type>external</type>
* <sensor>Sensor Name</sensor>

2
simulation/frc_gazebo_plugins/pneumatic_piston/src/pneumatic_piston.h
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@@ -29,7 +29,7 @@ using namespace gazebo;
* To add a pneumatic piston to your robot, add the following XML to
* your robot model:
*
* <plugin name="my_piston" filename="libgz_pneumatic_piston.so">
* <plugin name="my_piston" filename="libpneumatic_piston.so">
* <joint>Joint Name</joint>
* <topic>~/my/topic</topic>
* <direction>{forward, reversed}</direction>

2
simulation/frc_gazebo_plugins/potentiometer/src/potentiometer.h
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@@ -22,7 +22,7 @@ using namespace gazebo;
* To add a potentiometer to your robot, add the following XML to your
* robot model:
*
* <plugin name="my_pot" filename="libgz_potentiometer.so">
* <plugin name="my_pot" filename="libpotentiometer.so">
* <joint>Joint Name</joint>
* <topic>~/my/topic</topic>
* <units>{degrees, radians}</units>

10
simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.cpp
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@@ -17,8 +17,6 @@
#include <gazebo/sensors/sensors.hh>
#include <gazebo/transport/transport.hh>
#include <boost/pointer_cast.hpp>
GZ_REGISTER_MODEL_PLUGIN(Rangefinder)
Rangefinder::Rangefinder() {}
@@ -29,7 +27,7 @@ void Rangefinder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
this->model = model;
// Parse SDF properties
sensor = boost::dynamic_pointer_cast<sensors::SonarSensor>(
sensor = std::dynamic_pointer_cast<sensors::SonarSensor>(
sensors::get_sensor(sdf->Get<std::string>("sensor")));
if (sdf->HasElement("topic")) {
topic = sdf->Get<std::string>("topic");
@@ -37,8 +35,8 @@ void Rangefinder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
topic = "~/" + sdf->GetAttribute("name")->GetAsString();
}
gzmsg << "Initializing rangefinder: " << topic
<< " sensor=" << sensor->GetName() << std::endl;
gzmsg << "Initializing rangefinder: " << topic << " sensor=" << sensor->Name()
<< std::endl;
// Connect to Gazebo transport for messaging
std::string scoped_name =
@@ -56,6 +54,6 @@ void Rangefinder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
void Rangefinder::Update(const common::UpdateInfo& info) {
msgs::Float64 msg;
msg.set_data(sensor->GetRange());
msg.set_data(sensor->Range());
pub->Publish(msg);
}

2
simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.h
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@@ -22,7 +22,7 @@ using namespace gazebo;
* To add a rangefinder to your robot, add the following XML to your
* robot model:
*
* <plugin name="my_rangefinder" filename="libgz_rangefinder.so">
* <plugin name="my_rangefinder" filename="librangefinder.so">
* <sensor>Sensor Name</sensor>
* <topic>~/my/topic</topic>
* </plugin>

4
simulation/frc_gazebo_plugins/servo/src/servo.cpp
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@@ -40,8 +40,8 @@ void Servo::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
torque = 5;
}
gzmsg << "initializing awesome servo: " << topic
<< " joint=" << joint->GetName() << " torque=" << torque << std::endl;
gzmsg << "initializing servo: " << topic << " joint=" << joint->GetName()
<< " torque=" << torque << std::endl;
// Connect to Gazebo transport for messaging
std::string scoped_name =

3
simulation/frc_gazebo_plugins/servo/src/servo.h
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@@ -23,9 +23,10 @@ using namespace gazebo;
* To add a servo to your robot, add the following XML to your robot
* model:
*
* <plugin name="my_servo" filename="libgz_servo.so">
* <plugin name="my_servo" filename="libservo.so">
* <joint>Joint Name</joint>
* <topic>/gzebo/frc/simulator/pwm/1</topic>
* <zero_position>0</zero_position>
* </plugin>
*
* - `link`: Name of the link the servo is attached to.