Bring back the gazebo plugins (#1063)

The models and meshes are not included. We will need to find an alternate way to reintegrate these and use them. * Add simulation/gz_msgs back, and build with Gradle. * Add back in the frc simulation plugins for gazebo. * Add a new shared library, halsim_gazebo. This library will become the interface between the HAL sim layer and gazebo. * Preserve the first channel number used in created Encoders in the Sim MockData. This allows us to use the DIO channel number to connect with simulated encoders. * Have the HAL Simulator set the reverse direction on creation. This enables a simulator to be aware of the direction. * Add a drive_motor plugin. This is a bit of a 'magic' motor, which allows us to build robot models that drive in a more realistic fashion. It does this by apply forces directly to the chassis, rather than relying on the complex motion dynamics of a driven wheel. This in turn allows the model to reduce wheel friction, reducing scrub, and allowing for a more natural driving experience.
2026-06-24 01:31:46 +00:00 · 2018-06-30 02:45:21 -05:00
parent 70960b0251
commit ebd41fe0bb
60 changed files with 5278 additions and 1 deletions
--- a/simulation/frc_gazebo_plugins/src/gyro/cpp/gyro.cpp
+++ b/simulation/frc_gazebo_plugins/src/gyro/cpp/gyro.cpp
@@ -0,0 +1,111 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "gyro.h"
+
+#include <boost/algorithm/string/replace.hpp>
+
+GZ_REGISTER_MODEL_PLUGIN(Gyro)
+
+void Gyro::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+  this->model = model;
+
+  // Parse SDF properties
+  link = model->GetLink(sdf->Get<std::string>("link"));
+  if (sdf->HasElement("topic")) {
+    topic = sdf->Get<std::string>("topic");
+  } else {
+    topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+  }
+
+  std::string axisString = sdf->Get<std::string>("axis");
+  if (axisString == "roll") axis = Roll;
+  if (axisString == "pitch") axis = Pitch;
+  if (axisString == "yaw") axis = Yaw;
+
+  if (sdf->HasElement("units")) {
+    radians = sdf->Get<std::string>("units") != "degrees";
+  } else {
+    radians = true;
+  }
+  zero = GetAngle();
+
+  gzmsg << "Initializing gyro: " << topic << " link=" << link->GetName()
+        << " axis=" << axis << " radians=" << radians << std::endl;
+
+  // Connect to Gazebo transport for messaging
+  std::string scoped_name =
+      model->GetWorld()->GetName() + "::" + model->GetScopedName();
+  boost::replace_all(scoped_name, "::", "/");
+  node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+  node->Init(scoped_name);
+  command_sub = node->Subscribe(topic + "/control", &Gyro::Callback, this);
+  pos_pub = node->Advertise<gazebo::msgs::Float64>(topic + "/position");
+  vel_pub = node->Advertise<gazebo::msgs::Float64>(topic + "/velocity");
+
+  // Connect to the world update event.
+  // This will trigger the Update function every Gazebo iteration
+  updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+      boost::bind(&Gyro::Update, this, _1));
+}
+
+void Gyro::Update(const gazebo::common::UpdateInfo& info) {
+  gazebo::msgs::Float64 pos_msg, vel_msg;
+  pos_msg.set_data(Limit(GetAngle() - zero));
+  pos_pub->Publish(pos_msg);
+  vel_msg.set_data(GetVelocity());
+  vel_pub->Publish(vel_msg);
+}
+
+void Gyro::Callback(const gazebo::msgs::ConstStringPtr& msg) {
+  std::string command = msg->data();
+  if (command == "reset") {
+    zero = GetAngle();
+  } else {
+    gzerr << "WARNING: Gyro got unknown command '" << command << "'."
+          << std::endl;
+  }
+}
+
+double Gyro::GetAngle() {
+  if (radians) {
+    return link->GetWorldCoGPose().rot.GetAsEuler()[axis];
+  } else {
+    return link->GetWorldCoGPose().rot.GetAsEuler()[axis] * (180.0 / M_PI);
+  }
+}
+
+double Gyro::GetVelocity() {
+  if (radians) {
+    return link->GetRelativeAngularVel()[axis];
+  } else {
+    return link->GetRelativeAngularVel()[axis] * (180.0 / M_PI);
+  }
+}
+
+double Gyro::Limit(double value) {
+  if (radians) {
+    while (true) {
+      if (value < -M_PI)
+        value += 2 * M_PI;
+      else if (value > M_PI)
+        value -= 2 * M_PI;
+      else
+        break;
+    }
+  } else {
+    while (true) {
+      if (value < -180)
+        value += 360;
+      else if (value > 180)
+        value -= 360;
+      else
+        break;
+    }
+  }
+  return value;
+}