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.
2026-06-20 00:51:42 +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/pneumatic_piston/cpp/pneumatic_piston.cpp
+++ b/simulation/frc_gazebo_plugins/src/pneumatic_piston/cpp/pneumatic_piston.cpp
@@ -0,0 +1,95 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "pneumatic_piston.h"
+
+#include <boost/algorithm/string/replace.hpp>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#ifdef _WIN32
+// Ensure that Winsock2.h is included before Windows.h, which can get
+// pulled in by anybody (e.g., Boost).
+#include <Winsock2.h>
+#endif
+
+GZ_REGISTER_MODEL_PLUGIN(PneumaticPiston)
+
+void PneumaticPiston::Load(gazebo::physics::ModelPtr model,
+                           sdf::ElementPtr sdf) {
+  this->model = model;
+  forward_signal = reverse_signal = false;
+
+  // Parse SDF properties
+  joint = model->GetJoint(sdf->Get<std::string>("joint"));
+  if (sdf->HasElement("topic")) {
+    topic = sdf->Get<std::string>("topic");
+  } else {
+    topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+  }
+
+  if (sdf->HasElement("reverse-topic")) {
+    reverse_topic = sdf->Get<std::string>("reverse-topic");
+  } else {
+    reverse_topic.clear();
+  }
+
+  forward_force = sdf->Get<double>("forward-force");
+  if (sdf->HasElement("reverse-force"))
+    reverse_force = -1.0 * sdf->Get<double>("reverse-force");
+
+  if (sdf->HasElement("direction") &&
+      sdf->Get<std::string>("direction") == "reversed") {
+    forward_force = -forward_force;
+    reverse_force = -reverse_force;
+  }
+
+  gzmsg << "Initializing piston: " << topic << " joint=" << joint->GetName()
+        << " forward_force=" << forward_force
+        << " reverse_force=" << reverse_force << std::endl;
+  if (!reverse_topic.empty())
+    gzmsg << "Reversing on topic " << reverse_topic << 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);
+  sub = node->Subscribe(topic, &PneumaticPiston::ForwardCallback, this);
+  if (!reverse_topic.empty())
+    sub_reverse =
+        node->Subscribe(reverse_topic, &PneumaticPiston::ReverseCallback, this);
+
+  // Connect to the world update event.
+  // This will trigger the Update function every Gazebo iteration
+  updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+      boost::bind(&PneumaticPiston::Update, this, _1));
+}
+
+void PneumaticPiston::Update(const gazebo::common::UpdateInfo& info) {
+  double force = 0.0;
+  if (forward_signal) {
+    force = forward_force;
+  } else {
+    /* For DoubleSolenoids, the second signal must be present
+       for us to apply the reverse force.  For SingleSolenoids,
+       the lack of the forward signal suffices.
+       Note that a true simulation would not allow a SingleSolenoid to
+       have reverse force, but we put that in the hands of the model builder.*/
+    if (reverse_topic.empty() || reverse_signal) force = reverse_force;
+  }
+  joint->SetForce(0, force);
+}
+
+void PneumaticPiston::ForwardCallback(const gazebo::msgs::ConstBoolPtr& msg) {
+  forward_signal = msg->data();
+}
+
+void PneumaticPiston::ReverseCallback(const gazebo::msgs::ConstBoolPtr& msg) {
+  reverse_signal = msg->data();
+}