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Bring back the gazebo plugins (#1063)

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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.
This commit is contained in:
Jeremy White
2018-06-30 02:45:21 -05:00
committed by Peter Johnson
parent 70960b0251
commit ebd41fe0bb
60 changed files with 5278 additions and 1 deletions
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75
simulation/frc_gazebo_plugins/src/servo/cpp/servo.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* 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 "servo.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(Servo)
void Servo::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
this->model = model;
signal = 0;
// parse SDF Properries
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("torque")) {
torque = sdf->Get<double>("torque");
} else {
torque = 5;
}
gzmsg << "initializing servo: " << topic << " joint=" << joint->GetName()
<< " torque=" << torque << 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, &Servo::Callback, this);
// connect to the world update event
// this will call update every iteration
updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
boost::bind(&Servo::Update, this, _1));
}
void Servo::Update(const gazebo::common::UpdateInfo& info) {
// torque is in kg*cm
// joint->SetAngle(0,signal*180);
if (joint->GetAngle(0) < signal) {
joint->SetForce(0, torque);
} else if (joint->GetAngle(0) > signal) {
joint->SetForce(0, torque);
}
joint->SetForce(0, 0);
}
void Servo::Callback(const gazebo::msgs::ConstFloat64Ptr& msg) {
signal = msg->data();
if (signal < -1) {
signal = -1;
} else if (signal > 1) {
signal = 1;
}
}