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ebd41fe0bb
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.
99 lines
3.3 KiB
C++
99 lines
3.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <string>
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#include <gazebo/gazebo.hh>
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#include <gazebo/physics/physics.hh>
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#include <gazebo/transport/transport.hh>
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#include "simulation/gz_msgs/msgs.h"
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/// \brief The axis about which to measure rotation.
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typedef enum { Roll /*X*/, Pitch /*Y*/, Yaw /*Z*/ } ROTATION;
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/**
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* \brief Plugin for reading the speed and relative angle of a link.
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*
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* This plugin publishes the angle since last reset and the speed
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* which a link is rotating about some axis to subtopics of the given
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* topic every physics update. There is also a control topic that
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* takes one command: "reset", which sets the current angle as zero.
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*
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* To add a gyro to your robot, add the following XML to your robot
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* model:
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*
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* <plugin name="my_gyro" filename="libgyro.so">
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* <link>Joint Name</link>
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* <topic>~/my/topic</topic>
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* <units>{degrees, radians}</units>
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* </plugin>
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*
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* - `link`: Name of the link this potentiometer is attached to.
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* - `topic`: Optional. Used as the root for subtopics. `topic`/position
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* (gazebo.msgs.Float64),
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* `topic`/velocity (gazebo.msgs.Float64), `topic`/control
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* (gazebo.msgs.String)
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* - `units`; Optional, defaults to radians.
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*/
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class Gyro : public gazebo::ModelPlugin {
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public:
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/// \brief Load the gyro and configures it according to the sdf.
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void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
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/// \brief Sends out the gyro reading each timestep.
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void Update(const gazebo::common::UpdateInfo& info);
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private:
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/// \brief Publish the angle on this topic.
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std::string topic;
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/// \brief Whether or not this gyro measures radians or degrees.
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bool radians;
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/// \brief The axis to measure rotation about.
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ROTATION axis;
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/// \brief The zero value of the gyro.
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double zero;
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/// \brief The link that this gyro measures
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gazebo::physics::LinkPtr link;
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/// \brief Callback for handling control data
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void Callback(const gazebo::msgs::ConstStringPtr& msg);
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/// \brief Gets the current angle, taking into account whether to
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/// return radians or degrees.
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double GetAngle();
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/// \brief Gets the current velocity, taking into account whether to
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/// return radians/second or degrees/second.
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double GetVelocity();
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/// \brief Limit the value to either [-180,180] or [-PI,PI]
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/// depending on whether or radians or degrees are being used.
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double Limit(double value);
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/// \brief The model to which this is attached.
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gazebo::physics::ModelPtr model;
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/// \brief Pointer to the world update function.
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gazebo::event::ConnectionPtr updateConn;
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/// \brief The node on which we're advertising.
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gazebo::transport::NodePtr node;
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/// \brief Subscriber handle.
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gazebo::transport::SubscriberPtr command_sub;
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/// \brief Publisher handles.
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gazebo::transport::PublisherPtr pos_pub, vel_pub;
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};
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