Merge branch 'ign-gazebo3' into ahcorde/3/scene_info_sensors

gazebosim · Feb 16, 2022 · 00b066e · 00b066e
2 parents d5447fd + 7b4fcda
commit 00b066e
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diff --git a/examples/worlds/elevator.sdf b/examples/worlds/elevator.sdf
@@ -0,0 +1,80 @@
+<?xml version="1.0" ?>
+<!--
+  Ignition Gazebo elevator plugin demo
+
+  Try sending a command:
+
+    ign topic -t "/model/elevator/cmd" -m ignition.msgs.Int32 -p "data: 2"
+
+  Listen to state:
+
+    ign topic -e -t /model/elevator/state
+
+-->
+<sdf version="1.6">
+  <world name="elevator_world">
+
+    <physics name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="ignition-gazebo-physics-system"
+      name="ignition::gazebo::systems::Physics">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-sensors-system"
+      name="ignition::gazebo::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>0.5 0.5 0.5 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <include>
+      <uri>https://fuel.ignitionrobotics.org/1.0/nlamprian/models/Elevator</uri>
+    </include>
+
+  </world>
+</sdf>
diff --git a/src/gui/plugins/shapes/Shapes.cc b/src/gui/plugins/shapes/Shapes.cc
@@ -37,11 +37,6 @@ namespace ignition::gazebo
 {
   class ShapesPrivate
   {
-    /// \brief Ignition communication node.
-    public: transport::Node node;
-
-    /// \brief Transform control service name
-    public: std::string service;
   };
 }
 

diff --git a/src/systems/CMakeLists.txt b/src/systems/CMakeLists.txt
@@ -21,7 +21,7 @@ function(gz_add_system system_name)
 
   set(options)
   set(oneValueArgs)
-  set(multiValueArgs SOURCES PUBLIC_LINK_LIBS PRIVATE_LINK_LIBS PRIVATE_COMPILE_DEFS)
+  set(multiValueArgs SOURCES PUBLIC_LINK_LIBS PRIVATE_INCLUDE_DIRS PRIVATE_LINK_LIBS PRIVATE_COMPILE_DEFS)
 
   cmake_parse_arguments(gz_add_system "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
@@ -47,6 +47,13 @@ function(gz_add_system system_name)
       ignition-plugin${IGN_PLUGIN_VER}::register
   )
 
+  if(gz_add_system_PRIVATE_INCLUDE_DIRS)
+    target_include_directories(${system_target}
+      PRIVATE
+        ${gz_add_system_PRIVATE_INCLUDE_DIRS}
+    )
+  endif()
+
   if(gz_add_system_PRIVATE_COMPILE_DEFS)
     target_compile_definitions(${system_target}
       PRIVATE
@@ -82,6 +89,7 @@ add_subdirectory(contact)
 add_subdirectory(camera_video_recorder)
 add_subdirectory(detachable_joint)
 add_subdirectory(diff_drive)
+add_subdirectory(elevator)
 add_subdirectory(imu)
 add_subdirectory(joint_controller)
 add_subdirectory(joint_position_controller)

diff --git a/src/systems/elevator/CMakeLists.txt b/src/systems/elevator/CMakeLists.txt
@@ -0,0 +1,12 @@
+gz_add_system(elevator
+  SOURCES
+    Elevator.cc
+    utils/DoorTimer.cc
+    utils/JointMonitor.cc
+  PUBLIC_LINK_LIBS
+    ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
+    ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
+  PRIVATE_INCLUDE_DIRS
+    vender/afsm/include
+    vender/metapushkin/include
+)