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3 -> 5 #1360

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merged 3 commits into from
Feb 24, 2022
Merged

3 -> 5 #1360

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08a0dfc
JointStatePublisher publish parent, child and axis data (#1345)
ahcorde Feb 17, 2022
64755e5
Added more sensor properties to scene/info topic (#1344)
ahcorde Feb 18, 2022
f96558f
Merge branch 'ign-gazebo3' into merge_3_5_20220223
iche033 Feb 24, 2022
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28 changes: 28 additions & 0 deletions src/systems/joint_state_publisher/JointStatePublisher.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -24,12 +24,15 @@

#include <ignition/plugin/Register.hh>

#include "ignition/gazebo/components/ChildLinkName.hh"
#include "ignition/gazebo/components/Name.hh"
#include "ignition/gazebo/components/Joint.hh"
#include "ignition/gazebo/components/JointAxis.hh"
#include "ignition/gazebo/components/JointForce.hh"
#include "ignition/gazebo/components/JointPosition.hh"
#include "ignition/gazebo/components/JointVelocity.hh"
#include "ignition/gazebo/components/ParentEntity.hh"
#include "ignition/gazebo/components/ParentLinkName.hh"
#include "ignition/gazebo/components/Pose.hh"
#include "ignition/gazebo/Util.hh"

Expand Down Expand Up @@ -208,6 +211,18 @@ void JointStatePublisher::PostUpdate(const UpdateInfo &_info,
if (pose)
msgs::Set(jointMsg->mutable_pose(), pose->Data());

auto child = _ecm.Component<components::ChildLinkName>(joint);
if (child)
{
jointMsg->set_child(child->Data());
}

auto parent = _ecm.Component<components::ParentLinkName>(joint);
if (parent)
{
jointMsg->set_parent(parent->Data());
}

// Set the joint position
const auto *jointPositions =
_ecm.Component<components::JointPosition>(joint);
Expand All @@ -218,6 +233,19 @@ void JointStatePublisher::PostUpdate(const UpdateInfo &_info,
if (i == 0)
{
jointMsg->mutable_axis1()->set_position(jointPositions->Data()[i]);
auto jointAxis = _ecm.Component<components::JointAxis>(joint);
if (jointAxis)
{
msgs::Set(
jointMsg->mutable_axis1()->mutable_xyz(),
jointAxis->Data().Xyz());
jointMsg->mutable_axis1()->set_limit_upper(
jointAxis->Data().Upper());
jointMsg->mutable_axis1()->set_limit_lower(
jointAxis->Data().Lower());
jointMsg->mutable_axis1()->set_damping(
jointAxis->Data().Damping());
}
}
else if (i == 1)
{
Expand Down
181 changes: 181 additions & 0 deletions src/systems/scene_broadcaster/SceneBroadcaster.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -29,22 +29,40 @@
#include <ignition/plugin/Register.hh>
#include <ignition/transport/Node.hh>

#include "ignition/gazebo/components/AirPressureSensor.hh"
#include "ignition/gazebo/components/Altimeter.hh"
#include "ignition/gazebo/components/Camera.hh"
#include "ignition/gazebo/components/CastShadows.hh"
#include "ignition/gazebo/components/ContactSensor.hh"
#include "ignition/gazebo/components/DepthCamera.hh"
#include "ignition/gazebo/components/Geometry.hh"
#include "ignition/gazebo/components/GpuLidar.hh"
#include "ignition/gazebo/components/Imu.hh"
#include "ignition/gazebo/components/LaserRetro.hh"
#include "ignition/gazebo/components/Lidar.hh"
#include "ignition/gazebo/components/Light.hh"
#include "ignition/gazebo/components/Link.hh"
#include "ignition/gazebo/components/LogicalCamera.hh"
#include "ignition/gazebo/components/Material.hh"
#include "ignition/gazebo/components/Model.hh"
#include "ignition/gazebo/components/Name.hh"
#include "ignition/gazebo/components/ParentEntity.hh"
#include "ignition/gazebo/components/Pose.hh"
#include "ignition/gazebo/components/RgbdCamera.hh"
#include "ignition/gazebo/components/Sensor.hh"
#include "ignition/gazebo/components/Static.hh"
#include "ignition/gazebo/components/ThermalCamera.hh"
#include "ignition/gazebo/components/Visual.hh"
#include "ignition/gazebo/components/World.hh"
#include "ignition/gazebo/Conversions.hh"
#include "ignition/gazebo/EntityComponentManager.hh"

#include <sdf/Camera.hh>
#include <sdf/Imu.hh>
#include <sdf/Lidar.hh>
#include <sdf/Noise.hh>
#include <sdf/Sensor.hh>

using namespace std::chrono_literals;

using namespace ignition;
Expand Down Expand Up @@ -766,6 +784,169 @@ void SceneBroadcasterPrivate::SceneGraphAddEntities(
sensorMsg->set_name(_nameComp->Data());
sensorMsg->mutable_pose()->CopyFrom(msgs::Convert(_poseComp->Data()));

auto altimeterComp = _manager.Component<components::Altimeter>(_entity);
if (altimeterComp)
{
sensorMsg->set_type("altimeter");
}
auto airPressureComp = _manager.Component<
components::AirPressureSensor>(_entity);
if (airPressureComp)
{
sensorMsg->set_type("air_pressure");
}
auto cameraComp = _manager.Component<components::Camera>(_entity);
if (cameraComp)
{
sensorMsg->set_type("camera");
msgs::CameraSensor * cameraSensorMsg = sensorMsg->mutable_camera();
const auto * camera = cameraComp->Data().CameraSensor();
if (camera)
{
cameraSensorMsg->set_horizontal_fov(
camera->HorizontalFov().Radian());
cameraSensorMsg->mutable_image_size()->set_x(camera->ImageWidth());
cameraSensorMsg->mutable_image_size()->set_y(camera->ImageHeight());
cameraSensorMsg->set_image_format(camera->PixelFormatStr());
cameraSensorMsg->set_near_clip(camera->NearClip());
cameraSensorMsg->set_far_clip(camera->FarClip());
msgs::Distortion *distortionMsg =
cameraSensorMsg->mutable_distortion();
if (distortionMsg)
{
distortionMsg->mutable_center()->set_x(
camera->DistortionCenter().X());
distortionMsg->mutable_center()->set_y(
camera->DistortionCenter().Y());
distortionMsg->set_k1(camera->DistortionK1());
distortionMsg->set_k2(camera->DistortionK2());
distortionMsg->set_k3(camera->DistortionK3());
distortionMsg->set_p1(camera->DistortionP1());
distortionMsg->set_p2(camera->DistortionP2());
}
}
}
auto contactSensorComp = _manager.Component<
components::ContactSensor>(_entity);
if (contactSensorComp)
{
sensorMsg->set_type("contact_sensor");
}
auto depthCameraSensorComp = _manager.Component<
components::DepthCamera>(_entity);
if (depthCameraSensorComp)
{
sensorMsg->set_type("depth_camera");
}
auto gpuLidarComp = _manager.Component<components::GpuLidar>(_entity);
if (gpuLidarComp)
{
sensorMsg->set_type("gpu_lidar");
msgs::LidarSensor * lidarSensorMsg = sensorMsg->mutable_lidar();
const auto * lidar = gpuLidarComp->Data().LidarSensor();

if (lidar && lidarSensorMsg)
{
lidarSensorMsg->set_horizontal_samples(
lidar->HorizontalScanSamples());
lidarSensorMsg->set_horizontal_resolution(
lidar->HorizontalScanResolution());
lidarSensorMsg->set_horizontal_min_angle(
lidar->HorizontalScanMinAngle().Radian());
lidarSensorMsg->set_horizontal_max_angle(
lidar->HorizontalScanMaxAngle().Radian());
lidarSensorMsg->set_vertical_samples(lidar->VerticalScanSamples());
lidarSensorMsg->set_vertical_resolution(
lidar->VerticalScanResolution());
lidarSensorMsg->set_vertical_min_angle(
lidar->VerticalScanMinAngle().Radian());
lidarSensorMsg->set_vertical_max_angle(
lidar->VerticalScanMaxAngle().Radian());
lidarSensorMsg->set_range_min(lidar->RangeMin());
lidarSensorMsg->set_range_max(lidar->RangeMax());
lidarSensorMsg->set_range_resolution(lidar->RangeResolution());
msgs::SensorNoise *sensorNoise = lidarSensorMsg->mutable_noise();
if (sensorNoise)
{
const auto noise = lidar->LidarNoise();
switch(noise.Type())
{
case sdf::NoiseType::GAUSSIAN:
sensorNoise->set_type(msgs::SensorNoise::GAUSSIAN);
break;
case sdf::NoiseType::GAUSSIAN_QUANTIZED:
sensorNoise->set_type(msgs::SensorNoise::GAUSSIAN_QUANTIZED);
break;
default:
sensorNoise->set_type(msgs::SensorNoise::NONE);
}
sensorNoise->set_mean(noise.Mean());
sensorNoise->set_stddev(noise.StdDev());
sensorNoise->set_bias_mean(noise.BiasMean());
sensorNoise->set_bias_stddev(noise.BiasStdDev());
sensorNoise->set_precision(noise.Precision());
sensorNoise->set_dynamic_bias_stddev(noise.DynamicBiasStdDev());
sensorNoise->set_dynamic_bias_correlation_time(
noise.DynamicBiasCorrelationTime());
}
}
}
auto imuComp = _manager.Component<components::Imu>(_entity);
if (imuComp)
{
sensorMsg->set_type("imu");
msgs::IMUSensor * imuMsg = sensorMsg->mutable_imu();
const auto * imu = imuComp->Data().ImuSensor();

ignition::gazebo::set(
imuMsg->mutable_linear_acceleration()->mutable_x_noise(),
imu->LinearAccelerationXNoise());
ignition::gazebo::set(
imuMsg->mutable_linear_acceleration()->mutable_y_noise(),
imu->LinearAccelerationYNoise());
ignition::gazebo::set(
imuMsg->mutable_linear_acceleration()->mutable_z_noise(),
imu->LinearAccelerationZNoise());
ignition::gazebo::set(
imuMsg->mutable_angular_velocity()->mutable_x_noise(),
imu->AngularVelocityXNoise());
ignition::gazebo::set(
imuMsg->mutable_angular_velocity()->mutable_y_noise(),
imu->AngularVelocityYNoise());
ignition::gazebo::set(
imuMsg->mutable_angular_velocity()->mutable_z_noise(),
imu->AngularVelocityZNoise());
}
auto laserRetroComp = _manager.Component<
components::LaserRetro>(_entity);
if (laserRetroComp)
{
sensorMsg->set_type("laser_retro");
}
auto lidarComp = _manager.Component<components::Lidar>(_entity);
if (lidarComp)
{
sensorMsg->set_type("lidar");
}
auto logicalCamera = _manager.Component<
components::LogicalCamera>(_entity);
if (logicalCamera)
{
sensorMsg->set_type("logical_camera");
}
auto rgbdCameraComp = _manager.Component<
components::RgbdCamera>(_entity);
if (rgbdCameraComp)
{
sensorMsg->set_type("rgbd_camera");
}
auto thermalCameraComp = _manager.Component<
components::ThermalCamera>(_entity);
if (thermalCameraComp)
{
sensorMsg->set_type("thermal_camera");
}

// Add to graph
newGraph.AddVertex(_nameComp->Data(), sensorMsg, _entity);
newGraph.AddEdge({_parentComp->Data(), _entity}, true);
Expand Down