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6 ➡️ 7 #1367

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Mar 10, 2022
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2a076e9
🎈 4.14.0 (#1261)
chapulina Dec 22, 2021
6f58c91
Prevent GzScene3D 💥 if another scene is already loaded (#1294)
chapulina Jan 18, 2022
650b746
Remove EachNew calls from sensor PreUpdates (#1281)
chapulina Jan 18, 2022
749884d
Buoyancy: fix center of volume's reference frame (#1302)
chapulina Jan 21, 2022
912e2ce
Update source install instructions (#1311)
chapulina Jan 25, 2022
ebb3a9a
Log an error if JointPositionController cannot find the joint. (citad…
arjo129 Jan 28, 2022
37a3a46
3 ➡️ 5
chapulina Jan 28, 2022
c8d3f06
Merge pull request #1315 from ignitionrobotics/chapulina/3_to_5
iche033 Feb 2, 2022
717a7e9
Load and run visual plugin (system) on GUI side (#1275)
iche033 Feb 4, 2022
986e30f
Limit thruster system's input thrust cmd (#1318)
iche033 Feb 4, 2022
6ec4ae2
merge from ign-gazebo5
iche033 Feb 4, 2022
e032208
Removed unused variables in shapes plugin (#1321)
ahcorde Feb 4, 2022
756fa13
fix buoyancy test by increasing tol
iche033 Feb 4, 2022
7b4fcda
Add elevator system (#535)
nlamprian Feb 5, 2022
1ef2c62
Fix weird indentation in `Link.hh` (#1324)
arjo129 Feb 7, 2022
c0cfcc8
Forward port 4 to 5
Feb 7, 2022
6fb3609
Merge branch 'ign-gazebo6' into merge_5_6_20220203
nkoenig Feb 7, 2022
c4d33ab
Merge pull request #1326 from ignitionrobotics/4-5-20220207
nkoenig Feb 7, 2022
2b409b0
Merge branch 'ign-gazebo5' into merge_5_6_20220203
Feb 7, 2022
012c25c
fix UNIT_SdfGenerator_TEST (#1319)
iche033 Feb 7, 2022
eeb80cd
Merge pull request #1322 from ignitionrobotics/merge_5_6_20220203
iche033 Feb 7, 2022
83f2f74
Adds a `Link::SetLinearVelocity()` method (#1323)
arjo129 Feb 8, 2022
77dd855
Extend ShaderParam system to support textures (#1310)
iche033 Feb 9, 2022
30c2510
merge from ign-gazebo3
iche033 Feb 9, 2022
9feb7b5
disable elevator system on windows
iche033 Feb 11, 2022
49d0673
New trajectory follower system (#1332)
caguero Feb 13, 2022
bcb1a36
Merge pull request #1330 from ignitionrobotics/merge_3_5_20220209
iche033 Feb 14, 2022
e273d43
Merge branch 'ign-gazebo5' into merge_5_6_20220214
iche033 Feb 14, 2022
7901903
Prepare for releasing 6.5.0 (#1338)
j-rivero Feb 14, 2022
12ea34a
Merge branch 'ign-gazebo6' into merge_5_6_20220214
iche033 Feb 14, 2022
211289f
Fixed light gui component inspector (#1337)
ahcorde Feb 15, 2022
862c0f9
Merge pull request #1339 from ignitionrobotics/merge_5_6_20220214
iche033 Feb 15, 2022
08a0dfc
JointStatePublisher publish parent, child and axis data (#1345)
ahcorde Feb 17, 2022
1b569c9
Logs a warning if a mode is not clearly sepecified. (#1307)
arjo129 Feb 17, 2022
91a79da
Adding ability to pause/resume the trajectory follower behavior. (#1347)
caguero Feb 18, 2022
64755e5
Added more sensor properties to scene/info topic (#1344)
ahcorde Feb 18, 2022
a68eb9e
Merge branch 'ign-gazebo5' into merge_5_6_20220223
iche033 Feb 24, 2022
f96558f
Merge branch 'ign-gazebo3' into merge_3_5_20220223
iche033 Feb 24, 2022
b45f60f
3 -> 5 (#1360)
mjcarroll Feb 24, 2022
e0d88f7
Merge branch 'ign-gazebo5' into merge_5_6_20220223
iche033 Feb 24, 2022
f7cd5aa
Merge pull request #1359 from ignitionrobotics/merge_5_6_20220223
iche033 Feb 24, 2022
8b8b9f6
Support disabling pose publisher from publishing top level model pose…
iche033 Feb 24, 2022
d3a5015
Add parameter to TrajectoryFollower stop rotation when bearing is rea…
iche033 Feb 25, 2022
0ae1324
Fix accessing empty JointPosition component in lift drag plugin (#1366)
iche033 Feb 25, 2022
3b94bd2
Prepare for 6.6.0 release (#1365)
iche033 Feb 25, 2022
ac989f8
Added Python interfaces to some Ignition Gazebo methods (#1219)
ahcorde Feb 25, 2022
d03a77e
Refactor System functionality into SystemManager (#1340)
mjcarroll Feb 25, 2022
5eb9d4b
Merge branch 'ign-gazebo6' into ports/6_to_main
mjcarroll Feb 25, 2022
1e31b53
Populate names of colliding entities in contact points message (#1351)
adityapande-1995 Feb 28, 2022
6d17cc1
Extend ShaderParam system to support loading different shader languag…
iche033 Mar 1, 2022
b04aaed
Disables Failing Buoyancy Tests on Win32 (#1368)
arjo129 Mar 1, 2022
6ac12c6
Use pose multiplication instead of addition (#1369)
scpeters Mar 2, 2022
d5b595b
fix thruster integration test
iche033 Mar 3, 2022
3f91707
Fix typo in python tutorial (#1372)
arjo129 Mar 4, 2022
1b649a9
Merge branch 'ign-gazebo6' into ports/6_to_main
scpeters Mar 4, 2022
26233a4
Merge branch 'main' into ports/6_to_main
scpeters Mar 4, 2022
ce0a85f
math6 -> math7 (#1367)
chapulina Mar 9, 2022
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28 changes: 28 additions & 0 deletions src/systems/joint_state_publisher/JointStatePublisher.cc
Original file line number Diff line number Diff line change
@@ -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"

using namespace ignition;
@@ -184,6 +187,18 @@ 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);
@@ -194,6 +209,19 @@ 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)
{