Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add elevator system #535

Merged
merged 8 commits into from
Feb 5, 2022
Merged

Add elevator system #535

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
40db7c2
Add elevator system
nlamprian Jan 8, 2021
3443aa5
Limit line length for transition table
nlamprian Jan 8, 2021
41f45e6
Add PRIVATE_INCLUDE_DIRS argument to gz_add_system
nlamprian Nov 14, 2021
7339002
Add afsm and metapushkin libraries
nlamprian Nov 22, 2021
ed8a890
Add namespace to events, actions and guards
nlamprian Nov 22, 2021
82aed86
Migrate to afsm
nlamprian Dec 1, 2021
7d03281
Fixes
nlamprian Dec 23, 2021
a690342
Merge branch 'ign-gazebo3' into nlamprian/elevator
nkoenig Feb 4, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
80 changes: 80 additions & 0 deletions examples/worlds/elevator.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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>
10 changes: 9 additions & 1 deletion src/systems/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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})

Expand All @@ -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(${system_target}
PRIVATE
Expand Down Expand Up @@ -82,6 +89,7 @@ add_subdirectory(contact)
add_subdirectory(camera_video_recorder)
add_subdirectory(detachable_joint)
add_subdirectory(diff_drive)
add_subdirectory(elevator)
add_subdirectory(imu)
add_subdirectory(joint_controller)
add_subdirectory(joint_position_controller)
Expand Down
12 changes: 12 additions & 0 deletions src/systems/elevator/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,12 @@
gz_add_system(elevator
SOURCES
Elevator.cc
utils/DoorTimer.cc
utils/JointMonitor.cc
PUBLIC_LINK_LIBS
ignition-common${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
)
Loading