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[ros2] World plugin with get/set entity state services #839

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merged 1 commit into from
Feb 14, 2019
Merged

[ros2] World plugin with get/set entity state services #839

merged 1 commit into from
Feb 14, 2019

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chapulina
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This is part of breaking gazebo_ros_api into several plugins, see #779 and #838.

See the migration documentation: ROS 2 Migration: Entity states.

Try the demo world added in this PR (see the world file for more detailed instructions):

gazebo gazebo_ros/worlds/gazebo_ros_state_demo.world

FYI @mkhansen-intel.

@chapulina chapulina mentioned this pull request Nov 16, 2018
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@chapulina chapulina changed the title [ros2] World plugin to get/set entity state services [ros2] World plugin with get/set entity state services Nov 16, 2018
tfoote
tfoote reviewed Nov 21, 2018
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Overall it looks good. Adding the status_message is a little odd. In general I think that that sort of output is better to go out on the console logging. Which looking at the implementation is already being done. Because the only thing that we can programmatically do with that information is display it to the user. I'm not entirely against it but it seems to be pushing the limit of what should go back in the message versus go out to console.

gazebo_msgs/srv/GetEntityState.srv Outdated
# * header.frame_id Filled with the relative_frame.
gazebo_msgs/EntityState state # Contains pose and twist.
bool success # Return true if get was successful. If false, the state contains garbage.
string status_message # Comments if available.
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What sort of "comments" might go here?

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I was just keeping it because it was in ROS 1, but I agree it doesn't serve any good purpose, so removed in 6387f4a.

@chapulina chapulina added the ros2 label Nov 29, 2018
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@ros-pull-request-builder retest this please

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@ros-pull-request-builder retest this please

@chapulina chapulina force-pushed the ros2_state branch 2 times, most recently from de5ce8e to d98f584 Compare December 12, 2018 18:10
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TODO(@chapulina) : rebase against new crystal branch

@chapulina chapulina mentioned this pull request Feb 14, 2019
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@chapulina chapulina changed the base branch from ros2 to crystal February 14, 2019 21:24
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@nzlz's team has been using this branch (see #838 (comment)) and I've already addressed @tfoote's review comment, so I'm merging this.

@chapulina chapulina merged commit f9a7798 into crystal Feb 14, 2019
@chapulina chapulina deleted the ros2_state branch February 14, 2019 22:32
@j-rivero j-rivero mentioned this pull request Mar 12, 2019
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shiveshkhaitan pushed a commit to shiveshkhaitan/gazebo_ros_pkgs that referenced this pull request Jun 4, 2019
@chapulina @shiveshkhaitan
[ros2] World plugin to get/set entity state services (ros-simulation#839
0b18533 
)

remove status_message
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@chapulina - I don't see the gazebo_ros_state files in the 'ros2' branch, is that expected? I see they were merged to the 'crystal' branch, but not 'ros2'. I'd like to use this feature in dashing, has it been replaced somehow?

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@mkhansen-intel , see #933. I'm still reviewing it. I was having some difficulties using it which I'm not sure were local problems in my setup.

chapulina pushed a commit that referenced this pull request Jun 5, 2019
@shiveshkhaitan @chapulina
Crystal changes for dashing (#933)
4fbcf39 
* [ros2] World plugin to get/set entity state services (#839)

remove status_message

* [ros2] Port time commands (pause / reset) (#866)

* relative -> reference
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I see it's merged now, thanks for the quick follow up

chapulina pushed a commit that referenced this pull request Aug 21, 2019
@shiveshkhaitan @chapulina
Address reviews on #868 (#972)
ad6c482 
* [ros2] World plugin to get/set entity state services (#839)

remove status_message

* [ros2] Port time commands (pause / reset) (#866)

* [ros2] Migration of get/set world, model, joint, link, light properties

* Trying to pass CI test, try n1.

* clean up some linter warnings

* Requested changes in review, unfinished

* Fix uncrustify

* Address reviews

* more tests, joint types

Signed-off-by: Louise Poubel <[email protected]>

* Revert changes to GetModelProperties message

Document gazebo_ros_properties header

* Convert msgs pose to math pose and use it on SetCoG

Signed-off-by: Louise Poubel <[email protected]>
antarikshnarain added a commit to antarikshnarain/gazebo_ros_pkgs that referenced this pull request Jul 7, 2020
@antarikshnarain @shiveshkhaitan
@chapulina @Karsten1987 @alexfneves @jacobperron @jnoyola @j-rivero @dirk-thomas @scpeters @seanyen @scgroot
Update from Original (#1)
348df12 
* [ros2] Port elevator to ROS2

* [ros2] Fix test for diff drive (ros-simulation#951)

* use c_str() (ros-simulation#950) (ros-simulation#954)

Signed-off-by: Karsten Knese <[email protected]>

* [ros2] Port projector to ROS2 (ros-simulation#956)

* [ros2] Port projector to ROS2

* fix small typo

* [ros2] Port planar move to ROS2 (ros-simulation#958)

* [ros2] Port planar move to ROS2

* Add test for pose conversion

* [ros2] Add ackermann drive plugin (ros-simulation#947)

* [ros2] Add ackermann drive plugin

* Minor fixes

Use gazebo database model

* Update example usage

* Fix TF for demo

* changelog

* 3.3.2

* [ros2] Port harness to ROS2 (ros-simulation#944)

* [ros2] Port hand of god to ROS2 (ros-simulation#957)

* [ros2] Port hand of god to ROS2

* Minor fixes

* [ros2] Port model states to ROS2 (ros-simulation#968)

* [ros2] Port model states to ROS2

* remove unported code

Signed-off-by: Louise Poubel <[email protected]>

* Add Gazebo builtin plugins to LD_LIBRARY_PATH (ros-simulation#974)

* Add Gazebo builtin plugins to LD_LIBRARY_PATH

Signed-off-by: Louise Poubel <[email protected]>

* cross-platform

Signed-off-by: Louise Poubel <[email protected]>

* [ros2] Fix tests on Dashing (ros-simulation#953)

* [ros2] Fix camera triggered test on Dashing

backport remove noe fix and re-enable distortion tests

* improve robustness of joint state pub test

Signed-off-by: Louise Poubel <[email protected]>

* Fix for multiple video plugins (ros-simulation#898) (ros-simulation#937)

* Fix for multiple video plugins (ros-simulation#898)

* Fix crash on shutdown

* Fix gazebo node destructor

* [ros2] Port bumper sensor to ROS2 (ros-simulation#943)

* [ros2] Port bumper sensor to ROS2

* Add author name

* Minor fixes and add contact msg conversion

* Remove unused header includes

* [ros2] Port gazebo_ros_path plugin to ROS2 (ros-simulation#925)

* [ros2] Port gazebo_ros_path plugin

* Minor fixes

* Change plugin launch file to python script

* Fix for flake8 test

* set gazebo library dirs (ros-simulation#963)

Signed-off-by: Karsten Knese <[email protected]>

* [ros2] Port Link states to ROS2 (ros-simulation#969)

* [ros2] Port model states to ROS2

* [ros2] Port link states to ROS2

* Change usage of body -> link

* Remove link_states from .ros1_unported

* fix video test

Signed-off-by: chapulina <[email protected]>

* [ros2] Port joint pose trajectory to ROS2 (ros-simulation#955)

* [ros2] Port joint pose trajectory to ROS2

* Add conversion tests

Minor fixes

* [ros2] Port gazebo launch scripts to ROS2 (ros-simulation#962)

* [ros2] Port gazebo launch scripts to ROS2

* Add gdb and valgrind option

* Use shell command for extra gazebo args

* [ros2] Port vacuum gripper to ROS2 (ros-simulation#960)

* [ros2] Port vacuum gripper to ROS2

* Fix gripper forces

* Add option to set max_distance

Change SetForce -> Add Force

* [ros2] Port spawn model to ROS2 (ros-simulation#948)

* [ros2] Port spawn model to ROS2

* Delete .ros1_unported files

* Fixes and add demo

Change spawn_model to spawn_entity

* Rename demo launch and add checks for service

* Fix reading xml file from param and model states

* remove diplicate

Signed-off-by: Louise Poubel <[email protected]>

* Use gazebo launch file

* Change topic behaviour

* [ros2] Spawn <plugin> without <ros> (ros-simulation#983)

Signed-off-by: Louise Poubel <[email protected]>

* [ros2] Backport depth camera to dashing (ros-simulation#967)

* [ros2] Backport depth camera to dashing

* don't install header that will be removed

Signed-off-by: Louise Poubel <[email protected]>

* fix linting error

Signed-off-by: Louise Poubel <[email protected]>

* Address reviews on ros-simulation#868 (ros-simulation#972)

* [ros2] World plugin to get/set entity state services (ros-simulation#839)

remove status_message

* [ros2] Port time commands (pause / reset) (ros-simulation#866)

* [ros2] Migration of get/set world, model, joint, link, light properties

* Trying to pass CI test, try n1.

* clean up some linter warnings

* Requested changes in review, unfinished

* Fix uncrustify

* Address reviews

* more tests, joint types

Signed-off-by: Louise Poubel <[email protected]>

* Revert changes to GetModelProperties message

Document gazebo_ros_properties header

* Convert msgs pose to math pose and use it on SetCoG

Signed-off-by: Louise Poubel <[email protected]>

* [ros2] Adding GPS plugin (ros-simulation#982)

* Adding gps plugin sensor

* Adding test for the gps plugin

* Adding GPS world demo and other small text corrections

* [ros2] Adding option to select the frame where the force will be applied (ros-simulation#978)

* Adding option to select the frame where the force will be applied

A new parameter was added on the plugin with the options 'world' and 'link' frame.
The default value is 'world'.
Internally the AddRelativeForce() and torque functions are used instead of the AddForce() when the body option is selected.

* Modifying force test for the 'world' frame, and adding test for the force on the 'link' frame

The new world file starts with the box rotated.

* Fix cpplint and uncrustify on force plugin files

* Removing OnUpdateRelative() from the force plugin

This function could potentially break the ABI, therefore is been removed.

* body -> link, warn -> info, more examples

Signed-off-by: Louise Poubel <[email protected]>

* [backport] Backport multicamera to dashing (ros-simulation#984)

* [backport] Backport multicamera to dashing

* fix test - use correct world

Signed-off-by: Louise Poubel <[email protected]>

* Add maintainer (ros-simulation#985)

Signed-off-by: Louise Poubel <[email protected]>

* [ros2] Conditional launch includes (ros-simulation#979)

* [ros2] Conditional launch includes

Signed-off-by: Louise Poubel <[email protected]>

* remove unused import

Signed-off-by: Louise Poubel <[email protected]>

* changelog

Signed-off-by: Louise Poubel <[email protected]>

* 3.3.3

* [ros2] Uncommenting bond option on spawn_entity (wait Ctrl+C then remove entity) (ros-simulation#986)

* Uncommenting bond option on spawn_entity (wait Ctrl+C then remove entity)

Instead of waiting for a shutdown callback to be created in rclpy,
we can use the try/except to get the SIGINT signal, then delete the entity.

* Message formatting

Signed-off-by: Louise Poubel <[email protected]>

* linter 😅

Signed-off-by: Louise Poubel <[email protected]>

* [ros2] Remove ported / deprecated (ros-simulation#989)

Signed-off-by: Louise Poubel <[email protected]>

* Remove ROS-specific arguments before passing to argparse (ros-simulation#994)

This resolves argparse errors when trying to launch the spawn_entity script as a ROS node.

For example, a launch file like the following wouldn't work without this change:

    <launch>
      <arg name="model_urdf" default="$(find-pkg-share mymodels)/urdf/ball.urdf" />
      <node
        pkg="gazebo_ros"
        exec="spawn_entity.py"
        name="spawner"
        args="-entity foo -file /path/to/my/model/foo.urdf" />
    </launch>

Signed-off-by: Jacob Perron <[email protected]>

* fix multi_camera_plugin on windows (ros-simulation#999)

* changelog

Signed-off-by: Louise Poubel <[email protected]>

* 3.3.4

* Update changelogs

* 3.4.0

* generate a .dsv file for the environment hook

* Update changelogs

* 3.4.1

* changelog

Signed-off-by: Louise Poubel <[email protected]>

* 3.4.2

* fix pathsep for windows (ros-simulation#1028)

* Image publishers use SensorDataQoSProfile (ros-simulation#1031)

All other sensor publishers were updated previously to use the same profile (ros-simulation#926).
I'm not sure if the image publishers were overlooked or the image_transport API didn't
support setting the QoS profile at the time.

Signed-off-by: Jacob Perron <[email protected]>

* [backport][ros2] make transient local reliable (ros-simulation#1033) (ros-simulation#1036)

* [ros2] make transient local reliable (ros-simulation#1033)

* make transient local reliable

Signed-off-by: Karsten Knese <[email protected]>

* fix master

Signed-off-by: Karsten Knese <[email protected]>

* add launch test

Signed-off-by: Karsten Knese <[email protected]>

* make it actual latched

Signed-off-by: Karsten Knese <[email protected]>

* alpha sort

Signed-off-by: Karsten Knese <[email protected]>

* add launch_test dependency

Signed-off-by: Karsten Knese <[email protected]>

* more dependencies

Signed-off-by: Karsten Knese <[email protected]>

* remove debug print

Signed-off-by: Karsten Knese <[email protected]>

* is_initialized -> ok

Signed-off-by: Karsten Knese <[email protected]>

* Update gazebo_ros/test/entity_spawner.test.py

Co-Authored-By: chapulina <[email protected]>

* use erase-remove idiom

Signed-off-by: Karsten Knese <[email protected]>

* use ReadyToTest()

Signed-off-by: Karsten Knese <[email protected]>

Co-authored-by: chapulina <[email protected]>

* Set timeout and call gzserver directly

Signed-off-by: Louise Poubel <[email protected]>

Co-authored-by: chapulina <[email protected]>

* changelog

Signed-off-by: Louise Poubel <[email protected]>

* 3.4.3

* Measure IMU orientation with respect to world (ros-simulation#1058)

Report the IMU orientation from the sensor plugin with respect to the world frame.
This complies with convention documented in REP 145: https://www.ros.org/reps/rep-0145.html

In order to not break existing behavior, users should opt-in by adding a new SDF tag.

Co-authored-by: Jacob Perron <[email protected]>

* Measure IMU orientation with respect to world (dashing) (ros-simulation#1065)

Report the IMU orientation from the sensor plugin
with respect to the world frame.
This complies with convention documented in REP 145:
https://www.ros.org/reps/rep-0145.html

In order to not break existing behavior,
users should opt-in by adding a new SDF tag.

Co-authored-by: Jacob Perron <[email protected]>

* wait for service with variable timeout (ros-simulation#1090)

* wait for service with variable timeout

Signed-off-by: Karsten Knese <[email protected]>

Co-authored-by: chapulina <[email protected]>

* Backport Gazebo11/Bionic fix for boost variant (ros-simulation#1102)

* Backport Gazebo11/Bionic fix for boost variant (ros-simulation#1103)

* Prepare changelogs

* 3.3.5

* Prepare changelogs

* 3.4.4

* [eloquent] Fix Windows build. (ros-simulation#1077)

* Adding Windows bringup.

* Remove unported gazebo_ros_control (ros-simulation#1108)

Signed-off-by: Louise Poubel <[email protected]>

* use target include directories (ros-simulation#1040)

Signed-off-by: Karsten Knese <[email protected]>
Co-authored-by: Louise Poubel <[email protected]>

* Apply acceleration until both left and right reach targetspeed (ros-simulation#1009)

Co-authored-by: Louise Poubel <[email protected]>

* Fix all Foxy tests

Signed-off-by: Louise Poubel <[email protected]>

* uncrustifyyyyyy

Signed-off-by: Louise Poubel <[email protected]>

* changelog

Signed-off-by: Louise Poubel <[email protected]>

* 3.5.0

Co-authored-by: Shivesh Khaitan <[email protected]>
Co-authored-by: chapulina <[email protected]>
Co-authored-by: Karsten Knese <[email protected]>
Co-authored-by: alexfneves <[email protected]>
Co-authored-by: Jacob Perron <[email protected]>
Co-authored-by: Jonathan Noyola <[email protected]>
Co-authored-by: Jose Luis Rivero <[email protected]>
Co-authored-by: Dirk Thomas <[email protected]>
Co-authored-by: Steven Peters <[email protected]>
Co-authored-by: Sean Yen <[email protected]>
Co-authored-by: scgroot <[email protected]>
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JWSLAM commented Mar 25, 2021

@mkhansenbot @chapulina
I am using dashing，also want to use setModelState service. Which commit or branch should I check out. Waiting for reply, Thanks.

@i1Cps
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i1Cps commented May 7, 2023

I'm using foxy, and also want to user a service where i can set the state of a model. Have any similar services been migrated to Ros2 yet?

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