jsbsim_bridge_ros.cpp
3.17 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
/****************************************************************************
*
* Copyright (c) 2020 Auterion AG. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
*
* @author Jaeyoung Lim <jaeyoung@auterion.com>
*
*/
#include "jsbsim_bridge_ros.h"
using namespace Eigen;
using namespace std;
// Constructor
JSBSimBridgeRos::JSBSimBridgeRos(const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)
: nh_(nh), nh_private_(nh_private) {
// Path to config file
std::string path;
double dt;
nh_private_.param<string>("config", path, std::string(JSBSIM_ROOT_DIR) + "/configs/rascal.xml");
nh_private_.param<string>("script", script_path, std::string(JSBSIM_ROOT_DIR) + "/scene/LSZH.xml");
nh_private_.param<double>("dt", dt, 0.004);
simloop_timer_ = nh_.createTimer(ros::Duration(dt), &JSBSimBridgeRos::simloopCallback,
this); // Define timer for constant loop rate
statusloop_timer_ = nh_.createTimer(ros::Duration(1), &JSBSimBridgeRos::statusloopCallback,
this); // Define timer for constant loop rate
// Parse Configurations
config_.ParseEnvironmentVariables();
config_.ParseConfigFile(path);
config_.setInitScriptPath(script_path);
config_.setHeadless(true);
fdmexec_ = new JSBSim::FGFDMExec();
jsbsim_bridge_ = std::make_unique<JSBSimBridge>(fdmexec_, config_);
}
JSBSimBridgeRos::~JSBSimBridgeRos() {
// Destructor
}
void JSBSimBridgeRos::simloopCallback(const ros::TimerEvent &event) {
if (jsbsim_bridge_) {
jsbsim_bridge_->Run();
}
}
void JSBSimBridgeRos::statusloopCallback(const ros::TimerEvent &event) {
// TODO: Publish simulation status
}