gazebo_drop_plugin.h
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/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. 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.
*
****************************************************************************/
/**
* @brief Drop Plugin
*
* This plugin simulates dropping a payload
*
* @author Jaeyoung Lim <jalim@ethz.ch>
*/
#ifndef _GAZEBO_DROP_PLUGIN_HH_
#define _GAZEBO_DROP_PLUGIN_HH_
#include <math.h>
#include <common.h>
#include <sdf/sdf.hh>
#include <gazebo/common/common.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/gazebo.hh>
#include <gazebo/util/system.hh>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/physics/physics.hh>
#include <ignition/math.hh>
#include "CommandMotorSpeed.pb.h"
#include <Odometry.pb.h>
namespace gazebo
{
typedef const boost::shared_ptr<const mav_msgs::msgs::CommandMotorSpeed> CommandMotorSpeedPtr;
class GAZEBO_VISIBLE DropPlugin : public ModelPlugin
{
public:
DropPlugin();
virtual ~DropPlugin();
void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
void OnUpdate(const common::UpdateInfo&);
physics::ModelPtr GetModelPtr(std::string model_name);
private:
/// \brief Loads the package model
void LoadPackage();
/// \brief Callback for subscribing to motor commands
/// \param rot_velocities Motor command velocity commanded from firmware
void VelocityCallback(CommandMotorSpeedPtr &rot_velocities);
std::string namespace_;
physics::ModelPtr model_;
physics::WorldPtr world_;
event::ConnectionPtr update_connection_;
bool package_spawned = false; ///< Check if the package has already been spawned in the world
double max_rot_velocity_ = 3500; ///< Clip maximum motor velocity
double ref_motor_rot_vel_ = 0; ///< Reference motor velocity
double release_rot_vel_ = 300; ///< Motor velocity command to release the package
int motor_number_;
std::string trigger_sub_topic_ = "/gazebo/command/motor_speed"; ///< Parachute trigger signal topic
std::string model_name_ = "parachute_package";
transport::NodePtr node_handle_;
transport::SubscriberPtr trigger_sub_;
}; // class GAZEBO_VISIBLE DropPlugin
} // namespace gazebo
#endif // _GAZEBO_DROP_PLUGIN_HH_