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Fixed missing imports. #2

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merged 4 commits into from
Aug 3, 2023
Merged

Fixed missing imports. #2

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03a20da
Fixed missing imports.
ACFleming Jun 29, 2023
b2d0588
Added remapping to fix spawning issue for rexrov
ACFleming Jul 24, 2023
b795f8f
Addressing changes with debug flag and removing comments
ACFleming Aug 3, 2023
a914ef9
Removing comment and removing remapping
ACFleming Aug 3, 2023
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18 changes: 9 additions & 9 deletions uuv_assistants/src/message_to_tf.cpp
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Expand Up @@ -38,7 +38,7 @@

#include <tf2/LinearMath/Transform.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>


std::string g_odometry_topic;
Expand Down Expand Up @@ -72,14 +72,14 @@ void addTransform(std::vector<geometry_msgs::msg::TransformStamped>& transforms,
transforms.push_back(new_msg);
}

namespace tf2
{
//Specialization for Point msg
static inline void fromMsg(const geometry_msgs::msg::Point& msgIn, tf2::Vector3& out)
{
out = Vector3(msgIn.x, msgIn.y, msgIn.z);
}
}
// namespace tf2
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Check if this section is needed or if it can be removed

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The fromMsg function causes a compilation error. Ros humble defines the same function in /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp.
From this, I believe it is correct to remove it, as the functionality is not lost, and keeping it in fact causes errors. I shall delete that function

// {
// //Specialization for Point msg
// static inline void fromMsg(const geometry_msgs::msg::Point& msgIn, tf2::Vector3& out)
// {
// out = Vector3(msgIn.x, msgIn.y, msgIn.z);
// }
// }

std::string stripSlash(const std::string & in)
{
Expand Down
5 changes: 4 additions & 1 deletion uuv_descriptions/launch/upload_rexrov_default.launch.py
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Expand Up @@ -127,7 +127,10 @@ def launch_setup(context, *args, **kwargs):
executable='spawn_entity.py',
output='screen',
parameters=[{'use_sim_time': res}],
arguments=args
arguments=args,
remappings=[
('/gazebo/spawn_entity', '/spawn_entity')
]
)

# A joint state publisher plugin already is started with the model, no need to use the default joint state publisher
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2 changes: 1 addition & 1 deletion uuv_gazebo_plugins/uuv_gazebo_plugins/src/ThrusterPlugin.cpp
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Expand Up @@ -20,7 +20,7 @@
// limitations under the License.

#include <boost/algorithm/string.hpp>
#include <boost/bind.hpp>
#include <boost/bind/bind.hpp>
#include <boost/shared_ptr.hpp>

#include <limits>
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2 changes: 2 additions & 0 deletions uuv_gazebo_plugins/uuv_gazebo_ros_plugins/CMakeLists.txt
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Expand Up @@ -21,6 +21,7 @@ find_package(tf2_ros REQUIRED)
find_package(uuv_gazebo_plugins REQUIRED)
find_package(uuv_gazebo_ros_plugins_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(gazebo_ros REQUIRED)

set(BASE_LIBS
ament_cmake
Expand All @@ -34,6 +35,7 @@ set(BASE_LIBS
uuv_gazebo_plugins
uuv_gazebo_ros_plugins_msgs
visualization_msgs
gazebo_ros
)

include_directories(include)
Expand Down
1 change: 0 additions & 1 deletion uuv_gazebo_worlds/launch/auv_underwater_world.launch
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Expand Up @@ -26,7 +26,6 @@ Underwater environment with the ODE physics engine configured for vehicles using
<arg name="debug" value="false"/>
<arg name="verbose" value="true"/>
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
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Remove comment

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I will remove the corresponding comment from the other launch files as well

<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>

<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
Expand Down
1 change: 0 additions & 1 deletion uuv_gazebo_worlds/launch/empty_underwater_world.launch
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Expand Up @@ -25,7 +25,6 @@ clearly show it is not the case-->
<arg name="debug" value="false"/>
<arg name="verbose" value="true"/>
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>

<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
Expand Down
1 change: 0 additions & 1 deletion uuv_gazebo_worlds/launch/herkules_ship_wreck.launch
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Expand Up @@ -19,7 +19,6 @@
<arg name="debug" value="false"/>
<arg name="verbose" value="true" />
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>

<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
Expand Down
1 change: 0 additions & 1 deletion uuv_gazebo_worlds/launch/lake.launch
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Expand Up @@ -22,7 +22,6 @@
<arg name="debug" value="false"/>
<arg name="verbose" value="true"/>
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>

<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
Expand Down
1 change: 0 additions & 1 deletion uuv_gazebo_worlds/launch/mangalia.launch
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Expand Up @@ -19,7 +19,6 @@
<arg name="debug" value="false"/>
<arg name="verbose" value="true" />
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>

<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
Expand Down
1 change: 0 additions & 1 deletion uuv_gazebo_worlds/launch/mangalia_manipulation.launch
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Expand Up @@ -19,7 +19,6 @@
<arg name="debug" value="false"/>
<arg name="verbose" value="true" />
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>

<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
Expand Down
1 change: 0 additions & 1 deletion uuv_gazebo_worlds/launch/munkholmen.launch
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Expand Up @@ -19,7 +19,6 @@
<arg name="debug" value="false"/>
<arg name="verbose" value="true" />
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>

<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
Expand Down
13 changes: 10 additions & 3 deletions uuv_gazebo_worlds/launch/ocean_waves.launch
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<launch>
<arg name="gui" default="true"/>
<arg name="paused" default="false"/>
<arg name="debug" default="false"/>
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Check how this could be reinstated

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Reinstated

<arg name="set_timeout" default="false"/>
<arg name="timeout" default="0.0"/>
<arg name="use_sim_time" default="true"/>
Expand All @@ -20,11 +20,10 @@
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="gui" value="$(var gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="$(var debug)"/>
<arg name="debug" value="false"/>
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Need to revert this change

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Reverted

<arg name="verbose" value="true"/>
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
<!-- Also investigate why /gazebo ns has a strong bad perf impact-->
<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>

<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
Expand All @@ -38,6 +37,14 @@
<param from="$(find-pkg-share uuv_gazebo_worlds)/config/ocean_waves.yaml"/>
</node>

<!-- <plugin name="gazebo_factory" filename="libgazebo_ros_factory.so"> -->
<!-- NB: omitting <ros> element, the namespace is still correctly read,
but is it an intended behaviour ?-->
<!-- <ros>
<namespace>/vehicle</namespace>
</ros> -->
<!-- </plugin> -->

<group if="$(var set_timeout)">
<include file="$(find-pkg-share uuv_assistants)/launch/set_simulation_timer.launch">
<arg name="timeout" value="$(var timeout)"/>
Expand Down
1 change: 0 additions & 1 deletion uuv_gazebo_worlds/launch/subsea_bop_panel.launch
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Expand Up @@ -19,7 +19,6 @@
<arg name="debug" value="false"/>
<arg name="verbose" value="true" />
<!-- TODO Remove force_system in foxy, as it will be loaded by default -->
<arg name="extra_gazebo_args" value="-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo"/>
</include>

<include file="$(find-pkg-share uuv_assistants)/launch/publish_world_ned_frame.launch">
Expand Down
1 change: 1 addition & 0 deletions ...sensor_plugins/uuv_sensor_ros_plugins/include/uuv_sensor_ros_plugins/ROSBaseModelPlugin.h
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Expand Up @@ -36,6 +36,7 @@
#include <tf2_msgs/msg/tf_message.hpp>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/buffer.h>

#include <geometry_msgs/msg/transform_stamped.hpp>

Expand Down
15 changes: 12 additions & 3 deletions uuv_teleop/scripts/finned_uuv_teleop.py
100755 → 100644
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Expand Up @@ -30,6 +30,14 @@
from plankton_utils.param_helper import parse_nested_params_to_dict
from plankton_utils.time import is_sim_time

def to_int_list(l: list):
cp = list(l)
if(len(cp) != 0 and type(cp[0]) == str):
if(len(cp) == 1):
cp = ("".join(cp)).split(",")
cp = [int(i) for i in cp]
return cp


class FinnedUUVControllerNode(Node):
def __init__(self, **kwargs):
Expand Down Expand Up @@ -63,9 +71,10 @@ def __init__(self, **kwargs):

# Read the vector for contribution of each fin on the change on
# orientation
gain_roll = self.get_parameter('gain_roll').value
gain_pitch = self.get_parameter('gain_pitch').value
gain_yaw = self.get_parameter('gain_yaw').value
gain_roll = to_int_list(self.get_parameter('gain_roll').value)
gain_pitch = to_int_list(self.get_parameter('gain_pitch').value)
gain_yaw = to_int_list(self.get_parameter('gain_yaw').value)
print(self._n_fins, gain_pitch, gain_roll, gain_yaw)

if len(gain_roll) != self._n_fins or len(gain_pitch) != self._n_fins \
or len(gain_yaw) != self._n_fins:
Expand Down
2 changes: 2 additions & 0 deletions uuv_world_plugins/uuv_world_ros_plugins/CMakeLists.txt
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Expand Up @@ -17,6 +17,7 @@ find_package(gazebo_dev REQUIRED)
find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(gazebo_ros REQUIRED)

set(LIBS
uuv_world_plugins
Expand All @@ -26,6 +27,7 @@ set(LIBS
ament_cmake
geometry_msgs
rclcpp
gazebo_ros
)

include_directories(include)
Expand Down