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Signed-off-by: Louise Poubel <louise@openrobotics.org>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| libdart-collision-ode-dev | ||
| libdart-dev | ||
| libdart-external-ikfast-dev | ||
| libdart-external-odelcpsolver-dev | ||
| libdart-utils-urdf-dev | ||
| libogre-next-dev | ||
| python3-ignition-math7 |
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| cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) | ||
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| project(ign-gazebo-comms) | ||
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| find_package(ignition-transport12 QUIET REQUIRED) | ||
| set(IGN_TRANSPORT_VER ${ignition-transport12_VERSION_MAJOR}) | ||
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| add_executable(publisher publisher.cc) | ||
| target_link_libraries(publisher | ||
| ignition-transport${IGN_TRANSPORT_VER}::core) |
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| /* | ||
| * Copyright (C) 2022 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
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| // Example: ./publisher addr2 | ||
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| #include <atomic> | ||
| #include <chrono> | ||
| #include <csignal> | ||
| #include <iostream> | ||
| #include <string> | ||
| #include <thread> | ||
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| #include <ignition/msgs.hh> | ||
| #include <ignition/transport.hh> | ||
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| /// \brief Flag used to break the publisher loop and terminate the program. | ||
| static std::atomic<bool> g_terminatePub(false); | ||
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| ////////////////////////////////////////////////// | ||
| /// \brief Usage function. | ||
| void usage() | ||
| { | ||
| std::cerr << "./publisher <dst_address>" << std::endl; | ||
| } | ||
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| ////////////////////////////////////////////////// | ||
| /// \brief Function callback executed when a SIGINT or SIGTERM signals are | ||
| /// captured. This is used to break the infinite loop that publishes messages | ||
| /// and exit the program smoothly. | ||
| void signal_handler(int _signal) | ||
| { | ||
| if (_signal == SIGINT || _signal == SIGTERM) | ||
| g_terminatePub = true; | ||
| } | ||
|
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| ////////////////////////////////////////////////// | ||
| int main(int argc, char **argv) | ||
| { | ||
| if (argc != 2) | ||
| { | ||
| usage(); | ||
| return -1; | ||
| } | ||
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| // Install a signal handler for SIGINT and SIGTERM. | ||
| std::signal(SIGINT, signal_handler); | ||
| std::signal(SIGTERM, signal_handler); | ||
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| // Create a transport node and advertise a topic. | ||
| ignition::transport::Node node; | ||
| std::string topic = "/broker/msgs"; | ||
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| auto pub = node.Advertise<ignition::msgs::Dataframe>(topic); | ||
| if (!pub) | ||
| { | ||
| std::cerr << "Error advertising topic [" << topic << "]" << std::endl; | ||
| return -1; | ||
| } | ||
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| std::this_thread::sleep_for(std::chrono::milliseconds(100)); | ||
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| // Prepare the message. | ||
| ignition::msgs::Dataframe msg; | ||
| msg.set_src_address("addr1"); | ||
| msg.set_dst_address(argv[1]); | ||
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| // Publish messages at 1Hz. | ||
| int counter = 0; | ||
| while (!g_terminatePub) | ||
| { | ||
| // Prepare the payload. | ||
| ignition::msgs::StringMsg payload; | ||
| payload.set_data("hello world " + std::to_string(counter)); | ||
| std::string serializedData; | ||
| if (!payload.SerializeToString(&serializedData)) | ||
| { | ||
| std::cerr << "Error serializing message\n" | ||
| << payload.DebugString() << std::endl; | ||
| } | ||
| msg.set_data(serializedData); | ||
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| if (!pub.Publish(msg)) | ||
| break; | ||
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| ++counter; | ||
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| std::cout << "Publishing hello on topic [" << topic << "]" << std::endl; | ||
| std::this_thread::sleep_for(std::chrono::milliseconds(1000)); | ||
| } | ||
|
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||
| return 0; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,177 @@ | ||
| <?xml version="1.0" ?> | ||
| <!-- | ||
| Ignition Gazebo perfect-comms plugin demo. | ||
| Compile the comms publisher: | ||
| cd ign-gazebo/examples/standalone/comms | ||
| mkdir build | ||
| cd build | ||
| cmake .. | ||
| make | ||
| Try launching a comms subscriber: | ||
| ign topic -e -t addr2/rx | ||
| Try launching a comms publisher: | ||
| ./publisher addr2 | ||
| --> | ||
| <sdf version="1.6"> | ||
| <world name="perfect_comms"> | ||
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| <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-user-commands-system" | ||
| name="ignition::gazebo::systems::UserCommands"> | ||
| </plugin> | ||
| <plugin | ||
| filename="ignition-gazebo-scene-broadcaster-system" | ||
| name="ignition::gazebo::systems::SceneBroadcaster"> | ||
| </plugin> | ||
| <plugin | ||
| filename="ignition-gazebo-perfect-comms-system" | ||
| name="ignition::gazebo::systems::PerfectComms"> | ||
| </plugin> | ||
|
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||
| <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> | ||
|
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||
| <model name="ground_plane"> | ||
| <static>true</static> | ||
| <link name="link"> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>100 100</size> | ||
| </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> | ||
|
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| <model name="box1"> | ||
| <pose>2 0 0.5 0 0 0</pose> | ||
| <link name="box_link"> | ||
| <inertial> | ||
| <inertia> | ||
| <ixx>0.16666</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.16666</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.16666</izz> | ||
| </inertia> | ||
| <mass>1.0</mass> | ||
| </inertial> | ||
| <collision name="box_collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
|
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| <visual name="box_visual"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <ambient>1 0 0 1</ambient> | ||
| <diffuse>1 0 0 1</diffuse> | ||
| <specular>1 0 0 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
|
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| <plugin | ||
| filename="ignition-gazebo-comms-endpoint-system" | ||
| name="ignition::gazebo::systems::CommsEndpoint"> | ||
| <address>addr1</address> | ||
| <topic>addr1/rx</topic> | ||
| </plugin> | ||
| </model> | ||
|
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| <model name="box2"> | ||
| <pose>-2 0 0.5 0 0 0</pose> | ||
| <link name="box_link"> | ||
| <inertial> | ||
| <inertia> | ||
| <ixx>0.16666</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.16666</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.16666</izz> | ||
| </inertia> | ||
| <mass>1.0</mass> | ||
| </inertial> | ||
| <collision name="box_collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
|
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| <visual name="box_visual"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <ambient>0 0 1 1</ambient> | ||
| <diffuse>0 0 1 1</diffuse> | ||
| <specular>0 0 1 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
|
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| <plugin | ||
| filename="ignition-gazebo-comms-endpoint-system" | ||
| name="ignition::gazebo::systems::CommsEndpoint"> | ||
| <address>addr2</address> | ||
| <topic>addr2/rx</topic> | ||
| <broker> | ||
| <bind_service>/broker/bind</bind_service> | ||
| <unbind_service>/broker/unbind</unbind_service> | ||
| </broker> | ||
| </plugin> | ||
|
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| </model> | ||
|
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| </world> | ||
| </sdf> |
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