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Add NavSat sensor (GPS) (#1248)
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Signed-off-by: Louise Poubel <louise@openrobotics.org>
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@chapulina
chapulina authored Jan 12, 2022
1 parent 4dea262 commit 989cd28
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Showing 13 changed files with 870 additions and 10 deletions.
7 changes: 4 additions & 3 deletions CMakeLists.txt
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Expand Up @@ -65,7 +65,7 @@ set(IGN_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR})

#--------------------------------------
# Find ignition-msgs
ign_find_package(ignition-msgs8 REQUIRED)
ign_find_package(ignition-msgs8 REQUIRED VERSION 8.2)
set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})

#--------------------------------------
Expand All @@ -87,7 +87,7 @@ set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools7_VERSION_MAJOR})

#--------------------------------------
# Find ignition-gui
ign_find_package(ignition-gui6 REQUIRED VERSION 6.1)
ign_find_package(ignition-gui6 REQUIRED VERSION 6.3)
set(IGN_GUI_VER ${ignition-gui6_VERSION_MAJOR})
ign_find_package (Qt5
COMPONENTS
Expand All @@ -110,7 +110,7 @@ set(IGN_PHYSICS_VER ${ignition-physics5_VERSION_MAJOR})

#--------------------------------------
# Find ignition-sensors
ign_find_package(ignition-sensors6 REQUIRED VERSION 6.0.1
ign_find_package(ignition-sensors6 REQUIRED VERSION 6.1
# component order is important
COMPONENTS
# non-rendering
Expand All @@ -120,6 +120,7 @@ ign_find_package(ignition-sensors6 REQUIRED VERSION 6.0.1
force_torque
logical_camera
magnetometer
navsat

# rendering
rendering
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237 changes: 234 additions & 3 deletions examples/worlds/spherical_coordinates.sdf
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Expand Up @@ -5,6 +5,9 @@
The world origin's spherical coordinates can be inspected using the Component
Inspector GUI plugin.
It has a model with a NavSat (GPS) sensor, whose reading is displayed on a
NavSatMap plugin.
Try changing the world origin coordinates with:
ign service \
Expand Down Expand Up @@ -46,7 +49,13 @@ ign service -s /world/spherical_coordinates/set_spherical_coordinates \
-->
<sdf version="1.6">
<world name="spherical coordinates">
<world name="spherical_coordinates">

<!-- Processes the NavSat sensor -->
<plugin
filename="ignition-gazebo-navsat-system"
name="ignition::gazebo::systems::NavSat">
</plugin>

<!-- Handles requests to update the spherical coordinates -->
<plugin
Expand All @@ -70,11 +79,233 @@ ign service -s /world/spherical_coordinates/set_spherical_coordinates \
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<world_frame_orientation>ENU</world_frame_orientation>
<latitude_deg>-22.9</latitude_deg>
<longitude_deg>-43.2</longitude_deg>
<latitude_deg>-22.986687</latitude_deg>
<longitude_deg>-43.202501</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>

<gui fullscreen="0">

<!-- 3D scene -->
<plugin filename="MinimalScene" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>0 -6 8 0 0.8 1.56</camera_pose>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<ignition-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="SelectEntities" name="Select Entities">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="Spawn" name="Spawn Entities">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<use_event>true</use_event>

</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>

<!-- Translate / rotate -->
<plugin filename="TransformControl" name="Transform control">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</ignition-gui>

<!-- disable legacy features used to connect this plugin to GzScene3D -->
<legacy>false</legacy>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<ignition-gui>
<property type="string" key="state">docked_collapsed</property>
</ignition-gui>
</plugin>

<!-- Inspector -->
<plugin filename="ComponentInspector" name="Component inspector">
<ignition-gui>
<property type="string" key="state">docked</property>
</ignition-gui>
</plugin>

<!-- Map -->
<plugin filename="NavSatMap" name="NavSat Map">
<ignition-gui>
<title>NavSat Map</title>
<property key="state" type="string">docked</property>
</ignition-gui>
<topic>/navsat</topic>
<topic_picker>true</topic_picker>
</plugin>
</gui>

<light type="directional" name="sun">
</light>

<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>

<model name="NavSat">
<pose>0 0 0.05 0 0.0 0</pose>
<link name="link">
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>

<sensor name="navsat" type="navsat">
<always_on>1</always_on>
<update_rate>1</update_rate>
<topic>navsat</topic>
</sensor>
</link>
</model>

</world>
</sdf>
46 changes: 46 additions & 0 deletions include/ignition/gazebo/components/NavSat.hh
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@@ -0,0 +1,46 @@
/*
* Copyright (C) 2021 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.
*
*/
#ifndef IGNITION_GAZEBO_COMPONENTS_NAVSAT_HH_
#define IGNITION_GAZEBO_COMPONENTS_NAVSAT_HH_

#include <sdf/Sensor.hh>

#include <ignition/gazebo/config.hh>
#include <ignition/gazebo/Export.hh>

#include <ignition/gazebo/components/Factory.hh>
#include <ignition/gazebo/components/Component.hh>
#include <ignition/gazebo/components/Serialization.hh>

namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
namespace components
{
/// \brief A component type that contains an NavSat sensor,
/// sdf::NavSat, information.
using NavSat = Component<sdf::Sensor, class NavSatTag,
serializers::SensorSerializer>;
IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.NavSat", NavSat)
}
}
}
}
#endif
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