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Add NavSat sensor (GPS) #1248

Merged
merged 17 commits into from
Jan 12, 2022
Merged

Add NavSat sensor (GPS) #1248

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db96ccd
start implement gps
Dec 29, 2020
a25a906
gps-modifications
Dec 29, 2020
369b3de
finish up
Dec 30, 2020
a345518
GPS -> NavSat
chapulina Dec 14, 2021
dc6bf87
Make it work
chapulina Dec 22, 2021
7fc2bbf
tweaks
chapulina Dec 22, 2021
9dd6d8e
more tweaks
chapulina Dec 22, 2021
ce8e6f0
Merge branch 'ign-gazebo6' into chapulina/6/navsat
chapulina Dec 22, 2021
a1feb51
Apply PR #1104 fix
chapulina Dec 22, 2021
417887c
Use NavSat plugin
chapulina Dec 23, 2021
4644e7e
View aligned with map
chapulina Dec 30, 2021
977ef9f
Merge branch 'ign-gazebo6' into chapulina/6/navsat
chapulina Dec 30, 2021
3221382
Bump required dependencies
chapulina Jan 6, 2022
e26e983
PR feedback, refactor not to call EachNew in PreUpdate
chapulina Jan 11, 2022
6b22f5c
missing includes
chapulina Jan 11, 2022
d906b0e
Fix sensor update call
chapulina Jan 11, 2022
c2c18c7
Fix Windows visibility
chapulina Jan 12, 2022
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7 changes: 4 additions & 3 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
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
Expand Down
237 changes: 234 additions & 3 deletions examples/worlds/spherical_coordinates.sdf
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Original file line number Diff line number Diff line change
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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Original file line number Diff line number Diff line change
@@ -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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