Add comms infrastructure

examples/standalone/comms/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+
+project(ign-gazebo-comms)
+
+find_package(ignition-transport11 QUIET REQUIRED)
+set(IGN_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR})
+
+add_executable(publisher publisher.cc)
+target_link_libraries(publisher
+  ignition-transport${IGN_TRANSPORT_VER}::core)

examples/standalone/comms/publisher.cc

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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.
+ *
+*/
+
+// Example: ./publisher addr1
+
+#include <atomic>
+#include <chrono>
+#include <csignal>
+#include <iostream>
+#include <string>
+#include <thread>
+
+#include <ignition/msgs.hh>
+#include <ignition/transport.hh>
+
+/// \brief Flag used to break the publisher loop and terminate the program.
+static std::atomic<bool> g_terminatePub(false);
+
+//////////////////////////////////////////////////
+/// \brief Usage function.
+void usage()
+{
+  std::cerr << "./publisher <dst_address>" << std::endl;
+}
+
+//////////////////////////////////////////////////
+/// \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;
+}
+
+//////////////////////////////////////////////////
+int main(int argc, char **argv)
+{
+  if (argc != 2)
+  {
+    usage();
+    return -1;
+  }
+
+  // Install a signal handler for SIGINT and SIGTERM.
+  std::signal(SIGINT,  signal_handler);
+  std::signal(SIGTERM, signal_handler);
+
+  // Create a transport node and advertise a topic.
+  ignition::transport::Node node;
+  std::string topic = "/broker/msgs";
+
+  auto pub = node.Advertise<ignition::msgs::Dataframe>(topic);
+  if (!pub)
+  {
+    std::cerr << "Error advertising topic [" << topic << "]" << std::endl;
+    return -1;
+  }
+
+  std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+  // Prepare the message.
+  ignition::msgs::Dataframe msg;
+  msg.set_src_address("addr1");
+  msg.set_dst_address(argv[1]);
+
+  // 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);
+
+    if (!pub.Publish(msg))
+      break;
+
+    ++counter;
+
+    std::cout << "Publishing hello on topic [" << topic << "]" << std::endl;
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+  }
+
+  return 0;
+}

examples/worlds/perfect_comms.sdf

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+<?xml version="1.0" ?>
+<!--
+  Ignition Gazebo 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 addr1/rx
+
+  Try launching a comms publisher:
+    ./publisher addr1
+-->
+<sdf version="1.6">
+  <world name="perfect_comms">
+
+    <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>
+
+    <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>
+
+    <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="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>
+
+        <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>
+
+      <plugin
+        filename="ignition-gazebo-comms-endpoint-system"
+        name="ignition::gazebo::systems::CommsEndpoint">
+        <address>addr1</address>
+        <topic>addr1/rx</topic>
+      </plugin>
+    </model>
+
+    <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>
+
+        <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>
+
+      <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>
+
+    </model>
+
+  </world>
+</sdf>