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[ros2] Fix test for diff drive #951

Merged
merged 1 commit into from
Jul 9, 2019
Merged

[ros2] Fix test for diff drive #951

merged 1 commit into from
Jul 9, 2019

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shiveshkhaitan
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The test should check for the linear velocity of the vehicle in the X direction wrt to the vehicle instead of linear velocity in Gazebo's X direction. This is how the odometry is also set.

gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_diff_drive.cpp

Lines 574 to 575 in fa09083

float yaw = pose.Rot().Yaw();
odom_.twist.twist.linear.x = cosf(yaw) * linear.X() + sinf(yaw) * linear.Y();

@chapulina chapulina self-requested a review July 9, 2019 11:38
@chapulina chapulina added the ros2 label Jul 9, 2019
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chapulina approved these changes Jul 9, 2019
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Looks reasonable to me, let's try to run CI for it

gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp Show resolved Hide resolved
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@ros-pull-request-builder retest this please

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let's try to run CI for it

I think we need this to get CI working for the dashing branch: ros/rosdistro#21722.

For now, I tested this locally and it works for me 👍

@chapulina chapulina merged commit 5e4a989 into ros-simulation:dashing Jul 9, 2019
@shiveshkhaitan shiveshkhaitan deleted the diff_drive branch July 9, 2019 12:40
shiveshkhaitan added a commit to shiveshkhaitan/gazebo_ros_pkgs that referenced this pull request Aug 15, 2019
@shiveshkhaitan
[ros2] Fix test for diff drive (ros-simulation#951)
a33f713
@shiveshkhaitan shiveshkhaitan mentioned this pull request Aug 15, 2019
Merged
antarikshnarain added a commit to antarikshnarain/gazebo_ros_pkgs that referenced this pull request Jul 7, 2020
@antarikshnarain @shiveshkhaitan
@chapulina @Karsten1987 @alexfneves @jacobperron @jnoyola @j-rivero @dirk-thomas @scpeters @seanyen @scgroot
Update from Original (#1)
348df12 
* [ros2] Port elevator to ROS2

* [ros2] Fix test for diff drive (ros-simulation#951)

* use c_str() (ros-simulation#950) (ros-simulation#954)

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* [ros2] Port projector to ROS2 (ros-simulation#956)

* [ros2] Port projector to ROS2

* fix small typo

* [ros2] Port planar move to ROS2 (ros-simulation#958)

* [ros2] Port planar move to ROS2

* Add test for pose conversion

* [ros2] Add ackermann drive plugin (ros-simulation#947)

* [ros2] Add ackermann drive plugin

* Minor fixes

Use gazebo database model

* Update example usage

* Fix TF for demo

* changelog

* 3.3.2

* [ros2] Port harness to ROS2 (ros-simulation#944)

* [ros2] Port hand of god to ROS2 (ros-simulation#957)

* [ros2] Port hand of god to ROS2

* Minor fixes

* [ros2] Port model states to ROS2 (ros-simulation#968)

* [ros2] Port model states to ROS2

* remove unported code

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Add Gazebo builtin plugins to LD_LIBRARY_PATH (ros-simulation#974)

* Add Gazebo builtin plugins to LD_LIBRARY_PATH

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* cross-platform

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* [ros2] Fix tests on Dashing (ros-simulation#953)

* [ros2] Fix camera triggered test on Dashing

backport remove noe fix and re-enable distortion tests

* improve robustness of joint state pub test

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Fix for multiple video plugins (ros-simulation#898) (ros-simulation#937)

* Fix for multiple video plugins (ros-simulation#898)

* Fix crash on shutdown

* Fix gazebo node destructor

* [ros2] Port bumper sensor to ROS2 (ros-simulation#943)

* [ros2] Port bumper sensor to ROS2

* Add author name

* Minor fixes and add contact msg conversion

* Remove unused header includes

* [ros2] Port gazebo_ros_path plugin to ROS2 (ros-simulation#925)

* [ros2] Port gazebo_ros_path plugin

* Minor fixes

* Change plugin launch file to python script

* Fix for flake8 test

* set gazebo library dirs (ros-simulation#963)

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* [ros2] Port Link states to ROS2 (ros-simulation#969)

* [ros2] Port model states to ROS2

* [ros2] Port link states to ROS2

* Change usage of body -> link

* Remove link_states from .ros1_unported

* fix video test

Signed-off-by: chapulina <louise@openrobotics.org>

* [ros2] Port joint pose trajectory to ROS2 (ros-simulation#955)

* [ros2] Port joint pose trajectory to ROS2

* Add conversion tests

Minor fixes

* [ros2] Port gazebo launch scripts to ROS2 (ros-simulation#962)

* [ros2] Port gazebo launch scripts to ROS2

* Add gdb and valgrind option

* Use shell command for extra gazebo args

* [ros2] Port vacuum gripper to ROS2 (ros-simulation#960)

* [ros2] Port vacuum gripper to ROS2

* Fix gripper forces

* Add option to set max_distance

Change SetForce -> Add Force

* [ros2] Port spawn model to ROS2 (ros-simulation#948)

* [ros2] Port spawn model to ROS2

* Delete .ros1_unported files

* Fixes and add demo

Change spawn_model to spawn_entity

* Rename demo launch and add checks for service

* Fix reading xml file from param and model states

* remove diplicate

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Use gazebo launch file

* Change topic behaviour

* [ros2] Spawn <plugin> without <ros> (ros-simulation#983)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* [ros2] Backport depth camera to dashing (ros-simulation#967)

* [ros2] Backport depth camera to dashing

* don't install header that will be removed

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* fix linting error

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Address reviews on ros-simulation#868 (ros-simulation#972)

* [ros2] World plugin to get/set entity state services (ros-simulation#839)

remove status_message

* [ros2] Port time commands (pause / reset) (ros-simulation#866)

* [ros2] Migration of get/set world, model, joint, link, light properties

* Trying to pass CI test, try n1.

* clean up some linter warnings

* Requested changes in review, unfinished

* Fix uncrustify

* Address reviews

* more tests, joint types

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Revert changes to GetModelProperties message

Document gazebo_ros_properties header

* Convert msgs pose to math pose and use it on SetCoG

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* [ros2] Adding GPS plugin (ros-simulation#982)

* Adding gps plugin sensor

* Adding test for the gps plugin

* Adding GPS world demo and other small text corrections

* [ros2] Adding option to select the frame where the force will be applied (ros-simulation#978)

* Adding option to select the frame where the force will be applied

A new parameter was added on the plugin with the options 'world' and 'link' frame.
The default value is 'world'.
Internally the AddRelativeForce() and torque functions are used instead of the AddForce() when the body option is selected.

* Modifying force test for the 'world' frame, and adding test for the force on the 'link' frame

The new world file starts with the box rotated.

* Fix cpplint and uncrustify on force plugin files

* Removing OnUpdateRelative() from the force plugin

This function could potentially break the ABI, therefore is been removed.

* body -> link, warn -> info, more examples

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* [backport] Backport multicamera to dashing (ros-simulation#984)

* [backport] Backport multicamera to dashing

* fix test - use correct world

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Add maintainer (ros-simulation#985)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* [ros2] Conditional launch includes (ros-simulation#979)

* [ros2] Conditional launch includes

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* remove unused import

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* changelog

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* 3.3.3

* [ros2] Uncommenting bond option on spawn_entity (wait Ctrl+C then remove entity) (ros-simulation#986)

* Uncommenting bond option on spawn_entity (wait Ctrl+C then remove entity)

Instead of waiting for a shutdown callback to be created in rclpy,
we can use the try/except to get the SIGINT signal, then delete the entity.

* Message formatting

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* linter 😅

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* [ros2] Remove ported / deprecated (ros-simulation#989)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Remove ROS-specific arguments before passing to argparse (ros-simulation#994)

This resolves argparse errors when trying to launch the spawn_entity script as a ROS node.

For example, a launch file like the following wouldn't work without this change:

    <launch>
      <arg name="model_urdf" default="$(find-pkg-share mymodels)/urdf/ball.urdf" />
      <node
        pkg="gazebo_ros"
        exec="spawn_entity.py"
        name="spawner"
        args="-entity foo -file /path/to/my/model/foo.urdf" />
    </launch>

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* fix multi_camera_plugin on windows (ros-simulation#999)

* changelog

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* 3.3.4

* Update changelogs

* 3.4.0

* generate a .dsv file for the environment hook

* Update changelogs

* 3.4.1

* changelog

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* 3.4.2

* fix pathsep for windows (ros-simulation#1028)

* Image publishers use SensorDataQoSProfile (ros-simulation#1031)

All other sensor publishers were updated previously to use the same profile (ros-simulation#926).
I'm not sure if the image publishers were overlooked or the image_transport API didn't
support setting the QoS profile at the time.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* [backport][ros2] make transient local reliable (ros-simulation#1033) (ros-simulation#1036)

* [ros2] make transient local reliable (ros-simulation#1033)

* make transient local reliable

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* fix master

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* add launch test

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* make it actual latched

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* alpha sort

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* add launch_test dependency

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* more dependencies

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* remove debug print

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* is_initialized -> ok

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* Update gazebo_ros/test/entity_spawner.test.py

Co-Authored-By: chapulina <louise@openrobotics.org>

* use erase-remove idiom

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* use ReadyToTest()

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Co-authored-by: chapulina <louise@openrobotics.org>

* Set timeout and call gzserver directly

Signed-off-by: Louise Poubel <louise@openrobotics.org>

Co-authored-by: chapulina <louise@openrobotics.org>

* changelog

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* 3.4.3

* Measure IMU orientation with respect to world (ros-simulation#1058)

Report the IMU orientation from the sensor plugin with respect to the world frame.
This complies with convention documented in REP 145: https://www.ros.org/reps/rep-0145.html

In order to not break existing behavior, users should opt-in by adding a new SDF tag.

Co-authored-by: Jacob Perron <jacob@openrobotics.org>

* Measure IMU orientation with respect to world (dashing) (ros-simulation#1065)

Report the IMU orientation from the sensor plugin
with respect to the world frame.
This complies with convention documented in REP 145:
https://www.ros.org/reps/rep-0145.html

In order to not break existing behavior,
users should opt-in by adding a new SDF tag.

Co-authored-by: Jacob Perron <jacob@openrobotics.org>

* wait for service with variable timeout (ros-simulation#1090)

* wait for service with variable timeout

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Co-authored-by: chapulina <louise@openrobotics.org>

* Backport Gazebo11/Bionic fix for boost variant (ros-simulation#1102)

* Backport Gazebo11/Bionic fix for boost variant (ros-simulation#1103)

* Prepare changelogs

* 3.3.5

* Prepare changelogs

* 3.4.4

* [eloquent] Fix Windows build. (ros-simulation#1077)

* Adding Windows bringup.

* Remove unported gazebo_ros_control (ros-simulation#1108)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* use target include directories (ros-simulation#1040)

Signed-off-by: Karsten Knese <karsten@openrobotics.org>
Co-authored-by: Louise Poubel <louise@openrobotics.org>

* Apply acceleration until both left and right reach targetspeed (ros-simulation#1009)

Co-authored-by: Louise Poubel <louise@openrobotics.org>

* Fix all Foxy tests

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* uncrustifyyyyyy

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* changelog

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* 3.5.0

Co-authored-by: Shivesh Khaitan <shiveshkhaitan@gmail.com>
Co-authored-by: chapulina <louise@openrobotics.org>
Co-authored-by: Karsten Knese <Karsten1987@users.noreply.github.com>
Co-authored-by: alexfneves <alexfneves@gmail.com>
Co-authored-by: Jacob Perron <jacob@openrobotics.org>
Co-authored-by: Jonathan Noyola <noyolajonathan@gmail.com>
Co-authored-by: Jose Luis Rivero <jrivero@osrfoundation.org>
Co-authored-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>
Co-authored-by: Steven Peters <scpeters@openrobotics.org>
Co-authored-by: Sean Yen <seanyen@microsoft.com>
Co-authored-by: scgroot <steffen@boast.nl>
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