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New trajectory follower system #1332

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merged 6 commits into from
Feb 13, 2022
Merged

New trajectory follower system #1332

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7d4d4a5
New trajectory follower system
caguero Feb 10, 2022
f082490
Tweaks
caguero Feb 11, 2022
b23b5b7
Tweaks
caguero Feb 11, 2022
0927042
update doc on line direction
iche033 Feb 11, 2022
9a1ddd9
use IGN_PI
iche033 Feb 12, 2022
8d365d0
fix codecheck errors
iche033 Feb 12, 2022
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1 change: 0 additions & 1 deletion examples/worlds/shader_param.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -184,7 +184,6 @@ ShaderParam visual plugin over time.
<pose>0 0 1.5 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/deformable_sphere</uri>
</include>

<include>
<name>waves</name>
<pose>0 0 0 0 0 0</pose>
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220 changes: 220 additions & 0 deletions examples/worlds/trajectory_follower.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,220 @@
<?xml version="1.0" ?>
<!--
Ignition Gazebo trajectory follower plugin demo.
-->
<sdf version="1.6">
<world name="trajectory_follower">

<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>

<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="box">
<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-trajectory-follower-system"
name="ignition::gazebo::systems::TrajectoryFollower">
<link_name>box_link</link_name>
<loop>true</loop>
<force>10</force>
<torque>10</torque>
<waypoints>
<waypoint>2 0</waypoint>
<waypoint>7 0</waypoint>
</waypoints>
</plugin>

</model>

<model name="box_2">
<pose>0 2 0.5 0 0 1.5708</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-trajectory-follower-system"
name="ignition::gazebo::systems::TrajectoryFollower">
<link_name>box_link</link_name>
<loop>true</loop>
<force>10</force>
<torque>10</torque>
<line>
<direction>0</direction>
<length>5</length>
</line>
</plugin>

</model>

<model name="box_3">
<pose>0 -2 0.5 0 0 -1.5708</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-trajectory-follower-system"
name="ignition::gazebo::systems::TrajectoryFollower">
<link_name>box_link</link_name>
<loop>true</loop>
<force>10</force>
<torque>10</torque>
<line>
<direction>0</direction>
<length>5</length>
</line>
</plugin>

</model>

</world>
</sdf>
1 change: 1 addition & 0 deletions src/systems/CMakeLists.txt
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Expand Up @@ -134,6 +134,7 @@ add_subdirectory(thruster)
add_subdirectory(touch_plugin)
add_subdirectory(track_controller)
add_subdirectory(tracked_vehicle)
add_subdirectory(trajectory_follower)
add_subdirectory(triggered_publisher)
add_subdirectory(user_commands)
add_subdirectory(velocity_control)
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6 changes: 6 additions & 0 deletions src/systems/trajectory_follower/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
gz_add_system(trajectory-follower
SOURCES
TrajectoryFollower.cc
PUBLIC_LINK_LIBS
ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
)
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