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add new env_manager to project

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This commit is contained in:
Ilya Uraev 2023-12-11 22:08:43 +03:00
parent fe94fc7bc2
commit d32f44682d
6 changed files with 9 additions and 21 deletions
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9
env_manager/env_manager/config/test_params.yaml
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@ -1,9 +0,0 @@
env_manager:
ros__parameters:
gz_enviroment:
type: gz_enviroment/GzEnviroment
gz_enviroment:
ros__parameters:
mesh_name: "monkey"

4
env_manager/env_manager/package.xml
View file

@ -8,11 +8,11 @@
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>env_interface</depend>
<depend>env_manager_interfaces</depend>
<depend>rclcpp</depend>
<depend>rclcpp_lifecycle</depend>
<depend>env_inteface</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

10
env_manager/gz_enviroment/src/gz_enviroment.cpp
View file

@ -45,10 +45,10 @@ CallbackReturn GzEnviroment::on_configure(const rclcpp_lifecycle::State&)
m_topic_name = std::string("/world/") + m_world_name + "/dynamic_pose/info";
m_service_spawn = std::string("/world/") + m_world_name + "/create";
if (!doGzSpawn())
{
return CallbackReturn::ERROR;
}
// if (!doGzSpawn())
// {
// return CallbackReturn::ERROR;
// }
return CallbackReturn::SUCCESS;
}
@ -85,7 +85,7 @@ CallbackReturn GzEnviroment::on_deactivate(const rclcpp_lifecycle::State&)
void GzEnviroment::onGzPoseSub(const gz::msgs::Pose_V& pose_v)
{
// TODO: Read from config
m_follow_frames = { "box1", "box2", "box3", "box4", "box5", "box6", "monkey" };
m_follow_frames = { "box1", "box2", "box3", "box4", "box5", "box6"};
for (const auto& it : pose_v.pose())
{
if (std::find(m_follow_frames.begin(), m_follow_frames.end(), it.name()) == m_follow_frames.end())