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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"

2
env_manager/env_manager/package.xml
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@ -9,10 +9,10 @@
<buildtool_depend>ament_cmake</buildtool_depend> <buildtool_depend>ament_cmake</buildtool_depend>
<depend>env_interface</depend>
<depend>env_manager_interfaces</depend> <depend>env_manager_interfaces</depend>
<depend>rclcpp</depend> <depend>rclcpp</depend>
<depend>rclcpp_lifecycle</depend> <depend>rclcpp_lifecycle</depend>
<depend>env_inteface</depend>
<test_depend>ament_lint_auto</test_depend> <test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend> <test_depend>ament_lint_common</test_depend>

10
env_manager/gz_enviroment/src/gz_enviroment.cpp
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@ -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_topic_name = std::string("/world/") + m_world_name + "/dynamic_pose/info";
m_service_spawn = std::string("/world/") + m_world_name + "/create"; m_service_spawn = std::string("/world/") + m_world_name + "/create";
if (!doGzSpawn()) // if (!doGzSpawn())
{ // {
return CallbackReturn::ERROR; // return CallbackReturn::ERROR;
} // }
return CallbackReturn::SUCCESS; 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) void GzEnviroment::onGzPoseSub(const gz::msgs::Pose_V& pose_v)
{ {
// TODO: Read from config // 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()) for (const auto& it : pose_v.pose())
{ {
if (std::find(m_follow_frames.begin(), m_follow_frames.end(), it.name()) == m_follow_frames.end()) if (std::find(m_follow_frames.begin(), m_follow_frames.end(), it.name()) == m_follow_frames.end())

2
rbs_bringup/launch/bringup.launch.py
View file

@ -142,7 +142,7 @@ def generate_launch_description():
DeclareLaunchArgument("sim_fake", default_value="false", description="Mock contollers") DeclareLaunchArgument("sim_fake", default_value="false", description="Mock contollers")
) )
declared_arguments.append( declared_arguments.append(
DeclareLaunchArgument("env_manager", default_value="false", description="Launch env_manager?") DeclareLaunchArgument("env_manager", default_value="true", description="Launch env_manager?")
) )
declared_arguments.append( declared_arguments.append(
DeclareLaunchArgument("launch_sim", default_value="true", description="Launch simulator (Gazebo)? Most general arg") DeclareLaunchArgument("launch_sim", default_value="true", description="Launch simulator (Gazebo)? Most general arg")

2
rbs_bt_executor/CMakeLists.txt
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@ -18,7 +18,6 @@ find_package(ament_index_cpp REQUIRED)
find_package(rbs_skill_interfaces REQUIRED) find_package(rbs_skill_interfaces REQUIRED)
find_package(behavior_tree REQUIRED) find_package(behavior_tree REQUIRED)
find_package(control_msgs REQUIRED) find_package(control_msgs REQUIRED)
find_package(component_interfaces REQUIRED)
find_package(lifecycle_msgs REQUIRED) find_package(lifecycle_msgs REQUIRED)
find_package(rcl_interfaces REQUIRED) find_package(rcl_interfaces REQUIRED)
@ -40,7 +39,6 @@ set(dependencies
behavior_tree behavior_tree
std_msgs std_msgs
control_msgs control_msgs
component_interfaces
lifecycle_msgs lifecycle_msgs
rcl_interfaces rcl_interfaces
) )

3
rbs_simulation/launch/simulation.launch.py
View file

@ -63,9 +63,8 @@ def generate_launch_description():
'-topic', '/robot_description'], '-topic', '/robot_description'],
output='screen', output='screen',
condition=IfCondition(sim_gazebo)) condition=IfCondition(sim_gazebo))
env_manager = Node(package="env_manager", env_manager = Node(package="env_manager",
executable="env_manager_node", executable="run_env_manager",
condition=IfCondition(env_manager_cond) condition=IfCondition(env_manager_cond)
) )