Added black hole plugin

README.md

@@ -4,6 +4,12 @@ This repository contains several plugins that may be handy for experimentation
 with the Gazebo simulator.
 
 Right now, the package contains the following plugins:
-* Gripper plugin: plugin for easily grasping objects in Gazebo without physical
-  contact between the gripper link and the graspable objects. This overcomes the
-  difficulties that arise from squishing an object between two links.
+* Gripper plugin: model plugin for easily grasping objects in Gazebo without
+  physical contact between the gripper link and the graspable objects. This
+  overcomes the difficulties that arise from squishing an object between two
+  links.
+* Black hole plugin: model plugin that converts a given model into a
+  "black hole". This means that if any of a given list of models (the "stars")
+  touches the "black hole", then the model will be deleted. Useful to dispatch
+  objects that are no longer required in the simulation (e.g. a can thrown to
+  the thrash).

gazebo_ros_plugins/package.xml

@@ -43,6 +43,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <run_depend>gz_gripper_plugin</run_depend>
+  <run_depend>gz_black_hole</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

gz_black_hole/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(gz_black_hole)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  actionlib
+  gazebo_plugins
+  gazebo_ros
+  iri_common_drivers_msgs
+  tf
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+find_package(gazebo REQUIRED)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   iri_common_drivers_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+  LIBRARIES gz_black_hole
+#  CATKIN_DEPENDS actionlib gazebo_plugins gazebo_ros iri_common_drivers_msgs tf
+#  DEPENDS gazebo
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+# TODO: Check names of system library include directories (gazebo)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${GAZEBO_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+add_library(gz_black_hole
+  src/gz_black_hole.cpp
+)
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(gz_black_hole ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(gz_black_hole_node src/gz_black_hole_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(gz_black_hole_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(gz_black_hole
+  ${catkin_LIBRARIES}
+  ${GAZEBO_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS gz_black_hole gz_black_hole_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_gz_black_hole.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

gz_black_hole/launch/test.launch

+<?xml version="1.0" ?>
+<launch>
+
+  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
+  <arg name="paused" default="false"/>
+  <arg name="use_sim_time" default="true"/>
+  <arg name="gui" default="true"/>
+  <arg name="headless" default="false"/>
+  <arg name="debug" default="false"/>
+
+  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find gz_black_hole)/worlds/test.world"/>
+    <arg name="debug" value="$(arg debug)" />
+    <arg name="gui" value="$(arg gui)" />
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+    <arg name="headless" value="$(arg headless)"/>
+  </include>
+  
+</launch>
+

gz_black_hole/package.xml

+<?xml version="1.0"?>
+<package>
+  <name>gz_black_hole</name>
+  <version>0.0.0</version>
+  <description>The gz_black_hole package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="Suarez@todo.todo">Alejandro Suarez</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/gz_black_hole</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+  <author >Alejandro Suarez</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>actionlib</build_depend>
+  <build_depend>gazebo</build_depend>
+  <build_depend>gazebo_plugins</build_depend>
+  <build_depend>gazebo_ros</build_depend>
+  <build_depend>iri_common_drivers_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <run_depend>actionlib</run_depend>
+  <run_depend>gazebo</run_depend>
+  <run_depend>gazebo_plugins</run_depend>
+  <run_depend>gazebo_ros</run_depend>
+  <run_depend>iri_common_drivers_msgs</run_depend>
+  <run_depend>tf</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+    <gazebo_ros plugin_path="${prefix}/lib" gazebo_media_path="${prefix}" />
+  </export>
+</package>

gz_black_hole/src/gz_black_hole.cpp

+#include <cmath>
+#include <boost/bind.hpp>
+#include <gazebo_msgs/DeleteModel.h>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/common/common.hh>
+#include <gazebo/transport/transport.hh>
+#include <ros/ros.h>
+#include <actionlib/server/simple_action_server.h>
+#include <tf/transform_listener.h>
+#include <iri_common_drivers_msgs/tool_closeAction.h>
+#include <iri_common_drivers_msgs/tool_openAction.h>
+
+namespace gazebo
+{
+
+class BlackHolePlugin : public ModelPlugin
+{
+  private:
+    transport::SubscriberPtr contactSub_;
+    physics::ModelPtr model_;
+    physics::ContactManager* contact_manager_;
+    transport::NodePtr node_;
+    std::vector<std::string> collision_names_, stars_;
+    std::string topic_; // contacts topic
+
+    void read_options(sdf::ElementPtr sdf)
+    {
+      // Read gripper link
+      sdf::ElementPtr elem = sdf->GetElement("star");
+
+      while (elem)
+      {
+        std::string star = elem->GetValue()->GetAsString();
+        stars_.push_back(star);
+        elem = elem->GetNextElement("star");
+        ROS_INFO("Added star: %s", star.c_str());
+      }
+    }
+    
+    /** 
+     * @brief Iterate through all the collisions of the model to get their
+     * names and store them in collision_names_
+     */
+    void obtain_collision_names()
+    {
+      collision_names_.clear();
+      physics::Link_V links = model_->GetLinks();
+      for (int i = 0; i < links.size(); ++i)
+      {
+        physics::Collision_V collisions = links[i]->GetCollisions();
+        for (int j = 0; j < collisions.size(); ++j)
+        {
+          collision_names_.push_back(collisions[j]->GetScopedName());
+        }
+      }
+    }
+
+    bool is_star(physics::ModelPtr model)
+    {
+      for (int i = 0; i < stars_.size(); ++i)
+      {
+        if (stars_[i] == model->GetName()) return true;
+      }
+      return false;
+    }
+
+  public:
+
+    virtual void Load(physics::ModelPtr parent, sdf::ElementPtr sdf)
+    {
+      model_ = parent;
+
+      // get contact manager from physics engine
+      physics::PhysicsEnginePtr physics =
+        parent->GetWorld()->GetPhysicsEngine();
+      contact_manager_ = physics->GetContactManager();
+      read_options(sdf);
+      obtain_collision_names();
+      topic_ = contact_manager_->CreateFilter(model_->GetName() + "_contacts",
+          collision_names_);
+
+      // init gazebo node and link contact callback
+      node_.reset(new transport::Node());
+      node_->Init(model_->GetWorld()->GetName());
+      contactSub_ = node_->Subscribe(topic_, &BlackHolePlugin::OnContact, this);
+    }
+
+    void OnContact(const ConstContactsPtr& msg)
+    {
+      //ROS_INFO("New contact");
+      for (int i = 0; i < msg->contact_size(); ++i)
+      {
+        physics::CollisionPtr collision1 = boost::dynamic_pointer_cast<
+          physics::Collision>(model_->GetWorld()->GetEntity(
+                msg->contact(i).collision1()));
+        physics::CollisionPtr collision2 = boost::dynamic_pointer_cast<
+          physics::Collision>(model_->GetWorld()->GetEntity(
+                msg->contact(i).collision2()));
+        physics::ModelPtr model1 = collision1->GetModel();
+        physics::ModelPtr model2 = collision2->GetModel();
+
+        // Check if any of the two models involved in the collision is a star.
+        // If so, delete the star and exit the loop (maximum one deletion per
+        // callback to avoid deleting the same model twice)
+        std::string to_delete;
+        if (is_star(model1)) to_delete = model1->GetName();
+        else if (is_star(model2)) to_delete = model2->GetName();
+
+        if (not to_delete.empty())
+        {
+          ROS_INFO("Deleting model %s", to_delete.c_str());
+          transport::requestNoReply(node_, "entity_delete", to_delete);
+        }
+
+      }
+    }
+
+    ~BlackHolePlugin()
+    {
+    }
+
+};
+
+GZ_REGISTER_MODEL_PLUGIN(BlackHolePlugin)
+
+}

gz_black_hole/worlds/test.world

+<?xml version="1.0"?>
+<sdf version="1.4">
+  <world name="test.world">
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <model name="box1">
+      <pose>0 0 0.5 1.57 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0 0.086  0.043 1</ambient>
+            <diffuse>0 0.75 0.38 1</diffuse>
+          </material>
+        </visual>
+
+      </link>
+      
+      <plugin filename="libgz_black_hole.so" name="gripper_plugin">
+        <star>box2</star>
+        <star>beer</star>
+      </plugin>
+    </model>
+
+
+    <model name="box2">
+      <pose>0 -1.05 0.5 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0.10 0  0.043 1</ambient>
+            <diffuse>0.87 0 0.38 1</diffuse>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+  </world>
+</sdf>