From ece1d213f8d7286cefd3692436e1fa60bcc879c6 Mon Sep 17 00:00:00 2001
From: Alejandro Suarez <asuarez@iri.upc.edu>
Date: Mon, 19 Dec 2016 22:40:24 +0100
Subject: [PATCH] Added black hole plugin
---
README.md | 12 +-
gazebo_ros_plugins/package.xml | 1 +
gz_black_hole/CMakeLists.txt | 194 ++++++++++++++++++++++++++++
gz_black_hole/launch/test.launch | 22 ++++
gz_black_hole/package.xml | 63 +++++++++
gz_black_hole/src/gz_black_hole.cpp | 127 ++++++++++++++++++
gz_black_hole/worlds/test.world | 70 ++++++++++
7 files changed, 486 insertions(+), 3 deletions(-)
create mode 100644 gz_black_hole/CMakeLists.txt
create mode 100644 gz_black_hole/launch/test.launch
create mode 100644 gz_black_hole/package.xml
create mode 100644 gz_black_hole/src/gz_black_hole.cpp
create mode 100644 gz_black_hole/worlds/test.world
diff --git a/README.md b/README.md
index 9d84e0c..586318b 100644
--- a/README.md
+++ b/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).
diff --git a/gazebo_ros_plugins/package.xml b/gazebo_ros_plugins/package.xml
index 0e22c73..bf9ec17 100644
--- a/gazebo_ros_plugins/package.xml
+++ b/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 -->
diff --git a/gz_black_hole/CMakeLists.txt b/gz_black_hole/CMakeLists.txt
new file mode 100644
index 0000000..dd936ce
--- /dev/null
+++ b/gz_black_hole/CMakeLists.txt
@@ -0,0 +1,194 @@
+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 ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/gz_black_hole/launch/test.launch b/gz_black_hole/launch/test.launch
new file mode 100644
index 0000000..6bec36e
--- /dev/null
+++ b/gz_black_hole/launch/test.launch
@@ -0,0 +1,22 @@
+<?xml version="1.0" ?>
+<launch>
+
+ <!-- these are the arguments you can pass this launch file, for example paused:=true -->
+ <arg name="paused" default="false"/>
+ <arg name="use_sim_time" default="true"/>
+ <arg name="gui" default="true"/>
+ <arg name="headless" default="false"/>
+ <arg name="debug" default="false"/>
+
+ <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
+ <include file="$(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>
+
diff --git a/gz_black_hole/package.xml b/gz_black_hole/package.xml
new file mode 100644
index 0000000..693eea7
--- /dev/null
+++ b/gz_black_hole/package.xml
@@ -0,0 +1,63 @@
+<?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>
diff --git a/gz_black_hole/src/gz_black_hole.cpp b/gz_black_hole/src/gz_black_hole.cpp
new file mode 100644
index 0000000..17e9be4
--- /dev/null
+++ b/gz_black_hole/src/gz_black_hole.cpp
@@ -0,0 +1,127 @@
+#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)
+
+}
diff --git a/gz_black_hole/worlds/test.world b/gz_black_hole/worlds/test.world
new file mode 100644
index 0000000..951d3e0
--- /dev/null
+++ b/gz_black_hole/worlds/test.world
@@ -0,0 +1,70 @@
+<?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>
--
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