├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── example ├── gazebo │ ├── commander.cc │ └── world │ │ └── lines.world └── orocos │ └── scripts │ └── start.ops └── src ├── gazebo └── trajectory_wp.cc └── orocos ├── CMakeLists.txt ├── orocosTrajectoryService.cpp └── start.ops /.gitignore: -------------------------------------------------------------------------------- 1 | # Ignore out of source build 2 | build/ 3 | 4 | # Temporary fiels 5 | *.~ 6 | *~ 7 | 8 | # Eclipse Project Files 9 | .project 10 | .cproject 11 | 12 | # Log Files 13 | *.log 14 | 15 | # Compiled Object files 16 | *.slo 17 | *.lo 18 | *.o 19 | *.obj 20 | 21 | # Precompiled Headers 22 | *.gch 23 | *.pch 24 | 25 | # Compiled Dynamic libraries 26 | *.so 27 | *.dylib 28 | *.dll 29 | 30 | # Fortran module files 31 | *.mod 32 | *.smod 33 | 34 | # Compiled Static libraries 35 | *.lai 36 | *.la 37 | *.a 38 | *.lib 39 | 40 | # Executables 41 | *.exe 42 | *.out 43 | *.app 44 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8 FATAL_ERROR) 2 | project(trajectoryService) 3 | 4 | find_package(gazebo 7.0 REQUIRED) 5 | if(GAZEBO_VERSION) 6 | if(${GAZEBO_VERSION} GREATER 6) 7 | add_definitions(-DGAZEBO_GREATER_6) 8 | endif() 9 | endif() 10 | message(STATUS "Found GAZEBO, version: ${GAZEBO_VERSION}") 11 | #message(STATUS "GAZEBO_INCLUDE_DIRS: ${GAZEBO_INCLUDE_DIRS}") 12 | #message(STATUS "GAZEBO_LIBRARY_DIRS: ${GAZEBO_LIBRARY_DIRS}") 13 | #message(STATUS "GAZEBO_LIBRARIES: ${GAZEBO_LIBRARIES}") 14 | include_directories(${GAZEBO_INCLUDE_DIRS}) 15 | link_directories(${GAZEBO_LIBRARY_DIRS}) 16 | list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}") 17 | 18 | 19 | find_package(ignition-transport2 QUIET) 20 | if(IGNITION-TRANSPORT_FOUND OR ignition-transport2_FOUND) 21 | message(STATUS "Found IGNITION-TRANSPORT, version: ${IGNITION-TRANSPORT_VERSION}, ${ignition-transport2_VERSION}") 22 | else() 23 | find_package(ignition-transport3 REQUIRED) 24 | if(ignition-transport3_FOUND) 25 | message(STATUS "Found IGNITION-TRANSPORT, version: ${ignition-transport3_VERSION}") 26 | endif() 27 | endif() 28 | #message(STATUS "IGNITION-TRANSPORT_INCLUDE_DIRS: ${IGNITION-TRANSPORT_INCLUDE_DIRS}") 29 | #message(STATUS "IGNITION-TRANSPORT_LIBRARY_DIRS: ${IGNITION-TRANSPORT_LIBRARY_DIRS}") 30 | #message(STATUS "IGNITION-TRANSPORT_LIBRARIES: ${IGNITION-TRANSPORT_LIBRARIES}") 31 | include_directories(${IGNITION-TRANSPORT_INCLUDE_DIRS}) 32 | link_directories(${IGNITION-TRANSPORT_LIBRARY_DIRS}) 33 | 34 | add_library(trajectory_wp SHARED src/gazebo/trajectory_wp.cc) 35 | target_link_libraries(trajectory_wp ${GAZEBO_LIBRARIES} ${IGNITION-TRANSPORT_LIBRARIES}) 36 | 37 | add_executable(commander example/gazebo/commander.cc) 38 | target_link_libraries(commander ${GAZEBO_LIBRARIES} ${IGNITION-TRANSPORT_LIBRARIES}) 39 | 40 | 41 | find_package(OROCOS-RTT ${RTT_HINTS}) 42 | 43 | add_compile_options(-std=c++11) 44 | if(OROCOS-RTT_FOUND) 45 | include(${OROCOS-RTT_USE_FILE_PATH}/UseOROCOS-RTT.cmake) 46 | orocos_service(orocosTrajectoryService src/orocos/orocosTrajectoryService.cpp) 47 | target_link_libraries(orocosTrajectoryService ${IGNITION-TRANSPORT_LIBRARIES}) 48 | orocos_generate_package() 49 | endif() 50 | 51 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") 52 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | {project} Copyright (C) {year} {fullname} 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # gazebo-trajectory-visualization-plugin 2 | Gazebo plugin for visualizing trajectories. Communication is supported by the ignition transport. 3 | 4 | ![endeff_viz](https://cloud.githubusercontent.com/assets/7841720/21016520/1ebdb968-bd66-11e6-9c1d-e34bb7813403.png) 5 | 6 | ## Usage 7 | 8 | 1. Do in each terminal (i.e. for deployer and gzclient) 9 | ```bash 10 | # export orocos service component 11 | export RTT_COMPONENT_PATH=<...>/gazebo-trajectory-visualization-plugin/build/orocos:$RTT_COMPONENT_PATH 12 | 13 | # export gazebo gui plugin 14 | export GAZEBO_PLUGIN_PATH=<...>/gazebo-trajectory-visualization-plugin/build:$GAZEBO_PLUGIN_PATH 15 | ``` 16 | 2. Deployer 17 | ```bash 18 | import("trajectoryService") 19 | loadService("this","TrajectoryService") 20 | ``` 21 | 3. GzClient 22 | ```bash 23 | gzclient -g libtrajectory_wp.so 24 | ``` 25 | 4. Use the TrajectoryService in the Deployer 26 | ```bash 27 | Deployer [S]> TrajectoryService.newTrajectoryLink("kuka", "baseLink") 28 | 29 | # For general help do: 30 | Deployer [S]> help TrajectoryService. 31 | TrajectoryService.activateLifecycle TrajectoryService.clearTrajectoryModel TrajectoryService.newCustomTrajectory TrajectoryService.resume 32 | TrajectoryService.activateLifecycleLink TrajectoryService.deactivateLifecycle TrajectoryService.newTrajectory TrajectoryService.resumeTrajectory 33 | TrajectoryService.activateLifecycleModel TrajectoryService.deactivateLifecycleLink TrajectoryService.newTrajectoryLink TrajectoryService.resumeTrajectoryLink 34 | TrajectoryService.addPoint TrajectoryService.deactivateLifecycleModel TrajectoryService.newTrajectoryModel TrajectoryService.resumeTrajectoryModel 35 | TrajectoryService.addSquare TrajectoryService.delAll TrajectoryService.pause TrajectoryService.setLifecycle 36 | TrajectoryService.clear TrajectoryService.delTrajectory TrajectoryService.pauseTrajectory TrajectoryService.setLifecycleLink 37 | TrajectoryService.clearTrajectory TrajectoryService.delTrajectoryLink TrajectoryService.pauseTrajectoryLink TrajectoryService.setLifecycleModel 38 | TrajectoryService.clearTrajectoryLink TrajectoryService.delTrajectoryModel TrajectoryService.pauseTrajectoryModel 39 | 40 | # For specific help do: 41 | Deployer [S]> help TrajectoryService.newTrajectoryLink 42 | 43 | newTrajectoryLink( string model, string link ) : void 44 | Add tajectory to link of specific model. 45 | model : Name of the model 46 | link : Name of the link 47 | 48 | ``` 49 | -------------------------------------------------------------------------------- /example/gazebo/commander.cc: -------------------------------------------------------------------------------- 1 | 2 | 3 | #include 4 | #include 5 | 6 | 7 | 8 | 9 | 10 | int main(int argc, char **argv) 11 | { 12 | // Create a transport node. 13 | ignition::transport::Node node; 14 | 15 | // Prepare the input parameters. 16 | ignition::msgs::StringMsg req; 17 | 18 | if(argc >=2){ 19 | std::string arg1 = argv[1]; 20 | 21 | if(arg1 =="clear") 22 | { 23 | std::cerr << "clear" << std::endl; 24 | 25 | // Request the "/oneway" service. 26 | req.set_data("HELLO"); 27 | bool executed = node.Request("/trajectory/command/clear", req); 28 | if (!executed) 29 | std::cerr << "Service call failed" << std::endl; 30 | return 1; 31 | } 32 | if(arg1 =="delAll") 33 | { 34 | std::cerr << "deleted all" << std::endl; 35 | 36 | // Request the "/oneway" service. 37 | req.set_data("HELLO"); 38 | bool executed = node.Request("/trajectory/command/delAll", req); 39 | 40 | if (!executed) 41 | std::cerr << "Service call failed" << std::endl; 42 | return 1; 43 | } 44 | if(arg1 =="pause") 45 | { 46 | std::cerr << "paused" << std::endl; 47 | 48 | // Request the "/oneway" service. 49 | req.set_data("HELLO"); 50 | bool executed = node.Request("/trajectory/command/pause", req); 51 | 52 | if (!executed) 53 | std::cerr << "Service call failed" << std::endl; 54 | return 1; 55 | } 56 | if(arg1 =="resume") 57 | { 58 | std::cerr << "resumed" << std::endl; 59 | 60 | // Request the "/oneway" service. 61 | req.set_data("HELLO"); 62 | bool executed = node.Request("/trajectory/command/resume", req); 63 | 64 | if (!executed) 65 | std::cerr << "Service call failed" << std::endl; 66 | return 1; 67 | } 68 | else if(arg1 == "newTrajectory" && argc==3) 69 | { 70 | std::cerr << "newTrajectory Model" << std::endl; 71 | std::string arg2 = argv[2]; 72 | req.set_data(arg2); 73 | bool executed = node.Request("/trajectory/command/newTrajectory", req); 74 | 75 | if (!executed) 76 | std::cerr << "Service call failed" << std::endl; 77 | return 1; 78 | 79 | } 80 | else if(arg1 == "newTrajectory" && argc==4) 81 | { 82 | std::cerr << "newTrajectory Link" << std::endl; 83 | std::string modelName = argv[2]; 84 | std::string linkName = argv[3]; 85 | 86 | req.set_data(modelName+"::"+linkName); 87 | bool executed = node.Request("/trajectory/command/newTrajectory", req); 88 | 89 | if (!executed) 90 | std::cerr << "Service call failed" << std::endl; 91 | return 1; 92 | 93 | } 94 | else if(arg1 == "delTrajectory" && argc==3) 95 | { 96 | std::cerr << "delTrajectory Model" << std::endl; 97 | std::string arg2 = argv[2]; 98 | req.set_data(arg2); 99 | bool executed = node.Request("/trajectory/command/delTrajectory", req); 100 | 101 | if (!executed) 102 | std::cerr << "Service call failed" << std::endl; 103 | return 1; 104 | 105 | } 106 | else if(arg1 == "delTrajectory" && argc==4) 107 | { 108 | std::cerr << "delTrajectory Link" << std::endl; 109 | std::string modelName = argv[2]; 110 | std::string linkName = argv[3]; 111 | 112 | req.set_data(modelName+"::"+linkName); 113 | bool executed = node.Request("/trajectory/command/delTrajectory", req); 114 | 115 | if (!executed) 116 | std::cerr << "Service call failed" << std::endl; 117 | return 1; 118 | 119 | } 120 | else if(arg1 == "clearTrajectory" && argc==3) 121 | { 122 | std::cerr << "clearTrajectory Model" << std::endl; 123 | std::string arg2 = argv[2]; 124 | req.set_data(arg2); 125 | bool executed = node.Request("/trajectory/command/clearTrajectory", req); 126 | 127 | if (!executed) 128 | std::cerr << "Service call failed" << std::endl; 129 | return 1; 130 | 131 | } 132 | else if(arg1 == "clearTrajectory" && argc==4) 133 | { 134 | std::cerr << "clearTrajectory Link" << std::endl; 135 | std::string modelName = argv[2]; 136 | std::string linkName = argv[3]; 137 | 138 | req.set_data(modelName+"::"+linkName); 139 | bool executed = node.Request("/trajectory/command/clearTrajectory", req); 140 | 141 | if (!executed) 142 | std::cerr << "Service call failed" << std::endl; 143 | return 1; 144 | 145 | } 146 | else if(arg1 == "pauseTrajectory" && argc==3) 147 | { 148 | std::cerr << "pauseTrajectory Model" << std::endl; 149 | std::string arg2 = argv[2]; 150 | req.set_data(arg2); 151 | bool executed = node.Request("/trajectory/command/pauseTrajectory", req); 152 | 153 | if (!executed) 154 | std::cerr << "Service call failed" << std::endl; 155 | return 1; 156 | 157 | } 158 | else if(arg1 == "pauseTrajectory" && argc==4) 159 | { 160 | std::cerr << "pauseTrajectory Link" << std::endl; 161 | std::string modelName = argv[2]; 162 | std::string linkName = argv[3]; 163 | 164 | req.set_data(modelName+"::"+linkName); 165 | bool executed = node.Request("/trajectory/command/pauseTrajectory", req); 166 | 167 | if (!executed) 168 | std::cerr << "Service call failed" << std::endl; 169 | return 1; 170 | 171 | } 172 | else if(arg1 == "resumeTrajectory" && argc==3) 173 | { 174 | std::cerr << "resumeTrajectory Model" << std::endl; 175 | std::string arg2 = argv[2]; 176 | req.set_data(arg2); 177 | bool executed = node.Request("/trajectory/command/resumeTrajectory", req); 178 | 179 | if (!executed) 180 | std::cerr << "Service call failed" << std::endl; 181 | return 1; 182 | 183 | } 184 | else if(arg1 == "resumeTrajectory" && argc==4) 185 | { 186 | std::cerr << "resumeTrajectory Link" << std::endl; 187 | std::string modelName = argv[2]; 188 | std::string linkName = argv[3]; 189 | 190 | req.set_data(modelName+"::"+linkName); 191 | bool executed = node.Request("/trajectory/command/resumeTrajectory", req); 192 | 193 | if (!executed) 194 | std::cerr << "Service call failed" << std::endl; 195 | return 1; 196 | 197 | } 198 | 199 | else if(arg1 == "newCustomTrajectory" && argc==3) 200 | { 201 | std::cerr << "newTrajectory" << std::endl; 202 | std::string modelName = argv[2]; 203 | 204 | 205 | req.set_data(modelName); 206 | bool executed = node.Request("/trajectory/command/newCustomTrajectory", req); 207 | 208 | if (!executed) 209 | std::cerr << "Service call failed" << std::endl; 210 | return 1; 211 | 212 | } 213 | 214 | else if(arg1 == "addPoint" && argc==6) 215 | { 216 | std::cerr << "resumeTrajectory Link" << std::endl; 217 | std::string modelName = argv[2]; 218 | std::string x = argv[3]; 219 | std::string y = argv[4]; 220 | std::string z = argv[5]; 221 | 222 | req.set_data(modelName+" "+x+" "+y+" "+z); 223 | bool executed = node.Request("/trajectory/command/addPoint", req); 224 | 225 | if (!executed) 226 | std::cerr << "Service call failed" << std::endl; 227 | return 1; 228 | 229 | } 230 | else if(arg1 == "addSquare" && argc==6) 231 | { 232 | std::cerr << "resumeTrajectory Link" << std::endl; 233 | std::string modelName = argv[2]; 234 | std::string x = argv[3]; 235 | std::string y = argv[4]; 236 | std::string z = argv[5]; 237 | 238 | req.set_data(modelName+" "+x+" "+y+" "+z); 239 | bool executed = node.Request("/trajectory/command/addStaticSquare", req); 240 | 241 | if (!executed) 242 | std::cerr << "Service call failed" << std::endl; 243 | return 1; 244 | 245 | } 246 | else if(arg1 == "activateLifecycle" && argc==3) 247 | { 248 | std::cerr << "Lifecycle" << std::endl; 249 | std::string modelName = argv[2]; 250 | 251 | 252 | req.set_data(modelName); 253 | bool executed = node.Request("/trajectory/command/activateLifecycle", req); 254 | 255 | if (!executed) 256 | std::cerr << "Service call failed" << std::endl; 257 | return 1; 258 | 259 | } 260 | else if(arg1 == "deactivateLifecycle" && argc==3) 261 | { 262 | std::cerr << "removed Lifecycle" << std::endl; 263 | std::string modelName = argv[2]; 264 | 265 | 266 | req.set_data(modelName); 267 | bool executed = node.Request("/trajectory/command/deactivateLifecycle", req); 268 | 269 | if (!executed) 270 | std::cerr << "Service call failed" << std::endl; 271 | return 1; 272 | 273 | } 274 | else if(arg1 == "setLifecycle" && argc==4) 275 | { 276 | std::cerr << "set Lifecycle" << std::endl; 277 | std::string modelName = argv[2]; 278 | std::string length = argv[3]; 279 | 280 | 281 | req.set_data(modelName+" "+length); 282 | bool executed = node.Request("/trajectory/command/setLifecycle", req); 283 | 284 | if (!executed) 285 | std::cerr << "Service call failed" << std::endl; 286 | return 1; 287 | 288 | } 289 | else if(arg1 == "help") 290 | { 291 | std::cerr << "clear,newTrajectory,delTrajectory,clearTrajectory,pauseTrajectory,resumeTrajectory,delALl,pause,resume,newCustomTrajectory,addPoint,addSquare,activateLifecycle,deactivateLifecycle" << std::endl; 292 | 293 | } 294 | else 295 | { 296 | std::cerr << "wrong command" << std::endl; 297 | } 298 | } 299 | 300 | return -1; 301 | 302 | 303 | } 304 | -------------------------------------------------------------------------------- /example/gazebo/world/lines.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | + 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /example/orocos/scripts/start.ops: -------------------------------------------------------------------------------- 1 | 2 | import("trajectoryService") 3 | 4 | loadService("this","TrajectoryService") 5 | -------------------------------------------------------------------------------- /src/gazebo/trajectory_wp.cc: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | 7 | 8 | namespace gazebo 9 | { 10 | class SystemGUI : public SystemPlugin 11 | { 12 | 13 | private: struct lineObject{ 14 | rendering::DynamicLines* line; 15 | unsigned int draw:1; 16 | unsigned int clear:1; 17 | unsigned int del:1; 18 | unsigned int lifecycle:1; 19 | int length; 20 | int index; 21 | }; 22 | 23 | private: int lcLength = 3000; 24 | 25 | private: rendering::ScenePtr scene; 26 | private: rendering::VisualPtr visual; 27 | 28 | private: std::map trajectoryObjects; 29 | 30 | private: ignition::transport::Node node; 31 | 32 | private: std::string service_clear = "/trajectory/command/clear"; 33 | private: std::string service_delAll = "/trajectory/command/delAll"; 34 | private: std::string service_pause = "/trajectory/command/pause"; 35 | private: std::string service_resume = "/trajectory/command/resume"; 36 | private: std::string service_newTrajectory = "/trajectory/command/newTrajectory"; 37 | private: std::string service_newCustomTrajectory = "/trajectory/command/newCustomTrajectory"; 38 | private: std::string service_addPoint = "/trajectory/command/addPoint"; 39 | private: std::string service_delTrajectory = "/trajectory/command/delTrajectory"; 40 | private: std::string service_clearTrajectory = "/trajectory/command/clearTrajectory"; 41 | private: std::string service_pauseTrajectory = "/trajectory/command/pauseTrajectory"; 42 | private: std::string service_resumeTrajectory = "/trajectory/command/resumeTrajectory"; 43 | private: std::string service_activateLifecycle = "/trajectory/command/activateLifecycle"; 44 | private: std::string service_setLifecycle = "/trajectory/command/setLifecycle"; 45 | private: std::string service_deactivateLifecycle = "/trajectory/command/deactivateLifecycle"; 46 | private: std::string service_addStaticSquare = "/trajectory/command/addStaticSquare"; 47 | private: int colorIndex = 0; 48 | private: std::string color[8] = { "Gazebo/Purple", "Gazebo/Yellow", "Gazebo/Green", "Gazebo/Red","Gazebo/White", "Gazebo/Yellow","Gazebo/Turquoise","Gazebo/Blue" }; 49 | 50 | ///////////////////////////////////////////// 51 | /// \brief Destructor 52 | public: virtual ~SystemGUI(){this->connections.clear();} 53 | 54 | ///////////////////////////////////////////// 55 | /// \brief Called after the plugin has been constructed. 56 | public: void Load(int /*_argc*/, char ** /*_argv*/) 57 | { 58 | 59 | if (!node.Advertise(service_clear, &SystemGUI::clear, this)) 60 | { 61 | std::cerr << "Error advertising service [" << service_clear << "]" << std::endl; 62 | return; 63 | } 64 | if (!node.Advertise(service_newTrajectory, &SystemGUI::newTrajectory, this)) 65 | { 66 | std::cerr << "Error advertising service [" << service_newTrajectory << "]" << std::endl; 67 | return; 68 | } 69 | if (!node.Advertise(service_delTrajectory, &SystemGUI::delTrajectory, this)) 70 | { 71 | std::cerr << "Error advertising service [" << service_delTrajectory << "]" << std::endl; 72 | return; 73 | } 74 | if (!node.Advertise(service_clearTrajectory, &SystemGUI::clearTrajectory, this)) 75 | { 76 | std::cerr << "Error advertising service [" << service_clearTrajectory << "]" << std::endl; 77 | return; 78 | } 79 | if (!node.Advertise(service_pauseTrajectory, &SystemGUI::pauseTrajectory, this)) 80 | { 81 | std::cerr << "Error advertising service [" << service_pauseTrajectory << "]" << std::endl; 82 | return; 83 | } 84 | if (!node.Advertise(service_resumeTrajectory, &SystemGUI::resumeTrajectory, this)) 85 | { 86 | std::cerr << "Error advertising service [" << service_resumeTrajectory << "]" << std::endl; 87 | return; 88 | } 89 | if (!node.Advertise(service_delAll, &SystemGUI::delAll, this)) 90 | { 91 | std::cerr << "Error advertising service [" << service_delAll << "]" << std::endl; 92 | return; 93 | } 94 | if (!node.Advertise(service_pause, &SystemGUI::pause, this)) 95 | { 96 | std::cerr << "Error advertising service [" << service_pause << "]" << std::endl; 97 | return; 98 | } 99 | if (!node.Advertise(service_resume, &SystemGUI::resume, this)) 100 | { 101 | std::cerr << "Error advertising service [" << service_resume << "]" << std::endl; 102 | return; 103 | } 104 | if (!node.Advertise(service_newCustomTrajectory, &SystemGUI::newCustomTrajectory, this)) 105 | { 106 | std::cerr << "Error advertising service [" << service_newCustomTrajectory << "]" << std::endl; 107 | return; 108 | } 109 | if (!node.Advertise(service_addPoint, &SystemGUI::addPoint, this)) 110 | { 111 | std::cerr << "Error advertising service [" << service_addPoint << "]" << std::endl; 112 | return; 113 | } 114 | if (!node.Advertise(service_setLifecycle, &SystemGUI::setLifecycle, this)) 115 | { 116 | std::cerr << "Error advertising service [" << service_setLifecycle << "]" << std::endl; 117 | return; 118 | } 119 | if (!node.Advertise(service_deactivateLifecycle, &SystemGUI::deactivateLifecycle, this)) 120 | { 121 | std::cerr << "Error advertising service [" << service_deactivateLifecycle << "]" << std::endl; 122 | return; 123 | } 124 | if (!node.Advertise(service_activateLifecycle, &SystemGUI::activateLifecycle, this)) 125 | { 126 | std::cerr << "Error advertising service [" << service_activateLifecycle << "]" << std::endl; 127 | return; 128 | } 129 | if (!node.Advertise(service_addStaticSquare, &SystemGUI::addStaticSquare, this)) 130 | { 131 | std::cerr << "Error advertising service [" << service_addStaticSquare << "]" << std::endl; 132 | return; 133 | } 134 | 135 | this->connections.push_back( 136 | rendering::Events::ConnectCreateScene( 137 | boost::bind(&SystemGUI::InitScene, this))); 138 | 139 | this->connections.push_back(event::Events::ConnectPreRender( 140 | std::bind(&SystemGUI::Update, this))); 141 | } 142 | 143 | ///////////////////////////////////////////// 144 | // \brief Called once after Load 145 | private: void Init(){} 146 | 147 | ///////////////////////////////////////////// 148 | /// \brief Called every PreRender event. See the Load function. 149 | /// Checks flags for operations 150 | void Update() 151 | { 152 | for (auto &object : trajectoryObjects) 153 | { 154 | 155 | if((object.second).clear) 156 | { 157 | clearHandler(object.second); 158 | } 159 | 160 | else if((object.second).draw) 161 | { 162 | 163 | drawHandler(object.second,object.first); 164 | } 165 | else if((object.second).lifecycle) 166 | { 167 | cycleHandler(object.second,object.first); 168 | } 169 | 170 | if((object.second).del) 171 | { 172 | delHandler(object.second,object.first); 173 | } 174 | } 175 | } 176 | 177 | ///////////////////////////////////////////// 178 | /// Clears the line and his clearFlag. 179 | private: void clearHandler(struct lineObject &object) 180 | { 181 | (object).line->Clear(); 182 | (object).line->Update(); 183 | (object).clear = 0; 184 | } 185 | 186 | ///////////////////////////////////////////// 187 | /// Gets the coordinates of the visual and adds it to line object. 188 | private: void drawHandler(struct lineObject &object,std::string name) 189 | { 190 | rendering::VisualPtr vis = scene->GetVisual(name); 191 | if(vis!=nullptr) 192 | { 193 | math::Pose pose = vis->GetWorldPose(); 194 | math::Vector3 vec = pose.pos; 195 | pointAdd((object).line,vec.x,vec.y,vec.z); 196 | } 197 | } 198 | 199 | ///////////////////////////////////////////// 200 | /// Gets the coordinates of the visual and adds it to line object. 201 | private: void cycleHandler(struct lineObject &object,std::string name) 202 | { 203 | rendering::VisualPtr vis = scene->GetVisual(name); 204 | if(vis!=nullptr) 205 | { 206 | if(object.line->GetPointCount()==object.length) 207 | { 208 | math::Pose pose = vis->GetWorldPose(); 209 | math::Vector3 vec = pose.pos; 210 | ignition::math::Vector3d vec3; 211 | vec3.Set(vec.x,vec.y,vec.z); 212 | for(int i = (object.length -1) ; i >= 0 ;i--) 213 | { 214 | if(i==0) object.line->SetPoint(0,vec3); 215 | else object.line->SetPoint(i,object.line->Point(i-1)); 216 | } 217 | } 218 | else 219 | { 220 | math::Pose pose = vis->GetWorldPose(); 221 | math::Vector3 vec = pose.pos; 222 | pointAdd((object).line,vec.x,vec.y,vec.z); 223 | } 224 | } 225 | } 226 | 227 | ///////////////////////////////////////////// 228 | /// Deletes lineObject and the entry in trajectoryObjects. 229 | private: void delHandler(struct lineObject &object,std::string name) 230 | { 231 | visual->DeleteDynamicLine((object).line); 232 | trajectoryObjects.erase(name); 233 | } 234 | 235 | 236 | 237 | ///////////////////////////////////////////// 238 | ///Gets the scene and creates new visual. 239 | private: void InitScene() 240 | { 241 | scene = rendering::get_scene(); 242 | visual = gazebo::rendering::VisualPtr(new gazebo::rendering::Visual("bla", scene)); 243 | visual->Load(); 244 | visual->SetVisible(true); 245 | } 246 | 247 | ///////////////////////////////////////////// 248 | ///Adds a point to a given DynamicLine 249 | private: void pointAdd(rendering::DynamicLines* dl,double x,double y,double z) 250 | { 251 | dl->AddPoint(x,y,z,common::Color::White); 252 | } 253 | 254 | ///////////////////////////////////////////// 255 | ///Checks if visual is existend.If so, generates new trajectory object. 256 | private: void newTrajectory(const ignition::msgs::StringMsg &_req) 257 | { 258 | rendering::VisualPtr vis = scene->GetVisual(_req.data()); 259 | 260 | if(vis == nullptr) 261 | { 262 | std::cerr << "Error " << _req.data() << " not found" << std::endl; 263 | return; 264 | } 265 | 266 | if(trajectoryObjects.find(_req.data()) == trajectoryObjects.end()) 267 | { 268 | trajectoryObjects[_req.data()] = {getLine(), 1, 0, 0, 1,lcLength,0}; 269 | } 270 | } 271 | 272 | ///////////////////////////////////////////// 273 | ///Creates new DynamicLines and initializes it. 274 | private: rendering::DynamicLines* getLine() 275 | { 276 | rendering::DynamicLines* line = visual->CreateDynamicLine(gazebo::rendering::RENDERING_LINE_STRIP); 277 | line->setMaterial(color[colorIndex]); 278 | incColorIndex(); 279 | line->setVisibilityFlags(GZ_VISIBILITY_GUI); 280 | return line; 281 | } 282 | 283 | ///////////////////////////////////////////// 284 | ///Increments the index of the colorsArray. 285 | private: void incColorIndex() 286 | { 287 | if(colorIndex++ >= 7) colorIndex = 0; 288 | } 289 | 290 | ///////////////////////////////////////////// 291 | ///Sets the clearFlag of all lineobjects. 292 | private: void clear(const ignition::msgs::StringMsg &_req) 293 | { 294 | for(auto &visual : trajectoryObjects) 295 | { 296 | (visual.second).clear = 1; 297 | } 298 | } 299 | 300 | ///////////////////////////////////////////// 301 | ///Sets the deleteFlag and clearFlag of all lineobjects. 302 | private: void delAll(const ignition::msgs::StringMsg &_req) 303 | { 304 | for(auto &visual : trajectoryObjects) 305 | { 306 | (visual.second).clear = 1; 307 | (visual.second).del = 1; 308 | } 309 | } 310 | 311 | ///////////////////////////////////////////// 312 | ///Sets the drawFlag of all lineObjects to zero. 313 | private: void pause(const ignition::msgs::StringMsg &_req) 314 | { 315 | for(auto &visual : trajectoryObjects) 316 | { 317 | (visual.second).draw = 0; 318 | } 319 | } 320 | 321 | ///////////////////////////////////////////// 322 | ///Sets the drawFlag of all lineObjects. 323 | private: void resume(const ignition::msgs::StringMsg &_req) 324 | { 325 | for(auto &visual : trajectoryObjects) 326 | { 327 | (visual.second).draw = 1; 328 | } 329 | } 330 | 331 | ///////////////////////////////////////////// 332 | ///Sets the clearFlag of a given lineObjects. 333 | private: void clearTrajectory(const ignition::msgs::StringMsg &_req) 334 | { 335 | if(trajectoryObjects.find(_req.data()) == trajectoryObjects.end()) 336 | { 337 | std::cerr << "Error " << _req.data() << " not found" << std::endl; 338 | } 339 | else 340 | { 341 | (trajectoryObjects.find(_req.data())->second.clear)=1; 342 | } 343 | } 344 | 345 | ///////////////////////////////////////////// 346 | ///Sets the deleteFlag and the clearFlag of a given lineObjects. 347 | private: void delTrajectory(const ignition::msgs::StringMsg &_req) 348 | { 349 | if(trajectoryObjects.find(_req.data()) == trajectoryObjects.end()) 350 | { 351 | std::cerr << "Error " << _req.data() << " not found" << std::endl; 352 | } 353 | else 354 | { 355 | (trajectoryObjects.find(_req.data())->second.clear) = 1; 356 | (trajectoryObjects.find(_req.data())->second.del) = 1; 357 | } 358 | } 359 | 360 | ///////////////////////////////////////////// 361 | ///Sets the drawFlag of a given lineObjects to zero. 362 | private: void pauseTrajectory(const ignition::msgs::StringMsg &_req) 363 | { 364 | if(trajectoryObjects.find(_req.data()) == trajectoryObjects.end()) 365 | { 366 | std::cerr << "Error " << _req.data() << " not found" << std::endl; 367 | } 368 | else 369 | { 370 | (trajectoryObjects.find(_req.data())->second.draw) = 0; 371 | } 372 | } 373 | 374 | ///////////////////////////////////////////// 375 | ///Sets the drawFlag of a given lineObjects. 376 | private: void resumeTrajectory(const ignition::msgs::StringMsg &_req) 377 | { 378 | if(trajectoryObjects.find(_req.data()) == trajectoryObjects.end()) 379 | { 380 | std::cerr << "Error " << _req.data() << " not found" << std::endl; 381 | } 382 | else 383 | { 384 | (trajectoryObjects.find(_req.data())->second.draw) = 1; 385 | } 386 | } 387 | 388 | ///////////////////////////////////////////// 389 | ///Sets the drawFlag of a given lineObjects. 390 | private: void newCustomTrajectory(const ignition::msgs::StringMsg &_req) 391 | { 392 | if(trajectoryObjects.find(_req.data()) == trajectoryObjects.end()) 393 | { 394 | trajectoryObjects[_req.data()] = {getLine(), 1, 0, 0, 0,lcLength,0}; 395 | } 396 | } 397 | 398 | ///////////////////////////////////////////// 399 | ///Adds a point to trajectory. 400 | ///Cuts string in name and coordinate. 401 | private: void addPoint(const ignition::msgs::StringMsg &_req) 402 | { 403 | std::vector array; 404 | std::size_t pos = 0, found; 405 | while((found = _req.data().find_first_of(' ', pos)) != std::string::npos) 406 | { 407 | array.push_back(_req.data().substr(pos, found - pos)); 408 | pos = found+1; 409 | } 410 | array.push_back(_req.data().substr(pos)); 411 | 412 | if(trajectoryObjects.find(array[0]) == trajectoryObjects.end()) 413 | { 414 | std::cerr << "Error " << _req.data() << " not found" << std::endl; 415 | } 416 | else 417 | { 418 | pointAdd((trajectoryObjects.find(array[0])->second).line,std::stod(array[1]),std::stod(array[2]),std::stod(array[3])); 419 | } 420 | } 421 | 422 | ///////////////////////////////////////////// 423 | ///Adds a square to static trajectory. 424 | ///Cuts string in name and coordinate. 425 | private: void addStaticSquare(const ignition::msgs::StringMsg &_req) 426 | { 427 | std::vector array; 428 | std::size_t pos = 0, found; 429 | while((found = _req.data().find_first_of(' ', pos)) != std::string::npos) 430 | { 431 | array.push_back(_req.data().substr(pos, found - pos)); 432 | pos = found+1; 433 | } 434 | array.push_back(_req.data().substr(pos)); 435 | 436 | if(trajectoryObjects.find(array[0]) == trajectoryObjects.end()) 437 | { 438 | std::cerr << "Error " << _req.data() << " not found" << std::endl; 439 | } 440 | else 441 | { 442 | pointAdd((trajectoryObjects.find(array[0])->second).line,std::stod(array[1])-0.01,std::stod(array[2])-0.01,std::stod(array[3])); 443 | pointAdd((trajectoryObjects.find(array[0])->second).line,std::stod(array[1])+0.01,std::stod(array[2])-0.01,std::stod(array[3])); 444 | pointAdd((trajectoryObjects.find(array[0])->second).line,std::stod(array[1])+0.01,std::stod(array[2])+0.01,std::stod(array[3])); 445 | pointAdd((trajectoryObjects.find(array[0])->second).line,std::stod(array[1])-0.01,std::stod(array[2])+0.01,std::stod(array[3])); 446 | pointAdd((trajectoryObjects.find(array[0])->second).line,std::stod(array[1])-0.01,std::stod(array[2])-0.01,std::stod(array[3])); 447 | 448 | 449 | } 450 | } 451 | 452 | ///////////////////////////////////////////// 453 | ///Actives lifecycle mode. 454 | private: void activateLifecycle(const ignition::msgs::StringMsg &_req) 455 | { 456 | 457 | if(trajectoryObjects.find(_req.data()) == trajectoryObjects.end()) 458 | { 459 | std::cerr << "Error " << _req.data() << " not found" << std::endl; 460 | } 461 | else 462 | { 463 | (trajectoryObjects.find(_req.data())->second.draw) = 0; 464 | (trajectoryObjects.find(_req.data())->second.clear) = 1; 465 | (trajectoryObjects.find(_req.data())->second.lifecycle) = 1; 466 | } 467 | } 468 | 469 | ///////////////////////////////////////////// 470 | ///Deactivates lifecycle and return to normal draw mode. 471 | private: void deactivateLifecycle(const ignition::msgs::StringMsg &_req) 472 | { 473 | 474 | if(trajectoryObjects.find(_req.data()) == trajectoryObjects.end()) 475 | { 476 | std::cerr << "Error " << _req.data() << " not found" << std::endl; 477 | } 478 | else 479 | { 480 | (trajectoryObjects.find(_req.data())->second.draw) = 1; 481 | (trajectoryObjects.find(_req.data())->second.clear) = 1; 482 | (trajectoryObjects.find(_req.data())->second.lifecycle) = 0; 483 | } 484 | } 485 | 486 | ///////////////////////////////////////////// 487 | ///Sets number of points to display. 488 | ///Cuts string in name and number. 489 | private: void setLifecycle(const ignition::msgs::StringMsg &_req) 490 | { 491 | std::vector array; 492 | std::size_t pos = 0, found; 493 | while((found = _req.data().find_first_of(' ', pos)) != std::string::npos) 494 | { 495 | array.push_back(_req.data().substr(pos, found - pos)); 496 | pos = found+1; 497 | } 498 | array.push_back(_req.data().substr(pos)); 499 | 500 | if(trajectoryObjects.find(array[0]) == trajectoryObjects.end()) 501 | { 502 | std::cerr << "Error " << _req.data() << " not found" << std::endl; 503 | } 504 | else 505 | { 506 | ((trajectoryObjects.find(array[0])->second).draw) = 0; 507 | ((trajectoryObjects.find(array[0])->second).clear) = 1; 508 | ((trajectoryObjects.find(array[0])->second).lifecycle) = 1; 509 | ((trajectoryObjects.find(array[0])->second).length) = std::stoi(array[1]); 510 | } 511 | } 512 | 513 | /// All the event connections. 514 | private: std::vector connections; 515 | }; 516 | // Register this plugin with the simulator 517 | GZ_REGISTER_SYSTEM_PLUGIN(SystemGUI) 518 | } 519 | 520 | -------------------------------------------------------------------------------- /src/orocos/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # 2 | # The find_package macro for Orocos-RTT works best with 3 | # cmake >= 2.6.3 4 | # 5 | cmake_minimum_required(VERSION 2.8 FATAL_ERROR) 6 | 7 | # 8 | # This creates a standard cmake project. You may extend this file with 9 | # any cmake macro you see fit. 10 | # 11 | project(trajectoryService) 12 | 13 | add_compile_options(-std=c++11) 14 | 15 | # Set the CMAKE_PREFIX_PATH in case you're not using Orocos through ROS 16 | # for helping these find commands find RTT. 17 | find_package(OROCOS-RTT REQUIRED ${RTT_HINTS}) 18 | 19 | # Defines the orocos_* cmake macros. See that file for additional 20 | # documentation. 21 | include(${OROCOS-RTT_USE_FILE_PATH}/UseOROCOS-RTT.cmake) 22 | 23 | find_package(ignition-transport2 REQUIRED) 24 | include_directories(${IGNITION-TRANSPORT_INCLUDE_DIRS}) 25 | #link_directories(${IGNITION-TRANSPORT_LIBRARY_DIRS}) 26 | 27 | 28 | 29 | # 30 | # Components, types and plugins. 31 | # 32 | # The CMake 'target' names are identical to the first argument of the 33 | # macros below, except for orocos_typegen_headers, where the target is fully 34 | # controlled by generated code of 'typegen'. 35 | # 36 | 37 | 38 | # Creates a component library libexample-.so 39 | # and installs in the directory lib/orocos/example/ 40 | # 41 | #orocos_component(orocosTrajectoryService orocosTrajectoryService.cpp) # ...you may add multiple source files 42 | orocos_service(orocosTrajectoryService orocosTrajectoryService.cpp) 43 | target_link_libraries(orocosTrajectoryService ${IGNITION-TRANSPORT_LIBRARIES}) 44 | # You may add multiple orocos_component statements. 45 | 46 | # 47 | # Building a typekit (recommended): 48 | # 49 | # Creates a typekit library libexample-types-.so 50 | # and installs in the directory lib/orocos/example/types/ 51 | # 52 | #orocos_typegen_headers(example-types.hpp) # ...you may add multiple header files 53 | # 54 | # You may only have *ONE* orocos_typegen_headers statement ! 55 | 56 | # 57 | # Building a normal library (optional): 58 | # 59 | # Creates a library libsupport-.so and installs it in 60 | # lib/ 61 | # 62 | #orocos_library(support support.cpp) # ...you may add multiple source files 63 | # 64 | # You may add multiple orocos_library statements. 65 | 66 | 67 | # 68 | # Building a Plugin or Service (optional): 69 | # 70 | # Creates a plugin library libexample-service-.so or libexample-plugin-.so 71 | # and installs in the directory lib/orocos/example/plugins/ 72 | # 73 | # Be aware that a plugin may only have the loadRTTPlugin() function once defined in a .cpp file. 74 | # This function is defined by the plugin and service CPP macros. 75 | # 76 | #orocos_service(example-service example-service.cpp) # ...only one service per library ! 77 | #orocos_plugin(example-plugin example-plugin.cpp) # ...only one plugin function per library ! 78 | # 79 | # You may add multiple orocos_plugin/orocos_service statements. 80 | 81 | 82 | # 83 | # Additional headers (not in typekit): 84 | # 85 | # Installs in the include/orocos/example/ directory 86 | # 87 | #orocos_install_headers( ignition/msgs.hh ignition/transport.hh ) # ...you may add multiple header files 88 | 89 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") 90 | # You may add multiple orocos_install_headers statements. 91 | 92 | # 93 | # Generates and installs our package. Must be the last statement such 94 | # that it can pick up all above settings. 95 | # 96 | orocos_generate_package() 97 | -------------------------------------------------------------------------------- /src/orocos/orocosTrajectoryService.cpp: -------------------------------------------------------------------------------- 1 | 2 | #include 3 | #include 4 | 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | using namespace std; 11 | using namespace RTT; 12 | using namespace Orocos; 13 | 14 | 15 | namespace TrajectoryService 16 | { 17 | class GazeboCommunication 18 | : public RTT::Service 19 | { 20 | 21 | // Create a transport node. 22 | ignition::transport::Node node; 23 | 24 | // Prepare the input parameters. 25 | ignition::msgs::StringMsg req; 26 | public: 27 | 28 | GazeboCommunication(TaskContext* owner) 29 | : RTT::Service("TrajectoryService", owner) 30 | { 31 | this->addOperation("newTrajectory", &GazeboCommunication::newTrajectoryModel, this, RTT::OwnThread).doc("Adds trajectory of the specific object.") 32 | .arg("visual", "Name of the visualobject"); 33 | this->addOperation("newTrajectoryModel", &GazeboCommunication::newTrajectoryModel, this, RTT::OwnThread).doc("Adds trajectory of the specific model.") 34 | .arg("model", "Name of the model"); 35 | this->addOperation("newTrajectoryLink", &GazeboCommunication::newTrajectoryLink, this, RTT::OwnThread).doc("Add tajectory to link of specific model.") 36 | .arg("model", "Name of the model") 37 | .arg("link","Name of the link"); 38 | 39 | this->addOperation("delTrajectory", &GazeboCommunication::delTrajectoryModel, this, RTT::OwnThread).doc("Deletes trajectory of the specific object.") 40 | .arg("visual", "Name of the visualobject"); 41 | this->addOperation("delTrajectoryModel", &GazeboCommunication::delTrajectoryModel, this, RTT::OwnThread).doc("Deletes trajectory of the specific model.") 42 | .arg("model", "Name of the model"); 43 | this->addOperation("delTrajectoryLink", &GazeboCommunication::delTrajectoryLink, this, RTT::OwnThread).doc("Deletes trajectory of the specific link.") 44 | .arg("model", "Name of the model") 45 | .arg("link","Name of the link"); 46 | 47 | this->addOperation("clearTrajectory", &GazeboCommunication::clearTrajectoryModel, this, RTT::OwnThread).doc("Clears trajectory of specific object.") 48 | .arg("visual", "Name of the visualobject"); 49 | this->addOperation("clearTrajectoryModel", &GazeboCommunication::clearTrajectoryModel, this, RTT::OwnThread).doc("Clears trajectory of specific model.") 50 | .arg("model", "Name of the model"); 51 | this->addOperation("clearTrajectoryLink", &GazeboCommunication::clearTrajectoryLink, this, RTT::OwnThread).doc("Clears trajectory of specific link.") 52 | .arg("model", "Name of the model") 53 | .arg("link","Name of the link"); 54 | 55 | this->addOperation("pauseTrajectory", &GazeboCommunication::pauseTrajectoryModel, this, RTT::OwnThread).doc("Pauses drawing of a specific trajectory.") 56 | .arg("visual", "Name of the visualobject"); 57 | this->addOperation("pauseTrajectoryModel", &GazeboCommunication::pauseTrajectoryModel, this, RTT::OwnThread).doc("Pauses drawing of a specific trajectory.") 58 | .arg("model", "Name of the model"); 59 | this->addOperation("pauseTrajectoryLink", &GazeboCommunication::pauseTrajectoryLink, this, RTT::OwnThread).doc("Pauses drawing of a specific trajectory.") 60 | .arg("model", "Name of the model") 61 | .arg("link","Name of the link"); 62 | 63 | this->addOperation("resumeTrajectory", &GazeboCommunication::resumeTrajectoryModel, this, RTT::OwnThread).doc("Resumes drawing of a specific trajectory.") 64 | .arg("visual", "Name of the visualobject"); 65 | this->addOperation("resumeTrajectoryModel", &GazeboCommunication::resumeTrajectoryModel, this, RTT::OwnThread).doc("Resumes drawing of a specific trajectory.") 66 | .arg("model", "Name of the model"); 67 | this->addOperation("resumeTrajectoryLink", &GazeboCommunication::resumeTrajectoryLink, this, RTT::OwnThread).doc("Resumes drawing of a specific trajectory.") 68 | .arg("model", "Name of the model") 69 | .arg("link","Name of the link"); 70 | 71 | this->addOperation("newCustomTrajectory", &GazeboCommunication::newCustomTrajectory, this, RTT::OwnThread).doc("Creates a static line holder.") 72 | .arg("model", "Name of the static line model"); 73 | 74 | this->addOperation("addPoint", &GazeboCommunication::addPoint, this, RTT::OwnThread).doc("Adds a point to a staticLine.") 75 | .arg("model", "Name of the model") 76 | .arg("x", "X coordinate of point") 77 | .arg("y", "Y coordinate of point") 78 | .arg("z", "Z coordinate of point"); 79 | 80 | this->addOperation("addSquare", &GazeboCommunication::addSquare, this, RTT::OwnThread).doc("Adds a square to a staticLine.") 81 | .arg("model", "Name of the model") 82 | .arg("x", "X coordinate of point") 83 | .arg("y", "Y coordinate of point") 84 | .arg("z", "Z coordinate of point"); 85 | 86 | this->addOperation("setLifecycle", &GazeboCommunication::setLifecycleModel, this, RTT::OwnThread).doc("Changes length of trajectory.") 87 | .arg("visual", "Name of the visualobject") 88 | .arg("length", "Length of the trajectory"); 89 | this->addOperation("setLifecycleModel", &GazeboCommunication::setLifecycleModel, this, RTT::OwnThread).doc("Changes length of trajectory.") 90 | .arg("model", "Name of the model") 91 | .arg("length", "Length of the trajectory"); 92 | this->addOperation("setLifecycleLink", &GazeboCommunication::setLifecycleLink, this, RTT::OwnThread).doc("Changes length of trajectory.") 93 | .arg("model", "Name of the model") 94 | .arg("link", "Name of the link") 95 | .arg("length", "Length of the trajectory"); 96 | 97 | this->addOperation("activateLifecycle", &GazeboCommunication::activateLifecycleModel, this, RTT::OwnThread).doc("Adds a lifecylce to line. Default value 3000 Points") 98 | .arg("visual", "Name of the visualobject"); 99 | this->addOperation("activateLifecycleModel", &GazeboCommunication::activateLifecycleModel, this, RTT::OwnThread).doc("Adds a lifecylce to line. Default value 3000 Points") 100 | .arg("model", "Name of the model"); 101 | this->addOperation("activateLifecycleLink", &GazeboCommunication::activateLifecycleLink, this, RTT::OwnThread).doc("Adds a lifecylce to line. Default value 3000 Points") 102 | .arg("model", "Name of the model") 103 | .arg("link","Name of the link"); 104 | 105 | this->addOperation("deactivateLifecycle", &GazeboCommunication::deactivateLifecycleModel, this, RTT::OwnThread).doc("removes lifecycle from line.") 106 | .arg("visual", "Name of the visualobject"); 107 | this->addOperation("deactivateLifecycleModel", &GazeboCommunication::deactivateLifecycleModel, this, RTT::OwnThread).doc("removes lifecycle from line.") 108 | .arg("model", "Name of the model"); 109 | this->addOperation("deactivateLifecycleLink", &GazeboCommunication::deactivateLifecycleLink, this, RTT::OwnThread).doc("removes lifecycle from line.") 110 | .arg("model", "Name of the model") 111 | .arg("link","Name of the link"); 112 | 113 | this->addOperation("clear", &GazeboCommunication::clear, this, RTT::OwnThread).doc("Clears all trajectorys."); 114 | this->addOperation("delAll", &GazeboCommunication::delAll, this, RTT::OwnThread).doc("Deletes all trajectorys."); 115 | this->addOperation("pause", &GazeboCommunication::pause, this, RTT::OwnThread).doc("Pauses drawing of all trajectorys"); 116 | this->addOperation("resume", &GazeboCommunication::resume, this, RTT::OwnThread).doc("Resumes drawing of all trajectorys."); 117 | 118 | this->doc("TrajectoryService service interface."); 119 | } 120 | 121 | void newTrajectoryModel(std::string model) 122 | { 123 | req.set_data(model); 124 | bool executed = node.Request("/trajectory/command/newTrajectory", req); 125 | if (!executed) std::cerr << "Service call failed" << std::endl; 126 | } 127 | 128 | void newTrajectoryLink(std::string model,std::string link) 129 | { 130 | req.set_data(model+"::"+link); 131 | bool executed = node.Request("/trajectory/command/newTrajectory", req); 132 | if (!executed) std::cerr << "Service call failed" << std::endl; 133 | } 134 | 135 | void delTrajectoryModel(std::string model) 136 | { 137 | req.set_data(model); 138 | bool executed = node.Request("/trajectory/command/delTrajectory", req); 139 | if (!executed) std::cerr << "Service call failed" << std::endl; 140 | } 141 | 142 | void delTrajectoryLink(std::string model,std::string link) 143 | { 144 | req.set_data(model+"::"+link); 145 | bool executed = node.Request("/trajectory/command/delTrajectory", req); 146 | if (!executed) std::cerr << "Service call failed" << std::endl; 147 | } 148 | 149 | void clearTrajectoryModel(std::string model) 150 | { 151 | req.set_data(model); 152 | bool executed = node.Request("/trajectory/command/clearTrajectory", req); 153 | if (!executed) std::cerr << "Service call failed" << std::endl; 154 | } 155 | 156 | void clearTrajectoryLink(std::string model,std::string link) 157 | { 158 | req.set_data(model+"::"+link); 159 | bool executed = node.Request("/trajectory/command/clearTrajectory", req); 160 | if (!executed) std::cerr << "Service call failed" << std::endl; 161 | } 162 | 163 | void pauseTrajectoryModel(std::string model) 164 | { 165 | req.set_data(model); 166 | bool executed = node.Request("/trajectory/command/pauseTrajectory", req); 167 | if (!executed) std::cerr << "Service call failed" << std::endl; 168 | } 169 | 170 | void pauseTrajectoryLink(std::string model,std::string link) 171 | { 172 | req.set_data(model+"::"+link); 173 | bool executed = node.Request("/trajectory/command/pauseTrajectory", req); 174 | if (!executed) std::cerr << "Service call failed" << std::endl; 175 | } 176 | 177 | void resumeTrajectoryModel(std::string model) 178 | { 179 | req.set_data(model); 180 | bool executed = node.Request("/trajectory/command/resumeTrajectory", req); 181 | if (!executed) std::cerr << "Service call failed" << std::endl; 182 | } 183 | 184 | void resumeTrajectoryLink(std::string model,std::string link) 185 | { 186 | req.set_data(model+"::"+link); 187 | bool executed = node.Request("/trajectory/command/resumeTrajectory", req); 188 | if (!executed) std::cerr << "Service call failed" << std::endl; 189 | } 190 | 191 | void clear() 192 | { 193 | req.set_data("clear"); 194 | bool executed = node.Request("/trajectory/command/clear", req); 195 | if (!executed) std::cerr << "Service call failed" << std::endl; 196 | } 197 | 198 | void delAll() 199 | { 200 | req.set_data("delAll"); 201 | bool executed = node.Request("/trajectory/command/delAll", req); 202 | if (!executed) std::cerr << "Service call failed" << std::endl; 203 | } 204 | 205 | void pause() 206 | { 207 | req.set_data("pause"); 208 | bool executed = node.Request("/trajectory/command/pause", req); 209 | if (!executed) std::cerr << "Service call failed" << std::endl; 210 | } 211 | 212 | void resume() 213 | { 214 | req.set_data("HELLO"); 215 | bool executed = node.Request("/trajectory/command/resume", req); 216 | if (!executed) std::cerr << "Service call failed" << std::endl; 217 | } 218 | 219 | void activateLifecycleModel(std::string model) 220 | { 221 | req.set_data(model); 222 | bool executed = node.Request("/trajectory/command/activateLifecycle", req); 223 | if (!executed) std::cerr << "Service call failed" << std::endl; 224 | } 225 | 226 | void activateLifecycleLink(std::string model,std::string link) 227 | { 228 | req.set_data(model+"::"+link); 229 | bool executed = node.Request("/trajectory/command/activateLifecycle", req); 230 | if (!executed) std::cerr << "Service call failed" << std::endl; 231 | } 232 | 233 | void deactivateLifecycleModel(std::string model) 234 | { 235 | req.set_data(model); 236 | bool executed = node.Request("/trajectory/command/deactivateLifecycle", req); 237 | if (!executed) std::cerr << "Service call failed" << std::endl; 238 | } 239 | 240 | void deactivateLifecycleLink(std::string model,std::string link) 241 | { 242 | req.set_data(model+"::"+link); 243 | bool executed = node.Request("/trajectory/command/deactivateLifecycle", req); 244 | if (!executed) std::cerr << "Service call failed" << std::endl; 245 | } 246 | 247 | void newCustomTrajectory(std::string model) 248 | { 249 | req.set_data(model); 250 | bool executed = node.Request("/trajectory/command/newCustomTrajectory", req); 251 | if (!executed) std::cerr << "Service call failed" << std::endl; 252 | } 253 | 254 | void addPoint(std::string model,double x,double y,double z) 255 | { 256 | req.set_data(model+" "+std::to_string(x)+" "+std::to_string(y)+" "+std::to_string(z)); 257 | bool executed = node.Request("/trajectory/command/addPoint", req); 258 | if (!executed) std::cerr << "Service call failed" << std::endl; 259 | } 260 | 261 | void addSquare(std::string model,double x,double y,double z) 262 | { 263 | req.set_data(model+" "+std::to_string(x)+" "+std::to_string(y)+" "+std::to_string(z)); 264 | bool executed = node.Request("/trajectory/command/addStaticSquare", req); 265 | if (!executed) std::cerr << "Service call failed" << std::endl; 266 | } 267 | 268 | void setLifecycleModel(std::string model,int length) 269 | { 270 | req.set_data(model+" "+std::to_string(length)); 271 | bool executed = node.Request("/trajectory/command/setLifecycle", req); 272 | if (!executed) std::cerr << "Service call failed" << std::endl; 273 | } 274 | void setLifecycleLink(std::string model,std::string link,int length) 275 | { 276 | req.set_data(model+"::"+link+" "+std::to_string(length)); 277 | bool executed = node.Request("/trajectory/command/setLifecycle", req); 278 | if (!executed) std::cerr << "Service call failed" << std::endl; 279 | } 280 | }; 281 | } 282 | ORO_SERVICE_NAMED_PLUGIN(TrajectoryService::GazeboCommunication, "TrajectoryService") 283 | -------------------------------------------------------------------------------- /src/orocos/start.ops: -------------------------------------------------------------------------------- 1 | 2 | import("trajectoryService") 3 | 4 | loadService("this","TrajectoryService") 5 | --------------------------------------------------------------------------------