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| /* | ||
| * Copyright 2020 | ||
| * Emiliano Borghi | ||
| * | ||
| * This program is free software; you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation; either version 2 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * This program is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with this program; if not, write to the Free Software | ||
| * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA | ||
| * | ||
| */ | ||
| /* | ||
| * Desc: Model pose publisher | ||
| * Author: Emiliano Borghi | ||
| * Date: 11 January 2020 | ||
| */ | ||
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| #include <ros/ros.h> | ||
| #include <tf2_ros/transform_broadcaster.h> | ||
| #include <sdf/sdf.hh> | ||
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| #include <ignition/math/Pose3.hh> | ||
| #include <ignition/math/Vector3.hh> | ||
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| #include "gazebo/gazebo.hh" | ||
| #include "gazebo/common/Plugin.hh" | ||
| #include "gazebo/msgs/msgs.hh" | ||
| #include "gazebo/physics/physics.hh" | ||
| #include "gazebo/transport/transport.hh" | ||
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| #include "std_msgs/String.h" | ||
| #include "std_msgs/Float32.h" | ||
| #include "std_msgs/Int16.h" | ||
| #include "ca_msgs/ChargingState.h" | ||
| #include "geometry_msgs/Pose.h" | ||
| #include "nav_msgs/Odometry.h" | ||
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| #include <string> | ||
| #include <cmath> | ||
|
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| static const ros::Duration update_period = ros::Duration(1); // 10 ms | ||
|
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| namespace gazebo | ||
| { | ||
| class BatteryChargerPlugin : public ModelPlugin | ||
| { | ||
| public: | ||
| void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) | ||
| { | ||
| GZ_ASSERT(_parent, "BatteryChargerPlugin _parent pointer is NULL"); | ||
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| // Make sure the ROS node for Gazebo has already been initialized | ||
| if (!ros::isInitialized()) | ||
| { | ||
| ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. " | ||
| << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); | ||
| return; | ||
| } | ||
| ROS_INFO("Battery charger started!"); | ||
| // Store the pointer to the model | ||
| this->model_ = _parent; | ||
| ROS_INFO("model Name = %s", this->model_->GetName().c_str()); | ||
| this->indicator_link_ = this->model_->GetLink("link"); | ||
| // Listen to the update event. This event is broadcast every | ||
| // simulation iteration. | ||
| this->updateConnection = event::Events::ConnectWorldUpdateBegin( | ||
| std::bind(&BatteryChargerPlugin::OnUpdate, this)); | ||
| this->prev_update_time_ = ros::Time::now(); | ||
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| this->rosnode_.reset(new ros::NodeHandle()); | ||
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| this->dock_pose_sub_ = this->rosnode_->subscribe("/dock/pose", 1, &BatteryChargerPlugin::DockPoseCb, this); | ||
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| this->capacity_pub_ = this->rosnode_->advertise<std_msgs::Float32>("/battery/capacity", 1); | ||
| this->charge_pub_ = this->rosnode_->advertise<std_msgs::Float32>("/battery/charge", 1); | ||
| this->charge_ratio_pub_ = this->rosnode_->advertise<std_msgs::Float32>("/battery/charge_ratio", 1); | ||
| this->current_pub_ = this->rosnode_->advertise<std_msgs::Float32>("/battery/current", 1); | ||
| this->temperature_pub_ = this->rosnode_->advertise<std_msgs::Int16>("/battery/temperature", 1); | ||
| this->voltage_pub_ = this->rosnode_->advertise<std_msgs::Float32>("/battery/voltage", 1); | ||
| this->charging_state_pub_ = this->rosnode_->advertise<ca_msgs::ChargingState>("/battery/charging_state", 1); | ||
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| this->charge_.data = 5; | ||
| } | ||
|
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| // Called by the world update start event | ||
| public: | ||
| void OnUpdate() | ||
| { | ||
| if ((ros::Time::now() - this->prev_update_time_) < update_period) | ||
| { | ||
| return; | ||
| } | ||
| ignition::math::Vector3<double> robot_pose = this->model_->WorldPose().Pos(); | ||
| ignition::math::Vector3<double> robot_scale = this->model_->Scale(); | ||
| ROS_INFO("model Scale X=%f Y=%f Z%f ", | ||
| robot_scale.X(), robot_scale.Y(), robot_scale.Z()); | ||
| ROS_INFO("model Pose X=%f Y=%f Z%f ", | ||
| robot_pose.X(), robot_pose.Y(), robot_pose.Z()); | ||
| ROS_INFO("dock Pose X=%f Y=%f Z%f ", | ||
| this->dock_pose_.x, this->dock_pose_.y, this->dock_pose_.z); | ||
| float distance = sqrt( | ||
| pow(this->dock_pose_.x - robot_pose.X(), 2) + | ||
| pow(this->dock_pose_.y - robot_pose.Y(), 2) | ||
| ); | ||
| ROS_INFO("Distance to dock = %f", distance); | ||
|
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| std_msgs::Float32 capacity; | ||
| capacity.data = 6; | ||
| this->capacity_pub_.publish(capacity); | ||
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| std_msgs::Float32 current; | ||
| ca_msgs::ChargingState charging_state; | ||
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| if(distance<0.1) { | ||
| //charging | ||
| this->charge_.data += 0.05; | ||
| current.data = 2; | ||
| charging_state.state = 2; //Full charge | ||
| if(this->charge_.data > capacity.data) { | ||
| this->charge_.data = capacity.data; | ||
| current.data = 0; | ||
| charging_state.state = ca_msgs::ChargingState::CHARGE_TRICKLE; //Trickle charge | ||
| } | ||
| } else { | ||
| //discharging | ||
| this->charge_.data -= 0.05; | ||
| current.data = -2; | ||
| charging_state.state = 0; //none | ||
| if(this->charge_.data < 0) { | ||
| this->charge_.data = 0; | ||
| current.data = 0; | ||
| } | ||
| } | ||
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| this->current_pub_.publish(current); | ||
| this->charging_state_pub_.publish(charging_state); | ||
| this->charge_pub_.publish(this->charge_); | ||
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| std_msgs::Float32 charge_ratio; | ||
| charge_ratio.data = 1; | ||
| this->charge_ratio_pub_.publish(charge_ratio); | ||
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| std_msgs::Int16 temperature; | ||
| temperature.data = 40; | ||
| this->capacity_pub_.publish(temperature); | ||
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| std_msgs::Float32 voltage; | ||
| voltage.data = 12.1; | ||
| this->capacity_pub_.publish(voltage); | ||
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| float scale = this->charge_.data/6; | ||
| if(scale < 0.2) scale = 0.2; | ||
| robot_scale.X(scale); | ||
| robot_scale.Y(scale); | ||
| robot_scale.Z(scale); | ||
| this->model_->SetScale(robot_scale); | ||
| // Update time | ||
| this->prev_update_time_ = ros::Time::now(); | ||
| } | ||
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| void DockPoseCb(const geometry_msgs::Pose & msg) | ||
| { | ||
| ignition::math::Vector3<double> robot_pose = this->model_->WorldPose().Pos(); | ||
| this->dock_pose_ = msg.position; | ||
| } | ||
|
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| private: | ||
| geometry_msgs::Point dock_pose_; | ||
| std::shared_ptr<ros::NodeHandle> rosnode_; | ||
| ros::Publisher capacity_pub_; | ||
| ros::Publisher charge_pub_; | ||
| ros::Publisher charge_ratio_pub_; | ||
| ros::Publisher current_pub_; | ||
| ros::Publisher temperature_pub_; | ||
| ros::Publisher voltage_pub_; | ||
| ros::Publisher charging_state_pub_; | ||
| ros::Subscriber dock_pose_sub_; | ||
| physics::ModelPtr model_; | ||
| physics::LinkPtr indicator_link_; | ||
| ros::Time prev_update_time_; | ||
| std_msgs::Float32 charge_; | ||
| // Pointer to the update event connection | ||
| event::ConnectionPtr updateConnection; | ||
| }; | ||
|
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| // Register this plugin with the simulator | ||
| GZ_REGISTER_MODEL_PLUGIN(BatteryChargerPlugin) | ||
|
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| } // namespace gazebo |