Merge pull request #8 from Juancams/main

Changed package name & solved bug with dependency repos

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(gazebo_mocap_plugin)
+project(gazebo_mocap4r2_plugin)
 
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
@@ -26,8 +26,8 @@ find_package(gazebo_dev REQUIRED)
 find_package(gazebo_msgs REQUIRED)
 find_package(gazebo_ros REQUIRED)
 find_package(geometry_msgs REQUIRED)
-find_package(mocap_msgs REQUIRED)
-find_package(mocap_control REQUIRED)
+find_package(mocap4r2_msgs REQUIRED)
+find_package(mocap4r2_control REQUIRED)
 find_package(rclcpp REQUIRED)
 
 link_directories(${gazebo_dev_LIBRARY_DIRS})
@@ -53,8 +53,8 @@ ament_target_dependencies(gazebo_ros_mocap
  "gazebo_dev"
  "gazebo_ros"
  "rclcpp"
- "mocap_msgs"
- "mocap_control"
+ "mocap4r2_msgs"
+ "mocap4r2_control"
  "geometry_msgs"
 )
 ament_export_libraries(gazebo_ros_mocap)

README.md

@@ -1,5 +1,5 @@
 
-# gazebo_mocap_plugin
+# gazebo_mocap4r2_plugin
 
 This package provides you with a gazebo plugin that allows you to simulate the use of Motion Capture Markers on your simulated robot.
 
@@ -26,7 +26,7 @@ Add in your robot model the following, as done in [This sample model](https://gi
  <visual name="mocap_sensor_visual">
  <origin rpy="0 0 0" xyz=" 0 0 0"/>
  <geometry>
- <mesh filename="package://gazebo_mocap_plugin/meshes/rigid_body.dae" scale="0.001 0.001 0.001"/>
+ <mesh filename="package://gazebo_mocap4r2_plugin/meshes/rigid_body.dae" scale="0.001 0.001 0.001"/>
  </geometry>
  </visual>
  </link>
@@ -43,7 +43,7 @@ Add in your robot model the following, as done in [This sample model](https://gi
 To see it in action, just type:
 
 ```
-ros2 launch gazebo_mocap_plugin tb3_simulation_launch.py
+ros2 launch gazebo_mocap4r2_plugin tb3_simulation_launch.py
 ```
 
 Open gzclient in other terminal:

dependency_repos.repos

@@ -1,9 +1,9 @@
 repositories:
- mocap_msgs:
+ mocap4r2_msgs:
  type: git
- url: https://github.com/MOCAP4ROS2-Project/mocap_msgs.git
- version: master
- mocap:
+ url: https://github.com/MOCAP4ROS2-Project/mocap4r2_msgs.git
+ version: rolling
+ mocap4r2:
  type: git
- url: https://github.com/MOCAP4ROS2-Project/mocap.git
- version: main
+ url: https://github.com/MOCAP4ROS2-Project/mocap4r2.git
+ version: rolling

launch/tb3_simulation_launch.py

@@ -29,7 +29,7 @@
 def generate_launch_description():
  # Get the launch directory
  bringup_dir = get_package_share_directory('nav2_bringup')
- mocap_dir = get_package_share_directory('gazebo_mocap_plugin')
+ mocap_dir = get_package_share_directory('gazebo_mocap4r2_plugin')
  launch_dir = os.path.join(bringup_dir, 'launch')
 
  # Create the launch configuration variables

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
- <name>gazebo_mocap_plugin</name>
+ <name>gazebo_mocap4r2_plugin</name>
  <version>0.0.0</version>
  <description>
  Gazebo plugins for mocap
@@ -17,8 +17,8 @@
 
  <depend>rclcpp</depend>
  <depend>geometry_msgs</depend>
- <depend>mocap_msgs</depend>
- <depend>mocap_control</depend>
+ <depend>mocap4r2_msgs</depend>
+ <depend>mocap4r2_control</depend>
  <depend>gazebo_dev</depend>
  <depend>gazebo_msgs</depend>
  <depend>gazebo_ros</depend>

src/gazebo_ros_mocap.cpp

@@ -23,12 +23,12 @@
 #include <gazebo_plugins/gazebo_ros_mocap.hpp>
 #include <gazebo_ros/node.hpp>
 
-#include "mocap_msgs/msg/markers.hpp"
-#include "mocap_msgs/msg/rigid_bodies.hpp"
+#include "mocap4r2_msgs/msg/markers.hpp"
+#include "mocap4r2_msgs/msg/rigid_bodies.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 
 #include "rclcpp/rclcpp.hpp"
-#include "mocap_control/ControlledLifecycleNode.hpp"
+#include "mocap4r2_control/ControlledLifecycleNode.hpp"
 
 namespace gazebo
 {
@@ -39,7 +39,7 @@ using CallbackReturnT =
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
 /// Class to hold private data members (PIMPL pattern)
-class GazeboRosMocapPrivate : public mocap_control::ControlledLifecycleNode
+class GazeboRosMocapPrivate : public mocap4r2_control::ControlledLifecycleNode
 {
 public:
  GazeboRosMocapPrivate();
@@ -48,8 +48,8 @@ class GazeboRosMocapPrivate : public mocap_control::ControlledLifecycleNode
  CallbackReturnT on_activate(const rclcpp_lifecycle::State & state) override;
  CallbackReturnT on_deactivate(const rclcpp_lifecycle::State & state) override;
 
- void control_start(const mocap_control_msgs::msg::Control::SharedPtr msg) override;
- void control_stop(const mocap_control_msgs::msg::Control::SharedPtr msg) override;
+ void control_start(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) override;
+ void control_stop(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) override;
 
  /// Connection to world update event. Callback is called while this is alive.
  gazebo::event::ConnectionPtr update_connection_;
@@ -58,8 +58,8 @@ class GazeboRosMocapPrivate : public mocap_control::ControlledLifecycleNode
  std::string link_name_;
 
  /// ROS communication.
- rclcpp_lifecycle::LifecyclePublisher<mocap_msgs::msg::Markers>::SharedPtr mocap_markers_pub_;
- rclcpp_lifecycle::LifecyclePublisher<mocap_msgs::msg::RigidBodies>::SharedPtr
+ rclcpp_lifecycle::LifecyclePublisher<mocap4r2_msgs::msg::Markers>::SharedPtr mocap_markers_pub_;
+ rclcpp_lifecycle::LifecyclePublisher<mocap4r2_msgs::msg::RigidBodies>::SharedPtr
  mocap_rigid_body_pub_;
  int frame_number_{0};
 };
@@ -74,9 +74,9 @@ GazeboRosMocapPrivate::GazeboRosMocapPrivate()
 CallbackReturnT
 GazeboRosMocapPrivate::on_configure(const rclcpp_lifecycle::State & state)
 {
- mocap_markers_pub_ = create_publisher<mocap_msgs::msg::Markers>(
+ mocap_markers_pub_ = create_publisher<mocap4r2_msgs::msg::Markers>(
  "markers", rclcpp::QoS(1000));
- mocap_rigid_body_pub_ = create_publisher<mocap_msgs::msg::RigidBodies>(
+ mocap_rigid_body_pub_ = create_publisher<mocap4r2_msgs::msg::RigidBodies>(
  "rigid_bodies", rclcpp::QoS(1000));
 
  return ControlledLifecycleNode::on_configure(state);
@@ -105,13 +105,13 @@ GazeboRosMocapPrivate::on_deactivate(const rclcpp_lifecycle::State & state)
 }
 
 void
-GazeboRosMocapPrivate::control_start(const mocap_control_msgs::msg::Control::SharedPtr msg)
+GazeboRosMocapPrivate::control_start(const mocap4r2_control_msgs::msg::Control::SharedPtr msg)
 {
  RCLCPP_INFO(get_logger(), "Starting mocap gazebo");
 }
 
 void
-GazeboRosMocapPrivate::control_stop(const mocap_control_msgs::msg::Control::SharedPtr msg)
+GazeboRosMocapPrivate::control_stop(const mocap4r2_control_msgs::msg::Control::SharedPtr msg)
 {
  RCLCPP_INFO(get_logger(), "Stopping mocap gazebo");
 }
@@ -201,28 +201,28 @@ void GazeboRosMocap::OnUpdate()
  auto & rot = pose.Rot();
 
  if (impl_->mocap_markers_pub_->get_subscription_count() > 0) {
- mocap_msgs::msg::Marker m1;
- m1.id_type = mocap_msgs::msg::Marker::USE_INDEX;
+ mocap4r2_msgs::msg::Marker m1;
+ m1.id_type = mocap4r2_msgs::msg::Marker::USE_INDEX;
  m1.marker_index = 1;
  m1.translation.x = pos.X();
  m1.translation.y = pos.Y();
  m1.translation.z = pos.Z() + 0.05;
 
- mocap_msgs::msg::Marker m2;
- m2.id_type = mocap_msgs::msg::Marker::USE_INDEX;
+ mocap4r2_msgs::msg::Marker m2;
+ m2.id_type = mocap4r2_msgs::msg::Marker::USE_INDEX;
  m2.marker_index = 2;
  m2.translation.x = pos.X() + 0.02;
  m2.translation.y = pos.Y();
  m2.translation.z = pos.Z() + 0.03;
 
- mocap_msgs::msg::Marker m3;
- m3.id_type = mocap_msgs::msg::Marker::USE_INDEX;
+ mocap4r2_msgs::msg::Marker m3;
+ m3.id_type = mocap4r2_msgs::msg::Marker::USE_INDEX;
  m3.marker_index = 3;
  m3.translation.x = pos.X();
  m3.translation.y = pos.Y() + 0.015;
  m3.translation.z = pos.Z() + 0.03;
 
- mocap_msgs::msg::Markers ms;
+ mocap4r2_msgs::msg::Markers ms;
  ms.header.stamp = impl_->now();
  ms.header.frame_id = "map";
  ms.frame_number = impl_->frame_number_++;
@@ -232,7 +232,7 @@ void GazeboRosMocap::OnUpdate()
  }
 
  if (impl_->mocap_rigid_body_pub_->get_subscription_count() > 0) {
- mocap_msgs::msg::RigidBody rb1;
+ mocap4r2_msgs::msg::RigidBody rb1;
  rb1.rigid_body_name = "rigid_body_1";
  rb1.pose.position.x = pos.X();
  rb1.pose.position.y = pos.Y();
@@ -242,30 +242,30 @@ void GazeboRosMocap::OnUpdate()
  rb1.pose.orientation.z = rot.Z();
  rb1.pose.orientation.w = rot.W();
 
- mocap_msgs::msg::Marker m1;
- m1.id_type = mocap_msgs::msg::Marker::USE_INDEX;
+ mocap4r2_msgs::msg::Marker m1;
+ m1.id_type = mocap4r2_msgs::msg::Marker::USE_INDEX;
  m1.marker_index = 1;
  m1.translation.x = pos.X();
  m1.translation.y = pos.Y();
  m1.translation.z = pos.Z() + 0.05;
 
- mocap_msgs::msg::Marker m2;
- m2.id_type = mocap_msgs::msg::Marker::USE_INDEX;
+ mocap4r2_msgs::msg::Marker m2;
+ m2.id_type = mocap4r2_msgs::msg::Marker::USE_INDEX;
  m2.marker_index = 2;
  m2.translation.x = pos.X() + 0.02;
  m2.translation.y = pos.Y();
  m2.translation.z = pos.Z() + 0.03;
 
- mocap_msgs::msg::Marker m3;
- m3.id_type = mocap_msgs::msg::Marker::USE_INDEX;
+ mocap4r2_msgs::msg::Marker m3;
+ m3.id_type = mocap4r2_msgs::msg::Marker::USE_INDEX;
  m3.marker_index = 3;
  m3.translation.x = pos.X();
  m3.translation.y = pos.Y() + 0.015;
  m3.translation.z = pos.Z() + 0.03;
 
  rb1.markers = {m1, m2, m3};
 
- mocap_msgs::msg::RigidBodies rbs;
+ mocap4r2_msgs::msg::RigidBodies rbs;
  rbs.header.stamp = impl_->now();
  rbs.header.frame_id = "map";
  rbs.frame_number = impl_->frame_number_++;