Feature/multimotor plugin #659
Open
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…s_simulator into feature/multimotor_plugin
karenbodie
commented
Mar 4, 2021
Comment on lines
+43
to
+48
| if (IsValidLink(motor) & IsValidJoint(motor)) { | ||
| motors_.push_back(std::make_unique<MotorModelRotor>(model_, motor)); | ||
| gzdbg << "[gazebo_multimotor_plugin] Loaded rotor!\n"; | ||
| } else { | ||
| gzdbg << "[gazebo_multimotor_plugin] Failed to load rotor!\n"; | ||
| } |
There was a problem hiding this comment.
Jenkins fails on 16.04 because std::make_unique is apparently a feature of c++14?
error: 'make_unique' is not a member of 'std'
@michaelpantic what would be the right way to do this?
karenbodie
commented
Mar 4, 2021
Comment on lines
+107
to
+108
| getSdfParam<double>(motor_, "maxRotVelocity", max_rot_velocity_, max_rot_velocity_); | ||
| getSdfParam<double>(motor_, "minRotVelocity", min_rot_velocity_, min_rot_velocity_); |
There was a problem hiding this comment.
max and min rot velocity loaded but never used.
karenbodie
commented
Mar 4, 2021
Comment on lines
+97
to
+99
| getSdfParam<double>(motor_, "maxRotVelocity", max_rot_velocity_, max_rot_velocity_); | ||
| getSdfParam<double>(motor_, "maxRotPosition", max_rot_position_, max_rot_position_); | ||
| getSdfParam<double>(motor_, "minRotPosition", min_rot_position_, min_rot_position_); |
There was a problem hiding this comment.
Position and velocity limits loaded but never used.
karenbodie
commented
Mar 4, 2021
| // Frame ID is not used for this particular message | ||
| actuator_state_msg.mutable_header()->set_frame_id(""); | ||
|
|
||
| motor_state_pub_->Publish(actuator_state_msg); |
There was a problem hiding this comment.
Current publishing on simulation update, which is not realistic. Should probably align with the real system. We could:
- poll in the command function, but then we wouldn't see feedback when no commands sent.
- poll based on a timed callback
What do you think @clanegge @michaelpantic ?
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
EDITED DESCRIPTION: Adds a multi-motor plugin that currently includes rotor and servo options.
URDF setup
All motors are added in one plugin via their corresponding joints, an example is in omav3_actuators.xacro.
For a system with n rotors and m servos, Actuator numbers are (0 - n-1) rotors in order they are included in the xml, and (n - m-1) servos. Regardless of the order of servos or rotors blocks, rotors will come first.
Messages
Commands are received jointly in a mav_msgs::Actuators message. Missing fields are set to nan and extra fields are ignored. Rotors handle nan by setting to zero velocity. This could be adapted based on real actuator/esc behaviour. Servos do not update joint controllers if a nan is received.
Feedback
Feedback is published jointly in a mav_msgs::Actuators message which contains an array of positions, velocities, and efforts (e.g. torque), one for each motor. Rotors publish zero for position (angles).
Launch example
An example for OMAV3 is in omav_simulation.launch
resolves #492