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105 lines
3.7 KiB
105 lines
3.7 KiB
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @brief Drop Plugin
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*
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* This plugin simulates dropping a payload
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*
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* @author Jaeyoung Lim <jalim@ethz.ch>
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*/
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#ifndef _GAZEBO_DROP_PLUGIN_HH_
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#define _GAZEBO_DROP_PLUGIN_HH_
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#include <math.h>
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#include <common.h>
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#include <sdf/sdf.hh>
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#include <gazebo/common/common.hh>
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#include <gazebo/common/Plugin.hh>
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#include <gazebo/gazebo.hh>
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#include <gazebo/util/system.hh>
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#include <gazebo/transport/transport.hh>
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#include <gazebo/msgs/msgs.hh>
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#include <gazebo/physics/physics.hh>
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#include <ignition/math.hh>
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#include "CommandMotorSpeed.pb.h"
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#include <Odometry.pb.h>
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namespace gazebo
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{
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typedef const boost::shared_ptr<const mav_msgs::msgs::CommandMotorSpeed> CommandMotorSpeedPtr;
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class GAZEBO_VISIBLE DropPlugin : public ModelPlugin
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{
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public:
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DropPlugin();
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virtual ~DropPlugin();
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void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
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void OnUpdate(const common::UpdateInfo&);
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physics::ModelPtr GetModelPtr(std::string model_name);
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private:
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/// \brief Loads the package model
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void LoadPackage();
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/// \brief Callback for subscribing to motor commands
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/// \param rot_velocities Motor command velocity commanded from firmware
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void VelocityCallback(CommandMotorSpeedPtr &rot_velocities);
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std::string namespace_;
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physics::ModelPtr model_;
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physics::WorldPtr world_;
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event::ConnectionPtr update_connection_;
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bool package_spawned = false; ///< Check if the package has already been spawned in the world
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double max_rot_velocity_ = 3500; ///< Clip maximum motor velocity
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double ref_motor_rot_vel_ = 0; ///< Reference motor velocity
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double release_rot_vel_ = 300; ///< Motor velocity command to release the package
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int motor_number_;
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std::string trigger_sub_topic_ = "/gazebo/command/motor_speed"; ///< Parachute trigger signal topic
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std::string model_name_ = "parachute_package";
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transport::NodePtr node_handle_;
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transport::SubscriberPtr trigger_sub_;
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}; // class GAZEBO_VISIBLE DropPlugin
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} // namespace gazebo
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#endif // _GAZEBO_DROP_PLUGIN_HH_
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