From 321371c1f67aa181b906620fa7a227838518ebc9 Mon Sep 17 00:00:00 2001 From: Rhys Mainwaring Date: Thu, 22 Dec 2022 09:39:40 +0000 Subject: [PATCH] Add parachute plugin (#36) * Parachute: initial version 1. Add parachute model from px4 gazebo 2. Initial parachute support 3. gitignore upd 4. cmakelists add ParachuteLib 5. cmake add debug config 6. fix debug options 7. create parachute on release Author: Alex Molchanov ardupilot parachute initial support * Parachute: migrate to gz-sim, add tests and prepare for PR 1. Parachute: namespace migration - Migrate from ignition to gz. - Fix for cpplint. Signed-off-by: Rhys Mainwaring 2. Parachute: move implementation details to private class. Signed-off-by: Rhys Mainwaring 3. Parachute: update plugin - Update variable name to Gazebo style. - Remove unused variables. - Only create parachute model if not already created. Signed-off-by: Rhys Mainwaring 4. Parachute: update plugin - Fix linter. Signed-off-by: Rhys Mainwaring 5. Parachute: update model and world files - Add notes re. servo config for parachute to zephyr model. - Add review notes to zephyr runway world and param settings. Signed-off-by: Rhys Mainwaring 6. Parachute: apply formatting changes to parachute model Signed-off-by: Rhys Mainwaring 7. Parachute: revert changes to ArduPilotPlugin - Revert changes to ArduPilotPlugin and use the COMMAND control type to forward parachute servo commands. - Update ParachutePlugin to subscribe to a servo command (double). - Update control xml for parachute in zephyr_with_ardupilot model. Signed-off-by: Rhys Mainwaring 8. Parachute: update ParachutePlugin - Remove unused code - simplify plugin to minimal functionality (parachute release only). Signed-off-by: Rhys Mainwaring 9. Parachute: add test world - Add box with parachute attached to test deployment and pose. Signed-off-by: Rhys Mainwaring 10. Parachute: update test world Models - Attach plugin to model rather than world. - Add usage notes Plugin - Verify plugin attached to model. - Use Link to wrap link entities. - Resolve parent link in configure rather than at update time. - Enable velocity checks so we can get parent link pose. Signed-off-by: Rhys Mainwaring 11. Parachute: update parachute model - Change collision to a sphere matching the parachute canopy. - Update lift-drag plugin to gz::sim. Signed-off-by: Rhys Mainwaring 12. Parachute: update zephyr model and world Models - Add 'attachment_link' to connect to parachute when it is released. - Move parachute plugin into model and update sdf definitions. Plugin - Change pose parameter name to 'child_pose'. - Update pose variable names to use Kane notation and simplify calculation. Signed-off-by: Rhys Mainwaring 13. Parachute: update parachute model - Update inertial and move CoM to centre of collision sphere. - Update pose notation. - Add version where only the position of the parachute may be adjusted (no rotation). Signed-off-by: Rhys Mainwaring 14. Parachute: update parachute model - Fix for cpplint. Signed-off-by: Rhys Mainwaring 15. Parachute: update zephyr model - Alter angle of parachute on release (towards rear of aircraft) Signed-off-by: Rhys Mainwaring 16. Parachute: add separate models and worlds for the parachute example. Signed-off-by: Rhys Mainwaring 17. Parachute: revert changes to original zephyr models and worlds. Signed-off-by: Rhys Mainwaring 18. Parachute: update class documentation - Fix name of zephyr_with_parachute in model. - Refer to correct model in zephyr_parachute world. - Document header with parameter descriptions. - Document private class in ParachutePlugin.cc - Fix MAVProxy commands in zephyr example help. Signed-off-by: Rhys Mainwaring * Parachute: standardise topic names and relocate test worlds - Update plugin documentation. - Update parachute release command topic to match other Gazebo system plugins. - Update example models and worlds to use new topic name. - Move the test world under ./tests/worlds/ Signed-off-by: Rhys Mainwaring Co-authored-by: Alex Molchanov --- .gitignore | 4 + CMakeLists.txt | 15 +- include/ParachutePlugin.hh | 80 ++++ .../meshes/parachute_small.dae | 174 ++++++++ models/parachute_small/model.config | 18 + models/parachute_small/model.sdf | 66 +++ models/zephyr/meshes/parachute_small.dae | 174 ++++++++ models/zephyr_with_parachute/model.config | 27 ++ models/zephyr_with_parachute/model.sdf | 315 ++++++++++++++ src/ParachutePlugin.cc | 390 ++++++++++++++++++ tests/worlds/test_parachute.sdf | 142 +++++++ worlds/zephyr_parachute.sdf | 154 +++++++ 12 files changed, 1557 insertions(+), 2 deletions(-) create mode 100644 include/ParachutePlugin.hh create mode 100644 models/parachute_small/meshes/parachute_small.dae create mode 100644 models/parachute_small/model.config create mode 100644 models/parachute_small/model.sdf create mode 100644 models/zephyr/meshes/parachute_small.dae create mode 100644 models/zephyr_with_parachute/model.config create mode 100644 models/zephyr_with_parachute/model.sdf create mode 100644 src/ParachutePlugin.cc create mode 100755 tests/worlds/test_parachute.sdf create mode 100755 worlds/zephyr_parachute.sdf diff --git a/.gitignore b/.gitignore index a538daa..41719bb 100755 --- a/.gitignore +++ b/.gitignore @@ -26,6 +26,10 @@ msg/_*.py .project .cproject +# vscode +.vscode +.devcontainer + # qcreator stuff CMakeLists.txt.user diff --git a/CMakeLists.txt b/CMakeLists.txt index 8d69ea0..521d570 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -39,12 +39,23 @@ add_library(ArduPilotPlugin src/Socket.cpp src/Util.cc ) - target_include_directories(ArduPilotPlugin PUBLIC include ${GZ-SIM_INCLUDE_DIRS} ) - target_link_libraries(ArduPilotPlugin PUBLIC ${GZ-SIM_LIBRARIES} ) + +add_library(ParachutePlugin + SHARED + src/ParachutePlugin.cc +) +target_include_directories(ParachutePlugin PUBLIC + include + ${GZ-SIM_INCLUDE_DIRS} +) + +target_link_libraries(ParachutePlugin PUBLIC + ${GZ-SIM_LIBRARIES} +) \ No newline at end of file diff --git a/include/ParachutePlugin.hh b/include/ParachutePlugin.hh new file mode 100644 index 0000000..5dd7779 --- /dev/null +++ b/include/ParachutePlugin.hh @@ -0,0 +1,80 @@ +/* + Copyright (C) 2022 ardupilot.org + + 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 3 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, see . + */ +#ifndef PARACHUTEPLUGIN_HH_ +#define PARACHUTEPLUGIN_HH_ + +#include + +#include + +namespace gz { +namespace sim { +inline namespace GZ_SIM_VERSION_NAMESPACE { +namespace systems { + +/// \brief Parachute releaase plugin which may be attached to a model. +/// +/// ## System Parameters: +/// +/// `` The link in the target model to attach the parachute. +/// Required. +/// +/// `` The name of the parachute model. +/// Required. +/// +/// `` The base link of the parachute model (bridle point). +/// Required. +/// +/// `` The relative pose of parent link to the child link. +/// The default value is: `0, 0, 0, 0, 0, 0`. +/// +/// `` The topic to receive the parachute release command. +/// The default value is: `/model//parachute/cmd_release`. +/// +class ParachutePlugin : + public System, + public ISystemPreUpdate, + public ISystemConfigure +{ + /// \brief Destructor + public: virtual ~ParachutePlugin(); + + /// \brief Constructor + public: ParachutePlugin(); + + // Documentation inherited + public: void PreUpdate(const gz::sim::UpdateInfo &_info, + gz::sim::EntityComponentManager &_ecm) final; + + // Documentation inherited + public: void Configure(const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &) final; + + /// \internal + /// \brief Private implementation + private: class Impl; + private: std::unique_ptr impl; +}; + +} // namespace systems +} +} // namespace sim +} // namespace gz + +#endif // PARACHUTEPLUGIN_HH_ diff --git a/models/parachute_small/meshes/parachute_small.dae b/models/parachute_small/meshes/parachute_small.dae new file mode 100644 index 0000000..8d3be3a --- /dev/null +++ b/models/parachute_small/meshes/parachute_small.dae @@ -0,0 +1,174 @@ + + + + + Blender User + Blender 2.75.0 commit date:2015-07-07, commit time:14:56, hash:c27589e + + 2015-11-30T00:26:27 + 2015-11-30T00:26:27 + + Z_UP + + + + + + + + + 0 0 0 1 + + + 0.5200037 0.5200037 0.5200037 1 + + + 0.5200037 0.5200037 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It avoids hitting the ground too hard ;-) + This model has been imported from github.com/AurelienRoy/ardupilot_sitl_gazebo_plugin.git + + + diff --git a/models/parachute_small/model.sdf b/models/parachute_small/model.sdf new file mode 100644 index 0000000..1e3ffa2 --- /dev/null +++ b/models/parachute_small/model.sdf @@ -0,0 +1,66 @@ + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + + 0 0 2.3 0 0 0 + 0.1 + + 0.06250 + 0.00 + 0.00 + 0.06250 + 0.00 + 0.06250 + + + + 0 0 2.3 0 0 0 + + + 1.25 + + + + + 0 0 0 0 0 0 + + + 2 2 2 + meshes/parachute_small.dae + + + + + + + + 0.025 + + + + 0.0 0.3 0.7 + 0.0 0.3 0.7 + 0.1 0.1 0.1 1 + + + + + 0 + 0 + 1.75 + 1.5708 + 0 + 0.01 + 0 0 1.25 + 3 + 1.204 + 0 0 0 + 0 0 1 + chute + + + diff --git a/models/zephyr/meshes/parachute_small.dae b/models/zephyr/meshes/parachute_small.dae new file mode 100644 index 0000000..8d3be3a --- /dev/null +++ b/models/zephyr/meshes/parachute_small.dae @@ -0,0 +1,174 @@ + + + + + Blender User + Blender 2.75.0 commit date:2015-07-07, 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+ + + + + + + + + 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + 0.5567018 0 0 0 0 0.5567018 0 0 0 0 0.5567018 1.164695 0 0 0 1 + + + + + + + + + + + + + + + + diff --git a/models/zephyr_with_parachute/model.config b/models/zephyr_with_parachute/model.config new file mode 100644 index 0000000..efa046c --- /dev/null +++ b/models/zephyr_with_parachute/model.config @@ -0,0 +1,27 @@ + + + + Zephyr Delta Wing With Parachute + 1.0 + model.sdf + + + Cole Biesemeyer + cole.bsmr@gmail.com + + + + Nate Koenig + natekoenig@gmail.com + + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + A model of a Zephyr delta wing with Ardupilot and Parachute plugins. + + + diff --git a/models/zephyr_with_parachute/model.sdf b/models/zephyr_with_parachute/model.sdf new file mode 100644 index 0000000..9340d1d --- /dev/null +++ b/models/zephyr_with_parachute/model.sdf @@ -0,0 +1,315 @@ + + + + + model://zephyr + + + + + 0 0 0.1 0 0 -1.5707963 + + 0 0 0 0 0 0 + 0.1 + + 0.0001 + 0 + 0 + 0.0001 + 0 + 0.0001 + + + + + + 0.05 + + + + + + parachute_attachment_link + zephyr::wing + + + + + + + + 0.13 + 3.7 + 0.06417112299 + -1.8 + 0.3391428111 + -3.85 + -0.9233984055 + 0 + 0 -0.1 0 + 0.50 + 1.2041 + 0 -1 0 + 0 0 1 + zephyr::wing + + + + 0.15 + 6.8 + 0.06417112299 + -1.8 + 0.6391428111 + -3.85 + -0.9233984055 + 0 + 0.7 0.20 0 + 0.10 + 1.2041 + 0 -1 0 + 0 0 1 + zephyr::wing + zephyr::flap_left_joint + -5.0 + + + + 0.15 + 6.8 + 0.06417112299 + -1.8 + 0.6391428111 + -3.85 + -0.9233984055 + 0 + -0.7 0.20 0 + 0.10 + 1.2041 + 0 -1 0 + 0 0 1 + zephyr::wing + zephyr::flap_right_joint + -5.0 + + + + 0.0 + 4.752798721 + 0.6417112299 + -1.8 + 0.3391428111 + -3.85 + -0.9233984055 + 0 + -0.76 0.30 0.025 + 0.12 + 1.2041 + 0 -1 0 + 1 0 0 + zephyr::wing + + + + 0.0 + 4.752798721 + 0.6417112299 + -1.8 + 0.3391428111 + -3.85 + -0.9233984055 + 0 + 0.76 0.30 0.025 + 0.12 + 1.2041 + 0 -1 0 + 1 0 0 + zephyr::wing + + + + 0.30 + 1.4 + 4.2500 + 0.10 + 0.00 + -0.025 + 0.0 + 0.0 + 0.02 + 1.2041 + 0 0 0.074205 + -1 0 0 + 0 -1 0 + zephyr::propeller + + + + 0.30 + 1.4 + 4.2500 + 0.10 + 0.00 + -0.025 + 0.0 + 0.0 + 0.02 + 1.2041 + 0 0 -0.074205 + 1 0 0 + 0 -1 0 + zephyr::propeller + + + + zephyr::propeller_joint + + + zephyr::flap_left_joint + + + zephyr::flap_right_joint + + + + + 127.0.0.1 + 9002 + 5 + 1 + + + 0 0 0 3.141593 0 -1.5707963 + 0 0 0 3.141593 0 0 + + + zephyr::imu_link::imu_sensor + + + + + + zephyr::propeller_joint + 1 + 838 + 0 + 1100 + 1900 + VELOCITY + 0.20 + 0 + 0 + 0 + 0 + 2.5 + 0.0 + + + + + zephyr::flap_left_joint + 1 + -1.048 + -0.5 + 1100 + 1900 + POSITION + 10.0 + 0 + 0 + 0 + 0 + 2.5 + -2.5 + + + + + zephyr::flap_right_joint + 1 + -1.048 + -0.5 + 1100 + 1900 + POSITION + 10.0 + 0 + 0 + 0 + 0 + 2.5 + -2.5 + + + + + parachute_attachment_joint + COMMAND + /parachute/cmd_release + 1100 + 1900 + + + + + + diff --git a/src/ParachutePlugin.cc b/src/ParachutePlugin.cc new file mode 100644 index 0000000..6074d1c --- /dev/null +++ b/src/ParachutePlugin.cc @@ -0,0 +1,390 @@ +/* + * Copyright (C) 2016 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include "ParachutePlugin.hh" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace gz { +namespace sim { +inline namespace GZ_SIM_VERSION_NAMESPACE { +namespace systems { + +////////////////////////////////////////////////// +class ParachutePlugin::Impl +{ + /// \brief Callback for subscription to the release command. + /// + /// \param _msg + /// The command message. Should be a normalised PWM level in [0, 1]. + public: void OnCommand(const msgs::Double &_msg); + + /// \brief World occupied by the parent model. + public: World world{kNullEntity}; + + /// \brief Name of the world entity. + public: std::string worldName; + + /// \brief Model entity that will release the parachute. + public: Model parentModel{kNullEntity}; + + /// \brief Name of the model entity. + public: std::string parentModelName; + + /// \brief Link entity to attach the parachute. + public: Link parentLink{kNullEntity}; + + /// \brief Name of the link entity to attach the parachute. + public: std::string parentLinkName; + + /// \brief The parachute model. + public: Model childModel{kNullEntity}; + + /// \brief Link entity of the parachute model to attach to parent. + public: Link childLink{kNullEntity}; + + /// \brief Name of the parachute model. + public: std::string childModelName; + + /// \brief Name of the link entity in parachute to attach to parent. + public: std::string childLinkName; + + /// \brief The detachable joint entity created when the parachute is attached. + public: Entity detachableJointEntity{kNullEntity}; + + /// \brief A flag set when the parachute has it's initial position saved. + public: bool initPosSaved{false}; + + /// \brief The pose of the parachute when first created. + public: math::Pose3d initialPos; + + /// \brief The pose of the parachute relative to the parent link. + public: math::Pose3d childPose{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; + + /// \brief Name of the topic to subscribe to release commands. + public: std::string commandTopic; + + /// \brief Value of the most recently received command. + public: std::atomic command{0.0}; + + /// \brief Flag set to true if parachute released and attachment required. + public: std::atomic attachRequested{false}; + + /// \brief Flag set to true if the model is correctly initialised. + public: bool validConfig{false}; + + /// \brief Flag set to true if the parachute is created and attached. + public: bool attached{false}; + + /// \brief Flag set to true if the parachute should be created and attached. + public: bool shouldAttach{false}; + + /// \brief Flag set to true when the parachute pose is set + /// and it is ready to attach. + public: bool modelOk{false}; + + /// \brief Flag set to true when the parachute model has been created. + public: bool parachuteCreated{false}; + + /// \brief Transport node for subscriptions. + public: transport::Node node; +}; + +////////////////////////////////////////////////// +void ParachutePlugin::Impl::OnCommand(const msgs::Double &_msg) + { + this->command = _msg.data(); + if (this->command > 0.9) + { + this->attachRequested = true; + } +} + +////////////////////////////////////////////////// +////////////////////////////////////////////////// +ParachutePlugin::~ParachutePlugin() = default; + +////////////////////////////////////////////////// +ParachutePlugin::ParachutePlugin() : + impl(std::make_unique()) +{ +} + +////////////////////////////////////////////////// +void ParachutePlugin::Configure( + const Entity &_entity, + const std::shared_ptr &_sdf, + EntityComponentManager &_ecm, + EventManager &) +{ + // capture model entity + this->impl->parentModel = Model(_entity); + if (!this->impl->parentModel.Valid(_ecm)) + { + gzerr << "ParachutePlugin should be attached to a model. " + "Failed to initialize.\n"; + return; + } + this->impl->parentModelName = this->impl->parentModel.Name(_ecm); + + // retrieve world entity + this->impl->world = World( + _ecm.EntityByComponents(components::World())); + if (!this->impl->world.Valid(_ecm)) + { + gzerr << "ParachutePlugin - world not found. " + "Failed to initialize.\n"; + return; + } + if (this->impl->world.Name(_ecm).has_value()) + { + this->impl->worldName = this->impl->world.Name(_ecm).value(); + } + + // parameters + if (_sdf->HasElement("parent_link")) + { + this->impl->parentLinkName = _sdf->Get("parent_link"); + } + else + { + gzerr << "ParachutePlugin requires parameter 'parent_link'. " + "Failed to initialize.\n"; + return; + } + + if (_sdf->HasElement("child_model")) + { + this->impl->childModelName = _sdf->Get("child_model"); + } + else + { + gzerr << "ParachutePlugin requires parameter 'child_model'. " + "Failed to initialize.\n"; + return; + } + + if (_sdf->HasElement("child_link")) + { + this->impl->childLinkName = _sdf->Get("child_link"); + } + else + { + gzerr << "ParachutePlugin requires parameter 'child_link'. " + "Failed to initialize.\n"; + return; + } + + if (_sdf->HasElement("child_pose")) + { + this->impl->childPose = _sdf->Get("child_pose"); + gzdbg << "child_pos: pos: " << this->impl->childPose.Pos() << std::endl; + gzdbg << "child_pos: rot: " << this->impl->childPose.Rot() << std::endl; + } + + // configure parachute release command topic + { + std::vector topics; + if (_sdf->HasElement("cmd_topic")) + { + topics.push_back(_sdf->Get("cmd_topic")); + } + topics.push_back("/model/" + this->impl->parentModelName + + "/parachute/cmd_release"); + this->impl->commandTopic = validTopic(topics); + } + + // resolve links + this->impl->parentLink = Link(_ecm.EntityByComponents( + components::Link(), + components::ParentEntity(this->impl->parentModel.Entity()), + components::Name(this->impl->parentLinkName))); + if (!this->impl->parentLink.Valid(_ecm)) + { + gzerr << "ParachutePlugin - parent link [" + << this->impl->parentLinkName + << "] not found. " + "Failed to initialize.\n"; + return; + } + this->impl->parentLink.EnableVelocityChecks(_ecm); + + // subscriptions + this->impl->node.Subscribe( + this->impl->commandTopic, + &ParachutePlugin::Impl::OnCommand, this->impl.get()); + + gzdbg << "ParachutePlugin subscribing to messages on " + << "[" << this->impl->commandTopic << "]\n"; + + this->impl->validConfig = true; +} + +////////////////////////////////////////////////// +void ParachutePlugin::PreUpdate( + const UpdateInfo &/*_info*/, + EntityComponentManager &_ecm) +{ + GZ_PROFILE("ParachutePlugin::PreUpdate"); + if (this->impl->validConfig && + this->impl->shouldAttach && + !this->impl->attached) + { + // create parachute + if (!this->impl->parachuteCreated) + { + bool result; + msgs::EntityFactory req; + msgs::Boolean res; + + // request creation of parachute (child) model + req.set_sdf_filename(this->impl->childModelName); + bool executed = this->impl->node.Request( + "world/" + this->impl->worldName + "/create", + req, 5000, res, result); + if (executed) + { + if (result) + { + gzdbg << "Parachute model created.\n"; + this->impl->parachuteCreated = true; + } + else + { + gzerr << "Failed to create parachute model.\n"; + this->impl->shouldAttach = false; + } + } + else + { + gzdbg << "Parachute model creation timed out.\n"; + this->impl->shouldAttach = false; + } + } + + // retrive parachute model entity + this->impl->childModel = Model(_ecm.EntityByComponents( + components::Model(), + components::Name(this->impl->childModelName))); + + if (this->impl->childModel.Valid(_ecm)) + { + this->impl->childLink = Link(_ecm.EntityByComponents( + components::Link(), + components::ParentEntity(this->impl->childModel.Entity()), + components::Name(this->impl->childLinkName))); + + // parent link world pose + auto X_WPl = worldPose(this->impl->parentLink.Entity(), _ecm); + auto X_PC = this->impl->childPose; + auto X_WC = X_WPl * X_PC; + + // debug - check pose + gzdbg << "X_WPl: " << X_WPl.Pos() << ", " + << X_WPl.Rot().Euler() << "\n"; + gzdbg << "X_PC: " << X_PC.Pos() << ", " + << X_PC.Rot().Euler() << "\n"; + gzdbg << "X_WC: " << X_WC.Pos() << ", " + << X_WC.Rot().Euler() << "\n"; + + this->impl->childModel.SetWorldPoseCmd(_ecm, X_WC); + X_WC = worldPose(this->impl->childModel.Entity(), _ecm); + + // debug - check if child pose has updated + gzdbg << "X_WC: " << X_WC.Pos() << ", " + << X_WC.Rot().Euler() << "\n"; + + if (!this->impl->initPosSaved) + { + this->impl->initialPos = X_WC; + this->impl->initPosSaved = true; + } + + if (this->impl->initialPos != X_WC) + { + gzdbg << "Model OK\n"; + this->impl->modelOk = true; + } + + if (this->impl->childLink.Valid(_ecm) && + this->impl->modelOk) + { + // connect the models using a detachable joint + this->impl->detachableJointEntity = _ecm.CreateEntity(); + + _ecm.CreateComponent( + this->impl->detachableJointEntity, + components::DetachableJoint({ + this->impl->parentLink.Entity(), + this->impl->childLink.Entity(), + "fixed"})); + this->impl->attached = true; + this->impl->shouldAttach = false; + } + else if (!this->impl->childLink.Valid(_ecm)) + { + gzerr << "ParachutePlugin - child link [" + << this->impl->childLinkName + << "] not found. " + "Failed to create joint.\n"; + } + } + } + + // attach requested + if (this->impl->attachRequested && + this->impl->detachableJointEntity == kNullEntity && + !this->impl->shouldAttach) + { + gzdbg << "Parachute release requested!\n"; + this->impl->shouldAttach = true; + this->impl->attachRequested = false; + } +} + +////////////////////////////////////////////////// + +} // namespace systems +} +} // namespace sim +} // namespace gz + +GZ_ADD_PLUGIN( + gz::sim::systems::ParachutePlugin, + gz::sim::System, + gz::sim::systems::ParachutePlugin::ISystemConfigure, + gz::sim::systems::ParachutePlugin::ISystemPreUpdate) + +GZ_ADD_PLUGIN_ALIAS( + gz::sim::systems::ParachutePlugin, + "ParachutePlugin") diff --git a/tests/worlds/test_parachute.sdf b/tests/worlds/test_parachute.sdf new file mode 100755 index 0000000..37f7195 --- /dev/null +++ b/tests/worlds/test_parachute.sdf @@ -0,0 +1,142 @@ + + + + + + 0.001 + 0.1 + + + + + + + + + + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + model://runway + + + + 0 0 50 0 0 0 + + + 0.25 + + 0.000417 + 0.00 + 0.00 + 0.000417 + 0.00 + 0.000417 + + + + + + 1 1 1 + + + + 1 1 0 + 1 1 0 + 0.1 0.1 0 1 + + + + + + 1 1 1 + + + + + + 0 0 0.6 0 0 0 + + 0.025 + + 0.0000417 + 0.00 + 0.00 + 0.0000417 + 0.00 + 0.0000417 + + + + + + 0.05 + + + + 0.7 0.7 0.7 + 0.7 0.7 0.7 + 0.1 0.1 0.1 1 + + + + + + 0.05 + + + + + + attachment_link + base_link + + + + attachment_link + parachute_small + chute + 0 0 0 0 0 0 + /parachute/cmd_release + + + + + diff --git a/worlds/zephyr_parachute.sdf b/worlds/zephyr_parachute.sdf new file mode 100755 index 0000000..7d8b99e --- /dev/null +++ b/worlds/zephyr_parachute.sdf @@ -0,0 +1,154 @@ + + + + + + 0.001 + -1.0 + + + + + + + + + + + + + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + model://runway + + + + 0 0 0.422 -1.5707963 0 1.5707963 + model://zephyr_with_parachute + + + parachute_attachment_link + parachute_small + chute + 0 0 0 0 -1.0 0 + /parachute/cmd_release + + + + + + +