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Plugin for WirelessTransmitter and WirelessReciever sensors

asked 2016-04-05 06:54:30 -0500

tseco gravatar image

Hello, I need to modify the code of WirelessTransmitter sensor in order to use another propagation function. The first thing I tried is to create a pluggin for both WirelessReceiver and WirelessTranmitter sensors. I followed the tutorial: [http://gazebosim.org/tutorials?tut=co...

The code for WirelessReceiverPlugin.hh is:

#ifndef _GAZEBO_WIRELESS_RECEIVER_PLUGIN_HH_
#define _GAZEBO_WIRELESS_RECEIVER_PLUGIN_HH_

#include <string>

#include "gazebo/gazebo.hh"
#include "gazebo/sensors/sensors.hh"

namespace gazebo
{
  /// \brief Plugin for a wireless receiver sensor.
  class WirelessReceiverPlugin : public SensorPlugin
  {
    /// \brief Constructor.
    public: WirelessReceiverPlugin();

    /// \brief Destructor.
    public: virtual ~WirelessReceiverPlugin();

    /// \brief Load the sensor plugin.
    /// \param[in] _sensor Pointer to the sensor that loaded this plugin.
    /// \param[in] _sdf SDF element that describes the plugin.
    public: virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);

    /// \brief Callback that receives the wireless receiver sensor's update signal.
    private: virtual void OnUpdate();

    /// \brief Pointer to the contact sensor
    private: sensors::WirelessReceiverPtr parentSensor;

    /// \brief Connection that maintains a link between the contact sensor's
    /// updated signal and the OnUpdate callback.
    private: event::ConnectionPtr updateConnection;
  };
}
#endif

And WirelesReceiverPlugin.cc

#include "WirelessReceiverPlugin.hh"

using namespace gazebo;
GZ_REGISTER_SENSOR_PLUGIN(WirelessReceiverPlugin)

/////////////////////////////////////////////////
WirelessReceiverPlugin::WirelessReceiverPlugin() : SensorPlugin()
{
}

/////////////////////////////////////////////////
WirelessReceiverPlugin::~WirelessReceiverPlugin()
{
}

/////////////////////////////////////////////////
void WirelessReceiverPlugin::Load(sensors::SensorPtr _sensor, sdf::ElementPtr /*_sdf*/)
{
  // Get the parent sensor.
  this->parentSensor =
    std::dynamic_pointer_cast<sensors::WirelessReceiver>(_sensor);

  // Make sure the parent sensor is valid.
  if (!this->parentSensor)
  {
    gzerr << "WirelessReceiverPlugin requires a WirelessReceiver.\n";
    return;
  }

  // Connect to the sensor update event.
  this->updateConnection = this->parentSensor->ConnectUpdated(
      std::bind(&WirelessReceiverPlugin::OnUpdate, this));

  // Make sure the parent sensor is active.
  this->parentSensor->SetActive(true);

    std::cout << "wirelress receiver active";
}

/////////////////////////////////////////////////
void WirelessReceiverPlugin::OnUpdate()
{
     std::cout << "recieved wireless signal";
     double power = 0.0;
     power = this->parentSensor->GetPower();
     std::cout << power << " \n";

}

I get both plugins, but when I try to use them with wireless_sensor.world some errors arise and the obtained power is not updated as expected.

This is the termnal output:

[Msg] Waiting for master.

[Msg] Waiting for master.

[Msg] Connected to gazebo master @ http://127.0.0.1:11345

[Msg] Connected to gazebo master @ http://127.0.0.1:11345

[Msg] Publicized address: 193.144.228.251

[Msg] Publicized address: 193.144.228.251

[Wrn] [msgs.cc:1685] Conversion of sensor type[wireless_transmitter] not suppported.

[Wrn] [msgs.cc:1685] Conversion of sensor type[wireless_receiver] not suppported.

wirelress transmitter activo

[Wrn] [Event.cc:87] Warning: Deleteing a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
wirelress receiver activo[Wrn] [msgs.cc:1685] Conversion of sensor type[wireless_transmitter] not suppported.

[Wrn] [msgs.cc:1685] Conversion of sensor type[wireless_receiver] not suppported.

[Wrn] [msgs.cc:1685] Conversion of sensor type[wireless_transmitter] not suppported.

[Wrn] [msgs.cc:1685] Conversion of sensor type[wireless_receiver] not suppported.

[Wrn] [Scene.cc:3172] Duplicate visuals detected[wirelessTransmitter_GUIONLY_transmitter_vis]

transmitted wireless signal14.5 

recieved wireless signal14.5 

transmitted wireless signal14.5 

recieved wireless signal14.5

Any suggestions? Thanks in advance

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Comments

Can you post your SDF file that includes the plugin? Also, let us know what version of gazebo you are using.

nkoenig gravatar imagenkoenig ( 2016-04-05 11:00:11 -0500 )edit

1 Answer

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answered 2016-04-06 06:25:08 -0500

tseco gravatar image

Hi,

I am working with Gazebo 7 and the file that includes the plugin is a modify version of wireless_sensors.world:

<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- Ground -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <!-- Wireless transmitter sensor model -->
    <model name="wirelessTransmitter">
      <static>true</static>
      <pose>0 0 0.025 0 0 0</pose>
      <link name="link">
        <inertial>
          <mass>0.1</mass>
        </inertial>
        <visual name="base">
          <geometry>
            <box>
              <size>.05 .05 .05</size>
            </box>
          </geometry>
        </visual>
        <visual name="antenna">
          <pose>0 0 .04 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>.005</radius>
              <length>.07</length>
            </cylinder>
          </geometry>
        </visual>
        <sensor name="wirelessTransmitter" type="wireless_transmitter">
          <always_on>1</always_on>
          <update_rate>1</update_rate>
          <visualize>true</visualize>
          <transceiver>
            <essid>osrf</essid>
            <frequency>2442.0</frequency>
            <power>14.5</power>
            <gain>2.6</gain>
          </transceiver>
        </sensor>
      </link>
    </model>
    <!-- Wireless receiver sensor model -->
    <model name="wirelessReceiver">
      <static>true</static>
      <pose>0 -5 0.025 0 0 0</pose>
      <link name="link">
        <inertial>
          <mass>0.1</mass>
        </inertial>
        <visual name="base">
          <geometry>
            <box>
              <size>.05 .05 .05</size>
            </box>
          </geometry>
        </visual>
        <visual name="antenna">
          <pose>0 0 .04 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>.005</radius>
              <length>.07</length>
            </cylinder>
          </geometry>
        </visual>
        <sensor name="wirelessReceiver" type="wireless_receiver">
                <plugin name="receiver_plugin" filename="libwirelessReceiver.so"/>
          <always_on>1</always_on>
          <update_rate>1</update_rate>
          <visualize>true</visualize>
          <transceiver>
            <min_frequency>2412.0</min_frequency>
            <max_frequency>2484.0</max_frequency>
            <power>14.5</power>
            <gain>2.5</gain>
            <sensitivity>-90.0</sensitivity>
          </transceiver>
        </sensor>
      </link>
    </model>
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
  </world>
</sdf>

The received signal has the initial value 14.5, but the gazebo topic (/gazebo/default/wirelessReceiver/link/wirelessReceiver/transceiver) publishes another value:

node {
  essid: "osrf"
  frequency: 2442
  signal_level: -30.926731914521884
}

The message type of this topic is msgs::WirelessNodes but I do not know how to obtain this vaule from sensors::WirelessReceiver sensor.

My final goal is to create a gazebo ros plugin.

Thanks in advance!

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Comments

Hi, I am also needing a wireless receiver plugin for a project. Were you successful creating it that way?

robot1 gravatar imagerobot1 ( 2016-10-14 08:31:45 -0500 )edit
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Asked: 2016-04-05 06:54:30 -0500

Seen: 1,112 times

Last updated: Apr 06 '16