Adwait's profile - activity

template argument deduction/substitution failed: I am trying to write a Subscribe node (code given below) this->data

I was facing the same issue with some models like this. I tried exporting this and it worked for me. Thanks.

You can draw some inspiration from this project. In the project, panda arm is simulated.

Is there any alternative fot SetLinearVel() in ignition gazebo? I am writing the HydraDemoPlugin for which I need to ass

visualizing point clouds in the ignition gazebo Hello, I want to implement a plugin to visualize the terrains that I ge

Do you mean the markers? Maybe this package can be of some help.

Do you mean the markers? Maybe this package can be of some help.

@alexantosh it's a gazebo plugin.

I don't know for sure but I think the follower plugin should work for this. Try getting the pos of the object by subscri

how to convert double to std::vector<double> ? I am trying to use _ecm.setComponentData() in my gimbal plugin. The

Thanks @AndrejOrdula, I was facing the same issue with my rover world. I was trying to retrieve the image taken by the s

Assuming you are working on Ubuntu, I can say that this error is common. remove all previously installed ignition librar

I am trying to get the joint's position for my Cessna plugin using this method

float rudder =  _ecm.Component<components::JointPosition>(this->joint[5.0]);

which gives me this error in the line shown above

 error: cannot convert ‘ignition::gazebo::v3::components::Component<std::vector<double>, ignition::gazebo::v3::components::JointPositionTag, ignition::gazebo::v3::serializers::VectorDoubleSerializer>*’ to ‘float’ in initialization

     float rightFlap =  _ecm.Component<components::JointPosition>(this->joint[3.0]);

code snippet

    void CessnaPlugin::PublishState(EntityComponentManager &_ecm)

    {
        IGN_PROFILE("CessnaPlugin::PublishState");

        // Read current state

        double propellerRpms = _ecm.ComponentData<components::JointVelocity>(this->joint[6.0])/(2.0*M_PI)*60.0;

        float propellerSpeed = propellerRpms / this->propellerMaxRpm;

        float leftAileron = _ecm.Component<components::JointPosition>(this->joint[2500]);

        float leftFlap =  _ecm.Component<components::JointPosition>(this->joint[1.0]);

        float rightAileron =  _ecm.Component<components::JointPosition>(this->joint[2.0]);

       float rightFlap =  _ecm.Component<components::JointPosition>(this->joint[3.0]);

        float elevators =  _ecm.Component<components::JointPosition>(this->joint[4.0]);

        float rudder =  _ecm.Component<components::JointPosition>(this->joint[5.0]); ----> error occurs here

}

joint entity as declared

std::array<ignition::gazebo::Entity, 7> joint;

parameters

   private: static const unsigned int kLeftAileron  = 0;

    private: static const unsigned int kLeftFlap     = 1;

    private: static const unsigned int kRightAileron = 2;

   private: static const unsigned int kRightFlap    = 3;

    private: static const unsigned int kElevators    = 4;

    private: static const unsigned int kRudder       = 5;

    private: static const unsigned int kPropeller    = 6;

Any solution for this?

Thanks

refer this issue. Thanks to Diego Ferigo for this answer. A joint in its most generic form can have more than one degr

refer this issue A joint in its most generic form can have more than one degree of freedom. This is the reason why the J

By referring to this file ActorPlugin.hh in Gazebo, I am trying to migrate this into ignition gazebo using ROS for my application.

OS/Environment: Ubuntu 18.04 LTS (Installed on MacOSX using Virtual Machine)

Source/binary: Ignition-4 (binary files)

Unfortunately, my header file (code is given below) throws some syntax error.

Error:

<source-file, line>: error: ‘std::chrono::steady_clock’ has not been declared

Code:

#include <string>
#include <fstream>
#include <queue>
#include <vector>
#include <chrono>


#include <ignition/math/Pose3.hh>
#include <ignition/math/Quaternion.hh>
#include <ignition/math/Vector3.hh>

#include <ros/ros.h>
#include <ros/package.h>
#include <ros/callback_queue.h>

#include <std_msgs/String.h>

#include <ignition/gazebo/Model.hh>
#include <ignition/gazebo/EntityComponentManager.hh>
#include <ignition/gazebo/Util.hh>
#include <ignition/gazebo/System.hh>
#include <ignition/gazebo/components/Physics.hh>
#include <ignition/plugin/Register.hh>
#include <ignition/transport/Node.hh>

#include "igniton/common/Plugin.hh"

#include "dart/simulation/World.hpp"


namespace igniton 

{

namespace gazebo

{

namespace systems

{

    class IGNITION_GAZEBO_VISIBLE ignGazeboPathFollowerRosActor:

            public ignition::gazebo::System,
            public ignition::gazebo::ISystemConfigure,
            public ignition::gazebo::ISystemPostUpdate,
            public ignition::gazebo::ISystemPreUpdate 
      {

        /// \brief Constructor
        public: ignGazeboPathFollowRosActor();

        ///  \brief Destructor 
        public: ~ignGazeboPathFollowRosActor();

        // Implement Configure callback, provided by ISystemConfigure
        // and called once at startup.
        public: void Configure(const Entity & _entity,
          const std::shared_ptr <
            const sdf::Element > & _sdf,
              EntityComponentManager & _ecm,
              EventManager & /*_eventMgr*/ );

        // Documentation inherite
        public: void PreUpdate(const ignition::gazebo::UpdateInfo &_info,
                  ignition::gazebo::EntityComponentManager &_ecm);

        public: void PostUpdate(const ignition::gazebo::UpdateInfo &_info,
                   const ignition::gazebo::EntityComponentManager &_ecm);


        /// \function to reset
        public: virtual void Reset();

        /// \brief callback for updating the activation of the actor
        private: void OnActive(const std_msgs::String::ConstPtr& msg);


        private: void QueueThread();

        private: void ReadTrajectoryFile();


        private: ros::NodeHandle * ros_node_;

        private: ros::Subscriber state_sub_;

        /// \brief Custom Callback Queue
        private: ros::CallbackQueue queue_;

        /// \brief Custom Callback Queue thread
        private: boost::thread callbackQueueThread_;

        /// \brief Pointer to the parent actor
        private: ignition::gazebo::Entity actor_entity;


        /// \brief Pointer to the world
        private: std::vector<dart::simulation::WorldPtr> world;


        /// \brief pointer to the sdf element
        private: std::shared_ptr< const sdf::Element> &_sdf;


        /// \brief Reference velocity of the actor
        private: ignition::math::Vector3d ref_velocity_;

        /// \brief Time scaling factor. Used to coordinate translational motion
        /// with the actor's walking animation.
        private: double animation_factor_;


        /// \Connecting the entity
        private: ignition::gazebo::Entity entity{ignition::gazebo::kNullEntity};
        private: ignition::gazebo::Entity modelLink{ignition::gazebo::kNullEntity};

        /// \brief Time of the last update.
        private: std::chrono::steady_clock::duration last_update

        /// \brief Time of start.
        private: std::chrono::time_point start_time_;

        /// \brief Custom trajectory info.
        private: physics::TrajectoryInfoPtr trajectoryInfo;

        /// \brief Variable for control the non-constant velocity.
        private: bool oscillation_enable_;

        /// \brief To make the actor to have non-constant velocity.
        private: double oscillation_factor_;

        private: std::string active_topic_;

        private: std::string actor_state_;

        private: std::string traj_file_name_;

        /// \brief Data structure for saving the trajectory read from file
        private: std::queue<ignition::math::Pose3d>trajectory_;

      };

    }
  }
}
#endif

Additional Context

I need some help with finding equivalent class/member functions for the following in the ignition gazebo

   private: common::Time last_update;

  private: common::Time start_time_;

  private: physics::TrajectoryInfoPtr trajectoryInfo;

  private: physics::WorldPtr world;

  private: std::queue<ignition::math::Pose3d> trajectory_;

ignition equivalent for the following snippets Hello, I am implementing a controller interface plugin to simulate a dro

error: cannot convert ‘ignition::gazebo::v3::components::Component<std::vector<double> to ‘float’ I am trying

error: cannot convert ‘ignition::gazebo::v3::components::Component<std::vector<double> to ‘float’ I am trying

error: invalid new-expression of abstract class type ‘ignition::gazebo::v3::systems::Gripper’ While building my plugin,

This is my code for the Adaptive Monte Carlo localization(AMCL) algorithm, a plugin using for ign gazebo(citadel) and ROS(melodic).

void amcl::Configure(const Entity &_entity, const std::shared_ptr<const sdf::element=""> &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr)

{ this->dataPtr->model = Model(_entity); if (!this->dataPtr->model.Valid(_ecm)) {

ignerr << "amcl plugin should be attached to a model entity. "
       << "Failed to initialize." << std::endl;
return;
}

// Obtain parameters from xacro file

if(_sdf->HasElement("topicRate"))
{
    rate_ = _sdf->GetElement("topicRate")->Get<double>(); #############ERROR IN THIS LINE 

}
else
{
  rate_ = 10.0;
}


if(_sdf->HasElement("fixedFrame"))

{
    fixed_frame_ = _sdf->GetElement("fixedFrame")->Get<std::string>(); ########ERROR IN THIS LINE 

}
else
{
    fixed_frame_ = "map";
}

if(_sdf->HasElement("robotFrame"))

{
    robot_frame_ = _sdf->GetElement("robotFrame")->Get<std::string>(); #####ERROR IN THIS LINE

}
else
{
    robot_frame_ = "base_link";
}

Error (as shown in the terminal)

error: passing ‘std::__shared_ptr_access<const sdf::v9::element,="" (__gnu_cxx::lock_policy)2,="" false,="" false="">::element_type’ {aka ‘const sdf::v9::Element’} as ‘this’ argument discards qualifiers [-fpermissive] rate = _sdf->GetElement("topicRate")->Get();

I have marked the lines in the code which throw this error.

Complete code can be found here with the header file (Amcl.hh)

Can anybody suggest a solution?

I am answering my own question To understand the proposed changes, one should have some familiarity with concepts relate

I am trying to compile a plugin for ign-gazebo.

Procedure I followed: 1. I copied my plugin folder "mimic_joint_plugin" to ign-gazebo/examples/plugin. 2. made a build dir 3. compiled the directory using cmake .. command and got this error on the console.

Version: Ignition citadel

adwaitnaik@ubuntu:~/ign_ws/src/ign-gazebo/examples/plugin/mimic_joint_plugin$ mkdir build
adwaitnaik@ubuntu:~/ign_ws/src/ign-gazebo/examples/plugin/mimic_joint_plugin$ cd build
adwaitnaik@ubuntu:~/ign_ws/src/ign-gazebo/examples/plugin/mimic_joint_plugin/build$ cmake ..
-- The C compiler identification is GNU 8.4.0
-- The CXX compiler identification is GNU 8.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/adwaitnaik/ign_ws/src/ign-gazebo/examples/plugin/mimic_joint_plugin/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/adwaitnaik/ign_ws/src/ign-gazebo/examples/plugin/mimic_joint_plugin/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
CMake Error at CMakeLists.txt:208 (ign_find_package):
  Unknown CMake command "ign_find_package".


-- Configuring incomplete, errors occurred!
See also "/home/adwaitnaik/ign_ws/src/ign-gazebo/examples/plugin/mimic_joint_plugin/build/CMakeFiles/CMakeOutput.log".
See also "/home/adwaitnaik/ign_ws/src/ign-gazebo/examples/plugin/mimic_joint_plugin/build/CMakeFiles/CMakeError.log".

Note: ign_ws is the workspace in which I have installed all the ignition libraries from the source and compiled them.

Please can anybody suggest a solution on how to comile plugins for ign-gazebo?

error: ‘this’ argument discards qualifiers [-fpermissive] This is my code for the Adaptive Monte Carlo localization(AMCL