Add elevator system (#535)

* Add elevator system Closes #420 Signed-off-by: Nick Lamprianidis <[email protected]> * Limit line length for transition table Signed-off-by: Nick Lamprianidis <[email protected]> * Add PRIVATE_INCLUDE_DIRS argument to gz_add_system Signed-off-by: Nick Lamprianidis <[email protected]> * Add afsm and metapushkin libraries Signed-off-by: Nick Lamprianidis <[email protected]> * Add namespace to events, actions and guards Signed-off-by: Nick Lamprianidis <[email protected]> * Migrate to afsm Signed-off-by: Nick Lamprianidis <[email protected]> * Fixes Signed-off-by: Nick Lamprianidis <[email protected]> Co-authored-by: Nate Koenig <[email protected]>
gazebosim · Feb 5, 2022 · 7b4fcda · 7b4fcda
1 parent e032208
commit 7b4fcda
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diff --git a/examples/worlds/elevator.sdf b/examples/worlds/elevator.sdf
@@ -0,0 +1,80 @@
+<?xml version="1.0" ?>
+<!--
+ Ignition Gazebo elevator plugin demo
+
+ Try sending a command:
+
+ ign topic -t "/model/elevator/cmd" -m ignition.msgs.Int32 -p "data: 2"
+
+ Listen to state:
+
+ ign topic -e -t /model/elevator/state
+
+-->
+<sdf version="1.6">
+ <world name="elevator_world">
+
+ <physics name="1ms" type="ignored">
+ <max_step_size>0.001</max_step_size>
+ <real_time_factor>1.0</real_time_factor>
+ </physics>
+ <plugin
+ filename="ignition-gazebo-physics-system"
+ name="ignition::gazebo::systems::Physics">
+ </plugin>
+ <plugin
+ filename="ignition-gazebo-sensors-system"
+ name="ignition::gazebo::systems::Sensors">
+ <render_engine>ogre2</render_engine>
+ </plugin>
+ <plugin
+ filename="ignition-gazebo-scene-broadcaster-system"
+ name="ignition::gazebo::systems::SceneBroadcaster">
+ </plugin>
+
+ <light type="directional" name="sun">
+ <cast_shadows>true</cast_shadows>
+ <pose>0 0 10 0 0 0</pose>
+ <diffuse>1 1 1 1</diffuse>
+ <specular>0.5 0.5 0.5 1</specular>
+ <attenuation>
+ <range>1000</range>
+ <constant>0.9</constant>
+ <linear>0.01</linear>
+ <quadratic>0.001</quadratic>
+ </attenuation>
+ <direction>-0.5 0.1 -0.9</direction>
+ </light>
+
+ <model name="ground_plane">
+ <static>true</static>
+ <link name="link">
+ <collision name="collision">
+ <geometry>
+ <plane>
+ <normal>0 0 1</normal>
+ </plane>
+ </geometry>
+ </collision>
+ <visual name="visual">
+ <geometry>
+ <plane>
+ <normal>0 0 1</normal>
+ <size>100 100</size>
+ </plane>
+ </geometry>
+ <material>
+ <ambient>0.8 0.8 0.8 1</ambient>
+ <diffuse>0.8 0.8 0.8 1</diffuse>
+ <specular>0.8 0.8 0.8 1</specular>
+ </material>
+ </visual>
+ </link>
+ </model>
+
+ <include>
+ <uri>https://fuel.ignitionrobotics.org/1.0/nlamprian/models/Elevator</uri>
+ </include>
+
+ </world>
+</sdf>
diff --git a/src/systems/CMakeLists.txt b/src/systems/CMakeLists.txt
@@ -21,7 +21,7 @@ function(gz_add_system system_name)
 
  set(options)
  set(oneValueArgs)
- set(multiValueArgs SOURCES PUBLIC_LINK_LIBS PRIVATE_LINK_LIBS PRIVATE_COMPILE_DEFS)
+ set(multiValueArgs SOURCES PUBLIC_LINK_LIBS PRIVATE_INCLUDE_DIRS PRIVATE_LINK_LIBS PRIVATE_COMPILE_DEFS)
 
  cmake_parse_arguments(gz_add_system "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
@@ -47,6 +47,13 @@ function(gz_add_system system_name)
  ignition-plugin${IGN_PLUGIN_VER}::register
  )
 
+ if(gz_add_system_PRIVATE_INCLUDE_DIRS)
+ target_include_directories(${system_target}
+ PRIVATE
+ ${gz_add_system_PRIVATE_INCLUDE_DIRS}
+ )
+ endif()
+
  if(gz_add_system_PRIVATE_COMPILE_DEFS)
  target_compile_definitions(${system_target}
  PRIVATE
@@ -82,6 +89,7 @@ add_subdirectory(contact)
 add_subdirectory(camera_video_recorder)
 add_subdirectory(detachable_joint)
 add_subdirectory(diff_drive)
+add_subdirectory(elevator)
 add_subdirectory(imu)
 add_subdirectory(joint_controller)
 add_subdirectory(joint_position_controller)

diff --git a/src/systems/elevator/CMakeLists.txt b/src/systems/elevator/CMakeLists.txt
@@ -0,0 +1,12 @@
+gz_add_system(elevator
+ SOURCES
+ Elevator.cc
+ utils/DoorTimer.cc
+ utils/JointMonitor.cc
+ PUBLIC_LINK_LIBS
+ ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
+ ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
+ PRIVATE_INCLUDE_DIRS
+ vender/afsm/include
+ vender/metapushkin/include
+)