[DiffDrive] add enable/disable #772
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added 2 commits
April 18, 2021 20:52
Signed-off-by: Guillaume Doisy <[email protected]>
Signed-off-by: Guillaume Doisy <[email protected]>
ahcorde
requested changes
Apr 19, 2021
| // Subscribe to enable/disable | ||
| std::vector<std::string> enableTopics; | ||
| enableTopics.push_back("/model/" + this->dataPtr->model.Name(_ecm) + "/enable"); | ||
| auto enableTopic = validTopic(enableTopics); |
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This method may return an empty string. You should check this
added 2 commits
April 19, 2021 19:14
Signed-off-by: Guillaume Doisy <[email protected]>
Signed-off-by: Guillaume Doisy <[email protected]>
ahcorde
requested changes
Apr 19, 2021
src/systems/diff_drive/DiffDrive.cc
Outdated
| @@ -286,8 +286,11 @@ void DiffDrive::Configure(const Entity &_entity, | |||
| enableTopics.push_back("/model/" + this->dataPtr->model.Name(_ecm) + "/enable"); | |||
| auto enableTopic = validTopic(enableTopics); | |||
|
|
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| this->dataPtr->node.Subscribe(enableTopic, &DiffDrivePrivate::OnEnable, | |||
| this->dataPtr.get()); | |||
| if (enableTopic != "") | |||
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Suggested change
| if (enableTopic != "") | |
| if (enableTopic.empty()) |
Signed-off-by: Guillaume Doisy <[email protected]>
ahcorde
reviewed
Apr 20, 2021
Signed-off-by: Guillaume Doisy <[email protected]>
ahcorde
approved these changes
Apr 20, 2021
|
The failures are unrelated: Ubuntu CI
MacOS
Merging! |
scpeters
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May 19, 2021
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Signed-off-by: Luca Della Vedova <[email protected]> * Fix compute_rtfs arguments (#737) Signed-off-by: Caio Amaral <[email protected]> * Fixed collision visual bounding boxes (#746) Signed-off-by: Jenn Nguyen <[email protected]> * Fix CMakelists.txt merge Signed-off-by: Nate Koenig <[email protected]> * ECM's ChangedState gets message with modified components (#742) * ecm's ChangedState to contain modified components Signed-off-by: Jenn Nguyen <[email protected]> * updated log_system test Signed-off-by: Jenn Nguyen <[email protected]> * removed unnecessary calls Signed-off-by: Jenn Nguyen <[email protected]> Co-authored-by: Ian Chen <[email protected]> * fixed particle emitter forward playback (#745) Signed-off-by: Jenn Nguyen <[email protected]> * Merge pull request #730 from ignitionrobotics/particle_emitter Particle emitter based on SDF * 4 7 0 prep (#755) * Prepare for 4.7.0 Signed-off-by: Nate Koenig <[email protected]> * Added placeholder Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Fix 'invalid animation update data' msg for actors (#754) Signed-off-by: Ashton Larkin <[email protected]> * Update benchmark comparison instructions (#766) (#766) Signed-off-by: Ashton Larkin <[email protected]> * [DiffDrive] add enable/disable (#772) * add enable/disable diffdrive Signed-off-by: Guillaume Doisy <[email protected]> * remove debug Signed-off-by: Guillaume Doisy <[email protected]> * do not subscribe to enable if topic is empty Signed-off-by: Guillaume Doisy <[email protected]> * add test Signed-off-by: Guillaume Doisy <[email protected]> * lint and style Signed-off-by: Guillaume Doisy <[email protected]> * change enable type to bool and renamed to enabled Signed-off-by: Guillaume Doisy <[email protected]> * Add odometry publisher system (#547) * Create Initial Odometry Publisher system plugin Add code for initial plugin that gets position from Pose component and calculates velocities based on rolling mean from displacement data. 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Signed-off-by: Arjo Chakravarty <[email protected]> Co-authored-by: Mabel Zhang <[email protected]> Co-authored-by: Carlos Agüero <[email protected]> * Fix macOS build: components::Name in benchmark (#784) Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Steve Peters <[email protected]> * Fix ColladaExporter submesh index bug (#763) Signed-off-by: Jorge Perez <[email protected]> * 👩🌾 Fix Windows build and some warnings (#782) Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> * Prevent crash on Plotting plugin with mutex (#747) Signed-off-by: Louise Poubel <[email protected]> * Bump ign-physics version to 3.2 (#792) Signed-off-by: Louise Poubel <[email protected]> * Bump to ign-msgs 7.1 / sdformat 11.1, Windows fixes (#758) Signed-off-by: Louise Poubel <[email protected]> * Util: Use public API from libsdformat for detecting non-file source (#794) Signed-off-by: Eric Cousineau <[email protected]> * Fix included nested model expansion in SDF generation (#768) * fixed included nested model expansion Signed-off-by: Jenn Nguyen <[email protected]> * added resource path to test Signed-off-by: Jenn Nguyen <[email protected]> * use orig URIs & support multi level nesting Signed-off-by: Jenn Nguyen <[email protected]> * save fuel version when enabled Signed-off-by: Jenn Nguyen <[email protected]> * retrieve uri from map Signed-off-by: Jenn Nguyen <[email protected]> * copy included element Signed-off-by: Jenn Nguyen <[email protected]> * clear attributes before copying include element Signed-off-by: Jenn Nguyen <[email protected]> * Map canonical links to their models (#736) Signed-off-by: Ashton Larkin <[email protected]> * ColladaExporter, export submesh selected (#802) * Export only submesh if selected * Add test case for the PR * Attempting a unified solution Signed-off-by: Jorge Perez <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: Jose Tomas Lorente <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Ashton Larkin <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Ammaar Solkar <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Ashton Larkin <[email protected]> Co-authored-by: Silvio Traversaro <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Luca Della Vedova <[email protected]> Co-authored-by: Caio Amaral <[email protected]> Co-authored-by: Jenn Nguyen <[email protected]> Co-authored-by: G.Doisy <[email protected]> Co-authored-by: Rushyendra Maganty <[email protected]> Co-authored-by: Claire Wang <[email protected]> Co-authored-by: Arjo Chakravarty <[email protected]> Co-authored-by: Mabel Zhang <[email protected]> Co-authored-by: Carlos Agüero <[email protected]> Co-authored-by: Steve Peters <[email protected]> Co-authored-by: Jorge Perez <[email protected]> Co-authored-by: Eric Cousineau <[email protected]> Co-authored-by: Jorge Perez <[email protected]>
chapulina
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Jul 30, 2021
* add enable/disable diffdrive Signed-off-by: Guillaume Doisy <[email protected]> * remove debug Signed-off-by: Guillaume Doisy <[email protected]> * do not subscribe to enable if topic is empty Signed-off-by: Guillaume Doisy <[email protected]> * add test Signed-off-by: Guillaume Doisy <[email protected]> * lint and style Signed-off-by: Guillaume Doisy <[email protected]> * change enable type to bool and renamed to enabled Signed-off-by: Guillaume Doisy <[email protected]>
chapulina
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Jul 30, 2021
* add enable/disable diffdrive Signed-off-by: Guillaume Doisy <[email protected]> * remove debug Signed-off-by: Guillaume Doisy <[email protected]> * do not subscribe to enable if topic is empty Signed-off-by: Guillaume Doisy <[email protected]> * add test Signed-off-by: Guillaume Doisy <[email protected]> * lint and style Signed-off-by: Guillaume Doisy <[email protected]> * change enable type to bool and renamed to enabled Signed-off-by: Guillaume Doisy <[email protected]>
chapulina
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Jul 30, 2021
* add enable/disable diffdrive Signed-off-by: Guillaume Doisy <[email protected]> * remove debug Signed-off-by: Guillaume Doisy <[email protected]> * do not subscribe to enable if topic is empty Signed-off-by: Guillaume Doisy <[email protected]> * add test Signed-off-by: Guillaume Doisy <[email protected]> * lint and style Signed-off-by: Guillaume Doisy <[email protected]> * change enable type to bool and renamed to enabled Signed-off-by: Guillaume Doisy <[email protected]>
chapulina
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Aug 4, 2021
* add enable/disable diffdrive Signed-off-by: Guillaume Doisy <[email protected]> * remove debug Signed-off-by: Guillaume Doisy <[email protected]> * do not subscribe to enable if topic is empty Signed-off-by: Guillaume Doisy <[email protected]> * add test Signed-off-by: Guillaume Doisy <[email protected]> * lint and style Signed-off-by: Guillaume Doisy <[email protected]> * change enable type to bool and renamed to enabled Signed-off-by: Guillaume Doisy <[email protected]>
chapulina
pushed a commit
that referenced
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Aug 4, 2021
* add enable/disable diffdrive Signed-off-by: Guillaume Doisy <[email protected]> * remove debug Signed-off-by: Guillaume Doisy <[email protected]> * do not subscribe to enable if topic is empty Signed-off-by: Guillaume Doisy <[email protected]> * add test Signed-off-by: Guillaume Doisy <[email protected]> * lint and style Signed-off-by: Guillaume Doisy <[email protected]> * change enable type to bool and renamed to enabled Signed-off-by: Guillaume Doisy <[email protected]>
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🎉 New feature
Summary
Add an
enableBoolean topic for enabling/disabling the diff drive controller. Enabled at startup by default. Send false to the topic to disable or true to enable.I needed the feature so sharing here. I am open to discussion about the implementation but would like to keep it as a topic and not a service because it is super simple to pipe it to ROS through the bridge (and that's where I need it).
Test it
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge