Adding MecanumDrive plugin with Odom and Tf, with Tests. #2297

muttistefano · 2024-01-24T10:04:31Z

🎉 New feature

Summary

Adding MecanumDrive plugin with Odom and Tf, with Tests.
Relative to #1665 , but targets gz-sim8, fixes an include error in the plugin and add tests.

Checklist

[ x] Signed all commits for DCO
[ x] Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸

azeey · 2024-02-02T17:57:48Z

Thanks for your contribution @muttistefano. Do you mind fixing the linter issues and signing off on your commit (see https://github.com/gazebosim/gz-sim/pull/2297/checks?check_run_id=20866188364).

muttistefano · 2024-02-09T07:34:18Z

Hi @azeey , thanks for the answer.
I signed the commits but I don't understand the linter issue.

azeey · 2024-02-12T18:48:56Z

There are some trailing white spaces in the code (see https://github.com/gazebosim/gz-sim/actions/runs/7765649621/job/21405089973?pr=2297).

Signed-off-by: Stefano Mutti <[email protected]>

will-44 · 2024-05-24T15:30:45Z

Hello !
I'm very interested in this PR (as I think a lot of people are). Do you think it could be merged into the main version?
Thank you very much for your help

muttistefano · 2024-05-29T12:51:39Z

If I'm not mistaken, the checks are fine, the only thing missing is the review from @mjcarroll .
Thanks :)

azeey

@muttistefano I think you've accidentally checked in a few files and directories (e.g. log, .vscode) to the pull request. Could you please remove them?

muttistefano · 2024-05-29T17:31:34Z

My bad; it should be fixed now.

azeey · 2024-06-18T19:36:08Z

Can you fix DCO?

test/integration/mecanum_drive_system.cc

azeey · 2024-06-19T13:22:21Z

test/integration/mecanum_drive_system.cc

+using namespace std::chrono_literals;
+
+/// \brief Test MecanumDrive system
+class MecanumDriveTest : public InternalFixture<::testing::TestWithParam<int>>


I don't think we need to run this multiple times. Can you change this to

Suggested change

class MecanumDriveTest : public InternalFixture<::testing::TestWithParam<int>>

class MecanumDriveTest : public InternalFixture<::testing::Test>

and change all the TEST_P in this file to TEST_F

I think this has not been addressed yet.

Not a priority here, can be done separately

test/integration/mecanum_drive_system.cc

azeey · 2024-08-08T21:55:30Z

test/integration/mecanum_drive_system.cc

+/////////////////////////////////////////////////
+// See: https://github.com/gazebosim/gz-sim/issues/1175
+// See: https://github.com/gazebosim/gz-sim/issues/630
+TEST_P(MecanumDriveTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(PublishCmd))


I know this is copied from the DiffDrive test, but can we first try to enable it and see if it doesn't work on the other platforms?

i don't quite get what do you mean, since my testing skills are weak.
do you mean changing GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX to something that enables the tests on other OSs ?

yeah I think something like:

Suggested change

TEST_P(MecanumDriveTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(PublishCmd))

TEST_P(MecanumDriveTest, PublishCmd)

let's also not block on this

azeey · 2025-01-07T22:11:27Z

Hi @muttistefano, any updates on this PR?

muttistefano · 2025-01-08T09:21:34Z

I will try to finish the pull today

Signed-off-by: Stefano Mutti <[email protected]> Signed-off-by: Stefano Mutti <[email protected]>

Signed-off-by: Stefano Mutti <[email protected]>

muttistefano · 2025-01-08T10:12:27Z

I messed up the pull a bit; let me know if it's ok or if I should do something.
Thx

TZECHIN6 · 2025-02-04T07:50:21Z

Hi, I am very interested in this PR, as I am running a project using this plugin. However, missing odom and tf (also the disappeared cmd_vel) topics introduce trouble of interacting with ROS via the bridge. I am working on ign-sim-6 due to ROS2 humble. Any update on this?

muttistefano · 2025-02-27T11:09:51Z

I think i solved all the requests.

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>

blue-assassin · 2025-03-17T00:17:24Z

Hello, is this fix available now if yes do i need to just use apt update or is there another process?

ahcorde

@iche033 do you mind to take a look ?

iche033

I tested running mecanum_drive world echo'ing the odom messages, and appears to be working as expected.

I left some minor comments only but the PR is good as is. Given that the PR has been around for a while, we can get this merged first and address the remaining comments separately.

iche033 · 2025-03-20T18:29:16Z

test/integration/mecanum_drive_system.cc

+using namespace std::chrono_literals;
+
+/// \brief Test MecanumDrive system
+class MecanumDriveTest : public InternalFixture<::testing::TestWithParam<int>>


I think this has not been addressed yet.

Not a priority here, can be done separately

iche033 · 2025-03-20T18:30:09Z

test/integration/mecanum_drive_system.cc

+/////////////////////////////////////////////////
+// See: https://github.com/gazebosim/gz-sim/issues/1175
+// See: https://github.com/gazebosim/gz-sim/issues/630
+TEST_P(MecanumDriveTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(PublishCmd))


yeah I think something like:

Suggested change

TEST_P(MecanumDriveTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(PublishCmd))

TEST_P(MecanumDriveTest, PublishCmd)

let's also not block on this

iche033 · 2025-03-20T18:40:24Z

test/integration/mecanum_drive_system.cc

+      "/model/foo/cmdvel", "/model/bar/odom");
+}
+
+


remove empty line

iche033 · 2025-03-20T18:41:10Z

src/systems/mecanum_drive/MecanumDrive.cc

@@ -26,9 +26,10 @@
 #include <set>
 #include <string>
 #include <vector>
+#include <chrono>


include headers in alphabetically order

some comments can be addressed in a separate PR

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>

codecov · 2025-03-20T22:52:22Z

Codecov Report

Attention: Patch coverage is 97.77778% with 2 lines in your changes missing coverage. Please review.

Project coverage is 69.02%. Comparing base (ab18888) to head (3f39e2b).
Report is 152 commits behind head on gz-sim8.

Files with missing lines	Patch %	Lines
src/systems/mecanum_drive/MecanumDrive.cc	97.77%	2 Missing ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##           gz-sim8    #2297      +/-   ##
===========================================
+ Coverage    65.75%   69.02%   +3.27%     
===========================================
  Files          327      342      +15     
  Lines        31233    33300    +2067     
===========================================
+ Hits         20537    22986    +2449     
+ Misses       10696    10314     -382

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:

❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

muttistefano requested a review from mjcarroll as a code owner January 24, 2024 10:04

github-actions bot added the 🎵 harmonic Gazebo Harmonic label Jan 24, 2024

muttistefano force-pushed the gz-sim8 branch from 2fd86f1 to 19db475 Compare February 3, 2024 08:16

Stefano Mutti and others added 9 commits March 5, 2024 10:54

mecanum src added

3d13216

Signed-off-by: Stefano Mutti <[email protected]>

mecanum src added

63db52b

Signed-off-by: Stefano Mutti <[email protected]>

mecanum src added

fdc24cb

Signed-off-by: Stefano Mutti <[email protected]>

Added MecanumDrive plugin and Tests with relative test sdf

c1a98b2

Signed-off-by: Stefano Mutti <[email protected]>

Added MecanumDrive plugin and Tests with relative test sdf

7a9e1bb

Signed-off-by: Stefano Mutti <[email protected]>

Corrected setWheelParams

6c9cec1

Signed-off-by: Stefano Mutti <[email protected]>

Corrected setWheelParams

740c45e

Signed-off-by: Stefano Mutti <[email protected]>

remove white spaces

fe5d267

Signed-off-by: Stefano Mutti <[email protected]>

remove white spaces

ee0fc38

Signed-off-by: Stefano Mutti <[email protected]>

muttistefano force-pushed the gz-sim8 branch from 62b2c77 to ee0fc38 Compare March 5, 2024 09:54

muttistefano added 3 commits March 5, 2024 10:59

remove white spaces

5623fba

Signed-off-by: Stefano Mutti <[email protected]>

remove unused var in test

e0d5a21

Signed-off-by: Stefano Mutti <[email protected]>

Merge branch 'gazebosim:gz-sim8' into gz-sim8

5051018

Merge branch 'gazebosim:gz-sim8' into gz-sim8

f835ff1

azeey previously requested changes May 29, 2024

View reviewed changes

azeey self-requested a review June 10, 2024 18:55

muttistefano force-pushed the gz-sim8 branch from 8fff4de to 24d708e Compare June 19, 2024 06:31

azeey added the beta Targeting beta release of upcoming collection label Jul 29, 2024

azeey mentioned this pull request Aug 8, 2024

MecanumDrive odometry and tf functions implementation #1665

Closed

9 tasks

azeey reviewed Aug 8, 2024

View reviewed changes

muttistefano force-pushed the gz-sim8 branch from de51e1a to 0cbae95 Compare January 8, 2025 09:53

muttistefano and others added 2 commits January 8, 2025 11:05

removed .vscode and log

2bad6d2

Signed-off-by: Stefano Mutti <[email protected]> Signed-off-by: Stefano Mutti <[email protected]>

pull fixes

5b76e40

Signed-off-by: Stefano Mutti <[email protected]>

muttistefano force-pushed the gz-sim8 branch from 0cbae95 to 5b76e40 Compare January 8, 2025 10:06

Merge branch 'gz-sim8' into gz-sim8

50dba8e

azeey mentioned this pull request Jan 9, 2025

No odometry data available mecanum drive plugin using gazebo topic echo CLI #2711

Open

Merge branch 'gz-sim8' into gz-sim8

174b56e

ahcorde mentioned this pull request Mar 10, 2025

Add TF publishing in MecanumDrive system #1619

Open

ahcorde added 5 commits March 11, 2025 13:41

Merge branch 'gz-sim8' into gz-sim8

31e2c8e

make linters happy

a865da8

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>

Merge branch 'gz-sim8' into gz-sim8

6e2f0e8

make linters happy

e211a0f

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>

make linters happy

942c02f

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>

ahcorde requested review from azeey and iche033 March 17, 2025 09:11

ahcorde approved these changes Mar 17, 2025

View reviewed changes

iche033 approved these changes Mar 20, 2025

View reviewed changes

Merge branch 'gz-sim8' into gz-sim8

a866258

ahcorde added 2 commits March 20, 2025 22:33

review feedback

175b3aa

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>

make linters happy

3f39e2b

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>

iche033 enabled auto-merge (squash) March 21, 2025 02:07

iche033 merged commit 5444b25 into gazebosim:gz-sim8 Mar 21, 2025
12 checks passed

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Adding MecanumDrive plugin with Odom and Tf, with Tests. #2297

Adding MecanumDrive plugin with Odom and Tf, with Tests. #2297

muttistefano commented Jan 24, 2024 •

edited

Loading

azeey commented Feb 2, 2024

muttistefano commented Feb 9, 2024

azeey commented Feb 12, 2024

will-44 commented May 24, 2024

muttistefano commented May 29, 2024

azeey left a comment

muttistefano commented May 29, 2024

azeey commented Jun 18, 2024

azeey Jun 19, 2024

iche033 Mar 20, 2025

azeey Aug 8, 2024

muttistefano Nov 28, 2024

iche033 Mar 20, 2025

azeey commented Jan 7, 2025

muttistefano commented Jan 8, 2025

muttistefano commented Jan 8, 2025

TZECHIN6 commented Feb 4, 2025 •

edited

Loading

muttistefano commented Feb 27, 2025

blue-assassin commented Mar 17, 2025

ahcorde left a comment

iche033 left a comment

iche033 Mar 20, 2025

iche033 Mar 20, 2025

iche033 Mar 20, 2025

iche033 Mar 20, 2025

codecov bot commented Mar 20, 2025 •

edited

Loading

	class MecanumDriveTest : public InternalFixture<::testing::TestWithParam<int>>
	class MecanumDriveTest : public InternalFixture<::testing::Test>

	TEST_P(MecanumDriveTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(PublishCmd))
	TEST_P(MecanumDriveTest, PublishCmd)

Adding MecanumDrive plugin with Odom and Tf, with Tests. #2297

Adding MecanumDrive plugin with Odom and Tf, with Tests. #2297

Conversation

muttistefano commented Jan 24, 2024 • edited Loading

🎉 New feature

Summary

Checklist

azeey commented Feb 2, 2024

muttistefano commented Feb 9, 2024

azeey commented Feb 12, 2024

will-44 commented May 24, 2024

muttistefano commented May 29, 2024

azeey left a comment

Choose a reason for hiding this comment

muttistefano commented May 29, 2024

azeey commented Jun 18, 2024

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

azeey commented Jan 7, 2025

muttistefano commented Jan 8, 2025

muttistefano commented Jan 8, 2025

TZECHIN6 commented Feb 4, 2025 • edited Loading

muttistefano commented Feb 27, 2025

blue-assassin commented Mar 17, 2025

ahcorde left a comment

Choose a reason for hiding this comment

iche033 left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

codecov bot commented Mar 20, 2025 • edited Loading

Codecov Report

muttistefano commented Jan 24, 2024 •

edited

Loading

TZECHIN6 commented Feb 4, 2025 •

edited

Loading

codecov bot commented Mar 20, 2025 •

edited

Loading