Skip to content

WIP: Envire managers #45

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Open
Rauldg wants to merge 128 commits into
base: develop
Choose a base branch
from
Open

WIP: Envire managers #45

Rauldg wants to merge 128 commits into from

Conversation

@Rauldg
Copy link
Contributor

@Rauldg Rauldg commented Jan 21, 2022 •
edited
Loading

This merge request addresses some of the features that are needed for using simulation on board.

Things to address before merging:

IMU

  • The IMU task is using an envire graph directly instead of the envire implementation of the node manager

Task

  • updateScenePositions and serializeScene are not implemented in the SimulatorInterface.
  • Update of frame poses in Task::receiveData
  • Interfaces update an envire core updates in Task::getMLSMap
  • Address the management of the FRAME_NAMES (e.g. Origin) via configuration?
  • Task::prepareGraphForMLS interfaces to be updated
  • Task::LoadRobot interface update
  • Task::setupMLSPrecSimulation interface update

RotatingRaySensor

  • The simulated rotating sensor has an additional parameter for delivering pointcloud, depthmaps or both, which is a feature not foreseen in the config of the develop branch of the simulator's core.

Rauldg and others added 30 commits April 18, 2016 18:06
@Rauldg
Include envire_sensors in the dependencies and a script to test the e…
5b56278 
…valuate. The orogen component includes now a deployment for testing
@Rauldg
Script for testing the current mars implementation
fa3e7e4
@Rauldg
IMU works in the new Envire-Mars
a002f2c
@planthaber @Rauldg
added support for passive joints
754f61f
@Rauldg
c++ 11 flag
0fb00f1
@Rauldg
The robot can move now
9c36829
make compile
2a0b181
@Rauldg
Support for passive joints
ae70ce2
@Rauldg
The test script for the simulation is updated.
36d4499 
- New tasks network with skid odometry, simple controller and no bodytask.
TODO: The odometry does not provide any output value
TODO: The velodyne task fails to start
@Rauldg
Fix joints update has to be performed before reading
3f9f392
@Rauldg
Merge remote-tracking branch 'rock-simulation/master' into envire-mars
5902157 
Conflicts:
	mars.orogen
	tasks/IMU.cpp
	tasks/Joints.cpp
@Rauldg
IMU using Envire Mars
38a50fd
@Rauldg
getSimJoint is called for motors and also for passive joints
48488ea
@Rauldg
Corrected configuration of the velodyne
f144098
@Rauldg
Merge remote-tracking branch 'rock-simulation/master' into envire-mars
0541e30 
Conflicts:
	tasks/IMU.hpp
@Rauldg
Remove some tasks references in the .orogen which were introduced for…
7b3c8c7 
… testing
@Rauldg
depends on the envire_graphics plugin
cdefc17
@Rauldg
No odometry task in the scripts
c880120
@Rauldg
Require control skid4_control for one of the tests
d2eece7
fix build warning
3019930
use new base types
87b229c
remove not needed dependency
4696567
@Rauldg
Load the dlr scene in the test script named simulation
ff53667
@Rauldg
Use the not deprecated Logging header
3d83357
@Rauldg
An initial translation command is given to the simulation to test tha…
2b6a670 
…t the motors recieve a execute the commands.
@Rauldg
Avoid warning due to redefinition of LOG_DEBUG etc.
215b86c
@Rauldg
Avoid warning in conversion from string to char*
87ededa
@Rauldg
Don't use deprecated function setValue, but setControlValue
23588f3
@Rauldg
Provide Depthmaps, misses to be a configurable selection.
26f7f0c
@Rauldg
Merge remote-tracking branch 'autobuild/envire-mars'
f096c6a 
Conflicts:
	tasks/Joints.cpp
	tasks/Task.cpp
Rauldg and others added 20 commits October 27, 2017 18:46
@Rauldg
Set some traces for debuging
23289bd
@Rauldg
Merge branch 'runSimulationOperation' into envire_managers
7740016 
Uses setTfToCenter  to move the robot in the simulation

# Conflicts:
#	tasks/Task.cpp
@chhtz
Make DepthCamera return a DistanceImage directly (for compatibility w…
b104aee 
…ith hardware driver)
@chhtz
typo
5f13c5d
@Rauldg
Working on the positioning of the robot and the MLS. Needs Fixes.
7b9ca53
@annaborn
add start and stop simulation operation
0d885fb
@annaborn
add output port for mls map and frame pose
7f2e669
@annaborn
remove stdcout in joints
daffc2c
@annaborn
send the position of the robot and get mls map operation
cf11d78
removed deprecated dependencies
51fec6e
@Rauldg
Operation to load an MLSPrecalculated
61b594f
@Rauldg
Mars task: Read constants from mars/sim defines file
be8a2a2
@Rauldg
Bugfix in PrepareGraphForMLS
83f57b2
@Rauldg
Don't store the kalman map in the graph. The precalculated will be us…
0c6de57 
…ed for sim.
@annaborn
set pose of joints over operation
66832cf
@annaborn
Merge branch 'envire_managers' of github.com:/envire/simulation-oroge…
57e48ba 
…n-envire_mars into envire_managers
@Rauldg
Remove the dependencies to the robot models. They were included for t…
ee3a9f6 
…esting
@Rauldg
Don't import types from pcl
f9add22
@Rauldg
WIP: Merge branch 'develop' into envire_managers
42728b2 
# Conflicts:
#	mars.orogen
#	tasks/IMU.cpp
#	tasks/Joints.cpp
#	tasks/Task.cpp
@Rauldg
Missing node_id attribute lost in merge and fixed indentation
b3bc3a4
@Rauldg Rauldg changed the base branch from master to develop January 21, 2022 18:16
@Rauldg
Copy link
Contributor Author

Rauldg commented Mar 8, 2022

  • Move out of this pull request the tests that use the asguard or crex robot, including the correspondent deployments.

Rauldg and others added 4 commits March 8, 2022 11:59
@Rauldg
[remove_entern_scripts] Moves out all entern scripts and sets back th…
28ef795 
…e scripts folder to how it looks in the original repo
@Rauldg
Merge pull request #6 from envire/remove_tests
928739f 
[remove_entern_scripts] Moves out all entern scripts and sets back th…
@Rauldg
Revert "[Buildfixes] Use the maps that are currently maintained and a…
cb1737a 
…void the spatio-temporal envire wrapper since it seems not be maintained and is probably not needed"

This reverts commit e6f82cb.
@Rauldg
[envire_managers] remove at least temporaly the dependecy to pcl, sin…
ffb65bd 
…ce for now the type is not used.
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

No reviews

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

5 participants

@Rauldg @planthaber @saarnold @annaborn @chhtz