Changes have been pushed for the repository "fawkesrobotics/fawkes".
Clone: https://github.com/fawkesrobotics/fawkes.git Gitweb: https://github.com/fawkesrobotics/fawkes The branch, cgollok/gazsim_robotino_remove_puck_laser has been updated discards fb8d4d6e48ea960f59e8cb0f8df8907a4cc98da7 (commit) to 1fd148851ff6c5d443100cb3461c38b80a40f48e (commit) via 09fdc3ec3e7cc28a84bf6055b68d0d81790057aa (commit) via bc3111cdc435753836807e584e41b05fa21c0eb4 (commit) via 1c0a34820ece5d61382ea30a36da5fbd85ec09fc (commit) via 290ffdd15b3143516467f672b7fd2339c47b4633 (commit) This update added new revisions after undoing existing revisions. That is to say, the old revision is not a strict subset of the new revision. This situation occurs when you --force push a change and generate a repository containing something like this: * -- * -- B -- O -- O -- O (fb8d4d6e48ea960f59e8cb0f8df8907a4cc98da7) \ N -- N -- N (1fd148851ff6c5d443100cb3461c38b80a40f48e) When this happens we assume that you've already had alert emails for all of the O revisions, and so we here report only the revisions in the N branch from the common base, B. https://github.com/fawkesrobotics/fawkes/tree/cgollok/gazsim_robotino_remove_puck_laser Those revisions listed above that are new to this repository have not appeared on any other notification email; so we list those revisions in full, below. - *Log* --------------------------------------------------------------- commit 1fd148851ff6c5d443100cb3461c38b80a40f48e Author: Christoph Gollok <christoph.gol...@alumni.fh-aachen.de> AuthorDate: Tue Apr 30 01:23:07 2019 +0200 Commit: Christoph Gollok <christoph.gol...@alumni.fh-aachen.de> CommitDate: Tue Apr 30 16:27:10 2019 +0200 gazsim_robotino: remove puck_laser_detector Carologistics setup uses digital IO instead of analog IO. This is now handled in the gazsim_gripper mockup https://github.com/fawkesrobotics/fawkes/commit/1fd148851 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- src/plugins/clips-executive/clips/coordination-mutex.clp | 5 +++-- src/plugins/clips-executive/clips/resource-locks.clp | 3 ++- src/plugins/robot-memory/robot_memory.cpp | 9 ++++++--- 3 files changed, 11 insertions(+), 6 deletions(-) - *Diffs* ------------------------------------------------------------- - *commit* 1fd148851ff6c5d443100cb3461c38b80a40f48e - - - - - - - - - - Author: Christoph Gollok <christoph.gol...@alumni.fh-aachen.de> Date: Tue Apr 30 01:23:07 2019 +0200 Subject: gazsim_robotino: remove puck_laser_detector .../gazsim-robotino/gazsim_robotino_thread.cpp | 67 ---------------------- .../gazsim-robotino/gazsim_robotino_thread.h | 11 +--- 2 files changed, 1 insertion(+), 77 deletions(-) _Diff for modified files_: diff --git a/src/plugins/gazebo/gazsim-robotino/gazsim_robotino_thread.cpp b/src/plugins/gazebo/gazsim-robotino/gazsim_robotino_thread.cpp index 50296a487..ab4635532 100644 --- a/src/plugins/gazebo/gazsim-robotino/gazsim_robotino_thread.cpp +++ b/src/plugins/gazebo/gazsim-robotino/gazsim_robotino_thread.cpp @@ -69,15 +69,6 @@ RobotinoSimThread::init() slippery_wheels_threshold_ = config->get_float("gazsim/robotino/motor/slippery-wheels-threshold"); moving_speed_factor_ = config->get_float("gazsim/robotino/motor/moving-speed-factor"); rotation_speed_factor_ = config->get_float("gazsim/robotino/motor/rotation-speed-factor"); - gripper_laser_threshold_ = config->get_float("/gazsim/robotino/gripper-laser-threshold"); - gripper_laser_value_far_ = config->get_float("/gazsim/robotino/gripper-laser-value-far"); - gripper_laser_value_near_ = config->get_float("/gazsim/robotino/gripper-laser-value-near"); - have_gripper_sensors_ = config->exists("/hardware/robotino/sensors/right_ir_id") - && config->exists("/hardware/robotino/sensors/left_ir_id"); - if (have_gripper_sensors_) { - gripper_laser_right_pos_ = config->get_int("/hardware/robotino/sensors/right_ir_id"); - gripper_laser_left_pos_ = config->get_int("/hardware/robotino/sensors/left_ir_id"); - } gyro_buffer_size_ = config->get_int("/gazsim/robotino/gyro-buffer-size"); gyro_delay_ = config->get_float("/gazsim/robotino/gyro-delay"); infrared_sensor_index_ = config->get_int("/gazsim/robotino/infrared-sensor-index"); @@ -87,7 +78,6 @@ RobotinoSimThread::init() //Open interfaces motor_if_ = blackboard->open_for_writing<MotorInterface>("Robotino"); switch_if_ = blackboard->open_for_writing<fawkes::SwitchInterface>("Robotino Motor"); - sens_if_ = blackboard->open_for_writing<RobotinoSensorInterface>("Robotino"); imu_if_ = blackboard->open_for_writing<IMUInterface>("IMU Robotino"); //Create suscribers @@ -97,21 +87,6 @@ RobotinoSimThread::init() gyro_sub_ = gazebonode->Subscribe(config->get_string("/gazsim/topics/gyro"), &RobotinoSimThread::on_gyro_msg, this); - infrared_puck_sensor_sub_ = - gazebonode->Subscribe(config->get_string("/gazsim/topics/infrared-puck-sensor"), - &RobotinoSimThread::on_infrared_puck_sensor_msg, - this); - if (have_gripper_sensors_) { - gripper_laser_left_sensor_sub_ = - gazebonode->Subscribe(config->get_string("/gazsim/topics/gripper-laser-left"), - &RobotinoSimThread::on_gripper_laser_left_sensor_msg, - this); - gripper_laser_right_sensor_sub_ = - gazebonode->Subscribe(config->get_string("/gazsim/topics/gripper-laser-right"), - &RobotinoSimThread::on_gripper_laser_right_sensor_msg, - this); - } - //Create publishers motor_move_pub_ = gazebonode->Advertise<msgs::Vector3d>(config->get_string("/gazsim/topics/motor-move")); @@ -162,7 +137,6 @@ RobotinoSimThread::finalize() { //close interfaces blackboard->close(imu_if_); - blackboard->close(sens_if_); blackboard->close(motor_if_); blackboard->close(switch_if_); @@ -213,15 +187,6 @@ RobotinoSimThread::loop() imu_if_->set_orientation(3, 0.); } imu_if_->write(); - - sens_if_->set_distance(infrared_sensor_index_, infrared_puck_sensor_dist_); - - if (have_gripper_sensors_) { - sens_if_->set_analog_in(gripper_laser_left_pos_, analog_in_left_); - sens_if_->set_analog_in(gripper_laser_right_pos_, analog_in_right_); - } - sens_if_->write(); - new_data_ = false; } } @@ -377,35 +342,3 @@ RobotinoSimThread::on_gyro_msg(ConstVector3dPtr &msg) gyro_available_ = true; new_data_ = true; } -void -RobotinoSimThread::on_infrared_puck_sensor_msg(ConstLaserScanStampedPtr &msg) -{ - MutexLocker lock(loop_mutex); - //make sure that the config values for fetch_puck are set right - infrared_puck_sensor_dist_ = msg->scan().ranges(0); - new_data_ = true; -} -void -RobotinoSimThread::on_gripper_laser_right_sensor_msg(ConstFloatPtr &msg) -{ - MutexLocker lock(loop_mutex); - - if (msg->value() < gripper_laser_threshold_) { - analog_in_right_ = gripper_laser_value_near_; - } else { - analog_in_right_ = gripper_laser_value_far_; - } - new_data_ = true; -} -void -RobotinoSimThread::on_gripper_laser_left_sensor_msg(ConstFloatPtr &msg) -{ - MutexLocker lock(loop_mutex); - - if (msg->value() < gripper_laser_threshold_) { - analog_in_left_ = gripper_laser_value_near_; - } else { - analog_in_left_ = gripper_laser_value_far_; - } - new_data_ = true; -} diff --git a/src/plugins/gazebo/gazsim-robotino/gazsim_robotino_thread.h b/src/plugins/gazebo/gazsim-robotino/gazsim_robotino_thread.h index 3fb82a6a2..d9884e12a 100644 --- a/src/plugins/gazebo/gazsim-robotino/gazsim_robotino_thread.h +++ b/src/plugins/gazebo/gazsim-robotino/gazsim_robotino_thread.h @@ -47,7 +47,6 @@ namespace fawkes { class BatteryInterface; class IMUInterface; class MotorInterface; -class RobotinoSensorInterface; class SwitchInterface; } // namespace fawkes @@ -82,12 +81,9 @@ private: //Handler functions for incoming messages void on_gyro_msg(ConstVector3dPtr &msg); void on_infrared_puck_sensor_msg(ConstLaserScanStampedPtr &msg); - void on_gripper_laser_left_sensor_msg(ConstFloatPtr &msg); - void on_gripper_laser_right_sensor_msg(ConstFloatPtr &msg); void on_pos_msg(ConstPosePtr &msg); //provided interfaces - fawkes::RobotinoSensorInterface *sens_if_; fawkes::MotorInterface * motor_if_; fawkes::SwitchInterface * switch_if_; fawkes::IMUInterface * imu_if_; @@ -95,17 +91,12 @@ private: //config values std::string cfg_frame_odom_; std::string cfg_frame_base_; - std::string cfg_frame_imu_; - double gripper_laser_threshold_; - double gripper_laser_value_far_; - double gripper_laser_value_near_; + std::string cfg_frame_imu_;; bool slippery_wheels_enabled_; double slippery_wheels_threshold_; double moving_speed_factor_; double rotation_speed_factor_; bool have_gripper_sensors_; - int gripper_laser_left_pos_; - int gripper_laser_right_pos_; int infrared_sensor_index_; //Helper variables for motor: _______________________________________________ fawkes-commits mailing list fawkes-commits@lists.kbsg.rwth-aachen.de https://lists.kbsg.rwth-aachen.de/listinfo/fawkes-commits
