Attached the Color Sensor Plugin by stevendes · Pull Request #1 · stevendes/create_autonomy

stevendes · 2019-10-24T17:17:19Z

UPDATE 1

Attached the previously created Color Sensor plugin to the Create model

HOW IT WORKS

It responds by sending an Bool message to the topic related to the specified camera, for example, the left sensor publishes in the topic "left_yellow_sensor".

ISSUES

Only works when a there is a subscription in the "image_raw" topic of every camera.

UPDATE 2

Addressed all issues and comments, working fine.

stevendes · 2019-10-24T17:19:50Z

@eborghi10 @ernestmc @serraramiro1 @LucasJSch

eborghi10 · 2019-10-28T01:19:51Z

Some things @stevendes:

Was the issue with alwaysOn fixed?
try2 is your target branch? Consider using better names.
You have conflicts.

stevendes · 2019-10-28T01:31:13Z

Some things @stevendes:

1. Was the issue with `alwaysOn` fixed?

2. `try2` is your target branch? Consider using better names.

3. You have conflicts.

Hello @eborghi10

1- The issue wasn't fixed yet, all the things that I tried didn't work out
2- Yes haha, you already pointed me that out when I used that branch for the PR, but because this is that same branch, has the same name since I didn't closed that PR and opened a new one, and I used better name to my branches since then
3- I would check it and then tag everyone again

ca_description/urdf/color_sensor.xacro

eborghi10 · 2019-10-28T01:37:52Z

ca_gazebo/src/color_sensor_plugin.cpp

+      if ((*this->image_connect_count_) > 0)
+      {
+        common::Time cur_time = this->world_->SimTime();
+        if (cur_time - this->last_update_time_ >= this->update_period_)


This variable (last_update_time_) is never set before. You need to do it in Load().

Putting this->last_update_time_ = this->world_->SimTime(); in the CameraPlugin::Load breaks Gazebo

eborghi10 · 2019-10-28T01:38:03Z

ca_gazebo/src/color_sensor_plugin.cpp

+        common::Time cur_time = this->world_->SimTime();
+        if (cur_time - this->last_update_time_ >= this->update_period_)
+        {
+          this->PutCameraData(_image);


Is this necessary?

Gazebo misbehave without it

ca_gazebo/src/color_sensor_plugin.cpp

eborghi10 · 2019-10-28T15:18:08Z

Was the issue with alwaysOn fixed?

1- The issue wasn't fixed yet, all the things that I tried didn't work out

@serraramiro1 (Tag Lucas too because I can't), could you check if you find out what's going on?

serraramiro1 · 2019-10-28T15:54:50Z

Was the issue with alwaysOn fixed?

1- The issue wasn't fixed yet, all the things that I tried didn't work out

@serraramiro1 (Tag Lucas too because I can't), could you check if you find out what's going on?

The way i fixed this, was adding this line to the load function.

  this->parentSensor_->SetActive(true);

Didn't find any documentation for that though

ernestmc

Left some comments

ca_gazebo/include/ca_gazebo/color_sensor_plugin.h

ca_gazebo/src/color_sensor_plugin.cpp

eborghi10 · 2019-10-30T18:59:03Z

I have an error when I try to compile your branch:

In file included from /opt/ros/kinetic/include/ros/serialization.h:37:0,
                 from /opt/ros/kinetic/include/ros/publisher.h:34,
                 from /opt/ros/kinetic/include/ros/node_handle.h:32,
                 from /opt/ros/kinetic/include/ros/ros.h:45,
                 from /create_ws/src/create_autonomy/ca_gazebo/src/color_sensor_plugin.cpp:2:
/opt/ros/kinetic/include/ros/message_traits.h: In instantiation of ‘static const char* ros::message_traits::MD5Sum<M>::value(const M&) [with M = bool]’:
/opt/ros/kinetic/include/ros/message_traits.h:255:102:   required from ‘const char* ros::message_traits::md5sum(const M&) [with M = bool]’
/opt/ros/kinetic/include/ros/publisher.h:112:7:   required from ‘void ros::Publisher::publish(const M&) const [with M = bool]’
/create_ws/src/create_autonomy/ca_gazebo/src/color_sensor_plugin.cpp:123:41:   required from here
/opt/ros/kinetic/include/ros/message_traits.h:126:34: error: request for member ‘__getMD5Sum’ in ‘m’, which is of non-class type ‘const bool’
     return m.__getMD5Sum().c_str();
                                  ^
/opt/ros/kinetic/include/ros/message_traits.h: In instantiation of ‘static const char* ros::message_traits::DataType<M>::value(const M&) [with M = bool]’:
/opt/ros/kinetic/include/ros/message_traits.h:264:104:   required from ‘const char* ros::message_traits::datatype(const M&) [with M = bool]’
/opt/ros/kinetic/include/ros/publisher.h:112:7:   required from ‘void ros::Publisher::publish(const M&) const [with M = bool]’
/create_ws/src/create_autonomy/ca_gazebo/src/color_sensor_plugin.cpp:123:41:   required from here
/opt/ros/kinetic/include/ros/message_traits.h:143:36: error: request for member ‘__getDataType’ in ‘m’, which is of non-class type ‘const bool’
     return m.__getDataType().c_str();
                                    ^
create_autonomy/ca_gazebo/CMakeFiles/color_sensor_plugin.dir/build.make:62: recipe for target 'create_autonomy/ca_gazebo/CMakeFiles/color_sensor_plugin.dir/src/color_sensor_plugin.cpp.o' failed
make[2]: *** [create_autonomy/ca_gazebo/CMakeFiles/color_sensor_plugin.dir/src/color_sensor_plugin.cpp.o] Error 1
CMakeFiles/Makefile2:5478: recipe for target 'create_autonomy/ca_gazebo/CMakeFiles/color_sensor_plugin.dir/all' failed
make[1]: *** [create_autonomy/ca_gazebo/CMakeFiles/color_sensor_plugin.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

@stevendes I found where the error is but it is up to you to solve this particular issue.
Hint: it's related to a ROS message.

eborghi10 · 2019-10-30T19:31:49Z

Some things to improve here:

You didn't address most of my comments.
You have to improve a lot the tabulations and empty lines.

eborghi10 · 2019-10-30T19:34:28Z

If I run this: roslaunch ca_gazebo create_autorace.launch, the simulation breaks:

XML parsing error: not well-formed (invalid token): line 101, column 1
when instantiating macro: create_base (/create_ws/src/create_autonomy/ca_description/urdf/create_base.xacro)in file: /create_ws/src/create_autonomy/ca_description/urdf/color_sensor.xacroincluded from: /create_ws/src/create_autonomy/ca_description/urdf/create_2.xacroCheck that: - Your XML is well-formed - You have the xacro xmlns declaration: xmlns:xacro="http://www.ros.org/wiki/xacro"while processing /create_ws/src/create_autonomy/ca_gazebo/launch/create_empty_world.launch:while processing /create_ws/src/create_autonomy/ca_gazebo/launch/spawn_multirobot.launch:while processing /create_ws/src/create_autonomy/ca_gazebo/launch/spawn_create.launch:while processing /create_ws/src/create_autonomy/ca_description/launch/create_description.launch:Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro --inorder /create_ws/src/create_autonomy/ca_description/urdf/create_2.xacro visualize:=false] returned with code [2]. 

Param xml is <param command="$(find xacro)/xacro --inorder $(arg model) $(arg xacro_args)" name="robot_description"/>
The traceback for the exception was written to the log file

stevendes · 2019-10-30T19:39:36Z

@eborghi10 I still didn't push the file with the addressed commits, the ones that are open hasn't been addressed yet, I don't have errors locally so maybe they are because the last commit is only to resolve the conflicts that were present, I would push it now and please let me know if the error is still present.

eborghi10 · 2019-10-30T20:02:15Z

I wasn't able to test your code. What should I do? Which topics should I look at?

eborghi10 · 2019-10-30T20:02:35Z

You have conflicts with the base branch.

stevendes · 2019-10-31T17:20:58Z

@eborghi10 addressed most of the comments, the issue with the activation is still present but I'm moving forward with the actionlib task, then I would return to this and try to solve it again

LucasJSch

Left some comments, PTAL.

ca_gazebo/include/ca_gazebo/color_sensor_plugin.h

ca_gazebo/src/color_sensor_plugin.cpp

ca_tools/action/FollowLine.action

eborghi10

I made some comments, PTAL.

ca_gazebo/include/ca_gazebo/color_sensor_plugin.h

ca_gazebo/launch/create_empty_world.launch

ca_gazebo/src/color_sensor_plugin.cpp

Applied changes requested Adressed the issues commented Fixed type Update sensor model Added camera mesh Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type Add color sensor Applied changes requested Adressed the issues commented Fixed type changed xacro files Modifying the original plugin to detect RGB Added the plugin in the two color sensors from previous PR Adding the files for the sensor plugin Add action messages Addressed some comments and added realistic mesh Addressed requested changes, added comments Fixed publication in sensor plugin Update camera plugin Addressed all the comments

stevendes · 2019-11-14T19:29:57Z

Addressed all the comments

eborghi10 suggested changes Oct 28, 2019

View reviewed changes

ernestmc suggested changes Oct 28, 2019

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stevendes force-pushed the try2 branch from 1bc77b3 to 065abe5 Compare October 29, 2019 20:23

stevendes force-pushed the color_plugin branch from 0c619af to bd24230 Compare October 30, 2019 19:42

stevendes force-pushed the color_plugin branch 5 times, most recently from f893557 to 4cb1817 Compare October 31, 2019 14:59

LucasJSch reviewed Nov 5, 2019

View reviewed changes

stevendes force-pushed the try2 branch from 065abe5 to 005d0c8 Compare November 7, 2019 12:32

stevendes force-pushed the color_plugin branch 2 times, most recently from e99b4a9 to 6685a66 Compare November 7, 2019 13:27

eborghi10 suggested changes Nov 13, 2019

View reviewed changes

stevendes force-pushed the color_plugin branch from 6685a66 to e4e046d Compare November 14, 2019 19:25

stevendes force-pushed the color_plugin branch from e4e046d to 9d40c00 Compare November 14, 2019 19:50

stevendes force-pushed the color_plugin branch from 9d40c00 to e4e046d Compare November 14, 2019 20:20

eborghi10 approved these changes Dec 4, 2019

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