Add wheel slip user command #1241

ivanpauno · 2021-12-09T21:40:48Z

🎉 New feature

Summary

Add an user command to reconfigure the wheel slip parameters.
Combined with gazebosim/ros_gz#70, it will allow reconfigurability from ROS similar to what the gazebo_ros_pkgs wheel slip plugin provided.

Ideally, we would have a concept similar to parameters in ignition instead of this.

Test it

Manual testing:

# terminal 1, launch trisphere world
ign gazebo trisphere_cycle_wheel_slip.sdf`
# terminal 2, modify the wheel slip parameters of the rear left wheel
ign service -s /world/wheel_slip/wheel_slip --reqtype ignition.msgs.WheelSlipParametersCmd --reptype ignition.msgs.Boolean -r "
model_name: \"trisphere_cycle0\"
link_name: \"wheel_rear_left\"
slip_compliance_lateral: 2
slip_compliance_longitudinal: 2
" --timeout 1000

80dad69 can be reverted to see a log each time the wheel slip system detected a cmd.

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
codecheck passed (See contributing)
All tests passed (See test coverage)
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ivanpauno · 2021-12-09T21:47:39Z

cc @scpeters.

I'm targetting edifice as I commented here, but maybe that was an incorrect choice.
Let me know if I should be targetting a different ignition version.

Ideally, we would have a concept similar to parameters in ignition instead of this.

I started to take a look of how to do that, but I'm finally be working on a different task for 1 or 2 weeks. I'm still planning to take a deeper look at how to implement parameters in ignition after that.

I had already had implemented this on Monday when we discussed how to implement parameters in Ignition, so I'm opening this for evaluation in case that (ab)using the user commands services to provide this functionality seems like an acceptable approach.
This is much less work that supporting parameters in ignition, and supporting to bridge services between ignition and ROS 2 is something we're going to need anyway.

ahcorde

Check linters: https://github.com/ignitionrobotics/ign-gazebo/runs/4476556123?check_suite_focus=true

src/systems/user_commands/UserCommands.cc

ahcorde · 2021-12-10T08:56:43Z

include/ignition/gazebo/components/WheelSlipCmd.hh

+#include <ignition/gazebo/config.hh>
+#include <ignition/gazebo/Export.hh>
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Serialization.hh>


alphabetize

sorry, you mean like

Suggested change

#include <ignition/gazebo/config.hh>

#include <ignition/gazebo/Export.hh>

#include <ignition/gazebo/components/Component.hh>

#include <ignition/gazebo/components/Factory.hh>

#include <ignition/gazebo/components/Serialization.hh>

#include <ignition/gazebo/components/Component.hh>

#include <ignition/gazebo/components/Factory.hh>

#include <ignition/gazebo/components/Serialization.hh>

#include <ignition/gazebo/config.hh>

#include <ignition/gazebo/Export.hh>

When having nested folders, I group items in each subfolder and I only alphaorder each group.
i.e. I put first all header files in the parent folder (in alpha order, in this case the items in ignition/gazebo are config.hh, Export.hh), after that I put the subfolders in alpha order (only components here) and the items of the subfolder in alpha order as well (i.e. Component.hh, Factory.hh, Serialization.hh).

I'm also not sure if lowercase letters are ordered after uppercase letters (like ascii code ordering, a goes after Z), or if I should ignore casing when ordering.
In the first case it should be:

Suggested change

#include <ignition/gazebo/config.hh>

#include <ignition/gazebo/Export.hh>

#include <ignition/gazebo/components/Component.hh>

#include <ignition/gazebo/components/Factory.hh>

#include <ignition/gazebo/components/Serialization.hh>

#include <ignition/gazebo/Export.hh>

#include <ignition/gazebo/components/Component.hh>

#include <ignition/gazebo/components/Factory.hh>

#include <ignition/gazebo/components/Serialization.hh>

#include <ignition/gazebo/config.hh>

src/systems/user_commands/UserCommands.cc

jacobperron

I don't know much about the user command interface, but I've left some feedback below.

src/systems/wheel_slip/WheelSlip.cc

jacobperron · 2022-02-01T23:58:55Z

As we discussed offline, I think implementing this as a command (instead of a parameter) makes sense. I guess it ultimately depends on how we differentiate commands vs parameters; until then, it's difficult to say how the wheel slip configuration should be exposed.

What does it look like when users want to interact with the command (e.g. from the command-line)? An example would be nice (even if it is not functional yet). I'm wondering if we really need to bridge this via ros_ign or if we should just recommend users make calls to ignition directly?

adityapande-1995

The current implementation of wheel slip plugin in gazebo_ros_pkgs exposes a pair of parameters to set wheel slip parameters for all wheels : https://github.com/ros-simulation/gazebo_ros_pkgs/blob/dcda27f7ac710bdd6a8aba2692e3b3b3ac1d9c4b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_wheel_slip.hpp#L31-L41, along with the ones used to set values for individual wheels.

Should we port that functionality here ? Basically equivalent to link_name : * , which would update values for all wheels in the ecm ?

Also, could you please add a test case for this ?

ivanpauno · 2022-02-09T21:27:19Z

Also, could you please add a test case for this ?

Will do.

Should we port that functionality here ? Basically equivalent to link_name : * , which would update values for all wheels in the ecm ?

I think that's a good idea, using link_name : * works for me

ivanpauno · 2022-03-01T19:50:54Z

Should we port that functionality here ? Basically equivalent to link_name : * , which would update values for all wheels in the ecm ?

Done in 76e14b7.

adityapande-1995

Thanks for the wildcard addition to link names ! Can we add some simple tests for this PR ? Otherwise looks good.

src/systems/user_commands/UserCommands.cc

ivanpauno · 2022-03-04T18:20:52Z

Thanks for the wildcard addition to link names ! Can we add some simple tests for this PR ? Otherwise looks good.

I was trying to create a test, but I couldn't find a way how.
The wheel slip parameters are internally stored by the WheelSlip plugin.
I don't think there's a way to get a pointer to a system and introspect it, but maybe there is (?).

The other thing I wanted to test is to see if I could check that the generated WheelSlipCmds that the UserCommands plugins used to communicate with the slip plugin were correct.
I couldn't make that happen either, as in the same preUpdate() step the user commands system generates the component and the wheel slip system later consumes it.

I will only add a test that shows that the service calls work, but if anyone has a better idea of how to test this I can try it.

adityapande-1995 · 2022-03-08T22:08:34Z

I agree, it is not possible here to test that the WheelSlip plugin has set the the correct parameters. Otherwise looks good to me. THe CI will require a release of ign-msgs I guess.

ivanpauno · 2022-03-11T21:06:27Z

@adityapande-1995 I have modified how entities are identified based on feedback here.
Implementation is in 2d98ab9.
Could you review again?

Signed-off-by: Ivan Santiago Paunovic <[email protected]> Co-authored-by: Aditya Pande <[email protected]>

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

…nrobotics/ign-gazebo into ivanpauno/wheel-slip-cmd Signed-off-by: Ivan Santiago Paunovic <[email protected]>

ivanpauno · 2022-03-22T16:53:21Z

The failing jobs seem unrelated.

@chapulina @adityapande-1995 can this be merged?

chapulina · 2022-03-22T18:59:27Z

The failing jobs seem unrelated.

This test failure looks related:

157: [ RUN      ] UserCommandsTest.WheelSlip
157: �[31m[Err] [C:\Jenkins\workspace\ign_gazebo-pr-win\ws\ign-common\src\SystemPaths.cc:377] �[m�[31mUnable to find file with URI [�[m�[31mC:///Jenkins/workspace/ign_gazebo-pr-win/ws/ign-gazebo/test/worlds/trisphere_cycle_wheel_slip.sdf�[m�[31m]�[m�[31m
157: �[m�[31m[Err] [C:\Jenkins\workspace\ign_gazebo-pr-win\ws\ign-common\src\SystemPaths.cc:467] �[m�[31mCould not resolve file [�[m�[31mC:/Jenkins/workspace/ign_gazebo-pr-win/ws/ign-gazebo/test/worlds/trisphere_cycle_wheel_slip.sdf�[m�[31m]�[m�[31m
157: �[m�[31m[Err] [C:\Jenkins\workspace\ign_gazebo-pr-win\ws\ign-gazebo\src\Server.cc:158] �[m�[31mFailed to find world [�[m�[31mC:/Jenkins/workspace/ign_gazebo-pr-win/ws/ign-gazebo/test/worlds/trisphere_cycle_wheel_slip.sdf�[m�[31m]�[m�[31m
157: �[mC:\Jenkins\workspace\ign_gazebo-pr-win\ws\ign-gazebo\test\integration\user_commands.cc(1045): error: Expected: (nullptr) != (ecm), actual: (nullptr) vs NULL

I haven't been actively reviewing this, but please feel free to merge once CI is happy and it has an approval. Feel free to ping me if you need another set of eyes after the first approval.

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

ivanpauno · 2022-03-23T20:24:03Z

This test failure looks related:

Sorry, I didn't pay attention to the windows job.
Now it's failing again, but the new problem actually seems unrelated.

19606cd should've fixed the previous issue (all the other tests in that file are being skipped on Windows).

chapulina · 2022-03-25T02:09:23Z

@ivanpauno @jacobperron @scpeters , heads up that Edifice (ign-gazebo5) will EOL next week. Do you think this will get merged before then?

ivanpauno · 2022-03-25T14:09:25Z

@ivanpauno @jacobperron @scpeters , heads up that Edifice (ign-gazebo5) will EOL next week. Do you think this will get merged before then?

It would be good to have it merged before, so we only need to forward port to newer releases.
The PR is ready and CI was passing (I updated the PR with the base branch again, but it should still pass 🤞), so it only needs ✔️ and to get merged.

@adityapande-1995 could you take a look again?

scpeters · 2022-03-28T18:27:32Z

CI looks fine to me

changes have been addressed

* GzSceneManager: Prevent crash 💥 when inserted from menu (#1371) Signed-off-by: Louise Poubel <[email protected]> Signed-off-by: ahcorde <[email protected]> Co-authored-by: ahcorde <[email protected]> * Prepare version 6.7.0 (#1373) * Prepare version 6.7.0 Signed-off-by: Jose Luis Rivero <[email protected]> * Populate GUI plugins that are empty (#1375) Signed-off-by: Louise Poubel <[email protected]> * Fix visualization python tutorial (#1377) Signed-off-by: ahcorde <[email protected]> * Add xyz and rpy offset to published odometry pose (#1341) * Added xyz and rpy offset to published pose Signed-off-by: Aditya <[email protected]> * Added headless rendering tutorial (#1386) * Added headless rendering tutorial Signed-off-by: Nate Koenig <[email protected]> * Update tutorials/headless_rendering.md Co-authored-by: Louise Poubel <[email protected]> Signed-off-by: Nate Koenig <[email protected]> * Update tutorials/headless_rendering.md Co-authored-by: Louise Poubel <[email protected]> Signed-off-by: Nate Koenig <[email protected]> * Mention ogre2 Signed-off-by: Nate Koenig <[email protected]> * Added note about software rendering Signed-off-by: Nate Koenig <[email protected]> * add 'on linux systems' Signed-off-by: Nate Koenig <[email protected]> * Add xyz and rpy offset to published odometry pose (#1341) * Added xyz and rpy offset to published pose Signed-off-by: Aditya <[email protected]> Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Louise Poubel <[email protected]> Co-authored-by: Aditya Pande <[email protected]> * Allow to turn on/off lights (#1343) Signed-off-by: ahcorde <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Add gazebo Entity id to rendering sensor's user data (#1381) Adds the gazebo::Entity id to a rendering::Sensor's UserData object. The main use case is so that we can get back the corresponding gazebo Entity in the rendering thread when processing sensors. Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> * Don't mark entities with a ComponentState::NoChange component as modified (#1391) Signed-off-by: Ashton Larkin <[email protected]> * Disable ModelCommandAPI_TEST.RgbdCameraSensor on macOS (#1397) Disabling test since it's very flaky. Signed-off-by: Addisu Z. Taddese <[email protected]> * Disable PeerTracker.PeerTrackerStale on macOS (#1398) Signed-off-by: Addisu Z. Taddese <[email protected]> * Toggle Light visuals (#1387) Signed-off-by: ahcorde <[email protected]> * Prevent hanging when world has only non-world plugins (#1383) Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> * Component inspector: refactor Pose3d C++ code into a separate class (#1400) Signed-off-by: Louise Poubel <[email protected]> * add initial_position param to joint controller system (#1406) Similar to the <initial_position> parameter in the JointTrajectoryController system, this PR adds an <initial_position> parameter to the JointPositionController to let users specifies the initial target pos for a joint. Signed-off-by: Ian Chen <[email protected]> * Fix JointStatePublisher topic name for nested models (#1405) The joint-state-publisher system currently assumes it's always attached to the top level model and hence generates an incorrect topic name for nested models. This PR updates it to generate the correct topic name. Signed-off-by: Ian Chen <[email protected]> * Added user command to set multiple entities (#1394) Signed-off-by: ahcorde <[email protected]> Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Disable tests that are expected to fail on Windows (#1408) Signed-off-by: Louise Poubel <[email protected]> * Fortress: Install Ogre 2.2, simplify docker (#1395) Signed-off-by: Louise Poubel <[email protected]> * SceneBroadcaster: only send changed state information for change events (#1392) Signed-off-by: Ashton Larkin <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Add wheel slip user command (#1241) Signed-off-by: Ivan Santiago Paunovic <[email protected]> * Distortion camera integration test (#1374) Signed-off-by: William Lew <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Add the Model Photo Shoot system, port of Modelpropshop plugin from Gazebo classic (#1331) This system can be used to generate thumbnails of models. In comparison to the Modelpropshop plugin in Gazebo classic, this adds the ability to generate thumbnails after randomizing the joint positions of the model. Signed-off-by: Marco A. Gutierrez <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> * Referring to Fuel assets within a heightmap (#1419) Signed-off-by: Louise Poubel <[email protected]> * Disable sensors in sensors system when battery is drained (#1385) Added a new parameter <disable_on_drained_battery> to the sensors system. If set to true, sensors will be disabled if the model is out of battery. It listens to the battery state of charge from the battery plugin, and if the charge reaches zero, all child sensors and nested sensors are set to be inactive. Signed-off-by: Ian Chen <[email protected]> * 🏁🎈 5.4.0 (#1420) Signed-off-by: Louise Poubel <[email protected]> * ServerConfig accepts an sdf::Root DOM object (#1333) Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> * Preparing 6.8.0 release (#1425) * Prepareing 6.8.0 release Signed-off-by: Jose Luis Rivero <[email protected]> * Update changelog after merging forward port Signed-off-by: Jose Luis Rivero <[email protected]> * Add Gaussian noise to Odometry Publisher (#1393) * Added gaussian noise and odometry with covariance publisher Signed-off-by: Aditya <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Fix deprecation warnings for ModelPhotoShoot (#1437) Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: ahcorde <[email protected]> Co-authored-by: Jose Luis Rivero <[email protected]> Co-authored-by: Aditya Pande <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Ashton Larkin <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Ivan Santiago Paunovic <[email protected]> Co-authored-by: William Lew <[email protected]> Co-authored-by: Marco A. Gutiérrez <[email protected]> Co-authored-by: Michael Carroll <[email protected]>

osrf-triage · 2022-04-13T21:29:45Z

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1

ivanpauno added the enhancement New feature or request label Dec 9, 2021

ivanpauno requested a review from scpeters December 9, 2021 21:40

ivanpauno self-assigned this Dec 9, 2021

github-actions bot added the 🏢 edifice Ignition Edifice label Dec 9, 2021

chapulina added the needs upstream release Blocked by a release of an upstream library label Dec 9, 2021

ahcorde previously requested changes Dec 10, 2021

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scpeters mentioned this pull request Jan 11, 2022

Add wheel slip message definition gazebosim/gz-msgs#205

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ivanpauno marked this pull request as ready for review February 3, 2022 19:26

ivanpauno requested a review from chapulina as a code owner February 3, 2022 19:26

ivanpauno requested a review from adityapande-1995 February 4, 2022 14:07

ivanpauno force-pushed the ivanpauno/wheel-slip-cmd branch from 80dad69 to 6b4bfc0 Compare February 4, 2022 14:10

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ivanpauno mentioned this pull request Mar 10, 2022

Add docs to wheel_slip_parameters_cmd.proto gazebosim/gz-msgs#227

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ivanpauno and others added 3 commits March 21, 2022 17:16

copyright notice year: 2021 -> 2022

c7b6db6

Signed-off-by: Ivan Santiago Paunovic <[email protected]> Co-authored-by: Aditya Pande <[email protected]>

Make codecheck pass

def1f85

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Update include

05b8869

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

ivanpauno requested a review from iche033 as a code owner March 21, 2022 20:18

ivanpauno requested a review from ahcorde March 21, 2022 20:18

Merge branch 'ivanpauno/wheel-slip-cmd' of https://github.com/ignitio…

77b76ab

…nrobotics/ign-gazebo into ivanpauno/wheel-slip-cmd Signed-off-by: Ivan Santiago Paunovic <[email protected]>

ivanpauno force-pushed the ivanpauno/wheel-slip-cmd branch from d5ecb6c to 77b76ab Compare March 21, 2022 20:19

Maybe fix CI issue

f9161d3

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

ivanpauno closed this Mar 23, 2022

ivanpauno reopened this Mar 23, 2022

Do what the other tests are doing: skip on windows

19606cd

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Merge branch 'ign-gazebo5' into ivanpauno/wheel-slip-cmd

5f92368

jacobperron approved these changes Mar 28, 2022

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ivanpauno merged commit adeb304 into ign-gazebo5 Mar 28, 2022

ivanpauno deleted the ivanpauno/wheel-slip-cmd branch March 28, 2022 21:31

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Add wheel slip user command #1241

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Add wheel slip user command #1241

Add wheel slip user command #1241

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ivanpauno commented Dec 9, 2021 • edited Loading

🎉 New feature

Summary

Test it

Checklist

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