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WIP: Envire managers #45

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WIP: Envire managers #45

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Rauldg
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@Rauldg Rauldg commented Jan 21, 2022 •
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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
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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.
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5 participants
@Rauldg @planthaber @saarnold @annaborn @chhtz