Merge pull request #432 from robotology/devel

Merge devel in master and release v3.2.0
robotology · Jul 1, 2019 · 06255f1 · 06255f1
2 parents 06853b2 + 147419e
commit 06255f1
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diff --git a/AUTHORS b/AUTHORS
@@ -19,4 +19,5 @@ Mirko Ferrati <[email protected]>
 Nicola Piga <[email protected]>
 Prashanth Ramadoss <[email protected]>
 Silvio Traversaro <[email protected]>
-Yeshasvi Tirupachuri<[email protected]>
+Yeshasvi Tirupachuri <[email protected]>
+Lorenzo Rapetti <[email protected]>
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -0,0 +1,17 @@
+# Changelog
+All notable changes to this project will be documented in this file.
+
+The format of this document is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
+
+## [3.2.0] - 2019-07-01
+### Added
+- Add `resetSimulation` method to reset simulation state and time time, in the `gazebo_yarp_clock` RPC interface (https://github.com/robotology/gazebo-yarp-plugins/pull/345).
+- Add `resetSimulationState` method to reset simulation state, but not the time, in the `gazebo_yarp_clock` RPC interface (https://github.com/robotology/gazebo-yarp-plugins/pull/424).
+- Add `gazebo_yarp_doublelaser` plugin to simulate a double laser device (https://github.com/robotology/gazebo-yarp-plugins/pull/419).
+- Add `gazebo_yarp_configurationoverride` plugin that can be attached to a model in order to override the [`sdf`](http://sdformat.org/spec) configuration of any other plugin that is attached to the same model (https://github.com/robotology/gazebo-yarp-plugins/pull/401). This plugin is particularly useful to set the initial configuration  of a given model, and is documented in https://github.com/robotology/gazebo-yarp-plugins/blob/v3.2.0/plugins/configurationoverride/README.md . 
+- Add features in `gazebo_yarp_externalwrench` to apply multiple external wrenchs at the same time (https://github.com/robotology/gazebo-yarp-plugins/pull/418) .
+- Add the  `yarpConfigurationString` to configure the YARP plugins with a single `yarpConfigurationString` embedded in the SDF code of the plugin (https://github.com/robotology/gazebo-yarp-plugins/pull/396).
+- Add a ChangeLog document based on the format defined in [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
+
+### Fixed
+- Fix invalid camera parameters in `gazebo_depthCamera` plugin (https://github.com/robotology/gazebo-yarp-plugins/pull/408).
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -7,8 +7,9 @@ PROJECT(GazeboYARPPlugins)
 
 # Project version
 set(${PROJECT_NAME}_MAJOR_VERSION 3)
-set(${PROJECT_NAME}_MINOR_VERSION 1)
-set(${PROJECT_NAME}_PATCH_VERSION 2)
+set(${PROJECT_NAME}_MINOR_VERSION 2)
+set(${PROJECT_NAME}_PATCH_VERSION 0)
+
 set(${PROJECT_NAME}_VERSION
     ${${PROJECT_NAME}_MAJOR_VERSION}.${${PROJECT_NAME}_MINOR_VERSION}.${${PROJECT_NAME}_PATCH_VERSION})
 
@@ -45,10 +46,6 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake)
 
 #used for dir suffixes
 include(GNUInstallDirs)
-if (CMAKE_VERSION LESS 3.0)
-    # hack: by default this would be 'lib/x86_64-linux-gnu' on linux
-    set(CMAKE_INSTALL_LIBDIR lib)
-endif()
 
 OPTION(GAZEBO_YARP_PLUGINS_ENABLE_RPATH "Enable installation with RPATH" TRUE)
 include(AddInstallRPATHSupport)

diff --git a/doc/embed_plugins.md b/doc/embed_plugins.md
@@ -33,16 +33,18 @@ but are nevertheless useful for simulating complex scenarios.
 | Contact Load Cell Array| `gazebo_contactloadcellarray` | Model | gazebo::GazeboYarpContactLoadCellArray | yarp::dev::GazeboYarpContactLoadCellArrayDriver |
 
 ## Plugins exposing simulation-specific functionalities
-|  Functionality     | Plugin Name  | Plugin Type |  Gazebo Plugin class  |
-| :----------------: |:-------------:| :-----:|:---------------------------------:|
-| Clock synchronization  | `gazebo_yarp_clock` | System | gazebo::GazeboYarpClock |
-| Apply external force/torque via YARP facilities | `gazebo_yarp_externalwrench` | Model |  gazebo::ApplyExternalWrench |
-| Display the Center of Mass of a model | `gazebo_yarp_showmodelcom` | Model | gazebo::ShowModelCoM |
-| Project an image stream on a simulated surface | `gazebo_yarp_videotexture` | Visual  | gazebo::VideoTexture |
-| Expose a YARP RPC interface to create/manipulate objects programatically. | `gazebo_yarp_worldinterface` | Model |  gazebo::WorldInterface |
-| Publish the absolute pose of the root link of a model. | `gazebo_yarp_modelposepublisher` | Model | gazebo::GazeboYarpModelPosePublisher |
-| Expose a YARP RPC interface to attach/detach links of the models spawned to the links of the robot using a fixed joint. | `gazebo_yarp_rpc_linkattacher` | Model | gazebo::GazeboYarpLinkAttacher |
+|  Functionality     | Plugin Name  | Plugin Type |  Gazebo Plugin class  | YARP Device class (if any)  |
+| :----------------: |:-------------:| :-----:|:---------------------------------:|:-------------------:|
+| Clock synchronization  | `gazebo_yarp_clock` | System | gazebo::GazeboYarpClock | |
+| Apply external force/torque via YARP facilities | `gazebo_yarp_externalwrench` | Model |  gazebo::ApplyExternalWrench | |
+| Display the Center of Mass of a model | `gazebo_yarp_showmodelcom` | Model | gazebo::ShowModelCoM | |
+| Project an image stream on a simulated surface | `gazebo_yarp_videotexture` | Visual  | gazebo::VideoTexture | |
+| Expose a YARP RPC interface to create/manipulate objects programatically. | `gazebo_yarp_worldinterface` | Model |  gazebo::WorldInterface | |
+| Publish the absolute pose of the root link of a model. | `gazebo_yarp_modelposepublisher` | Model | gazebo::GazeboYarpModelPosePublisher | |
+| Expose a YARP RPC interface to attach/detach links of the models spawned to the links of the robot using a fixed joint. | `gazebo_yarp_rpc_linkattacher` | Model | gazebo::GazeboYarpLinkAttacher | |
 | Exposes the absolute pose, velocity and acceleration of a desired link through YARP analog server device| `gazebo_basestate` | Model | gazebo::GazeboYarpBaseState | yarp::dev::GazeboYarpBaseStateDriver |
+| Changes the value of the property of a specific plugin attached to the model (if not present, the configuration is created) | `gazebo_yarp_configurationoverride` | Model | gazebo::GazeboYarpConfigurationOverride | |
+
 
 ## Using the plugins in Gazebo Models
 In Gazebo, the simulated models are described using the [SDF (simulation description format)]((http://gazebosim.org/sdf.html), an XML-based file format.
@@ -55,7 +57,10 @@ For model plugins such as the `gazebo_yarp_controlboard`, a plugin can be loaded
 </plugin>
 ~~~
 Most Model and Sensor plugins present in `gazebo-yarp-plugins` read their configuration from the file referenced in the `yarpConfigurationFile` tag.
-The location of the file is defined by using a [Gazebo URI](https://bitbucket.org/osrf/gazebo/wiki/uri), while the file is a [.ini YARP configuration file](http://www.yarp.it/yarp_config_files.html).
+The location of the file is defined by using a [Gazebo URI](https://bitbucket.org/osrf/gazebo/wiki/uri), while the file is a [.ini YARP configuration file](http://www.yarp.it/yarp_config_files.html). Alternatively, parameters can be passed directly in the `sdf` with the [`Bottle`](http://www.yarp.it/classyarp_1_1os_1_1Bottle.html) format using the `yarpConfigurationString` tag (e.g. `<yarpConfigurationString>(name /iCub/linkattacher/rpc:i)</yarpConfigurationString>`). When using `yarpConfigurationString`, it is important to remember that:
+- only **one** `yarpConfigurationString` can be defined for each plugin.
+- the tags `<yarpConfigurationFile>` and `<yarpConfigurationString>` can coexist, but if a parameter is defined in both the value in `<yarpConfigurationString>` will **always** be used.
+
 For specific information consumed by each plugin, please refer to the doxygen documentation of the specific plugin class.
 
 System plugins instead need to be loaded at the beginning of the simulation, and hence they are passed as command line arguments when launching `gazebo` (or `gzserver`).

diff --git a/libraries/common/CMakeLists.txt b/libraries/common/CMakeLists.txt
@@ -2,13 +2,11 @@
 # Authors: Enrico Mingo, Alessio Rocchi, Mirko Ferrati, Silvio Traversaro, Alessandro Settimi and Francesco Romano
 # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
 
-cmake_minimum_required(VERSION 2.8.11)
+
 
 PROJECT(Library_Common)
 
-if(CMAKE_VERSION VERSION_LESS 3.0.0)
-    set_property(GLOBAL APPEND PROPERTY GAZEBO_YARP_COMMON_HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/include")
-else()
+
     add_library(gazebo_yarp_lib_common INTERFACE)
     target_include_directories(gazebo_yarp_lib_common INTERFACE
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -18,4 +16,3 @@ else()
     install(TARGETS gazebo_yarp_lib_common EXPORT GazeboYARPPlugins)
     install(FILES include/GazeboYarpPlugins/common.h
             DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/GazeboYarpPlugins)
-endif()
diff --git a/libraries/singleton/CMakeLists.txt b/libraries/singleton/CMakeLists.txt
@@ -2,7 +2,7 @@
 # Authors: Enrico Mingo, Alessio Rocchi, Mirko Ferrati, Silvio Traversaro, Alessandro Settimi and Francesco Romano
 # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
 
-cmake_minimum_required(VERSION 2.8.11)
+
 
 PROJECT(Library_Singleton)
 

diff --git a/libraries/singleton/include/GazeboYarpPlugins/ConfHelpers.hh b/libraries/singleton/include/GazeboYarpPlugins/ConfHelpers.hh
@@ -45,7 +45,9 @@ std::vector<std::string> splitString(const std::string &s, const std::string &de
  * Load the configuration for a given model plugin,
  * and save the configuration in the plugin_parameters output object.
  * This involves calling addGazeboEnviromentalVariablesModel and then loading
- * the yarp configuration file specified in the sdf with the yarpConfigurationFile tag.
+ * the yarp configuration file specified in the sdf with the yarpConfigurationFile and
+ * yarpConfigurationString tags. In case a parameter is defined in both, the yarpConfigurationString
+ * has the priority.
  */
 bool loadConfigModelPlugin(gazebo::physics::ModelPtr _parent,
                            sdf::ElementPtr _sdf,
@@ -74,7 +76,9 @@ bool addGazeboEnviromentalVariablesModel(gazebo::physics::ModelPtr _parent,
  * Load the configuration for a given sensor plugin,
  * and save the configuration in the plugin_parameters output object.
  * This involves calling addGazeboEnviromentalVariablesSensor and then loading
- * the yarp configuration file specified in the sdf with the yarpConfigurationFile tag.
+ * the yarp configuration file specified in the sdf with the yarpConfigurationFile and
+ * yarpConfigurationString tags. In case a parameter is defined in both, the yarpConfigurationString
+ * has the priority.
  */
 bool loadConfigSensorPlugin(gazebo::sensors::SensorPtr _sensor,
                             sdf::ElementPtr _sdf,

diff --git a/libraries/singleton/src/ConfHelpers.cc b/libraries/singleton/src/ConfHelpers.cc
@@ -60,23 +60,33 @@ bool loadConfigModelPlugin(physics::ModelPtr _model,
                            sdf::ElementPtr _sdf,
                            yarp::os::Property& plugin_parameters)
 {
-    if (_sdf->HasElement("yarpConfigurationFile")) {
+    GazeboYarpPlugins::addGazeboEnviromentalVariablesModel(_model,_sdf,plugin_parameters);
+    bool wipe = false;
+    bool loaded_configuration = true;
+
+    if (_sdf->HasElement("yarpConfigurationFile"))
+    {
         std::string ini_file_name = _sdf->Get<std::string>("yarpConfigurationFile");
         std::string ini_file_path = gazebo::common::SystemPaths::Instance()->FindFileURI(ini_file_name);
 
-        GazeboYarpPlugins::addGazeboEnviromentalVariablesModel(_model,_sdf,plugin_parameters);
-
-        bool wipe = false;
         if (ini_file_path != "" && plugin_parameters.fromConfigFile(ini_file_path.c_str(),wipe)) {
-            return true;
+            loaded_configuration = true;
         } else {
             yError() << "GazeboYarpPlugins error: failure in loading configuration for model" << _model->GetName() << "\n"
                       << "GazeboYarpPlugins error: yarpConfigurationFile : " << ini_file_name << "\n"
                       << "GazeboYarpPlugins error: yarpConfigurationFile absolute path : " << ini_file_path;
-            return false;
+            loaded_configuration = false;
         }
     }
-    return true;
+
+    if (_sdf->HasElement("yarpConfigurationString"))
+    {
+        std::string configuration_string = _sdf->Get<std::string>("yarpConfigurationString");
+        plugin_parameters.fromString(configuration_string, wipe);
+        yInfo() << "GazeboYarpPlugins: configuration of model " << _model->GetName() << " loaded from yarpConfigurationString : " << configuration_string << "\n";
+    }
+
+    return loaded_configuration;
 }
 
 bool addGazeboEnviromentalVariablesSensor(gazebo::sensors::SensorPtr _sensor,
@@ -122,31 +132,41 @@ bool loadConfigSensorPlugin(sensors::SensorPtr _sensor,
                             sdf::ElementPtr _sdf,
                             yarp::os::Property& plugin_parameters)
 {
+    GazeboYarpPlugins::addGazeboEnviromentalVariablesSensor(_sensor,_sdf,plugin_parameters);
+    bool wipe = false;
+    bool loaded_configuration = true;
+
+#if GAZEBO_MAJOR_VERSION >= 7
+    std::string sensorName = _sensor->Name();
+#else
+    std::string sensorName = _sensor->GetName();
+#endif
+
     if (_sdf->HasElement("yarpConfigurationFile")) {
         std::string ini_file_name = _sdf->Get<std::string>("yarpConfigurationFile");
         std::string ini_file_path = gazebo::common::SystemPaths::Instance()->FindFileURI(ini_file_name);
-
-        GazeboYarpPlugins::addGazeboEnviromentalVariablesSensor(_sensor,_sdf,plugin_parameters);
-
-        bool wipe = false;
+
         if (ini_file_path != "" && plugin_parameters.fromConfigFile(ini_file_path.c_str(),wipe))
         {
-            return true;
+            loaded_configuration = true;
         }
         else
         {
-#if GAZEBO_MAJOR_VERSION >= 7
-    std::string sensorName = _sensor->Name();
-#else
-    std::string sensorName = _sensor->GetName();
-#endif
             yError()  << "GazeboYarpPlugins error: failure in loading configuration for sensor " << sensorName << "\n"
                       << "GazeboYarpPlugins error: yarpConfigurationFile : " << ini_file_name << "\n"
                       << "GazeboYarpPlugins error: yarpConfigurationFile absolute path : " << ini_file_path ;
-            return false;
+            loaded_configuration = false;
         }
     }
-    return true;
+
+    if (_sdf->HasElement("yarpConfigurationString"))
+    {
+        std::string configuration_string = _sdf->Get<std::string>("yarpConfigurationString");
+        plugin_parameters.fromString(configuration_string, wipe);
+        yInfo() << "GazeboYarpPlugins: configuration of sensor " << sensorName << " loaded from yarpConfigurationString : " << configuration_string << "\n";
+    }
+
+    return loaded_configuration;
 }
 
 

diff --git a/plugins/CMakeLists.txt b/plugins/CMakeLists.txt
@@ -30,9 +30,11 @@ endif()
 add_subdirectory(worldinterface)
 add_subdirectory(linkattacher)
 add_subdirectory(lasersensor)
+add_subdirectory(doublelaser)
 add_subdirectory(depthCamera)
 
 
 add_subdirectory(contactloadcellarray)
 add_subdirectory(modelposepublisher)
 add_subdirectory(basestate)
+add_subdirectory(configurationoverride)
diff --git a/plugins/basestate/CMakeLists.txt b/plugins/basestate/CMakeLists.txt
@@ -2,24 +2,18 @@
 # Authors: see AUTHORS file.
 # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
 
-cmake_minimum_required(VERSION 2.8.7)
 
 include(AddGazeboYarpPluginTarget)
 
-set(LIB_COMMON_NAME gazebo_yarp_lib_common)
 
-if(CMAKE_VERSION VERSION_LESS 3.0.0)
-    get_property(GAZEBO_YARP_COMMON_HEADERS GLOBAL PROPERTY GAZEBO_YARP_COMMON_HEADERS)
-    unset(LIB_COMMON_NAME)
-endif()
 
 
 add_gazebo_yarp_plugin_target(LIBRARY_NAME basestate
                               INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}
                               INCLUDE_DIRS include/gazebo 
                                            include/yarp/dev
                               SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
-                              LINKED_LIBRARIES ${LIB_COMMON_NAME} gazebo_yarp_singleton ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ${SDFORMAT_LIBRARIES}
+                              LINKED_LIBRARIES gazebo_yarp_lib_common gazebo_yarp_singleton ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ${SDFORMAT_LIBRARIES}
                               HEADERS include/gazebo/BaseState.hh
                                       include/yarp/dev/BaseStateDriver.h
                               SOURCES src/BaseState.cc

diff --git a/plugins/basestate/src/BaseState.cc b/plugins/basestate/src/BaseState.cc
@@ -65,33 +65,27 @@ namespace gazebo
         ::yarp::dev::Drivers::factory().add(new ::yarp::dev::DriverCreatorOf< ::yarp::dev::GazeboYarpBaseStateDriver>
                                         ("gazebo_basestate", "analogServer", "GazeboYarpBaseState"));
 
-        yarp::os::Bottle networkDeviceProp;
-        yarp::os::Bottle deviceDriverProp;
-
-        if (_sdf->HasElement("yarpConfigurationFile"))
-        {
-            std::string ini_file_name = _sdf->Get<std::string>("yarpConfigurationFile");
-            std::string ini_file_path = gazebo::common::SystemPaths::Instance()->FindFileURI(ini_file_name);
-
-            GazeboYarpPlugins::addGazeboEnviromentalVariablesModel(_parent, _sdf, m_config);
-
-            bool wipe = false;
-            if (ini_file_path != "" && m_config.fromConfigFile(ini_file_path.c_str(), wipe))
-            {
-                networkDeviceProp = m_config.findGroup("WRAPPER");
-                if (networkDeviceProp.isNull())
-                {
-                    yError() << "GazeboYarpBaseState plugin failed: [WRAPPER] group not found in config file";
-                    return;
-                }
-
-                deviceDriverProp = m_config.findGroup("DRIVER");
-                if (deviceDriverProp.isNull())
-                {
-                    yError() << "GazeboYarpBaseState plugin failed: [DRIVER] group not found in config file";
-                    return;
-                }
-            }
+        // Getting .ini configuration file parameters from sdf
+        bool configuration_loaded = GazeboYarpPlugins::loadConfigModelPlugin(_parent, _sdf, m_config);
+
+        if (!configuration_loaded)
+        {
+            yError() << "GazeboYarpBaseState : File .ini not found, load failed." ;
+            return;
+        }
+
+        yarp::os::Bottle networkDeviceProp = m_config.findGroup("WRAPPER");
+        if (networkDeviceProp.isNull())
+        {
+            yError() << "GazeboYarpBaseState plugin failed: [WRAPPER] group not found in config file";
+            return;
+        }
+
+        yarp::os::Bottle deviceDriverProp = m_config.findGroup("DRIVER");
+        if (deviceDriverProp.isNull())
+        {
+            yError() << "GazeboYarpBaseState plugin failed: [DRIVER] group not found in config file";
+            return;
         }
 
         if (networkDeviceProp.find("device").isNull())

diff --git a/plugins/camera/CMakeLists.txt b/plugins/camera/CMakeLists.txt
@@ -2,22 +2,19 @@
 # Authors: Enrico Mingo, Alessio Rocchi, Mirko Ferrati, Silvio Traversaro, Alessandro Settimi and Francesco Romano
 # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
 
-cmake_minimum_required(VERSION 2.8.7)
+
 
 PROJECT(Plugin_Camera)
 
 include(AddGazeboYarpPluginTarget)
 
-set(LIB_COMMON_NAME gazebo_yarp_lib_common)
-if(CMAKE_VERSION VERSION_LESS 3.0.0)
-    get_property(GAZEBO_YARP_COMMON_HEADERS GLOBAL PROPERTY GAZEBO_YARP_COMMON_HEADERS)
-    unset(LIB_COMMON_NAME)
-endif()
+
+
 
 add_gazebo_yarp_plugin_target(LIBRARY_NAME camera
                               INCLUDE_DIRS include/gazebo include/yarp/dev
                               SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS} ${OGRE_INCLUDE_DIRS}
-                              LINKED_LIBRARIES ${LIB_COMMON_NAME} gazebo_yarp_singleton ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} CameraPlugin
+                              LINKED_LIBRARIES gazebo_yarp_lib_common gazebo_yarp_singleton ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} CameraPlugin
                               HEADERS include/gazebo/Camera.hh
                                       include/yarp/dev/CameraDriver.h
                               SOURCES src/Camera.cc