Publish Joint forces #2369

Fixit-Davide · 2024-04-12T09:45:31Z

🦟 Bug fix

Fixes #883

Summary

These changes should allow to obtain information regarding the forces applied to the joints.

Test it

Pull gz-physics PR: [featherstone] Publish JointFeedback forces. gz-physics#628
Launch gz sim --physics-engine gz-physics-bullet-featherstone-plugin lift_drag.sdf simulation.
Send a command to the model (gz topic -t "/model/lift_drag_demo_model/joint/rod_1_joint/cmd_force" -m gz.msgs.Double -p "data: 0.8").
Echo the topic: gz topic -e -t /world/lift_drag/model/lift_drag_demo_model/joint_state

Checklist

Signed all commits for DCO
Added tests
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

Merge: 8 -> main

Signed-off-by: Ian Chen <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>

Signed-off-by: Addisu Z. Taddese <[email protected]>

Several systems use const_cast in order to call sdf::Element::GetElement with const ElementPtrs, but the FindElement API can be used instead. Also fix gz-sensors branch in custom sensor example Signed-off-by: Steve Peters <[email protected]>

Merge gz-sim8 ➡️ main

* Added missing visible attributes * Enable HIDE_SYMBOLS_BY_DEFAULT --------- Signed-off-by: Jose Luis Rivero <[email protected]>

… gz-cmake. (gazebosim#2283) See gazebosim/gz-cmake#166 (comment) Signed-off-by: Jose Luis Rivero <[email protected]>

* Regroup tutorials into the 4 recommended categories --------- Signed-off-by: Mabel Zhang <[email protected]> Signed-off-by: Michael Carroll <[email protected]> Co-authored-by: Michael Carroll <[email protected]>

Signed-off-by: Ian Chen <[email protected]>

Merge 8 -> main

Merge gz-sim8 ➡️ main

This implements a suggestion from gazebosim#1926 to delete all `*VelocityCmd` components after each time step. This also updates the logic for the following two systems to handle this change: * MulticopterMotorModel: handle missing component Since JointVelocityCmd components are deleted after each timestep, don't skip updating forces and moments if the component does not exist, and use the SetComponent API to more cleanly handle the component creation logic. A syntax error in the the quadcopter test worlds was fixed as well. * TrajectoryFollower: don't need to remove commands Now that the physics system is removing AngularVelocityCmd components at every timestep, that logic can be removed from the trajectory follower system. Signed-off-by: Steve Peters <[email protected]>

ahcorde

do you mind to sign the commit ?

Signed-off-by: Davide Graziato <[email protected]>

azeey · 2024-04-12T15:43:54Z

Also, can you please add a test?

Fixit-Davide · 2024-04-19T10:05:43Z

I have just made a PR in gz-physics in order to populate the force fields while using bullet-featherstone. I added some information on how to test the code there (I have reported them here also).

Signed-off-by: Ian Chen <[email protected]>

iche033

looks good to me

iche033

Also, can you please add a test?

oh just saw that a test was requested.

waiting for a test to be added

Signed-off-by: Ian Chen <[email protected]> Signed-off-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>

Signed-off-by: Van Malleghem Antoine <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>

Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>

Signed-off-by: alexandrosnic <[email protected]> Signed-off-by: Alexandros Nicolaou <[email protected]>

…2594) Signed-off-by: Ian Chen <[email protected]>

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

Signed-off-by: Van Malleghem Antoine <[email protected]>

…sim#2604) Signed-off-by: Ian Chen <[email protected]>

Signed-off-by: Van Malleghem Antoine <[email protected]>

Added information on EGL checking --------- Signed-off-by: Martin Pecka <[email protected]>

…CC 1.13.2. (gazebosim#2606) Signed-off-by: Martin Pecka <[email protected]> Co-authored-by: Ian Chen <[email protected]>

Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>

Signed-off-by: Athena Z <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>

Loading the logging playback plugin before `SceneBroadcaster` prevents playback from being displayed on the GUI. --------- Signed-off-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Arjo Chakravarty <[email protected]>

…im#2619) * Adds a regression test for logplayback gazebosim/gazebo_test_cases#1640 This commit adds a really simple regression check to make sure we actually publish on the right topic. Signed-off-by: Arjo Chakravarty <[email protected]> * typo fix Signed-off-by: Arjo Chakravarty <[email protected]> * Make atomic Signed-off-by: Arjo Chakravarty <[email protected]> --------- Signed-off-by: Arjo Chakravarty <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>

Signed-off-by: Benjamin Perseghetti <[email protected]>

Signed-off-by: Martin Pecka <[email protected]>

…azebosim#2632) * Update links and fix image * use image tag Signed-off-by: Ian Chen <[email protected]>

Signed-off-by: Martin Pecka <[email protected]>

Signed-off-by: Ian Chen <[email protected]>

…gazebosim#2653) Signed-off-by: Ian Chen <[email protected]>

iche033 and others added 15 commits October 10, 2023 13:32

Merge pull request gazebosim#2199 from gazebosim/merge_8_main_20231010

9896923

Merge: 8 -> main

Bumps in Ionic: gz-sim9 (gazebosim#2205)

6686c03

Signed-off-by: Ian Chen <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>

Bumps in ionic : ci_matching_branch/bump_ionic_gz-sim9 (gazebosim#2211)

7a460cd

Signed-off-by: Addisu Z. Taddese <[email protected]>

Merge branch 'gz-sim8' into scpeters/merge_8_main

734977a

Merge pull request gazebosim#2244 from gazebosim/scpeters/merge_8_main

9f21c6e

Merge gz-sim8 ➡️ main

Enable HIDE_SYMBOLS_BY_DEFAULT + linux patches (gazebosim#2248)

451dcf3

* Added missing visible attributes * Enable HIDE_SYMBOLS_BY_DEFAULT --------- Signed-off-by: Jose Luis Rivero <[email protected]>

Remove HIDE_SYMBOLS_BY_DEFAULT: replace by a default configuration in…

c158287

… gz-cmake. (gazebosim#2283) See gazebosim/gz-cmake#166 (comment) Signed-off-by: Jose Luis Rivero <[email protected]>

Regroup tutorials into four categories (gazebosim#2109)

0f27ce0

* Regroup tutorials into the 4 recommended categories --------- Signed-off-by: Mabel Zhang <[email protected]> Signed-off-by: Michael Carroll <[email protected]> Co-authored-by: Michael Carroll <[email protected]>

merge from gz-sim8

220236f

Signed-off-by: Ian Chen <[email protected]>

merge from gz-sim8

295d6f9

Signed-off-by: Ian Chen <[email protected]>

Merge pull request gazebosim#2334 from gazebosim/merge_8_main_20240313

250c939

Merge 8 -> main

Merge branch 'gz-sim8' into scpeters/merge_8_main

00f2676

Merge pull request gazebosim#2363 from gazebosim/scpeters/merge_8_main

301832d

Merge gz-sim8 ➡️ main

Fixit-Davide requested a review from azeey as a code owner April 12, 2024 09:45

github-actions bot added the 🎵 harmonic Gazebo Harmonic label Apr 12, 2024

ahcorde requested changes Apr 12, 2024

View reviewed changes

Fixit-Davide added 2 commits April 12, 2024 12:24

publish jointForces

13a76e1

Signed-off-by: Davide Graziato <[email protected]>

fix

1205d00

Signed-off-by: Davide Graziato <[email protected]>

Fixit-Davide force-pushed the jointforces branch from 889ea36 to 1205d00 Compare April 12, 2024 10:25

update

a989ad1

Fixit-Davide requested a review from mjcarroll as a code owner April 19, 2024 09:47

Fixit-Davide mentioned this pull request Apr 19, 2024

[featherstone] Publish JointFeedback forces. gazebosim/gz-physics#628

Merged

9 tasks

Merge from gz-sim8

098085b

Signed-off-by: Ian Chen <[email protected]>

iche033 previously approved these changes Apr 24, 2024

View reviewed changes

iche033 reviewed Apr 24, 2024

View reviewed changes

iche033 and others added 27 commits September 4, 2024 18:46

Update particle emitter tutorial (gazebosim#2585)

5482778

Signed-off-by: Ian Chen <[email protected]> Signed-off-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>

Fix empty gui tutorial (gazebosim#2591)

fec31aa

Signed-off-by: Van Malleghem Antoine <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>

Fix particle emitter color range image path warning (gazebosim#2560)

8b74a43

Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>

Fix xml and image in create maritime vehicle tutorial (gazebosim#2592)

96e1b03

Signed-off-by: alexandrosnic <[email protected]> Signed-off-by: Alexandros Nicolaou <[email protected]>

Fix configuring global illumination GUI plugin parameters (gazebosim#…

f8f8a80

…2594) Signed-off-by: Ian Chen <[email protected]>

Fixed typo in gz sim python api (gazebosim#2578)

518cc31

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

fix adding system plugins tutorial (gazebosim#2602)

086e08d

Signed-off-by: Van Malleghem Antoine <[email protected]>

Fix known issue section in README (gazebosim#2603)

3977d65

Signed-off-by: Van Malleghem Antoine <[email protected]>

Update physics system error msg when plugin can not be loaded (gazebo…

c1f379e

…sim#2604) Signed-off-by: Ian Chen <[email protected]>

fix CMakeList example + add link to working example (gazebosim#2601)

c4f95c4

Signed-off-by: Van Malleghem Antoine <[email protected]>

tutorials: headless_rendering: Little fixes (gazebosim#2607)

96775c8

Added information on EGL checking --------- Signed-off-by: Martin Pecka <[email protected]>

tutorials: Updated point_cloud_to_mesh tutorial to reflect new UI in …

712643f

…CC 1.13.2. (gazebosim#2606) Signed-off-by: Martin Pecka <[email protected]> Co-authored-by: Ian Chen <[email protected]>

Fix making breadcrumb static if it's a nested model (gazebosim#2593)

9b161db

Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>

Add tutorial + example SDF for shadow texture size (gazebosim#2597)

b1f919b

Signed-off-by: Athena Z <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>

Fix log playback GUI display (gazebosim#2611)

ca40c1d

Loading the logging playback plugin before `SceneBroadcaster` prevents playback from being displayed on the GUI. --------- Signed-off-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Arjo Chakravarty <[email protected]>

Fix typos in joint-tutorial readme. (gazebosim#2622)

3765579

Signed-off-by: Benjamin Perseghetti <[email protected]>

tutorials/terminology: Fixed type (gazebosim#2625)

43b435a

Signed-off-by: Martin Pecka <[email protected]>

tutorials/physics: Small fixes and Windows support (gazebosim#2627)

4c5a914

Signed-off-by: Martin Pecka <[email protected]>

README: Windows-related improvements (gazebosim#2631)

b32c890

Signed-off-by: Martin Pecka <[email protected]>

tutorials/install: Added Windows instructions (gazebosim#2628)

0e1f254

Signed-off-by: Martin Pecka <[email protected]>

Update links in point cloud to mesh tutorial and fix screenshot link (g…

76305df

…azebosim#2632) * Update links and fix image * use image tag Signed-off-by: Ian Chen <[email protected]>

tutorials/video_recorder: Added note about OGV support (gazebosim#2634)

cdca1f1

Signed-off-by: Martin Pecka <[email protected]>

Prepare for 9.0.0 release (gazebosim#2635)

bbe2cc6

Signed-off-by: Ian Chen <[email protected]>

fix custom sensor system example build (gazebosim#2649)

5565815

Signed-off-by: Ian Chen <[email protected]>

Fix crash when multicopter motor system is attached to an empty model (…

990f1c2

…gazebosim#2653) Signed-off-by: Ian Chen <[email protected]>

Merge branch 'gazebosim:gz-sim9' into jointforces

6a9a7cb

Fixit-Davide requested review from mabelzhang and jennuine as code owners November 6, 2024 10:46

Fixit-Davide closed this Nov 6, 2024

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Publish Joint forces #2369

Publish Joint forces #2369

Fixit-Davide commented Apr 12, 2024 •

edited

Loading

ahcorde left a comment

azeey commented Apr 12, 2024

Fixit-Davide commented Apr 19, 2024

iche033 left a comment

iche033 left a comment

Publish Joint forces #2369

Publish Joint forces #2369

Conversation

Fixit-Davide commented Apr 12, 2024 • edited Loading

🦟 Bug fix

Summary

Test it

Checklist

ahcorde left a comment

Choose a reason for hiding this comment

azeey commented Apr 12, 2024

Fixit-Davide commented Apr 19, 2024

iche033 left a comment

Choose a reason for hiding this comment

iche033 left a comment

Choose a reason for hiding this comment

Fixit-Davide commented Apr 12, 2024 •

edited

Loading