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Gazebo plugin advertise add group after simulation starts #104

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Merged
iamtesch merged 4 commits into from
Mar 6, 2019
Merged

Gazebo plugin advertise add group after simulation starts #104

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801375e
Wait until simulation begins before advertising AddGroupFromNameSrv i…
Sep 12, 2018
83bdbf9
Remove leading underscore from variable name
Sep 12, 2018
af1537f
Use bracket initialization for first_sim_iteration flag
Nov 20, 2018
b7c45a3
Merge branch 'develop' into gazebo_plugin_advertise_add_group_after_s…
iamtesch Mar 6, 2019
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1 change: 1 addition & 0 deletions hebiros_gazebo_plugin/include/hebiros_gazebo_plugin.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@ class HebirosGazeboPlugin: public ModelPlugin {
private:

physics::ModelPtr model;
bool first_sim_iteration{true};
event::ConnectionPtr update_connection;
std::map<std::string, std::shared_ptr<HebirosGazeboGroup>> hebiros_groups;
std::map<std::string, std::shared_ptr<HebirosGazeboJoint>> hebiros_joints;
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14 changes: 9 additions & 5 deletions hebiros_gazebo_plugin/plugin/hebiros_gazebo_plugin.cpp
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Expand Up @@ -8,11 +8,6 @@ void HebirosGazeboPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) {
char **argv = NULL;
ros::init(argc, argv, "hebiros_gazebo_plugin_node");

this->add_group_srv =
this->n->advertiseService<AddGroupFromNamesSrv::Request, AddGroupFromNamesSrv::Response>(
"hebiros_gazebo_plugin/add_group", boost::bind(
&HebirosGazeboPlugin::SrvAddGroup, this, _1, _2));

this->robot_namespace = "";
if (_sdf->HasElement("robotNamespace")) {
this->robot_namespace = _sdf->GetElement("robotNamespace")->Get<std::string>();
Expand All @@ -31,6 +26,15 @@ void HebirosGazeboPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) {

//Update the joints at every simulation iteration
void HebirosGazeboPlugin::OnUpdate(const common::UpdateInfo & _info) {

if (this->first_sim_iteration) {
this->first_sim_iteration = false;
this->add_group_srv =
this->n->advertiseService<AddGroupFromNamesSrv::Request, AddGroupFromNamesSrv::Response>(
"/hebiros_gazebo_plugin/add_group", boost::bind(
&HebirosGazeboPlugin::SrvAddGroup, this, _1, _2));
}

ros::Time current_time = ros::Time::now();

for (auto group_pair : hebiros_groups) {
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