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)
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Merge: 8 -> main

Signed-off-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

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 <scpeters@openrobotics.org>

Merge gz-sim8 ➡️ main

* Added missing visible attributes * Enable HIDE_SYMBOLS_BY_DEFAULT --------- Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>

… gz-cmake. (gazebosim#2283) See gazebosim/gz-cmake#166 (comment) Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>

* Regroup tutorials into the 4 recommended categories --------- Signed-off-by: Mabel Zhang <mabel@openrobotics.org> Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai>

Signed-off-by: Ian Chen <ichen@openrobotics.org>

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 <scpeters@openrobotics.org>

ahcorde

do you mind to sign the commit ?

Signed-off-by: Davide Graziato <dgraziato10@gmail.com>

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 <ichen@openrobotics.org>

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 <ichen@openrobotics.org> Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Signed-off-by: Van Malleghem Antoine <antoine.vanmalleghem@botronics.be> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>

Signed-off-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Signed-off-by: alexandrosnic <alexnic31@gmail.com> Signed-off-by: Alexandros Nicolaou <34197007+alexandrosnic@users.noreply.github.com>

…2594) Signed-off-by: Ian Chen <ichen@openrobotics.org>

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Signed-off-by: Van Malleghem Antoine <antoine.vanmalleghem@botronics.be>

…sim#2604) Signed-off-by: Ian Chen <ichen@openrobotics.org>

Signed-off-by: Van Malleghem Antoine <antoine.vanmalleghem@botronics.be>

Added information on EGL checking --------- Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>

…CC 1.13.2. (gazebosim#2606) Signed-off-by: Martin Pecka <peci1@seznam.cz> Co-authored-by: Ian Chen <ichen@openrobotics.org>

Signed-off-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Signed-off-by: Athena Z <athenaz@google.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Loading the logging playback plugin before `SceneBroadcaster` prevents playback from being displayed on the GUI. --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Arjo Chakravarty <arjoc@intrinsic.ai>

…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 <arjoc@intrinsic.ai> * typo fix Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Make atomic Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> --------- Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>

Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>

Signed-off-by: Martin Pecka <peci1@seznam.cz>

…azebosim#2632) * Update links and fix image * use image tag Signed-off-by: Ian Chen <ichen@openrobotics.org>

Signed-off-by: Martin Pecka <peci1@seznam.cz>

Signed-off-by: Ian Chen <ichen@openrobotics.org>

…gazebosim#2653) Signed-off-by: Ian Chen <ichen@openrobotics.org>

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

Merge pull request gazebosim#2199 from gazebosim/merge_8_main_20231010

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Merge: 8 -> main

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

6686c03

Signed-off-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>

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

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Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Merge branch 'gz-sim8' into scpeters/merge_8_main

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

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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 <jrivero@osrfoundation.org>

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 <jrivero@osrfoundation.org>

Regroup tutorials into four categories (gazebosim#2109)

0f27ce0

* Regroup tutorials into the 4 recommended categories --------- Signed-off-by: Mabel Zhang <mabel@openrobotics.org> Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai>

merge from gz-sim8

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Signed-off-by: Ian Chen <ichen@openrobotics.org>

merge from gz-sim8

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Signed-off-by: Ian Chen <ichen@openrobotics.org>

Merge pull request gazebosim#2334 from gazebosim/merge_8_main_20240313

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Merge 8 -> main

Merge branch 'gz-sim8' into scpeters/merge_8_main

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

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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 <dgraziato10@gmail.com>

fix

1205d00

Signed-off-by: Davide Graziato <dgraziato10@gmail.com>

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 <ichen@openrobotics.org>

iche033 previously approved these changes Apr 24, 2024

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iche033 reviewed Apr 24, 2024

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

Update particle emitter tutorial (gazebosim#2585)

5482778

Signed-off-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Fix empty gui tutorial (gazebosim#2591)

fec31aa

Signed-off-by: Van Malleghem Antoine <antoine.vanmalleghem@botronics.be> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>

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

8b74a43

Signed-off-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

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

96e1b03

Signed-off-by: alexandrosnic <alexnic31@gmail.com> Signed-off-by: Alexandros Nicolaou <34197007+alexandrosnic@users.noreply.github.com>

Fix configuring global illumination GUI plugin parameters (gazebosim#…

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…2594) Signed-off-by: Ian Chen <ichen@openrobotics.org>

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

518cc31

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

fix adding system plugins tutorial (gazebosim#2602)

086e08d

Signed-off-by: Van Malleghem Antoine <antoine.vanmalleghem@botronics.be>

Fix known issue section in README (gazebosim#2603)

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Signed-off-by: Van Malleghem Antoine <antoine.vanmalleghem@botronics.be>

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

c1f379e

…sim#2604) Signed-off-by: Ian Chen <ichen@openrobotics.org>

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

c4f95c4

Signed-off-by: Van Malleghem Antoine <antoine.vanmalleghem@botronics.be>

tutorials: headless_rendering: Little fixes (gazebosim#2607)

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Added information on EGL checking --------- Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>

tutorials: Updated point_cloud_to_mesh tutorial to reflect new UI in …

712643f

…CC 1.13.2. (gazebosim#2606) Signed-off-by: Martin Pecka <peci1@seznam.cz> Co-authored-by: Ian Chen <ichen@openrobotics.org>

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

9b161db

Signed-off-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

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 <addisu@openrobotics.org> Co-authored-by: Arjo Chakravarty <arjoc@intrinsic.ai>

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

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Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>

tutorials/terminology: Fixed type (gazebosim#2625)

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Signed-off-by: Martin Pecka <peci1@seznam.cz>

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

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Signed-off-by: Martin Pecka <peci1@seznam.cz>

README: Windows-related improvements (gazebosim#2631)

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Signed-off-by: Martin Pecka <peci1@seznam.cz>

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

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Signed-off-by: Martin Pecka <peci1@seznam.cz>

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

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…azebosim#2632) * Update links and fix image * use image tag Signed-off-by: Ian Chen <ichen@openrobotics.org>

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

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Signed-off-by: Martin Pecka <peci1@seznam.cz>

Prepare for 9.0.0 release (gazebosim#2635)

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Signed-off-by: Ian Chen <ichen@openrobotics.org>

fix custom sensor system example build (gazebosim#2649)

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Signed-off-by: Ian Chen <ichen@openrobotics.org>

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

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…gazebosim#2653) Signed-off-by: Ian Chen <ichen@openrobotics.org>

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

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Publish Joint forces #2369

Publish Joint forces #2369

Fixit-Davide commented Apr 12, 2024 •

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Fixit-Davide commented Apr 19, 2024

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Publish Joint forces #2369

Publish Joint forces #2369

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Fixit-Davide commented Apr 12, 2024 • edited Loading

🦟 Bug fix

Summary

Test it

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Fixit-Davide commented Apr 12, 2024 •

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