Merge pull request #60 from lge-ros2/main

Merge into humble
lge-ros2 · May 21, 2023 · f68ef96 · f68ef96
2 parents a344b1a + 8149862
commit f68ef96
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diff --git a/cloisim_ros_actor/package.xml b/cloisim_ros_actor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_actor</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>node for actor plugin</description>
 
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>

diff --git a/cloisim_ros_base/package.xml b/cloisim_ros_base/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_base</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>CLOiSim-ROS base class for other CLOiSim-ROS</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <author email="hyunseok7.yang@lge.com">Hyunseok Yang</author>

diff --git a/cloisim_ros_bridge_zmq/package.xml b/cloisim_ros_bridge_zmq/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_bridge_zmq</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>bridge for cloisim(simulator) connection through ZMQ</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <author email="hyunseok7.yang@lge.com">Hyunseok Yang</author>

diff --git a/cloisim_ros_bringup/CMakeLists.txt b/cloisim_ros_bringup/CMakeLists.txt
@@ -26,6 +26,7 @@ find_package(cloisim_ros_multicamera REQUIRED)
 find_package(cloisim_ros_realsense REQUIRED)
 find_package(cloisim_ros_gps REQUIRED)
 find_package(cloisim_ros_imu REQUIRED)
+find_package(cloisim_ros_sonar REQUIRED)
 find_package(cloisim_ros_elevator_system REQUIRED)
 find_package(cloisim_ros_ground_truth REQUIRED)
 find_package(cloisim_ros_world REQUIRED)
@@ -45,6 +46,7 @@ set(dependencies
   cloisim_ros_realsense
   cloisim_ros_gps
   cloisim_ros_imu
+  cloisim_ros_sonar
   cloisim_ros_elevator_system
   cloisim_ros_ground_truth
   cloisim_ros_world

diff --git a/cloisim_ros_bringup/package.xml b/cloisim_ros_bringup/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_bringup</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>Bringup scripts and configurations for cloisim_ros</description>
 
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
@@ -27,6 +27,7 @@
   <depend>cloisim_ros_realsense</depend>
   <depend>cloisim_ros_gps</depend>
   <depend>cloisim_ros_imu</depend>
+  <depend>cloisim_ros_sonar</depend>
   <depend>cloisim_ros_elevator_system</depend>
   <depend>cloisim_ros_ground_truth</depend>
   <depend>cloisim_ros_world</depend>

diff --git a/cloisim_ros_bringup/src/bringup.cpp b/cloisim_ros_bringup/src/bringup.cpp
@@ -25,6 +25,7 @@
 #include <cloisim_ros_micom/micom.hpp>
 #include <cloisim_ros_multicamera/multicamera.hpp>
 #include <cloisim_ros_realsense/realsense.hpp>
+#include <cloisim_ros_sonar/sonar.hpp>
 #include <cloisim_ros_world/world.hpp>
 
 using namespace std;
@@ -105,6 +106,13 @@ static shared_ptr<cloisim_ros::Base> make_device_node(rclcpp::NodeOptions& node_
     else
       node = std::make_shared<cloisim_ros::Imu>(node_options, node_name, model_name);
   }
+  else if (!node_type.compare("SONAR"))
+  {
+    if (enable_single_mode)
+      node = std::make_shared<cloisim_ros::Sonar>(node_options, node_name);
+    else
+      node = std::make_shared<cloisim_ros::Sonar>(node_options, node_name, model_name);
+  }
 
   return node;
 }

diff --git a/cloisim_ros_bringup_param/package.xml b/cloisim_ros_bringup_param/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_bringup_param</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>Bringup scripts and configurations for cloisim_ros</description>
 
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>

diff --git a/cloisim_ros_bringup_param/src/bringup_param.cpp b/cloisim_ros_bringup_param/src/bringup_param.cpp
@@ -22,12 +22,14 @@ bool BringUpParam::IsRobotSpecificType(const string node_type)
           !node_type.compare("LIDAR") || !node_type.compare("LASER") ||
           !node_type.compare("CAMERA") || !node_type.compare("DEPTHCAMERA") ||
           !node_type.compare("MULTICAMERA") || !node_type.compare("REALSENSE") ||
-          !node_type.compare("GPS") || !node_type.compare("IMU"));
+          !node_type.compare("GPS") || !node_type.compare("IMU") ||
+          !node_type.compare("SONAR"));
 }
 
 bool BringUpParam::IsWorldSpecificType(const string node_type)
 {
-  return (!node_type.compare("ELEVATOR") || !node_type.compare("ACTOR") || !node_type.compare("WORLD") || !node_type.compare("GROUNDTRUTH"));
+  return (!node_type.compare("ELEVATOR") || !node_type.compare("WORLD") ||
+          !node_type.compare("ACTOR") || !node_type.compare("GROUNDTRUTH"));
 }
 
 BringUpParam::BringUpParam(const string basename)

diff --git a/cloisim_ros_camera/package.xml b/cloisim_ros_camera/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_camera</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>virtual camera for cloisim</description>
   <maintainer email="sungkyu.kang@lge.com">Sungkyu Kang</maintainer>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>

diff --git a/cloisim_ros_camera/src/camera.cpp b/cloisim_ros_camera/src/camera.cpp
@@ -43,7 +43,6 @@ Camera::~Camera()
 void Camera::Initialize()
 {
   uint16_t portInfo, portData;
-  ;
   get_parameter_or("bridge.Data", portData, uint16_t(0));
   get_parameter_or("bridge.Info", portInfo, uint16_t(0));
 

diff --git a/cloisim_ros_depthcamera/package.xml b/cloisim_ros_depthcamera/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_depthcamera</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>virtual depth camera for simulator</description>
   <maintainer email="sungkyu.kang@lge.com">Sungkyu Kang</maintainer>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>

diff --git a/cloisim_ros_elevator_system/package.xml b/cloisim_ros_elevator_system/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_elevator_system</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>elevator system for simulation</description>
 
   <maintainer email="sungkyu.kang@lge.com">Sungkyu Kang</maintainer>

diff --git a/cloisim_ros_gps/package.xml b/cloisim_ros_gps/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_gps</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>virtual gps for simulation</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <author email="hyunseok7.yang@lge.com">Hyunseok Yang</author>

diff --git a/cloisim_ros_ground_truth/package.xml b/cloisim_ros_ground_truth/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_ground_truth</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>world plugin to retrieve ground truth</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <author email="hyunseok7.yang@lge.com">Hyunseok Yang</author>

diff --git a/cloisim_ros_imu/include/cloisim_ros_imu/imu.hpp b/cloisim_ros_imu/include/cloisim_ros_imu/imu.hpp
@@ -1,9 +1,9 @@
 /**
- *  @file   gps.hpp
+ *  @file   imu.hpp
  *  @date   2021-01-14
  *  @author Hyunseok Yang
  *  @brief
- *        ROS2 GPS class for simulator
+ *        ROS2 imu class for simulator
  *  @remark
  *  @copyright
  *      LGE Advanced Robotics Laboratory
@@ -22,29 +22,29 @@
 
 namespace cloisim_ros
 {
-  class Imu : public Base
-  {
-  public:
-    explicit Imu(const rclcpp::NodeOptions &options_, const std::string node_name, const std::string namespace_ = "");
-    explicit Imu(const std::string namespace_ = "");
-    ~Imu();
-
-  private:
-    void Initialize() override;
-    void Deinitialize() override { };
-
-  private:
-    void PublishData(const std::string &buffer);
-
-  private:
-    // buffer from simulation
-    cloisim::msgs::IMU pb_buf_;
-
-    // IMU msgs
-    sensor_msgs::msg::Imu msg_imu_;
-
-    // publisher
-    rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr pub_;
-  };
-}
+class Imu : public Base
+{
+ public:
+  explicit Imu(const rclcpp::NodeOptions &options_, const std::string node_name, const std::string namespace_ = "");
+  explicit Imu(const std::string namespace_ = "");
+  ~Imu();
+
+ private:
+  void Initialize() override;
+  void Deinitialize() override{};
+
+ private:
+  void PublishData(const std::string &buffer);
+
+ private:
+  // buffer from simulation
+  cloisim::msgs::IMU pb_buf_;
+
+  // IMU msgs
+  sensor_msgs::msg::Imu msg_imu_;
+
+  // publisher
+  rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr pub_;
+};
+}  // namespace cloisim_ros
 #endif
diff --git a/cloisim_ros_imu/package.xml b/cloisim_ros_imu/package.xml
@@ -2,8 +2,8 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_imu</name>
-  <version>3.2.1</version>
-  <description>virtual gps for simulation</description>
+  <version>3.3.0</version>
+  <description>virtual imu for simulation</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <author email="hyunseok7.yang@lge.com">Hyunseok Yang</author>
   <license>MIT</license>

diff --git a/cloisim_ros_imu/src/imu.cpp b/cloisim_ros_imu/src/imu.cpp
@@ -1,9 +1,9 @@
 /**
- *  @file   gps.cpp
+ *  @file   imu.cpp
  *  @date   2021-01-14
  *  @author Hyunseok Yang
  *  @brief
- *        ROS2 GPS class for simulator
+ *        ROS2 imu class for simulator
  *  @remark
  *  @copyright
  *      LGE Advanced Robotics Laboratory

diff --git a/cloisim_ros_imu/src/main.cpp b/cloisim_ros_imu/src/main.cpp
@@ -3,7 +3,7 @@
  *  @date   2020-06-26
  *  @author Hyunseok Yang
  *  @brief
- *        ROS2 Node that controls gps sensor for simulation.
+ *        ROS2 Node that controls imu sensor for simulation.
  *  @remark
  *  @copyright
  *      LGE Advanced Robotics Laboratory

diff --git a/cloisim_ros_joint_control/package.xml b/cloisim_ros_joint_control/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_joint_control</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>joint_control package for simulator</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <author email="hyunseok7.yang@lge.com">Hyunseok Yang</author>

diff --git a/cloisim_ros_lidar/package.xml b/cloisim_ros_lidar/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_lidar</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>virtual lidar for simulation</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <author email="hyunseok7.yang@lge.com">Hyunseok Yang</author>

diff --git a/cloisim_ros_micom/package.xml b/cloisim_ros_micom/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_micom</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>micom package for simulator</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <author email="hyunseok7.yang@lge.com">Hyunseok Yang</author>

diff --git a/cloisim_ros_msgs/package.xml b/cloisim_ros_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_msgs</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>interfaces package for cloisim_ros</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
 

diff --git a/cloisim_ros_multicamera/package.xml b/cloisim_ros_multicamera/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_multicamera</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>virtual multi-camera for simulator</description>
   <maintainer email="sungkyu.kang@lge.com">Sungkyu Kang</maintainer>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>

diff --git a/cloisim_ros_protobuf_msgs/CMakeLists.txt b/cloisim_ros_protobuf_msgs/CMakeLists.txt
@@ -19,6 +19,7 @@ set(PROTOBUF_MSGS_DIRECTORY "msgs")
 list(APPEND PROTOBUF_DEFINITION_FILES "any;param;param_v;color")
 list(APPEND PROTOBUF_DEFINITION_FILES "header;time;vector2d;vector3d;quaternion;pose;twist")
 list(APPEND PROTOBUF_DEFINITION_FILES "imu;image;images_stamped;image_stamped;camerasensor;distortion")
+list(APPEND PROTOBUF_DEFINITION_FILES "sonar;sonar_stamped")
 list(APPEND PROTOBUF_DEFINITION_FILES "laserscan;laserscan_stamped")
 list(APPEND PROTOBUF_DEFINITION_FILES "micom;battery;pointcloud;gps")
 list(APPEND PROTOBUF_DEFINITION_FILES "world_stats;log_playback_stats")

diff --git a/cloisim_ros_protobuf_msgs/package.xml b/cloisim_ros_protobuf_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_protobuf_msgs</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>CLOiSim-ROS interafces for communication between simulator and CLOiSim-ROS</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <author email="hyunseok7.yang@lge.com">Hyunseok Yang</author>

diff --git a/cloisim_ros_realsense/package.xml b/cloisim_ros_realsense/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_realsense</name>
-  <version>3.2.1</version>
+  <version>3.3.0</version>
   <description>virtual realsense for simulator</description>
   <maintainer email="sungkyu.kang@lge.com">Sungkyu Kang</maintainer>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>