Skip to content

Fix door drift in simulation #126

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
mxgrey merged 4 commits into from
Jun 6, 2024
Merged

Fix door drift in simulation #126

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
0165cec
Make sure doors are always commanded
luca-della-vedova Jun 6, 2024
b797ae8
Remove DoorState component
luca-della-vedova Jun 6, 2024
49ea421
Revert "Remove DoorState component"
luca-della-vedova Jun 6, 2024
5693c3d
Fix errors and lift door behavior
luca-della-vedova Jun 6, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
41 changes: 8 additions & 33 deletions rmf_building_sim_gz_plugins/src/door.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -231,6 +231,8 @@ class DoorPlugin
components::JointPosition(position));
}
enableComponent<components::DoorStateComp>(ecm, entity);
ecm.CreateComponent<components::DoorCmd>(entity,
components::DoorCmd(DoorModeCmp::CLOSE));
return true;
});
}
Expand Down Expand Up @@ -264,7 +266,6 @@ class DoorPlugin
return;

const double t = to_seconds(info.simTime);
std::unordered_set<Entity> finished_cmds;
// Process commands
ecm.Each<components::Door, components::DoorCmd,
components::DoorStateComp, components::Name>([&](const Entity& entity,
Expand All @@ -277,47 +278,21 @@ class DoorPlugin
const auto& name = name_comp->Data();
const auto& door = door_comp->Data();
const auto& door_cmd = door_cmd_comp->Data();
auto& last_mode = door_state_comp->Data();
command_door(entity, ecm, door, dt, door_cmd);
// Publish state if there was a change
// Publish state if we are past the deadline
const auto cur_mode = get_current_mode(entity, ecm, door);
if (cur_mode != door_state_comp->Data())
if (door_comp->Data().ros_interface)
{
last_mode = cur_mode;
if (door_comp->Data().ros_interface)
auto it = _last_state_pub.find(entity);
if (it != _last_state_pub.end() && t - it->second >= PUBLISH_DT)
{
it->second = t;
publish_state(t, name, cur_mode);
}
}
if (door_cmd == cur_mode)
{
finished_cmds.insert(entity);
}
door_state_comp->Data() = cur_mode;
return true;
});

// Publish states
ecm.Each<components::Door, components::DoorStateComp,
components::Name>([&](const Entity& e,
const components::Door* door_comp,
const components::DoorStateComp* door_state_comp,
const components::Name* name_comp) -> bool
{
if (door_comp->Data().ros_interface == false)
return true;
auto it = _last_state_pub.find(e);
if (it != _last_state_pub.end() && t - it->second >= PUBLISH_DT)
{
it->second = t;
publish_state(t, name_comp->Data(), door_state_comp->Data());
}
return true;
});

for (const auto& entity: finished_cmds)
{
enableComponent<components::DoorCmd>(ecm, entity, false);
}
}
};

Expand Down