Merge pull request Liquid-ai#26 from Liquid-ai/fix-fix-device-syntax-errors

jpliquid · web-flow · commit 6a64390c5f0d · 2020-12-18T01:43:57.000+01:00
Fix device syntax errors
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,4 +1,11 @@
+## 0.6.1
+
+### General
+
+- Fixed the issue affecting the CPC sensor and the custom battery plugin when loaded
+
 ## 0.6.0
+
 ### General
 
 - Migration to ROS 2 Foxy
diff --git a/plankton/package.xml b/plankton/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
     <name>plankton</name>
-    <version>0.6.0</version>
+    <version>0.6.1</version>
     <description>Open source simulator for maritime robotics research</description>
 
     <author email="loic.mougeolle@naval-group.com">Loïc Mougeolle</author>
diff --git a/plankton_utils/package.xml b/plankton_utils/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
   <name>plankton_utils</name>
   
-    <version>0.6.0</version>
+    <version>0.6.1</version>
     <description>A collection of functions to help interacting with ROS 2 API</description>
 
     <author email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</author>
diff --git a/uuv_assistants/package.xml b/uuv_assistants/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_assistants</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>Tools and utilities to monitor and analyze the simulation</description>
 
     <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_control/uuv_auv_control_allocator/package.xml b/uuv_control/uuv_auv_control_allocator/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_auv_control_allocator</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>Optimal allocation of forces and torques to thruster and fins of AUVs</description>
 
     <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_control/uuv_control_cascaded_pids/package.xml b/uuv_control/uuv_control_cascaded_pids/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_control_cascaded_pid</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>A cascade of PID controllers for acceleration, velocity, and position control.</description>
 
     <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_control/uuv_control_msgs/package.xml b/uuv_control/uuv_control_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_control_msgs</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>The uuv_control_msgs package</description>
 
     <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_control/uuv_control_utils/package.xml b/uuv_control/uuv_control_utils/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_control_utils</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>The uuv_control_utils package</description>
 
     <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_control/uuv_thruster_manager/package.xml b/uuv_control/uuv_thruster_manager/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_thruster_manager</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>The thruster manager package</description>
 
     <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_control/uuv_trajectory_control/package.xml b/uuv_control/uuv_trajectory_control/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_trajectory_control</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>The uuv_trajectory_control package</description>
 
   <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_descriptions/package.xml b/uuv_descriptions/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_descriptions</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>The uuv_descriptions package</description>
 
   <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_gazebo/package.xml b/uuv_gazebo/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_gazebo</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>The uuv_gazebo package</description>
 
   <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_gazebo_plugins/uuv_gazebo_plugins/package.xml b/uuv_gazebo_plugins/uuv_gazebo_plugins/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_gazebo_plugins</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>
     Plankton's Gazebo plugins for simulation of hydrodynamic and hydrostatic
     forces, and underwater actuators (e.g. thrusters and fins).
diff --git a/uuv_gazebo_plugins/uuv_gazebo_ros_plugins/package.xml b/uuv_gazebo_plugins/uuv_gazebo_ros_plugins/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_gazebo_ros_plugins</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>
       Plankton's extended ROS plugins for generation of the necessary
       ROS services and topics during the simulation.
diff --git a/uuv_gazebo_plugins/uuv_gazebo_ros_plugins/src/CustomBatteryConsumerROSPlugin.cpp b/uuv_gazebo_plugins/uuv_gazebo_ros_plugins/src/CustomBatteryConsumerROSPlugin.cpp
@@ -51,10 +51,10 @@ void CustomBatteryConsumerROSPlugin::Load(physics::ModelPtr _parent,
   myRosNode = gazebo_ros::Node::CreateWithArgs(_sdf->Get<std::string>("name"));  //gazebo_ros::Node::Get(_sdf);
   // new ros::NodeHandle(""));
 
-  GZ_ASSERT(_sdf->HasElement("link_name"), "Consumer link name is missing");
+  GZ_ASSERT(_sdf->HasElement("link_name"), "Battery link name (link_name) is missing");
   this->linkName = _sdf->Get<std::string>("link_name");
   physics::LinkPtr link = _parent->GetLink(this->linkName);
-  GZ_ASSERT(link, "Link was NULL");
+  GZ_ASSERT(link, "Consumer plugin: battery link was NULL");
 
   GZ_ASSERT(_sdf->HasElement("battery_name"), "Battery name is missing");
   this->batteryName = _sdf->Get<std::string>("battery_name");
@@ -85,7 +85,9 @@ void CustomBatteryConsumerROSPlugin::Load(physics::ModelPtr _parent,
   }
 
   gzmsg << "CustomBatteryConsumerROSPlugin::Device <"
-    << this->linkName << "> added as battery consumer" << std::endl
+    << _sdf->Get<std::string>("name") 
+    << "> added as battery consumer for the battery <" 
+    << this->linkName << ">" << std::endl
     << "\t- ID=" << this->consumerID << std::endl
     << "\t- Power load [W]=" << this->powerLoad
     << std::endl;
diff --git a/uuv_gazebo_plugins/uuv_gazebo_ros_plugins/src/LinearBatteryROSPlugin.cpp b/uuv_gazebo_plugins/uuv_gazebo_ros_plugins/src/LinearBatteryROSPlugin.cpp
@@ -32,14 +32,11 @@ namespace gazebo
 /////////////////////////////////////////////////
 LinearBatteryROSPlugin::LinearBatteryROSPlugin()
 {
-  myRobotNamespace = "";
 }
 
 /////////////////////////////////////////////////
 LinearBatteryROSPlugin::~LinearBatteryROSPlugin()
 {
-  //rclcpp::shutdown();
-  //this->rosNode->shutdown();
 }
 
 /////////////////////////////////////////////////
@@ -66,9 +63,8 @@ void LinearBatteryROSPlugin::Load(physics::ModelPtr _parent,
     return;
   }
 
-  //TODO Remove ?
-  if (_sdf->HasElement("namespace"))
-    myRobotNamespace = _sdf->Get<std::string>("namespace");
+  // if (_sdf->HasElement("namespace"))
+  //   myRobotNamespace = _sdf->Get<std::string>("namespace");
 
   double updateRate = 2;
   if (_sdf->HasElement("update_rate"))
diff --git a/uuv_gazebo_plugins/uuv_gazebo_ros_plugins/urdf/battery_snippets.xacro b/uuv_gazebo_plugins/uuv_gazebo_ros_plugins/urdf/battery_snippets.xacro
@@ -58,14 +58,15 @@
 
   <!-- Battery consumer plugin that can be switched ON and OFF -->
   <xacro:macro name="switchable_battery_consumer_macro"
-    params="link_name
+    params="namespace
+            consumer_name
             battery_link
             battery_name
             power_load
             topic">
     <gazebo>
       <plugin filename="libcustom_battery_consumer_ros_plugin.so"
-        name="${link_name}_battery_consumer">
+        name="${namespace}_${consumer_name}_battery_consumer">
         <link_name>${battery_link}</link_name>
         <battery_name>${battery_name}</battery_name>
         <power_load>${power_load}</power_load>
@@ -76,13 +77,14 @@
 
   <!-- Battery consumer plugin for devices that are always ON -->
   <xacro:macro name="basic_battery_consumer_macro"
-    params="link_name
+    params="namespace
+            consumer_name
             battery_link
             battery_name
             power_load">
     <gazebo>
       <plugin filename="libcustom_battery_consumer_ros_plugin.so"
-        name="${link_name}_battery_consumer">
+        name="${namespace}_${consumer_name}_battery_consumer">
         <link_name>${battery_link}</link_name>
         <battery_name>${battery_name}</battery_name>
         <power_load>${power_load}</power_load>
diff --git a/uuv_gazebo_plugins/uuv_gazebo_ros_plugins_msgs/package.xml b/uuv_gazebo_plugins/uuv_gazebo_ros_plugins_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_gazebo_ros_plugins_msgs</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>The uuv_gazebo_ros_plugins_msgs package</description>
 
   <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_gazebo_worlds/package.xml b/uuv_gazebo_worlds/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_gazebo_worlds</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>The uuv_gazebo_worlds package</description>
 
   <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_sensor_plugins/uuv_sensor_ros_plugins/package.xml b/uuv_sensor_plugins/uuv_sensor_ros_plugins/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_sensor_ros_plugins</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>The uuv_sensor_ros_plugins package</description>
 
   <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_sensor_plugins/uuv_sensor_ros_plugins/urdf/chemical_concentration_snippets.xacro b/uuv_sensor_plugins/uuv_sensor_ros_plugins/urdf/chemical_concentration_snippets.xacro
@@ -112,7 +112,7 @@
 
    <gazebo>
      <plugin filename="libuuv_gazebo_ros_cpc_plugin.so"
-      name="particle_concentration{suffix}_sensor">
+      name="particle_concentration${suffix}_sensor">
       <ros>
         <namespace>${namespace}</namespace>
       </ros>
diff --git a/uuv_simulator/package.xml b/uuv_simulator/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_simulator</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>uuv_simulator contains Gazebo plugins and ROS packages for modeling and simulating unmanned underwater vehicles</description>
 
   <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_teleop/package.xml b/uuv_teleop/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_teleop</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>ROS nodes to generate command topics for vehicles and manipulators using a joystick input</description>
 
   <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_tutorials/uuv_tutorial_disturbances/package.xml b/uuv_tutorials/uuv_tutorial_disturbances/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_tutorial_disturbances</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>
       Tutorial that shows how to use the uuv_control_utils tools to schedule disturbances to be applied during
       the simulation
diff --git a/uuv_tutorials/uuv_tutorial_dp_controller/package.xml b/uuv_tutorials/uuv_tutorial_dp_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_tutorial_dp_controller</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>
     Tutorial that shows how to inherit the controller interface modules from the uuv_trajectory_control package to
     develop a custom controlller.
diff --git a/uuv_tutorials/uuv_tutorial_rov_model/package.xml b/uuv_tutorials/uuv_tutorial_rov_model/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_tutorial_rov_model</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>Template package for the construction of a new thruster actuated UUV model.</description>
 
   <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_tutorials/uuv_tutorial_seabed_world/package.xml b/uuv_tutorials/uuv_tutorial_seabed_world/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_tutorial_seabed_world</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>A simple tutorial on how to create a new Gazebo model with a seabed and how to configure it as a simulation scenario</description>
 
   <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_tutorials/uuv_tutorials/package.xml b/uuv_tutorials/uuv_tutorials/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_tutorials</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>Meta package for all templates and tutorials.</description>
 
   <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_world_plugins/uuv_world_plugins/package.xml b/uuv_world_plugins/uuv_world_plugins/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_world_plugins</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>The uuv_world_plugins package</description>
 
   <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_world_plugins/uuv_world_ros_plugins/package.xml b/uuv_world_plugins/uuv_world_ros_plugins/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_world_ros_plugins</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>The uuv_world_ros_plugins package</description>
 
   <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
diff --git a/uuv_world_plugins/uuv_world_ros_plugins_msgs/package.xml b/uuv_world_plugins/uuv_world_ros_plugins_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
   <name>uuv_world_ros_plugins_msgs</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>The uuv_world_ros_plugins_msgs package</description>
 
   <maintainer email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</maintainer>
