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Update sdf plugins to use actuator_number. #1976

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May 1, 2023
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Update sdf plugins to use actuator_number. #1976

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20 changes: 10 additions & 10 deletions examples/worlds/multicopter_velocity_control.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -117,7 +117,7 @@ You can use the velocity controller and command linear velocity and yaw angular
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<actuator_number>0</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
Expand All @@ -137,7 +137,7 @@ You can use the velocity controller and command linear velocity and yaw angular
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<actuator_number>1</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
Expand All @@ -157,7 +157,7 @@ You can use the velocity controller and command linear velocity and yaw angular
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<actuator_number>2</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
Expand All @@ -177,7 +177,7 @@ You can use the velocity controller and command linear velocity and yaw angular
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<actuator_number>3</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
Expand Down Expand Up @@ -247,7 +247,7 @@ You can use the velocity controller and command linear velocity and yaw angular
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<actuator_number>0</actuator_number>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rotorDragCoefficient>0</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
Expand All @@ -267,7 +267,7 @@ You can use the velocity controller and command linear velocity and yaw angular
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<actuator_number>1</actuator_number>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rotorDragCoefficient>0</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
Expand All @@ -287,7 +287,7 @@ You can use the velocity controller and command linear velocity and yaw angular
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<actuator_number>2</actuator_number>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rotorDragCoefficient>0</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
Expand All @@ -307,7 +307,7 @@ You can use the velocity controller and command linear velocity and yaw angular
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<actuator_number>3</actuator_number>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rotorDragCoefficient>0</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
Expand All @@ -327,7 +327,7 @@ You can use the velocity controller and command linear velocity and yaw angular
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>4</motorNumber>
<actuator_number>4</actuator_number>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rotorDragCoefficient>0</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
Expand All @@ -347,7 +347,7 @@ You can use the velocity controller and command linear velocity and yaw angular
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>5</motorNumber>
<actuator_number>5</actuator_number>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rotorDragCoefficient>0</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
Expand Down
8 changes: 4 additions & 4 deletions examples/worlds/quadcopter.sdf
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Expand Up @@ -93,7 +93,7 @@
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<actuator_number>0</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
Expand All @@ -113,7 +113,7 @@
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<actuator_number>1</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
Expand All @@ -133,7 +133,7 @@
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<actuator_number>2</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
Expand All @@ -153,7 +153,7 @@
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<actuator_number>3</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
Expand Down
6 changes: 3 additions & 3 deletions src/systems/ackermann_steering/AckermannSteering.cc
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Expand Up @@ -259,10 +259,10 @@ void AckermannSteering::Configure(const Entity &_entity,
if (_sdf->HasElement("use_actuator_msg") &&
_sdf->Get<bool>("use_actuator_msg"))
{
if (_sdf->HasElement("actuatorNumber"))
if (_sdf->HasElement("actuator_number"))
{
this->dataPtr->actuatorNumber =
_sdf->Get<int>("actuatorNumber");
_sdf->Get<int>("actuator_number");
this->dataPtr->useActuatorMsg = true;
if (!this->dataPtr->steeringOnly)
{
Expand All @@ -271,7 +271,7 @@ void AckermannSteering::Configure(const Entity &_entity,
}
else
{
gzerr << "Please specify an actuatorNumber" <<
gzerr << "Please specify an actuator_number" <<
"to use Actuator position message control." << std::endl;
}
}
Expand Down
4 changes: 2 additions & 2 deletions src/systems/ackermann_steering/AckermannSteering.hh
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Expand Up @@ -45,10 +45,10 @@ namespace systems
/// `<use_actuator_msg>` is True, uses defaults topic name "/actuators".
///
/// `<use_actuator_msg>` True to enable the use of actutor message
/// for steering angle command. Relies on `<actuatorNumber>` for the
/// for steering angle command. Relies on `<actuator_number>` for the
/// index of the position actuator and defaults to topic "/actuators".
///
/// `<actuatorNumber>` used with `<use_actuator_commands>` to set
/// `<actuator_number>` used with `<use_actuator_commands>` to set
/// the index of the steering angle position actuator.
///
/// `<steer_p_gain>`: Float used to control the steering angle P gain.
Expand Down
31 changes: 21 additions & 10 deletions src/systems/multicopter_motor_model/MulticopterMotorModel.cc
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Expand Up @@ -157,8 +157,8 @@ class gz::sim::systems::MulticopterMotorModelPrivate
/// \brief Sampling time (from motor_model.hpp).
public: double samplingTime = 0.01;

/// \brief Index of motor on multirotor_base.
public: int motorNumber = 0;
/// \brief Index of motor in Actuators msg on multirotor_base.
public: int actuatorNumber = 0;

/// \brief Turning direction of the motor.
public: int turningDirection = turning_direction::kCw;
Expand Down Expand Up @@ -283,11 +283,22 @@ void MulticopterMotorModel::Configure(const Entity &_entity,
return;
}

if (sdfClone->HasElement("motorNumber"))
this->dataPtr->motorNumber =
if (sdfClone->HasElement("actuator_number"))
{
this->dataPtr->actuatorNumber =
sdfClone->GetElement("actuator_number")->Get<int>();
}
else if (sdfClone->HasElement("motorNumber"))
{
this->dataPtr->actuatorNumber =
sdfClone->GetElement("motorNumber")->Get<int>();
gzwarn << "<motorNumber> is depricated, "
<< "please use <actuator_number>.\n";
}
else
gzerr << "Please specify a motorNumber.\n";
{
gzerr << "Please specify a actuator_number.\n";
}

if (sdfClone->HasElement("turningDirection"))
{
Expand Down Expand Up @@ -512,9 +523,9 @@ void MulticopterMotorModelPrivate::UpdateForcesAndMoments(

if (msg.has_value())
{
if (this->motorNumber > msg->velocity_size() - 1)
if (this->actuatorNumber > msg->velocity_size() - 1)
{
gzerr << "You tried to access index " << this->motorNumber
gzerr << "You tried to access index " << this->actuatorNumber
<< " of the Actuator velocity array which is of size "
<< msg->velocity_size() << std::endl;
return;
Expand All @@ -523,13 +534,13 @@ void MulticopterMotorModelPrivate::UpdateForcesAndMoments(
if (this->motorType == MotorType::kVelocity)
{
this->refMotorInput = std::min(
static_cast<double>(msg->velocity(this->motorNumber)),
static_cast<double>(msg->velocity(this->actuatorNumber)),
static_cast<double>(this->maxRotVelocity));
}
// else if (this->motorType == MotorType::kPosition)
else // if (this->motorType == MotorType::kForce) {
{
this->refMotorInput = msg->velocity(this->motorNumber);
this->refMotorInput = msg->velocity(this->actuatorNumber);
}
}

Expand All @@ -554,7 +565,7 @@ void MulticopterMotorModelPrivate::UpdateForcesAndMoments(
double motorRotVel = jointVelocity->Data()[0];
if (motorRotVel / (2 * GZ_PI) > 1 / (2 * this->samplingTime))
{
gzerr << "Aliasing on motor [" << this->motorNumber
gzerr << "Aliasing on motor [" << this->actuatorNumber
<< "] might occur. Consider making smaller simulation time "
"steps or raising the rotorVelocitySlowdownSim param.\n";
}
Expand Down
2 changes: 1 addition & 1 deletion test/worlds/ackermann_steering_only_actuators.sdf
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Expand Up @@ -365,7 +365,7 @@
<right_steering_joint>front_right_wheel_steering_joint</right_steering_joint>
<steering_only>true</steering_only>
<use_actuator_msg>true</use_actuator_msg>
<actuatorNumber>0</actuatorNumber>
<actuator_number>0</actuator_number>
<steer_p_gain>10.0</steer_p_gain>
<steering_limit>0.5</steering_limit>
<wheel_base>1.0</wheel_base>
Expand Down
8 changes: 4 additions & 4 deletions test/worlds/odometry_publisher_3d.sdf
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Expand Up @@ -273,7 +273,7 @@
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<actuator_number>0</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
Expand All @@ -293,7 +293,7 @@
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<actuator_number>1</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
Expand All @@ -313,7 +313,7 @@
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<actuator_number>2</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
Expand All @@ -333,7 +333,7 @@
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<actuator_number>3</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
Expand Down
8 changes: 4 additions & 4 deletions test/worlds/quadcopter.sdf
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Expand Up @@ -262,7 +262,7 @@
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<actuator_number>0</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
Expand All @@ -282,7 +282,7 @@
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<actuator_number>1</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
Expand All @@ -302,7 +302,7 @@
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<actuator_number>2</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
Expand All @@ -322,7 +322,7 @@
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<actuator_number>3</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
Expand Down
8 changes: 4 additions & 4 deletions test/worlds/quadcopter_velocity_control.sdf
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Expand Up @@ -262,7 +262,7 @@
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<actuator_number>0</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
Expand All @@ -282,7 +282,7 @@
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<actuator_number>1</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
Expand All @@ -302,7 +302,7 @@
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<actuator_number>2</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
Expand All @@ -322,7 +322,7 @@
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<actuator_number>3</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
Expand Down