A plugin that scripts the movement of a model based on waypoints. Note that at this point, the trajectory is always in 2D (x, y). The plugin applies a torque until the model is aligned with the next waypoint. Then, it applies a force until the model is close enough to the waypoint. More...

#include <TrajectoryFollower.hh>

Public Member Functions
	TrajectoryFollower ()
	Constructor.

	~TrajectoryFollower () override=default
	Destructor.

void	Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
	Configure the system.

bool	IsEnabled (Entity _entity, const EntityComponentManager &_ecm) const
	Check if an entity is enabled or not.

void	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) override

Public Member Functions inherited from System
	System ()=default
	Constructor.

virtual	~System ()=default
	Destructor.

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases.

Static Public Attributes inherited from System
static constexpr PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases.

static constexpr std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed.

Detailed Description

A plugin that scripts the movement of a model based on waypoints. Note that at this point, the trajectory is always in 2D (x, y). The plugin applies a torque until the model is aligned with the next waypoint. Then, it applies a force until the model is close enough to the waypoint.

This plugin loads a set of waypoints via SDF and traverse the waypoints in sequence. The movement is generated applying force and torque to one of of the model links. It's also possible to loop through the waypoints for generating a never ending trajectory. Waypoints may be inserted manually via the <waypoints> element, or generated relative to the model's initial position via the <line> or <circle> elements. Only one of these options should be used.

System Parameters

This plugin requires the following SDF parameters:

Required parameters:

<link_name>: The name of the link within the model where the force/torque will be applied when moving the vehicle.

Optional parameters:

<loop>: When true, all waypoints will be visited continously in a circular pattern. If false, the model will stop when the last waypoint is reached. Note, that if the vehicle moves, it will still try to reach the very last waypoint.
<waypoints>: Element specifying the set of waypoints that the the model should navigate through. This block should contain at least one of these blocks:
- <waypoint>: This block should contain the X, Y of a waypoint.
<range_tolerance>: The current waypoint is considered reached if the distance to it is within +- this tolerance (m). The default value is 0.5m.
<bearing_tolerance>: If the bearing to the current waypoint is within +- this tolerance, a torque won't be applied (degree). The default value is 2 deg.
<zero_vel_on_bearing_reached>: Force angular velocity to be zero when target bearing is reached. Default is false. Note: this is an experimental parameter and may be removed in the future.
<force>: The force to apply at every plugin iteration in the X direction of the link (N). The default value is 60.
<torque>: The torque to apply at every plugin iteration in the Yaw direction of the link (Nm). The default value is 50.
<line>: Element that indicates the model should travel in "line" mode. The block should contain the relative direction and distance from the initial position in which the vehicle should move, specified in the world frame.
- <direction>: Relative direction (radians) in the world frame for the vehicle to travel.
- <length>: Distance (meters) for the vehicle to travel.
<circle>: Element that indicates the model should travel in "circle" mode. The block should contain the desired radius of the circle about the vehicle's initial position
- <radius>: Radius (meters) of circular path to travel.

Here are three examples:

<plugin
  filename="gz-sim-trajectory-follower-system"
  name="systems::TrajectoryFollower">
  <link_name>base_link</link_name>
  <loop>true</loop>
  <waypoints>
    <waypoint>25 0</waypoint>
    <waypoint>15 0</waypoint>
  </waypoints>
</plugin>
<plugin
  filename="gz-sim-trajectory-follower-system"
  name="systems::TrajectoryFollower">
  <link_name>base_link</link_name>
  <loop>true</loop>
  <line>
    <direction>0</direction>
    <length>5</length>
  </line>
</plugin>
<plugin
  filename="gz-sim-trajectory-follower-system"
  name="systems::TrajectoryFollower">
  <link_name>base_link</link_name>
  <loop>true</loop>
  <circle>
    <radius>2</radius>
  </circle>
</plugin>

Constructor & Destructor Documentation

◆ TrajectoryFollower()

TrajectoryFollower ( )

Constructor.

◆ ~TrajectoryFollower()

~TrajectoryFollower ( )

overridedefault

Destructor.

Member Function Documentation

◆ Configure()

void Configure	(	const Entity &	_entity,
		const std::shared_ptr< const sdf::Element > &	_sdf,
		EntityComponentManager &	_ecm,
		EventManager &	_eventMgr
	)

overridevirtual

Configure the system.

Parameters

[in]	_entity	The entity this plugin is attached to.
[in]	_sdf	The SDF Element associated with this system plugin.
[in]	_ecm	The EntityComponentManager of the given simulation instance.
[in]	_eventMgr	The EventManager of the given simulation instance.

Implements ISystemConfigure.

◆ IsEnabled()

bool IsEnabled	(	Entity	_entity,
		const EntityComponentManager &	_ecm
	)		const

Check if an entity is enabled or not.

Parameters

[in]	_entity	Target entity
[in]	_ecm	Entity component manager

Returns: True if buoyancy should be applied.

◆ PreUpdate()

void PreUpdate	(	const UpdateInfo &	_info,
		EntityComponentManager &	_ecm
	)

overridevirtual

Implements ISystemPreUpdate.

The documentation for this class was generated from the following file:

TrajectoryFollower.hh

Gazebo Sim

API Reference

Public Member Functions

Additional Inherited Members