initial commit

CMakeLists.txt

+cmake_minimum_required(VERSION 3.0.2)
+project(simulation_util)
+
+# Compile as C++14
+add_compile_options(-std=c++14)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  gazebo_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+find_package(SDFormat)
+
+# this is the last resort if the package cannot be found otherwise
+#find_package(PkgConfig REQUIRED)
+#pkg_check_modules(SDF sdformat REQUIRED)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES gazebo_zone_utility
+  CATKIN_DEPENDS gazebo_ros
+  DEPENDS SDFormat
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${SDFormat_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/simulation_util.cpp
+# )
+add_library(gazebo_zone_utility
+  src/GazeboZoneSpawner.cpp
+)
+
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+add_dependencies(gazebo_zone_utility ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/simulation_util_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(gazebo_zone_utility
+  ${catkin_LIBRARIES}
+  ${SDFormat_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_simulation_util.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

README.md

-The documentation for this package is located [here](http://st.inf.tu-dresden.de/ceti-robots/pkgs/simulation_util.html).
\ No newline at end of file
+A ROS package for Gazebo simulation utility libraries.
+
+The full documentation for this package is located [here](http://st.inf.tu-dresden.de/ceti-robots/pkgs/simulation_util.html).
+
+## Provided Libraries
+
+#### gazebo_zone_utility
+- A library for displaying safety zones in Gazebo.
\ No newline at end of file

include/GazeboZoneSpawner.h

+/*! \file GazeboZoneSpawner.cpp
+
+    \author Johannes Mey
+    \date 31.03.20
+*/
+
+#ifndef SIMULATION_UTIL_GAZEBOZONESPAWNER_H
+#define SIMULATION_UTIL_GAZEBOZONESPAWNER_H
+
+
+#include <shape_msgs/SolidPrimitive.h>
+#include <geometry_msgs/Pose.h>
+
+/*!
+ * A class for spawning safety zones in the Gazebo simulator.
+ */
+class GazeboZoneSpawner {
+
+public:
+
+  /**
+   * @brief Spawns a box.
+   *
+   * The box is based on a prototype located in the package at `models/box.sdf`:
+   * ```xml
+   * <?xml version="1.0" ?>
+   * <sdf version="1.5">
+   *   <model name="box">
+   *     <static>true</static>
+   *     <link name="link">
+   *       <visual name="visual">
+   *         <material>
+   *           <script>
+   *             <uri>box.material</uri>
+   *             <name>Gazebo/DarkMagentaTransparent</name>
+   *           </script>
+   *         </material>
+   *         <pose>0 0 0 0 0 0</pose>
+   *         <geometry>
+   *           <box>
+   *             <size>1 1 1</size>
+   *           </box>
+   *         </geometry>
+   *       </visual>
+   *     </link>
+   *   </model>
+   * </sdf>
+   * ```
+   *
+   * Before the box is spawned, its pose and size are adapted to the method parameters.
+   *
+   * The color of the box is provided in a material file in the package at `models/box.material`. Alternatively, the
+   * built-in materials could be used, but due to some bugs in gazebo_ros, the absolute URI would have to be provided,
+   * e.g., `/usr/share/gazebo-9/media/materials/scripts/gazebo.material`, which would make the package dependent on
+   * particular versions and installation locations.
+   *
+   * @param shape The shape of the collision box. Currently, only `BOX` is supported.
+   * @param pose The pose of the box. The position of the box is its center.
+   */
+  static void spawnCollisionBox(shape_msgs::SolidPrimitive shape, geometry_msgs::Pose pose);
+
+};
+
+
+#endif //SIMULATION_UTIL_GAZEBOZONESPAWNER_H

mainpage.dox

+/**
+\mainpage
+
+\htmlinclude manifest.html
+
+A ROS package for Gazebo simulation utility libraries.
+
+## Provided Libraries
+
+#### gazebo_zone_utility
+- A library for displaying safety zones in Gazebo.
+
+*/

models/box.material

+
+material Zone/DarkMagentaTransparent
+{
+  technique
+  {
+    pass
+    {
+      scene_blend alpha_blend
+      depth_write off
+
+      ambient 0.6 0.0 0.6 1
+      diffuse 0.6 0.0 0.6 1
+
+      texture_unit
+      {
+        colour_op_ex source1 src_current src_current 0.6 0 0.6
+        alpha_op_ex source1 src_manual src_current 0.5
+      }
+    }
+  }
+}

models/box.sdf

+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="box">
+    <static>true</static>
+    <link name="link">
+      <visual name="visual">
+        <material>
+          <script>
+            <uri>box.material</uri>
+            <name>Zone/DarkMagentaTransparent</name>
+          </script>
+        </material>
+        <pose>2 3 0.5 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1 1 1</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
\ No newline at end of file

package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>simulation_util</name>
+  <version>0.1.0</version>
+  <description>The simulation_util package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="johannes.mey@tu-dresden.de">Johannes Mey</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>MIT</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <url type="website">http://st.inf.tu-dresden.de/ceti-robots/pkgs/simulation_util.html</url>
+  <url type="repository">https://git-st.inf.tu-dresden.de/ceti/ros/simulation_util</url>
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <author email="johannes.mey@tu-dresden.de">Johannes Mey</author>
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roscpp</depend>
+  <depend>sdformat</depend>
+  <build_depend>gazebo_msgs</build_depend>
+  <exec_depend>gazebo_ros</exec_depend>
+  <doc_depend>doxygen</doc_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

rosdoc.yaml

+ - builder: doxygen
+   name: C++ API
+   file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox'
+   homepage: http://st.inf.tu-dresden.de/ceti-robots/pkgs/simulation_util.html

src/GazeboZoneSpawner.cpp

+/*! \file GazeboZoneSpawner.cpp
+
+    \author Johannes Mey
+    \date 31.03.20
+*/
+
+#include "GazeboZoneSpawner.h"
+
+#include <sdformat-6.0/sdf/sdf.hh>  // for sdf model parsing
+#include <gazebo_msgs/SpawnModel.h> // service definition for spawning things in gazebo
+#include <ros/ros.h>
+#include <ros/package.h>
+#include <tf/tf.h>
+
+void GazeboZoneSpawner::spawnCollisionBox(shape_msgs::SolidPrimitive shape, geometry_msgs::Pose pose) {
+  if (shape.type != shape.BOX) {
+    ROS_ERROR_STREAM("Safety-zone could not be created due to wrong shape-type");
+    return;
+  }
+
+  sdf::SDFPtr sdf(new sdf::SDF());
+  sdf::init(sdf);
+
+  auto sdfFileName = ros::package::getPath(ROS_PACKAGE_NAME) + "/models/box.sdf";
+  auto materialFileName = "file://" + ros::package::getPath(ROS_PACKAGE_NAME) + "/models/box.material";
+
+  assert(sdf::readFile(sdfFileName, sdf));
+
+  auto visualElement = sdf->Root()->GetElement("model")->GetElement("link")->GetElement("visual");
+  auto materialUriElement = visualElement->GetElement("material")->GetElement("script")->GetElement("uri");
+  auto poseElement = visualElement->GetElement("pose");
+  auto sizeElement = visualElement->GetElement("geometry")->GetElement("box")->GetElement("size");
+
+  materialUriElement->Set(materialFileName);
+
+  tf::Quaternion rot;
+  rot.setValue(pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w);
+  double roll, pitch, yaw;
+  tf::Matrix3x3(rot).getRPY(roll, pitch, yaw);
+
+  std::ostringstream poseStream;
+  poseStream << pose.position.x << " " << pose.position.y << " " << pose.position.z << " "
+             << roll << " " << pitch << " " << yaw;
+  poseElement->Set(poseStream.str());
+
+  ROS_INFO_STREAM("Set pose in SDF file to '" << poseElement->GetValue()->GetAsString() << "'.");
+
+  std::ostringstream sizeStream;
+  sizeStream << shape.dimensions[0] << " " << shape.dimensions[1] << " " << shape.dimensions[2];
+  sizeElement->Set(sizeStream.str());
+
+  ROS_INFO_STREAM("Set size in SDF file to '" << sizeElement->GetValue()->GetAsString() << "'.");
+
+  ros::NodeHandle n;
+  ros::ServiceClient client = n.serviceClient<gazebo_msgs::SpawnModel>("/gazebo/spawn_sdf_model");
+  gazebo_msgs::SpawnModel srv;
+  srv.request.robot_namespace = "box space";
+  // srv.request.initial_pose = pose; // not required here
+  srv.request.model_name = std::string("box") + poseStream.str() + sizeStream.str();
+  srv.request.model_xml = sdf->ToString();
+  // srv.request.reference_frame = ; // if left empty, world is used
+  if (client.call(srv)) {
+    if (srv.response.success) {
+      ROS_INFO_STREAM("Spawned box '" << srv.request.model_name << "'. " << srv.response.status_message);
+    } else {
+      ROS_ERROR_STREAM("Failed to spawn box '" << srv.request.model_name << "'. " << srv.response.status_message);
+    }
+  } else {
+    ROS_ERROR("Failed to call service '/gazebo/spawn_sdf_model'");
+  }
+}