From 219722e0892a9844337c48e6d2a7682cfd73ba1c Mon Sep 17 00:00:00 2001 From: Will Son Date: Wed, 24 Feb 2021 16:28:08 +0900 Subject: [PATCH 1/9] remove shared objects for ML --- turtlebot3_gazebo/CMakeLists.txt | 15 +++++++++++++++ .../obstacle_plugin/build/libobstacle1.so | Bin 280224 -> 0 bytes .../obstacle_plugin/build/libobstacle2.so | Bin 284320 -> 0 bytes .../obstacle_plugin/build/libobstacles.so | Bin 280224 -> 0 bytes 4 files changed, 15 insertions(+) delete mode 100755 turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/build/libobstacle1.so delete mode 100755 turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/build/libobstacle2.so delete mode 100755 turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/build/libobstacles.so diff --git a/turtlebot3_gazebo/CMakeLists.txt b/turtlebot3_gazebo/CMakeLists.txt index 8032511..a726f4e 100644 --- a/turtlebot3_gazebo/CMakeLists.txt +++ b/turtlebot3_gazebo/CMakeLists.txt @@ -20,6 +20,7 @@ endif() # Find ament packages and libraries for ament and system dependencies ################################################################################ find_package(ament_cmake REQUIRED) +find_package(gazebo REQUIRED) find_package(gazebo_ros_pkgs REQUIRED) find_package(geometry_msgs REQUIRED) find_package(nav_msgs REQUIRED) @@ -31,8 +32,13 @@ find_package(turtlebot3 REQUIRED) ################################################################################ # Build ################################################################################ +link_directories( + ${GAZEBO_LIBRARY_DIRS} +) + include_directories( include + ${GAZEBO_INCLUDE_DIRS} ) set(dependencies @@ -48,6 +54,15 @@ set(EXEC_NAME "turtlebot3_drive") add_executable(${EXEC_NAME} src/turtlebot3_drive.cpp) ament_target_dependencies(${EXEC_NAME} ${dependencies}) +add_library(obstacle1 SHARED models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc) +target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES}) + +add_library(obstacle2 SHARED models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc) +target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES}) + +add_library(obstacles SHARED models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc) +target_link_libraries(obstacles ${GAZEBO_LIBRARIES}) + ################################################################################ # Install ################################################################################ diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/build/libobstacle1.so b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/build/libobstacle1.so deleted file mode 100755 index 7bdc229074d01277b170291390c7fa5433cb2afd..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 280224 zcmeEv3qVxG_y6?`zQQ+V8Dc6vvR&R<7NRKlKm;E+L|Ep;pw>HJU7#66tfPcGd*K*osmS1fD_~N0) z9F$k!#M6v>bBMY5;`iKqPmas0t{YEkv3$?0rxL&8YR&r!YPUL^?S z6^p~m))9VU4LLIWHf>?2!+8tZynOTUdkhc1GGfz!1Lqb`WOuqkF~-3)2x4o9n!7$& z+pzwDolVwnC{2H|Yct?9G|_EAS6$1SLl?Gh8QfTR$Mr)!`wsnZUa(u!^{&m(()MRPQ!T9vCofbXt?eUE6!L+FH~*s8Q4Mgre_CgI(R%d&IgH$38u@^YR;A4Ia}5 zwY)2)G~cVVz_T>SuVwkFSkGr0H;&z!|6#Wuue!r4w~^~^Ew6FU9?b@LXkOaT#nTqY zx7PB48nyM(7DO-fZ2p!@?rPVFt8?cy%5B>Vfp2HZF}?dIZI~d25Yhu5K4}eNgMI9s9nO z*Y&mG+N()gSZ-|W;xMh!ZNX6OQJ=z6&w!-HkcR*wcb0#7z*NgZKi(Vu)KIZiC3e zE8@ccEy2HE#p_PEz6Nm@#5WMz4c9#o--h@O#CIWd#ydHq-L5QD1 ztblk3;ujEQsFZ)e^&5!CG5sxEs~~<4@dt=MLHrrw8Hg-YLp;m>694=Km-7%Cfstr} zhN3xKTR?Qdv@2X&;oq(C%Iw*T?YhC*ZmcVj;vQ5o7s21%GdV_%vc0@%k)YpM&f3`1fYG zz5uZp;ugf%6k;31mm$6au>|4{h%D@c>n@0IL3{_XGPv%;zXg@1?T7UH5I=VTfNstb}+3q6|mz?_+TN7XLm;e*Y2vJ_Ye-h-V;HLzLkh{QU>Szaah% zu`vt;O(3$+9Ih=Owu0CiVq1t;L2L(+g^qCT0?{!-tZ;hr!<=m>!AOFu0C_ zI2zOJo-y$EScu^e$3YwqF$&^s5Lt+U>qLlmVOpT#UpC)LfM|p`1>#hQEF{4-75|V*GmvT$e&z2Ju0N%OSD=1GKgh z;v*1OK`emyC`6nta+=2>EyFtayAa}&1ls_AZ^ZN_fjO-$P{K6kJb3{2Age5YIql;WxPc4zU{IImG_JEBpO#_IDHZ7w9@%n?P&| zu{p#C-|jSHRO+|yesRY^-MZ*$?(V7c$3=`c4E|zB$;iwB14gdzeAP{_XZ$+p?Tof( zmq))8Q1Je)_}L@eTm9L(`+GV58N1(@va|5;`+bkk`QfdBb65BTX@9~U zH;KP{O73ladLK=A;HGh_icj{RaU^D%`-XEKrUe~qg z)uL~{OKmoHYUIk7KQ-w(&28uZ`qVd8xqEx~&&rxPsmE`NcKx>BFzrNcc=!G7eXHIX@?CZFsz$-(jS}wnUg^?f(lqxC-_Myir0?k4 z3cGr=85~vJV%STmTZ6KHO3nV;wZpppZ+hSJ_cgO#*nWFcuZIHWcWURp@9-(_(B+vA zxIX^Vwm(YClieppwR*O?-K6aO+e3zg#Lk)cUW=<-qi3)CI_l`YrwaT1xGDeL_CpMz z8Nd1eFnsBrL#6jmd~9{kZ9h$U@8^$RYSQS??awXyakA;JZpH% z<+b%epH@YUZ$G)wokt#BcvtqC4&m#r@_u|_-cxVg|96L#xBHEHVd72WTe$zxW_8a& z{X1;?X5e`LAFiKZxT#a$Kh95oV^!cshIx}8Tsz&Ae=29i{P{1ge)Ho$MzrtPeM;tp zji23<|H*wXo=ALcNqgU0$K-A5yKl&MZ+_8i^YK%2CO)w-Xz#tZSGPzT75>9lH@@k; zc58fKx4u^&8y51v@86%66XxD|pYpgsl>jBr3VNFYV_}u%*;Lek>7beb` zc=f*DTbvu;GxXbE=I*)1<;``k^=tmox)u82Ij4s&O+UHVwZ;3B0zo4(+KgV8{l^{6 zt3F$NSGM>4bZg$%RWZ@8cKYNE*VA8ve3^Z= z87JTD_sXs5Z>)N+{o`Gp9rxqvu-u*-U%Ruq#fOKRZuIbd(|b#J_z!p8aP_g?e`xE! 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p46n3Zt~KS Date: Wed, 24 Feb 2021 16:34:18 +0900 Subject: [PATCH 2/9] prepare for release 2.2.2 --- .travis.yml | 3 +++ turtlebot3_fake_node/CHANGELOG.rst | 4 ++++ turtlebot3_fake_node/package.xml | 2 +- turtlebot3_gazebo/CHANGELOG.rst | 5 +++++ turtlebot3_gazebo/package.xml | 2 +- turtlebot3_simulations/CHANGELOG.rst | 5 +++++ turtlebot3_simulations/package.xml | 2 +- 7 files changed, 20 insertions(+), 3 deletions(-) diff --git a/.travis.yml b/.travis.yml index e0dbe00..200a710 100644 --- a/.travis.yml +++ b/.travis.yml @@ -17,6 +17,8 @@ branches: - ros2-devel - dashing-devel - foxy-devel + - galactic-devel + install: - git clone --quiet --depth 1 https://github.com/ROBOTIS-GIT/ros2ci.git .ros2ci @@ -25,3 +27,4 @@ matrix: include: - script: .ros2ci/travis.bash dashing - script: .ros2ci/travis.bash foxy + - script: .ros2ci/travis.bash rolling diff --git a/turtlebot3_fake_node/CHANGELOG.rst b/turtlebot3_fake_node/CHANGELOG.rst index 98f10d0..000d2a6 100644 --- a/turtlebot3_fake_node/CHANGELOG.rst +++ b/turtlebot3_fake_node/CHANGELOG.rst @@ -2,6 +2,10 @@ Changelog for package turtlebot3_fake ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.2 (2021-02-24) +------------------ +* none + 2.2.1 (2021-01-13) ------------------ * Eloquent Elusor EOL diff --git a/turtlebot3_fake_node/package.xml b/turtlebot3_fake_node/package.xml index 85e4c21..c935a2c 100644 --- a/turtlebot3_fake_node/package.xml +++ b/turtlebot3_fake_node/package.xml @@ -2,7 +2,7 @@ turtlebot3_fake_node - 2.2.1 + 2.2.2 Package for TurtleBot3 fake node. With this package, simple tests can be done without a robot. You can do simple tests using this package on rviz without real robots. diff --git a/turtlebot3_gazebo/CHANGELOG.rst b/turtlebot3_gazebo/CHANGELOG.rst index b0fa97f..43a2ec9 100644 --- a/turtlebot3_gazebo/CHANGELOG.rst +++ b/turtlebot3_gazebo/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package turtlebot3_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.2 (2021-02-24) +------------------ +* Remove shared objects built in older version +* Contributors: Will Son + 2.2.1 (2021-01-13) ------------------ * Eloquent Elusor EOL diff --git a/turtlebot3_gazebo/package.xml b/turtlebot3_gazebo/package.xml index 8da3591..c6f691e 100644 --- a/turtlebot3_gazebo/package.xml +++ b/turtlebot3_gazebo/package.xml @@ -2,7 +2,7 @@ turtlebot3_gazebo - 2.2.1 + 2.2.2 Gazebo simulation package for the TurtleBot3 diff --git a/turtlebot3_simulations/CHANGELOG.rst b/turtlebot3_simulations/CHANGELOG.rst index abec2ad..1984827 100644 --- a/turtlebot3_simulations/CHANGELOG.rst +++ b/turtlebot3_simulations/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package turtlebot3_simulations ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.2 (2021-02-24) +------------------ +* Remove shared objects built in older version +* Contributors: Will Son + 2.2.1 (2021-01-13) ------------------ * Eloquent Elusor EOL diff --git a/turtlebot3_simulations/package.xml b/turtlebot3_simulations/package.xml index cff5ee0..3a371de 100644 --- a/turtlebot3_simulations/package.xml +++ b/turtlebot3_simulations/package.xml @@ -2,7 +2,7 @@ turtlebot3_simulations - 2.2.1 + 2.2.2 ROS 2 packages for TurtleBot3 simulations From ea412e823a444f8d218288e60f414f73216e120d Mon Sep 17 00:00:00 2001 From: Will Son Date: Wed, 24 Feb 2021 16:45:20 +0900 Subject: [PATCH 3/9] modified CI setting --- .github/workflows/lint.yml | 4 ++-- .travis.yml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml index 21b71ee..82cf20a 100644 --- a/.github/workflows/lint.yml +++ b/.github/workflows/lint.yml @@ -6,7 +6,7 @@ name: Lint # events but only for the master branch on: push: - branches: [ ros2, ros2-devel, dashing-devel, eloquent-devel ] + branches: [ ros2, ros2-devel, dashing-devel, foxy-devel, galactic-devel ] pull_request: branches: [ ros2, ros2-devel ] @@ -18,7 +18,7 @@ jobs: fail-fast: false matrix: linter: [copyright, cppcheck, cpplint, uncrustify, pep8, pep257, xmllint] - distribution: [dashing, eloquent] + distribution: [dashing, foxy] steps: - uses: actions/checkout@v2.3.4 - uses: ros-tooling/setup-ros@0.1.0 diff --git a/.travis.yml b/.travis.yml index 200a710..1757967 100644 --- a/.travis.yml +++ b/.travis.yml @@ -27,4 +27,4 @@ matrix: include: - script: .ros2ci/travis.bash dashing - script: .ros2ci/travis.bash foxy - - script: .ros2ci/travis.bash rolling + # - script: .ros2ci/travis.bash rolling From df934628e5286b07033e141b05eba4279a90181e Mon Sep 17 00:00:00 2001 From: Will Son Date: Wed, 24 Feb 2021 17:35:10 +0900 Subject: [PATCH 4/9] Update lint.yml --- .github/workflows/lint.yml | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml index 82cf20a..9efcc8a 100644 --- a/.github/workflows/lint.yml +++ b/.github/workflows/lint.yml @@ -13,20 +13,17 @@ on: # A workflow run is made up of one or more jobs that can run sequentially or in parallel jobs: ament_lint: - runs-on: ubuntu-18.04 + runs-on: ubuntu-latest strategy: fail-fast: false matrix: linter: [copyright, cppcheck, cpplint, uncrustify, pep8, pep257, xmllint] distribution: [dashing, foxy] steps: - - uses: actions/checkout@v2.3.4 - - uses: ros-tooling/setup-ros@0.1.0 - - uses: ros-tooling/action-ros-lint@0.0.6 + - uses: actions/checkout@v2 + - uses: ros-tooling/setup-ros@master + - uses: ros-tooling/action-ros-lint@master with: distribution: ${{ matrix.distribution }} linter: ${{ matrix.linter }} - package-name: | - turtlebot3_simulations - turtlebot3_fake_node - turtlebot3_gazebo + package-name: turtlebot3_simulations turtlebot3_fake_node turtlebot3_gazebo From 49d23d6eea668b6262094d2bc25501746e6cb127 Mon Sep 17 00:00:00 2001 From: Will Son Date: Wed, 24 Feb 2021 17:41:12 +0900 Subject: [PATCH 5/9] Update lint.yml --- .github/workflows/lint.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml index 9efcc8a..085c163 100644 --- a/.github/workflows/lint.yml +++ b/.github/workflows/lint.yml @@ -13,7 +13,7 @@ on: # A workflow run is made up of one or more jobs that can run sequentially or in parallel jobs: ament_lint: - runs-on: ubuntu-latest + runs-on: ubuntu-18.04 strategy: fail-fast: false matrix: From 430082b35db167415b8f86fbad92a9b0d11d51f2 Mon Sep 17 00:00:00 2001 From: Will Son Date: Wed, 24 Feb 2021 18:42:08 +0900 Subject: [PATCH 6/9] lint fixed --- .github/workflows/lint.yml | 15 +++++++++------ .../obstacle_plugin/obstacle1.cc | 2 +- .../obstacle_plugin/obstacle2.cc | 2 +- .../obstacle_plugin/obstacles.cc | 2 +- 4 files changed, 12 insertions(+), 9 deletions(-) diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml index 085c163..ad06bed 100644 --- a/.github/workflows/lint.yml +++ b/.github/workflows/lint.yml @@ -13,17 +13,20 @@ on: # A workflow run is made up of one or more jobs that can run sequentially or in parallel jobs: ament_lint: - runs-on: ubuntu-18.04 + runs-on: ubuntu-20.04 strategy: fail-fast: false matrix: - linter: [copyright, cppcheck, cpplint, uncrustify, pep8, pep257, xmllint] + linter: [copyright, cppcheck, cpplint, flake8, uncrustify, pep257, xmllint] distribution: [dashing, foxy] steps: - - uses: actions/checkout@v2 - - uses: ros-tooling/setup-ros@master - - uses: ros-tooling/action-ros-lint@master + - uses: actions/checkout@v1 + - uses: ros-tooling/setup-ros@v0.1 + - uses: ros-tooling/action-ros-lint@v0.1 with: distribution: ${{ matrix.distribution }} linter: ${{ matrix.linter }} - package-name: turtlebot3_simulations turtlebot3_fake_node turtlebot3_gazebo + package-name: + turtlebot3_simulations + turtlebot3_fake_node + turtlebot3_gazebo diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc index bbe43af..7957af0 100644 --- a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc @@ -24,7 +24,7 @@ namespace gazebo { -class Obstacle1 : public ModelPlugin +class Obstacle1: public ModelPlugin { public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc index d2000b1..c9a3bf8 100644 --- a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc @@ -24,7 +24,7 @@ namespace gazebo { -class Obstacle2 : public ModelPlugin +class Obstacle2: public ModelPlugin { public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc index e9c494c..115966d 100644 --- a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc @@ -26,7 +26,7 @@ namespace gazebo { -class Obstacles : public ModelPlugin +class Obstacles: public ModelPlugin { public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) From c45084d5a210f0210a2cd6fd9c6caefe0c40abc1 Mon Sep 17 00:00:00 2001 From: Will Son Date: Thu, 25 Feb 2021 09:10:57 +0900 Subject: [PATCH 7/9] ament_lint fixed --- .github/workflows/lint.yml | 21 +++- .../src/turtlebot3_fake_node.cpp | 10 +- .../obstacle_plugin/obstacle1.cc | 92 +++++++------- .../obstacle_plugin/obstacle2.cc | 116 +++++++++--------- .../obstacle_plugin/obstacles.cc | 62 +++++----- turtlebot3_gazebo/src/turtlebot3_drive.cpp | 7 +- 6 files changed, 164 insertions(+), 144 deletions(-) diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml index ad06bed..321805a 100644 --- a/.github/workflows/lint.yml +++ b/.github/workflows/lint.yml @@ -13,12 +13,29 @@ on: # A workflow run is made up of one or more jobs that can run sequentially or in parallel jobs: ament_lint: - runs-on: ubuntu-20.04 + runs-on: ubuntu-18.04 strategy: fail-fast: false matrix: linter: [copyright, cppcheck, cpplint, flake8, uncrustify, pep257, xmllint] - distribution: [dashing, foxy] + distribution: [dashing] + steps: + - uses: actions/checkout@v1 + - uses: ros-tooling/setup-ros@v0.1 + - uses: ros-tooling/action-ros-lint@v0.1 + with: + distribution: ${{ matrix.distribution }} + linter: ${{ matrix.linter }} + package-name: + turtlebot3_simulations + turtlebot3_fake_node + turtlebot3_gazebo + runs-on: ubuntu-20.04 + strategy: + fail-fast: false + matrix: + linter: [copyright, cppcheck, cpplint, flake8, uncrustify, pep257, xmllint] + distribution: [foxy] steps: - uses: actions/checkout@v1 - uses: ros-tooling/setup-ros@v0.1 diff --git a/turtlebot3_fake_node/src/turtlebot3_fake_node.cpp b/turtlebot3_fake_node/src/turtlebot3_fake_node.cpp index 26e243a..e84cbce 100644 --- a/turtlebot3_fake_node/src/turtlebot3_fake_node.cpp +++ b/turtlebot3_fake_node/src/turtlebot3_fake_node.cpp @@ -48,9 +48,10 @@ Turtlebot3Fake::Turtlebot3Fake() cmd_vel_sub_ = this->create_subscription( "cmd_vel", \ qos, \ - std::bind(&Turtlebot3Fake::command_velocity_callback, \ - this, \ - std::placeholders::_1)); + std::bind( + &Turtlebot3Fake::command_velocity_callback, \ + this, \ + std::placeholders::_1)); /************************************************************ ** initialise ROS timers @@ -78,7 +79,8 @@ void Turtlebot3Fake::init_parameters() this->declare_parameter("wheels.radius"); // Get parameters from yaml - this->get_parameter_or("joint_states_frame", \ + this->get_parameter_or( + "joint_states_frame", \ joint_states_.header.frame_id, \ "base_footprint"); this->get_parameter_or("odom_frame", odom_.header.frame_id, "odom"); diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc index 7957af0..0ea268a 100644 --- a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc @@ -24,70 +24,70 @@ namespace gazebo { -class Obstacle1: public ModelPlugin -{ -public: - void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + class Obstacle1: public ModelPlugin { - // Store the pointer to the model - this->model = _parent; +public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; - // create the animation - gazebo::common::PoseAnimationPtr anim( - // name the animation "move_1", - // make it last 260 seconds, - // and set it on a repeat loop - new gazebo::common::PoseAnimation("move1", 160.0, true)); + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_1", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move1", 160.0, true)); - gazebo::common::PoseKeyFrame * key; + gazebo::common::PoseKeyFrame * key; - // set starting location of the box - key = anim->CreateKeyFrame(0); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(10); - key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(50); - key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(50); + key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(70); - key->Translation(ignition::math::Vector3d(-3.7, -3.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(70); + key->Translation(ignition::math::Vector3d(-3.7, -3.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(90); - key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(90); + key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(130); - key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(140); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(140); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(160); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(160); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - // set the animation - _parent->SetAnimation(anim); - } + // set the animation + _parent->SetAnimation(anim); + } // Pointer to the model private: - physics::ModelPtr model; + physics::ModelPtr model; // Pointer to the update event connection private: - event::ConnectionPtr updateConnection; -}; -// Register this plugin with the simulator -GZ_REGISTER_MODEL_PLUGIN(Obstacle1) + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle1) } // namespace gazebo diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc index c9a3bf8..05a548b 100644 --- a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc @@ -24,86 +24,86 @@ namespace gazebo { -class Obstacle2: public ModelPlugin -{ -public: - void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + class Obstacle2: public ModelPlugin { - // Store the pointer to the model - this->model = _parent; +public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; - // create the animation - gazebo::common::PoseAnimationPtr anim( - // name the animation "move_2", - // make it last 260 seconds, - // and set it on a repeat loop - new gazebo::common::PoseAnimation("move2", 140.0, true)); + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move2", 140.0, true)); - gazebo::common::PoseKeyFrame * key; + gazebo::common::PoseKeyFrame * key; - // set starting location of the box - key = anim->CreateKeyFrame(0); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(10); - key->Translation(ignition::math::Vector3d(0.7, 0.2, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(0.7, 0.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(40); - key->Translation(ignition::math::Vector3d(2.5, 3.5, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(2.5, 3.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(55); - key->Translation(ignition::math::Vector3d(0.3, 3.5, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(0.3, 3.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(85); - key->Translation(ignition::math::Vector3d(3.5, 1.8, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(85); + key->Translation(ignition::math::Vector3d(3.5, 1.8, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(100); - key->Translation(ignition::math::Vector3d(3.5, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(100); + key->Translation(ignition::math::Vector3d(3.5, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(110); - key->Translation(ignition::math::Vector3d(2.0, 0.5, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(2.0, 0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(115); - key->Translation(ignition::math::Vector3d(1.5, 1.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(115); + key->Translation(ignition::math::Vector3d(1.5, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(120); - key->Translation(ignition::math::Vector3d(1.0, 0.5, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(120); + key->Translation(ignition::math::Vector3d(1.0, 0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(125); - key->Translation(ignition::math::Vector3d(0.5, 0.1, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(125); + key->Translation(ignition::math::Vector3d(0.5, 0.1, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(130); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(140); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(140); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - // set the animation - _parent->SetAnimation(anim); - } + // set the animation + _parent->SetAnimation(anim); + } // Pointer to the model private: - physics::ModelPtr model; + physics::ModelPtr model; // Pointer to the update event connection private: - event::ConnectionPtr updateConnection; -}; -// Register this plugin with the simulator -GZ_REGISTER_MODEL_PLUGIN(Obstacle2) + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle2) } // namespace gazebo diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc index 115966d..5a42c0a 100644 --- a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc @@ -26,50 +26,50 @@ namespace gazebo { -class Obstacles: public ModelPlugin -{ -public: - void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + class Obstacles: public ModelPlugin { - // Store the pointer to the model - this->model = _parent; +public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; - // create the animation - gazebo::common::PoseAnimationPtr anim( - // name the animation "move", - // make it last 40 seconds, - // and set it on a repeat loop - new gazebo::common::PoseAnimation("move", 40.0, true)); + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move", + // make it last 40 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move", 40.0, true)); - gazebo::common::PoseKeyFrame * key; + gazebo::common::PoseKeyFrame * key; - // set starting location of the box - key = anim->CreateKeyFrame(0); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(20); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, PI)); + key = anim->CreateKeyFrame(20); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, PI)); - key = anim->CreateKeyFrame(40); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 2 * PI)); + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 2 * PI)); - // set the animation - _parent->SetAnimation(anim); - } + // set the animation + _parent->SetAnimation(anim); + } // Pointer to the model private: - physics::ModelPtr model; + physics::ModelPtr model; // Pointer to the update event connection private: - event::ConnectionPtr updateConnection; -}; -// Register this plugin with the simulator -GZ_REGISTER_MODEL_PLUGIN(Obstacles) + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacles) } // namespace gazebo diff --git a/turtlebot3_gazebo/src/turtlebot3_drive.cpp b/turtlebot3_gazebo/src/turtlebot3_drive.cpp index 7ac538d..20999dd 100644 --- a/turtlebot3_gazebo/src/turtlebot3_drive.cpp +++ b/turtlebot3_gazebo/src/turtlebot3_drive.cpp @@ -45,9 +45,10 @@ Turtlebot3Drive::Turtlebot3Drive() scan_sub_ = this->create_subscription( "scan", \ rclcpp::SensorDataQoS(), \ - std::bind(&Turtlebot3Drive::scan_callback, \ - this, \ - std::placeholders::_1)); + std::bind( + &Turtlebot3Drive::scan_callback, \ + this, \ + std::placeholders::_1)); odom_sub_ = this->create_subscription( "odom", qos, std::bind(&Turtlebot3Drive::odom_callback, this, std::placeholders::_1)); From 697f7f6f5ca2bf6cb98c08d311d0ca7a8fd2a2b2 Mon Sep 17 00:00:00 2001 From: Will Son Date: Thu, 25 Feb 2021 09:24:23 +0900 Subject: [PATCH 8/9] lint fixed --- .github/workflows/lint.yml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml index 321805a..e0b5371 100644 --- a/.github/workflows/lint.yml +++ b/.github/workflows/lint.yml @@ -12,7 +12,7 @@ on: # A workflow run is made up of one or more jobs that can run sequentially or in parallel jobs: - ament_lint: + ament_lint_dashing: runs-on: ubuntu-18.04 strategy: fail-fast: false @@ -30,6 +30,8 @@ jobs: turtlebot3_simulations turtlebot3_fake_node turtlebot3_gazebo + + ament_lint_foxy: runs-on: ubuntu-20.04 strategy: fail-fast: false From d8123fdddc634958d9136a18877f761b60ae916d Mon Sep 17 00:00:00 2001 From: Will Son Date: Thu, 25 Feb 2021 09:52:06 +0900 Subject: [PATCH 9/9] cpplint, uncrustify conflicts --- .github/workflows/lint.yml | 4 +- .../obstacle_plugin/obstacle1.cc | 92 +++++++------- .../obstacle_plugin/obstacle2.cc | 116 +++++++++--------- .../obstacle_plugin/obstacles.cc | 62 +++++----- 4 files changed, 137 insertions(+), 137 deletions(-) diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml index e0b5371..82e0261 100644 --- a/.github/workflows/lint.yml +++ b/.github/workflows/lint.yml @@ -17,7 +17,7 @@ jobs: strategy: fail-fast: false matrix: - linter: [copyright, cppcheck, cpplint, flake8, uncrustify, pep257, xmllint] + linter: [copyright, cppcheck, cpplint, flake8, pep257, xmllint] distribution: [dashing] steps: - uses: actions/checkout@v1 @@ -36,7 +36,7 @@ jobs: strategy: fail-fast: false matrix: - linter: [copyright, cppcheck, cpplint, flake8, uncrustify, pep257, xmllint] + linter: [copyright, cppcheck, cpplint, flake8, pep257, xmllint] distribution: [foxy] steps: - uses: actions/checkout@v1 diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc index 0ea268a..7957af0 100644 --- a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc @@ -24,70 +24,70 @@ namespace gazebo { - class Obstacle1: public ModelPlugin - { +class Obstacle1: public ModelPlugin +{ public: - void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) - { - // Store the pointer to the model - this->model = _parent; + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; - // create the animation - gazebo::common::PoseAnimationPtr anim( - // name the animation "move_1", - // make it last 260 seconds, - // and set it on a repeat loop - new gazebo::common::PoseAnimation("move1", 160.0, true)); + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_1", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move1", 160.0, true)); - gazebo::common::PoseKeyFrame * key; + gazebo::common::PoseKeyFrame * key; - // set starting location of the box - key = anim->CreateKeyFrame(0); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(10); - key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(50); - key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(50); + key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(70); - key->Translation(ignition::math::Vector3d(-3.7, -3.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(70); + key->Translation(ignition::math::Vector3d(-3.7, -3.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(90); - key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(90); + key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(130); - key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(140); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(140); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(160); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(160); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - // set the animation - _parent->SetAnimation(anim); - } + // set the animation + _parent->SetAnimation(anim); + } // Pointer to the model private: - physics::ModelPtr model; + physics::ModelPtr model; // Pointer to the update event connection private: - event::ConnectionPtr updateConnection; - }; - // Register this plugin with the simulator - GZ_REGISTER_MODEL_PLUGIN(Obstacle1) + event::ConnectionPtr updateConnection; +}; +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(Obstacle1) } // namespace gazebo diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc index 05a548b..c9a3bf8 100644 --- a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc @@ -24,86 +24,86 @@ namespace gazebo { - class Obstacle2: public ModelPlugin - { +class Obstacle2: public ModelPlugin +{ public: - void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) - { - // Store the pointer to the model - this->model = _parent; + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; - // create the animation - gazebo::common::PoseAnimationPtr anim( - // name the animation "move_2", - // make it last 260 seconds, - // and set it on a repeat loop - new gazebo::common::PoseAnimation("move2", 140.0, true)); + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move2", 140.0, true)); - gazebo::common::PoseKeyFrame * key; + gazebo::common::PoseKeyFrame * key; - // set starting location of the box - key = anim->CreateKeyFrame(0); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(10); - key->Translation(ignition::math::Vector3d(0.7, 0.2, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(0.7, 0.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(40); - key->Translation(ignition::math::Vector3d(2.5, 3.5, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(2.5, 3.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(55); - key->Translation(ignition::math::Vector3d(0.3, 3.5, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(0.3, 3.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(85); - key->Translation(ignition::math::Vector3d(3.5, 1.8, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(85); + key->Translation(ignition::math::Vector3d(3.5, 1.8, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(100); - key->Translation(ignition::math::Vector3d(3.5, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(100); + key->Translation(ignition::math::Vector3d(3.5, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(110); - key->Translation(ignition::math::Vector3d(2.0, 0.5, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(2.0, 0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(115); - key->Translation(ignition::math::Vector3d(1.5, 1.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(115); + key->Translation(ignition::math::Vector3d(1.5, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(120); - key->Translation(ignition::math::Vector3d(1.0, 0.5, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(120); + key->Translation(ignition::math::Vector3d(1.0, 0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(125); - key->Translation(ignition::math::Vector3d(0.5, 0.1, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(125); + key->Translation(ignition::math::Vector3d(0.5, 0.1, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(130); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(140); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + key = anim->CreateKeyFrame(140); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - // set the animation - _parent->SetAnimation(anim); - } + // set the animation + _parent->SetAnimation(anim); + } // Pointer to the model private: - physics::ModelPtr model; + physics::ModelPtr model; // Pointer to the update event connection private: - event::ConnectionPtr updateConnection; - }; - // Register this plugin with the simulator - GZ_REGISTER_MODEL_PLUGIN(Obstacle2) + event::ConnectionPtr updateConnection; +}; +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(Obstacle2) } // namespace gazebo diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc index 5a42c0a..115966d 100644 --- a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc @@ -26,50 +26,50 @@ namespace gazebo { - class Obstacles: public ModelPlugin - { +class Obstacles: public ModelPlugin +{ public: - void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) - { - // Store the pointer to the model - this->model = _parent; + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; - // create the animation - gazebo::common::PoseAnimationPtr anim( - // name the animation "move", - // make it last 40 seconds, - // and set it on a repeat loop - new gazebo::common::PoseAnimation("move", 40.0, true)); + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move", + // make it last 40 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move", 40.0, true)); - gazebo::common::PoseKeyFrame * key; + gazebo::common::PoseKeyFrame * key; - // set starting location of the box - key = anim->CreateKeyFrame(0); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); - key = anim->CreateKeyFrame(20); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, PI)); + key = anim->CreateKeyFrame(20); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, PI)); - key = anim->CreateKeyFrame(40); - key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); - key->Rotation(ignition::math::Quaterniond(0, 0, 2 * PI)); + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 2 * PI)); - // set the animation - _parent->SetAnimation(anim); - } + // set the animation + _parent->SetAnimation(anim); + } // Pointer to the model private: - physics::ModelPtr model; + physics::ModelPtr model; // Pointer to the update event connection private: - event::ConnectionPtr updateConnection; - }; - // Register this plugin with the simulator - GZ_REGISTER_MODEL_PLUGIN(Obstacles) + event::ConnectionPtr updateConnection; +}; +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(Obstacles) } // namespace gazebo