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MulticopterMotorModel uses improper SDF formatting. #1980

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bperseghetti opened this issue May 2, 2023 · 0 comments · May be fixed by #1981
Open

MulticopterMotorModel uses improper SDF formatting. #1980

bperseghetti opened this issue May 2, 2023 · 0 comments · May be fixed by #1981
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@bperseghetti
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MulticopterMotorModel uses improper SDF formatting:

Examples:

gz-sim/src/systems/multicopter_motor_model/MulticopterMotorModel.cc

Lines 261 to 284 in 7221109

// Get params from SDF
if (sdfClone->HasElement("jointName"))
{
this->dataPtr->jointName = sdfClone->Get<std::string>("jointName");
}
if (this->dataPtr->jointName.empty())
{
gzerr << "MulticopterMotorModel found an empty jointName parameter. "
<< "Failed to initialize.";
return;
}
if (sdfClone->HasElement("linkName"))
{
this->dataPtr->linkName = sdfClone->Get<std::string>("linkName");
}
if (this->dataPtr->linkName.empty())
{
gzerr << "MulticopterMotorModel found an empty linkName parameter. "
<< "Failed to initialize.";
return;
}

gz-sim/src/systems/multicopter_motor_model/MulticopterMotorModel.cc

Lines 303 to 367 in 7221109

if (sdfClone->HasElement("turningDirection"))
{
auto turningDirection =
sdfClone->GetElement("turningDirection")->Get<std::string>();
if (turningDirection == "cw")
this->dataPtr->turningDirection = turning_direction::kCw;
else if (turningDirection == "ccw")
this->dataPtr->turningDirection = turning_direction::kCcw;
else
gzerr << "Please only use 'cw' or 'ccw' as turningDirection.\n";
}
else
{
gzerr << "Please specify a turning direction ('cw' or 'ccw').\n";
}
if (sdfClone->HasElement("motorType"))
{
auto motorType = sdfClone->GetElement("motorType")->Get<std::string>();
if (motorType == "velocity")
this->dataPtr->motorType = MotorType::kVelocity;
else if (motorType == "position")
{
this->dataPtr->motorType = MotorType::kPosition;
gzerr << "motorType 'position' not supported" << std::endl;
}
else if (motorType == "force")
{
this->dataPtr->motorType = MotorType::kForce;
gzerr << "motorType 'force' not supported" << std::endl;
}
else
{
gzerr << "Please only use 'velocity', 'position' or "
"'force' as motorType.\n";
}
}
else
{
gzwarn << "motorType not specified, using velocity.\n";
this->dataPtr->motorType = MotorType::kVelocity;
}
sdfClone->Get<std::string>("commandSubTopic",
this->dataPtr->commandSubTopic, this->dataPtr->commandSubTopic);
sdfClone->Get<double>("rotorDragCoefficient",
this->dataPtr->rotorDragCoefficient,
this->dataPtr->rotorDragCoefficient);
sdfClone->Get<double>("rollingMomentCoefficient",
this->dataPtr->rollingMomentCoefficient,
this->dataPtr->rollingMomentCoefficient);
sdfClone->Get<double>("maxRotVelocity",
this->dataPtr->maxRotVelocity, this->dataPtr->maxRotVelocity);
sdfClone->Get<double>("motorConstant",
this->dataPtr->motorConstant, this->dataPtr->motorConstant);
sdfClone->Get<double>("momentConstant",
this->dataPtr->momentConstant, this->dataPtr->momentConstant);
sdfClone->Get<double>("timeConstantUp",
this->dataPtr->timeConstantUp, this->dataPtr->timeConstantUp);
sdfClone->Get<double>("timeConstantDown",
this->dataPtr->timeConstantDown, this->dataPtr->timeConstantDown);
sdfClone->Get<double>("rotorVelocitySlowdownSim",
this->dataPtr->rotorVelocitySlowdownSim, 10);

@bperseghetti bperseghetti added the bug Something isn't working label May 2, 2023
@bperseghetti bperseghetti linked a pull request May 2, 2023 that will close this issue
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Fix SDF plugin variables for MulticopterMotorModel rudislabs/gz-sim
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@bperseghetti