gazebo_ros_utils.cpp

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 *  Copyright (c) 2013, Markus Bader <markus.bader@tuwien.ac.at>
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#include <gazebo_plugins/gazebo_ros_utils.h>

#include <sdf/sdf.hh>
#include <tf/transform_listener.h>

using namespace gazebo;

const char* GazeboRos::info() const {
    return info_text.c_str();
}
boost::shared_ptr<ros::NodeHandle>& GazeboRos ::node() {
    return rosnode_;
}
const boost::shared_ptr<ros::NodeHandle>& GazeboRos ::node() const {
    return rosnode_;
}

std::string GazeboRos ::resolveTF(const std::string &name) {
    return tf::resolve(tf_prefix_, name);
}
void GazeboRos ::readCommonParameter() {

    ROS_INFO_NAMED("utils", "Starting plugin %s", info());

    std::string debugLevel;
    getParameter<std::string>(debugLevel, "rosDebugLevel", "na");
    if(boost::iequals(debugLevel, std::string("Debug"))) {
        if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug) ) {
            ros::console::notifyLoggerLevelsChanged();
        }
    } else if(boost::iequals(debugLevel, std::string("Info"))) {
        if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info) ) {
            ros::console::notifyLoggerLevelsChanged();
        }
    } else if(boost::iequals(debugLevel, std::string("Warn"))) {
        if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Warn) ) {
            ros::console::notifyLoggerLevelsChanged();
        }
    } else if(boost::iequals(debugLevel, std::string("Error"))) {
        if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Error) ) {
            ros::console::notifyLoggerLevelsChanged();
        }
    } else if(boost::iequals(debugLevel, std::string("Fatal"))) {
        if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Fatal) ) {
            ros::console::notifyLoggerLevelsChanged();
        }
    }
    if (sdf_->HasElement("rosDebugLevel")) {
        ROS_INFO_NAMED("utils", "%s: <rosDebugLevel> = %s", info(), debugLevel.c_str());
    }


    tf_prefix_ = tf::getPrefixParam(*rosnode_);
    if(tf_prefix_.empty())
    {
        tf_prefix_ = namespace_;
        boost::trim_right_if(tf_prefix_,boost::is_any_of("/"));
    }
    ROS_INFO_NAMED("utils", "%s: <tf_prefix> = %s", info(), tf_prefix_.c_str());
}


void GazeboRos ::getParameterBoolean(bool &_value, const char *_tag_name, const bool &_default) {
    _value = _default;
    if (!sdf_->HasElement(_tag_name)) {
        ROS_WARN_NAMED("utils", "%s: missing <%s> default is %s",
                 info(), _tag_name,  (_default?"true":"false"));
    } else {
        getParameterBoolean(_value, _tag_name);
    }

}
void GazeboRos ::getParameterBoolean(bool &_value, const char *_tag_name) {

    if (sdf_->HasElement(_tag_name)) {
        std::string value = sdf_->GetElement(_tag_name)->Get<std::string>();
        if(boost::iequals(value, std::string("true")) || boost::iequals(value, std::string("1")))
        {
            _value = true;
        }
        else if(boost::iequals(value, std::string("false")) || boost::iequals(value, std::string("0")))
        {
            _value = false;
        }
        else
        {
            ROS_WARN_NAMED("utils", "%s: <%s> must be either true or false but is '%s'",
                     info(), _tag_name, value.c_str());
        }
    }
    ROS_DEBUG_NAMED("utils", "%s: <%s> = %s",
              info(), _tag_name,  (_value?"true":"false"));

}

physics::JointPtr GazeboRos::getJoint(physics::ModelPtr &_parent, const char *_tag_name, const std::string &_joint_default_name) {
    std::string joint_name;
    getParameter<std::string>(joint_name, _tag_name, _joint_default_name);
    physics::JointPtr joint = _parent->GetJoint(joint_name);
    if (!joint)
    {
        char error[200];
        snprintf(error, 200,
                 "%s: couldn't get wheel hinge joint named %s",
                 info() , joint_name.c_str());
        gzthrow(error);
    }
    return joint;
}

void GazeboRos::isInitialized() {
    if (!ros::isInitialized())
    {
        ROS_FATAL_STREAM(info() << "A ROS node for Gazebo has not been initialized, unable to load plugin. "
                         << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
        return;
    }
}