Merge pull request #410 from osrf/breadcrumbs_static

Make breadcrumb model static after specified time
osrf · May 13, 2020 · 5541b2b · 5541b2b
2 parents 5ef7adb + 1b29050
commit 5541b2b
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Showing 5 changed files with 10 additions and 1 deletion.
diff --git a/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb b/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb
@@ -56,6 +56,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         name="ignition::gazebo::systems::Breadcrumbs">
         <topic>/model/#{_name}/breadcrumb/deploy</topic>
         <max_deployments>12</max_deployments>"
+        <disable_physics_time>3.0</disable_physics_time>
         <breadcrumb>"
           <sdf version="1.6">
             <model name="#{_name}__breadcrumb__">

diff --git a/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb b/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb
@@ -56,6 +56,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         name="ignition::gazebo::systems::Breadcrumbs">
         <topic>/model/#{_name}/breadcrumb/deploy</topic>
         <max_deployments>12</max_deployments>"
+        <disable_physics_time>3.0</disable_physics_time>
         <breadcrumb>"
           <sdf version="1.6">
             <model name="#{_name}__breadcrumb__">

diff --git a/subt_ign/launch/cave_circuit.ign b/subt_ign/launch/cave_circuit.ign
@@ -529,6 +529,7 @@
     "      name=\"ignition::gazebo::systems::Breadcrumbs\">\n"\
     "      <topic>/model/#{_name}/breadcrumb/deploy</topic>\n"\
     "      <max_deployments>#{max_breadcrumbs}</max_deployments>"\
+    "      <disable_physics_time>3.0</disable_physics_time>"\
     "      <breadcrumb>\n"\
     "        <sdf version=\"1.6\">\n"\
     "          <model name=\"#{_name}__breadcrumb__\">\n"\
@@ -629,6 +630,7 @@
     "      name=\"ignition::gazebo::systems::Breadcrumbs\">\n"\
     "      <topic>/model/#{_name}/breadcrumb/deploy</topic>\n"\
     "      <max_deployments>#{max_breadcrumbs}</max_deployments>"\
+    "      <disable_physics_time>3.0</disable_physics_time>"\
     "      <breadcrumb>\n"\
     "        <sdf version=\"1.6\">\n"\
     "          <model name=\"#{_name}__breadcrumb__\">\n"\

diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign
@@ -585,6 +585,7 @@
     "      name=\"ignition::gazebo::systems::Breadcrumbs\">\n"\
     "      <topic>/model/#{_name}/breadcrumb/deploy</topic>\n"\
     "      <max_deployments>#{max_breadcrumbs}</max_deployments>"\
+    "      <disable_physics_time>3.0</disable_physics_time>"\
     "      <breadcrumb>\n"\
     "        <sdf version=\"1.6\">\n"\
     "          <model name=\"#{_name}__breadcrumb__\">\n"\
@@ -664,6 +665,7 @@
     "      name=\"ignition::gazebo::systems::Breadcrumbs\">\n"\
     "      <topic>/model/#{_name}/breadcrumb/deploy</topic>\n"\
     "      <max_deployments>#{max_breadcrumbs}</max_deployments>"\
+    "      <disable_physics_time>3.0</disable_physics_time>"\
     "      <breadcrumb>\n"\
     "        <sdf version=\"1.6\">\n"\
     "          <model name=\"#{_name}__breadcrumb__\">\n"\

diff --git a/subt_ign/src/CommsBrokerPlugin.cc b/subt_ign/src/CommsBrokerPlugin.cc
@@ -19,6 +19,7 @@
 
 #include <functional>
 #include <mutex>
+#include <regex>
 
 #include <ignition/common/Console.hh>
 #include <ignition/common/Util.hh>
@@ -310,7 +311,9 @@ void CommsBrokerPlugin::UpdateIfNewBreadcrumbs()
   for (const auto& [name, pose] : this->poses)
   {
     // New breadcrumb found.
-    if (name.find("__breadcrumb__") != std::string::npos &&
+    // A static model is spawned when the breadcrumb is made static
+    if (std::regex_match(name,
+        std::regex(".*__breadcrumb___(\\d+)__static__")) &&
         this->breadcrumbs.find(name) == this->breadcrumbs.end())
     {
       this->breadcrumbs[name] = pose;