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Reduce /<robot_name>/pose topic bandwidth #402

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merged 6 commits into from
May 14, 2020
Merged

Reduce /<robot_name>/pose topic bandwidth #402

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5e65797
check topic heartbeat and log /X*/pose topics
iche033 Apr 14, 2020
4c4c22c
use pose_v and subt to pose_static
iche033 Apr 17, 2020
7c764dd
cleanup
iche033 Apr 17, 2020
8db2b42
Rename parameters
Apr 17, 2020
aa3b61b
Merge pull request #403 from osrf/log_heartbeat_pose_suggestions
iche033 Apr 17, 2020
296de9e
move heartbeat check into its own thread
iche033 Apr 17, 2020
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6 changes: 6 additions & 0 deletions ign_migration_scripts/launch/preview.ign
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Original file line number Diff line number Diff line change
Expand Up @@ -210,6 +210,9 @@
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Battery plugin -->
</include>
Expand Down Expand Up @@ -256,6 +259,9 @@
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
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3 changes: 3 additions & 0 deletions ign_migration_scripts/scripts/spawn_preview_model.py
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Expand Up @@ -74,6 +74,9 @@ def spawn_preview_model(args):
etree.SubElement(plugin, 'publish_collision_pose').text = 'false'
etree.SubElement(plugin, 'publish_visual_pose').text = 'false'
etree.SubElement(plugin, 'publish_nested_model_pose').text = 'true'
etree.SubElement(plugin, 'use_pose_vector_msg').text = 'true'
etree.SubElement(plugin, 'static_publisher').text = 'true'
etree.SubElement(plugin, 'static_update_frequency').text = '1'

sdf_esc = etree.tostring(sdf, encoding="unicode",
with_tail=False).replace('"', r'\"').replace('\n', '')
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3 changes: 3 additions & 0 deletions submitted_models/costar_husky_sensor_config_1/launch/spawner.rb
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Expand Up @@ -30,6 +30,9 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
Expand Down
9 changes: 8 additions & 1 deletion submitted_models/costar_husky_sensor_config_1/launch/vehicle_topics.launch
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Expand Up @@ -10,9 +10,16 @@
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose"
args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose" to="pose"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose_static"
args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose_static" to="pose_static"/>
</node>

<node
pkg="subt_ros"
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3 changes: 3 additions & 0 deletions submitted_models/explorer_x1_sensor_config_1/launch/spawner.rb
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Expand Up @@ -30,6 +30,9 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
Expand Down
10 changes: 8 additions & 2 deletions submitted_models/explorer_x1_sensor_config_1/launch/vehicle_topics.launch
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Expand Up @@ -10,10 +10,16 @@
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose"
args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose" to="pose"/>
</node>

<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose_static"
args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose_static" to="pose_static"/>
</node>
<node
pkg="subt_ros"
type="pose_tf_broadcaster"
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3 changes: 3 additions & 0 deletions submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
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Expand Up @@ -29,6 +29,9 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
" <publish_collision_pose>false</publish_collision_pose>\n"\
" <publish_visual_pose>false</publish_visual_pose>\n"\
" <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
" <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
" <static_publisher>true</static_publisher>\n"\
" <static_update_frequency>1</static_update_frequency>\n"\
" </plugin>\n"\
" <!-- Battery plugin -->\n"\
" <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\
Expand Down
9 changes: 8 additions & 1 deletion submitted_models/robotika_x2_sensor_config_1/launch/vehicle_topics.launch
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Expand Up @@ -24,9 +24,16 @@
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose"
args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose" to="pose"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose_static"
args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose_static" to="pose_static"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand Down
3 changes: 3 additions & 0 deletions submitted_models/sophisticated_engineering_x2_sensor_config_1/launch/spawner.rb
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Expand Up @@ -32,6 +32,9 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
Expand Down
9 changes: 8 additions & 1 deletion submitted_models/sophisticated_engineering_x2_sensor_config_1/launch/vehicle_topics.launch
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Expand Up @@ -18,9 +18,16 @@
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose"
args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose" to="pose"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose_static"
args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose_static" to="pose_static"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand Down
3 changes: 3 additions & 0 deletions submitted_models/sophisticated_engineering_x4_sensor_config_1/launch/spawner.rb
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Expand Up @@ -21,6 +21,9 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
Expand Down
9 changes: 8 additions & 1 deletion submitted_models/sophisticated_engineering_x4_sensor_config_1/launch/vehicle_topics.launch
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Expand Up @@ -18,9 +18,16 @@
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose"
args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose" to="pose"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose_static"
args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose_static" to="pose_static"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand Down
3 changes: 3 additions & 0 deletions submitted_models/ssci_x2_sensor_config_1/launch/spawner.rb
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Expand Up @@ -44,6 +44,9 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Battery plugin -->
<plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
Expand Down
9 changes: 8 additions & 1 deletion submitted_models/ssci_x2_sensor_config_1/launch/vehicle_topics.launch
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Expand Up @@ -36,9 +36,16 @@
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose"
args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose" to="pose"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose_static"
args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose_static" to="pose_static"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand Down
3 changes: 3 additions & 0 deletions submitted_models/ssci_x4_sensor_config_1/launch/spawner.rb
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Expand Up @@ -43,6 +43,9 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
Expand Down
9 changes: 8 additions & 1 deletion submitted_models/ssci_x4_sensor_config_1/launch/vehicle_topics.launch
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Expand Up @@ -34,9 +34,16 @@
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose"
args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose" to="pose"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose_static"
args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose_static" to="pose_static"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand Down
3 changes: 3 additions & 0 deletions submitted_models/ssci_x4_sensor_config_2/launch/spawner.rb
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Expand Up @@ -38,6 +38,9 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
Expand Down
9 changes: 8 additions & 1 deletion submitted_models/ssci_x4_sensor_config_2/launch/vehicle_topics.launch
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Expand Up @@ -34,9 +34,16 @@
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose"
args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose" to="pose"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose_static"
args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose_static" to="pose_static"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand Down
3 changes: 3 additions & 0 deletions submitted_models/x1_sensor_config_6/launch/spawner.rb
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Expand Up @@ -30,6 +30,9 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
Expand Down
9 changes: 8 additions & 1 deletion submitted_models/x1_sensor_config_6/launch/vehicle_topics.launch
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Expand Up @@ -56,9 +56,16 @@
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose"
args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose" to="pose"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose_static"
args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose_static" to="pose_static"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand Down
3 changes: 3 additions & 0 deletions submitted_models/x2_sensor_config_7/launch/spawner.rb
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Expand Up @@ -30,6 +30,9 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
Expand Down
9 changes: 8 additions & 1 deletion submitted_models/x2_sensor_config_7/launch/vehicle_topics.launch
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Expand Up @@ -56,9 +56,16 @@
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose"
args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose" to="pose"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose_static"
args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose_static" to="pose_static"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand Down
3 changes: 3 additions & 0 deletions submitted_models/x3_sensor_config_5/launch/spawner.rb
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Expand Up @@ -19,6 +19,9 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
Expand Down
9 changes: 8 additions & 1 deletion submitted_models/x3_sensor_config_5/launch/vehicle_topics.launch
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Expand Up @@ -24,9 +24,16 @@
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose"
args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose" to="pose"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose_static"
args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose_static" to="pose_static"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand Down
3 changes: 3 additions & 0 deletions submitted_models/x4_sensor_config_6/launch/spawner.rb
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Expand Up @@ -19,6 +19,9 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
Expand Down
9 changes: 8 additions & 1 deletion submitted_models/x4_sensor_config_6/launch/vehicle_topics.launch
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Expand Up @@ -24,9 +24,16 @@
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose"
args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose" to="pose"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_pose_static"
args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
<remap from="/model/$(arg name)/pose_static" to="pose_static"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
Expand Down
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