23 August 2021 / PROJECTS

Contributing to Open Robotics

In this post I will be presenting my contributions to Open Robotics before joining them as a student developer. I contributed mainly to the Ignition Gazebo and Ignition RViz projects for a few months to get familiar with a large codebase.

Ignition Gazebo

About dialog

Adds an about dialog box to display version number, license, and documentation links.

Pull request - https://github.com/ignitionrobotics/ign-gazebo/pull/609

About dialog

Modifying light intensity

Adds the ability to change the intensity of light entities in the simulation at runtime.

Pull request - https://github.com/ignitionrobotics/ign-gazebo/pull/670

Light intensity

Joint Position Controller topic validity

Sanity checks for user provided topic values in joint controllers.

Pull requests - https://github.com/ignitionrobotics/ign-gazebo/pull/632 and https://github.com/ignitionrobotics/ign-gazebo/pull/639

if (_sdf->HasElement("topic"))
{
  topic = transport::TopicUtils::AsValidTopic(
      _sdf->Get<std::string>("topic"));

  if (topic.empty())
  {
    ignerr << "Failed to create topic [" << _sdf->Get<std::string>("topic")
           << "]" << " for joint [" << jointName
           << "]" << std::endl;
    return;
  }
}