From afd768bb945cf00eb964a77c0cb54e426fafb1d0 Mon Sep 17 00:00:00 2001
From: Peter Kohout <peter.kohout@student.tugraz.at>
Date: Tue, 31 May 2022 20:41:01 +0200
Subject: [PATCH 1/6] added aruco tag pngs

---
 models/tag/materials/textures/figure_101.png | Bin 0 -> 408 bytes
 models/tag/materials/textures/figure_102.png | Bin 0 -> 419 bytes
 models/tag/materials/textures/figure_103.png | Bin 0 -> 416 bytes
 models/tag/materials/textures/figure_104.png | Bin 0 -> 408 bytes
 models/tag/materials/textures/figure_111.png | Bin 0 -> 407 bytes
 models/tag/materials/textures/figure_112.png | Bin 0 -> 404 bytes
 models/tag/materials/textures/figure_113.png | Bin 0 -> 412 bytes
 models/tag/materials/textures/figure_114.png | Bin 0 -> 419 bytes
 models/tag/materials/textures/figure_121.png | Bin 0 -> 417 bytes
 models/tag/materials/textures/figure_122.png | Bin 0 -> 410 bytes
 models/tag/materials/textures/figure_131.png | Bin 0 -> 408 bytes
 models/tag/materials/textures/figure_132.png | Bin 0 -> 412 bytes
 models/tag/materials/textures/figure_141.png | Bin 0 -> 420 bytes
 models/tag/materials/textures/figure_142.png | Bin 0 -> 416 bytes
 models/tag/materials/textures/figure_201.png | Bin 0 -> 415 bytes
 models/tag/materials/textures/figure_202.png | Bin 0 -> 407 bytes
 models/tag/materials/textures/figure_203.png | Bin 0 -> 416 bytes
 models/tag/materials/textures/figure_204.png | Bin 0 -> 405 bytes
 models/tag/materials/textures/figure_211.png | Bin 0 -> 414 bytes
 models/tag/materials/textures/figure_212.png | Bin 0 -> 405 bytes
 models/tag/materials/textures/figure_213.png | Bin 0 -> 400 bytes
 models/tag/materials/textures/figure_214.png | Bin 0 -> 410 bytes
 models/tag/materials/textures/figure_221.png | Bin 0 -> 412 bytes
 models/tag/materials/textures/figure_222.png | Bin 0 -> 420 bytes
 models/tag/materials/textures/figure_231.png | Bin 0 -> 416 bytes
 models/tag/materials/textures/figure_232.png | Bin 0 -> 406 bytes
 models/tag/materials/textures/figure_241.png | Bin 0 -> 403 bytes
 models/tag/materials/textures/figure_242.png | Bin 0 -> 411 bytes
 models/tag/materials/textures/figure_301.png | Bin 0 -> 419 bytes
 models/tag/materials/textures/figure_302.png | Bin 0 -> 422 bytes
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From 2dae3631d0540dff6763fb66ca679afd29a2ccfa Mon Sep 17 00:00:00 2001
From: Peter Kohout <peter.kohout@student.tugraz.at>
Date: Tue, 31 May 2022 20:41:35 +0200
Subject: [PATCH 2/6] upgraded tag to machine map to new aruco markers

---
 plugins/src/plugins/mps/mps.cpp | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/plugins/src/plugins/mps/mps.cpp b/plugins/src/plugins/mps/mps.cpp
index e68c8260..962603a6 100644
--- a/plugins/src/plugins/mps/mps.cpp
+++ b/plugins/src/plugins/mps/mps.cpp
@@ -40,13 +40,13 @@ using namespace gazebo;
 //GZ_REGISTER_MODEL_PLUGIN(Mps)
 
 const std::map<std::string, std::string> Mps::name_id_match = {
-  {"C-CS1I", "tag_01"},  {"C-CS1O", "tag_02"},  {"C-CS2I", "tag_17"},  {"C-CS2O", "tag_18"},
-  {"C-RS1I", "tag_33"},  {"C-RS1O", "tag_34"},  {"C-RS2I", "tag_177"}, {"C-RS2O", "tag_178"},
-  {"C-BSI", "tag_65"},   {"C-BSO", "tag_66"},   {"C-DSI", "tag_81"},   {"C-DSO", "tag_82"},
-  {"M-CS1I", "tag_97"},  {"M-CS1O", "tag_98"},  {"M-CS2I", "tag_113"}, {"M-CS2O", "tag_114"},
-  {"M-RS1I", "tag_129"}, {"M-RS1O", "tag_130"}, {"M-RS2I", "tag_145"}, {"M-RS2O", "tag_146"},
-  {"M-BSI", "tag_161"},  {"M-BSO", "tag_162"},  {"M-DSI", "tag_49"},   {"M-DSO", "tag_50"},
-  {"C-SSO", "tag_194"},  {"C-SSI", "tag_193"},  {"M-SSO", "tag_210"},  {"M-SSI", "tag_209"}};
+  {"C-CS1I", "tag_102"},  {"C-CS1O", "tag_101"},  {"C-CS2I", "tag_104"},  {"C-CS2O", "tag_103"},
+  {"C-RS1I", "tag_112"},  {"C-RS1O", "tag_111"},  {"C-RS2I", "tag_114"}, {"C-RS2O", "tag_113"},
+  {"C-BSI", "tag_122"},   {"C-BSO", "tag_121"},   {"C-DSI", "tag_132"},   {"C-DSO", "tag_131"},
+  {"M-CS1I", "tag_202"},  {"M-CS1O", "tag_201"},  {"M-CS2I", "tag_204"}, {"M-CS2O", "tag_203"},
+  {"M-RS1I", "tag_212"}, {"M-RS1O", "tag_211"}, {"M-RS2I", "tag_214"}, {"M-RS2O", "tag_213"},
+  {"M-BSI", "tag_222"},  {"M-BSO", "tag_221"},  {"M-DSI", "tag_232"},   {"M-DSO", "tag_231"},
+  {"C-SSO", "tag_141"},  {"C-SSI", "tag_142"},  {"M-SSO", "tag_241"},  {"M-SSI", "tag_242"}};
 
 ///Constructor
 Mps::Mps(physics::ModelPtr _parent, sdf::ElementPtr)

From aed629c1fa34d3df8d244559fcb873ad55691428 Mon Sep 17 00:00:00 2001
From: Peter Kohout <peter.kohout@student.tugraz.at>
Date: Tue, 7 Jun 2022 17:13:47 +0000
Subject: [PATCH 3/6] update label.material for aruco tags

---
 models/tag/materials/scripts/label.material | 169 +++++++++-----------
 1 file changed, 80 insertions(+), 89 deletions(-)

diff --git a/models/tag/materials/scripts/label.material b/models/tag/materials/scripts/label.material
index 4089d36f..23ff8fdd 100644
--- a/models/tag/materials/scripts/label.material
+++ b/models/tag/materials/scripts/label.material
@@ -1,18 +1,20 @@
-material tag/empty
+material tag/tag_101
 {
   receive_shadows off
   technique
   {
-    pass main
+    pass
     {
-      ambient 1 1 1  1.0
-      diffuse 1 1 1  1.0
-      specular 1 1 1 1.000000 1.500000
+      texture_unit
+      {
+        texture figure_101.png
+        filtering anistropic
+        max_anisotropy 16
+      }
     }
   }
 }
-
-material tag/tag_01
+material tag/tag_102
 {
   receive_shadows off
   technique
@@ -21,15 +23,14 @@ material tag/tag_01
     {
       texture_unit
       {
-        texture tag01.png
+        texture figure_102.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_02
+material tag/tag_103
 {
   receive_shadows off
   technique
@@ -38,15 +39,14 @@ material tag/tag_02
     {
       texture_unit
       {
-        texture tag02.png
+        texture figure_103.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_17
+material tag/tag_104
 {
   receive_shadows off
   technique
@@ -55,15 +55,14 @@ material tag/tag_17
     {
       texture_unit
       {
-        texture tag17.png
+        texture figure_104.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_18
+material tag/tag_111
 {
   receive_shadows off
   technique
@@ -72,15 +71,14 @@ material tag/tag_18
     {
       texture_unit
       {
-        texture tag18.png
+        texture figure_111.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_33
+material tag/tag_112
 {
   receive_shadows off
   technique
@@ -89,15 +87,14 @@ material tag/tag_33
     {
       texture_unit
       {
-        texture tag33.png
+        texture figure_112.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_34
+material tag/tag_113
 {
   receive_shadows off
   technique
@@ -106,15 +103,14 @@ material tag/tag_34
     {
       texture_unit
       {
-        texture tag34.png
+        texture figure_113.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_177
+material tag/tag_114
 {
   receive_shadows off
   technique
@@ -123,15 +119,14 @@ material tag/tag_177
     {
       texture_unit
       {
-        texture tag177.png
+        texture figure_114.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_178
+material tag/tag_121
 {
   receive_shadows off
   technique
@@ -140,15 +135,14 @@ material tag/tag_178
     {
       texture_unit
       {
-        texture tag178.png
+        texture figure_121.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_65
+material tag/tag_122
 {
   receive_shadows off
   technique
@@ -157,15 +151,14 @@ material tag/tag_65
     {
       texture_unit
       {
-        texture tag65.png
+        texture figure_122.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_66
+material tag/tag_131
 {
   receive_shadows off
   technique
@@ -174,15 +167,14 @@ material tag/tag_66
     {
       texture_unit
       {
-        texture tag66.png
+        texture figure_131.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_81
+material tag/tag_132
 {
   receive_shadows off
   technique
@@ -191,15 +183,14 @@ material tag/tag_81
     {
       texture_unit
       {
-        texture tag81.png
+        texture figure_132.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_82
+material tag/tag_141
 {
   receive_shadows off
   technique
@@ -208,15 +199,14 @@ material tag/tag_82
     {
       texture_unit
       {
-        texture tag82.png
+        texture figure_141.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_97
+material tag/tag_142
 {
   receive_shadows off
   technique
@@ -225,15 +215,14 @@ material tag/tag_97
     {
       texture_unit
       {
-        texture tag97.png
+        texture figure_142.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_98
+material tag/tag_201
 {
   receive_shadows off
   technique
@@ -242,15 +231,14 @@ material tag/tag_98
     {
       texture_unit
       {
-        texture tag98.png
+        texture figure_201.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_113
+material tag/tag_202
 {
   receive_shadows off
   technique
@@ -259,15 +247,30 @@ material tag/tag_113
     {
       texture_unit
       {
-        texture tag113.png
+        texture figure_202.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_114
+material tag/tag_203
+{
+  receive_shadows off
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture figure_203.png
+        filtering anistropic
+        max_anisotropy 16
+      }
+    }
+  }
+}
+material tag/tag_204
 {
   receive_shadows off
   technique
@@ -276,15 +279,14 @@ material tag/tag_114
     {
       texture_unit
       {
-        texture tag114.png
+        texture figure_204.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_129
+material tag/tag_211
 {
   receive_shadows off
   technique
@@ -293,15 +295,14 @@ material tag/tag_129
     {
       texture_unit
       {
-        texture tag129.png
+        texture figure_211.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_130
+material tag/tag_212
 {
   receive_shadows off
   technique
@@ -310,15 +311,14 @@ material tag/tag_130
     {
       texture_unit
       {
-        texture tag130.png
+        texture figure_212.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_145
+material tag/tag_213
 {
   receive_shadows off
   technique
@@ -327,15 +327,14 @@ material tag/tag_145
     {
       texture_unit
       {
-        texture tag145.png
+        texture figure_213.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_146
+material tag/tag_214
 {
   receive_shadows off
   technique
@@ -344,15 +343,14 @@ material tag/tag_146
     {
       texture_unit
       {
-        texture tag146.png
+        texture figure_214.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_161
+material tag/tag_221
 {
   receive_shadows off
   technique
@@ -361,15 +359,14 @@ material tag/tag_161
     {
       texture_unit
       {
-        texture tag161.png
+        texture figure_221.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_162
+material tag/tag_222
 {
   receive_shadows off
   technique
@@ -378,15 +375,14 @@ material tag/tag_162
     {
       texture_unit
       {
-        texture tag162.png
+        texture figure_222.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_49
+material tag/tag_231
 {
   receive_shadows off
   technique
@@ -395,15 +391,14 @@ material tag/tag_49
     {
       texture_unit
       {
-        texture tag49.png
+        texture figure_231.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_50
+material tag/tag_232
 {
   receive_shadows off
   technique
@@ -412,15 +407,14 @@ material tag/tag_50
     {
       texture_unit
       {
-        texture tag50.png
+        texture figure_232.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_193
+material tag/tag_241
 {
   receive_shadows off
   technique
@@ -429,15 +423,14 @@ material tag/tag_193
     {
       texture_unit
       {
-        texture tag193.png
+        texture figure_241.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_194
+material tag/tag_242
 {
   receive_shadows off
   technique
@@ -446,15 +439,14 @@ material tag/tag_194
     {
       texture_unit
       {
-        texture tag194.png
+        texture figure_242.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_209
+material tag/tag_301
 {
   receive_shadows off
   technique
@@ -463,15 +455,14 @@ material tag/tag_209
     {
       texture_unit
       {
-        texture tag209.png
+        texture figure_301.png
         filtering anistropic
         max_anisotropy 16
       }
     }
   }
 }
-
-material tag/tag_210
+material tag/tag_302
 {
   receive_shadows off
   technique
@@ -480,7 +471,7 @@ material tag/tag_210
     {
       texture_unit
       {
-        texture tag210.png
+        texture figure_302.png
         filtering anistropic
         max_anisotropy 16
       }

From 8237a7da0184676fd48c1e35c6fa7762cc336db6 Mon Sep 17 00:00:00 2001
From: Peter Kohout <peter.kohout@student.tugraz.at>
Date: Tue, 21 Jun 2022 18:36:16 +0200
Subject: [PATCH 4/6] fix build

---
 CMakeLists.txt                  |  4 ++--
 plugins/src/plugins/mps/mps.cpp |  2 +-
 third_party/third_party.cmake   | 32 ++++++++++++++++----------------
 3 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index dd5c2991..3689123d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,13 +16,13 @@
 # Read the full text in the LICENSE.md file.
 #
 
-cmake_minimum_required(VERSION 3.14)
+cmake_minimum_required(VERSION 3.10.2)
 
 project(gazebo-rcll)
 include(GNUInstallDirs)
 
 include(third_party/third_party.cmake)
-
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
 set(USERDIR
     ".config/rcll/gazebo"
     CACHE
diff --git a/plugins/src/plugins/mps/mps.cpp b/plugins/src/plugins/mps/mps.cpp
index 962603a6..a9f806e5 100644
--- a/plugins/src/plugins/mps/mps.cpp
+++ b/plugins/src/plugins/mps/mps.cpp
@@ -50,7 +50,7 @@ const std::map<std::string, std::string> Mps::name_id_match = {
 
 ///Constructor
 Mps::Mps(physics::ModelPtr _parent, sdf::ElementPtr)
-: model_(_parent), name_(model_->GetName()), sclt_in(this), sclt_base(this), shutdown_(false)
+:  shutdown_(false), model_(_parent), name_(model_->GetName()), sclt_in(this), sclt_base(this)
 {
 	auto sinks = spdlog::default_logger()->sinks();
 	sinks.push_back(
diff --git a/third_party/third_party.cmake b/third_party/third_party.cmake
index b96aae0c..610a72e7 100644
--- a/third_party/third_party.cmake
+++ b/third_party/third_party.cmake
@@ -1,27 +1,27 @@
-include(FetchContent)
+#include(FetchContent)
 find_package(spdlog QUIET)
 if (spdlog_FOUND)
   message(STATUS "Found spdlog on system")
 else()
-  message(STATUS "Fetching spdlog")
-  FetchContent_Declare(
-    spdlog
-    GIT_REPOSITORY https://github.com/gabime/spdlog.git
-    GIT_SHALLOW TRUE
-    GIT_TAG v1.x
-  )
+#  message(STATUS "Fetching spdlog")
+#  FetchContent_Declare(
+#    spdlog
+#    GIT_REPOSITORY https://github.com/gabime/spdlog.git
+#    GIT_SHALLOW TRUE
+#    GIT_TAG v1.x
+#  )
   set(SPDLOG_BUILD_SHARED ON)
-  FetchContent_MakeAvailable(spdlog)
+#  FetchContent_MakeAvailable(spdlog)
 endif()
 find_package(FreeOpcUa QUIET)
 if (FreeOpcUa_FOUND)
   message(STATUS "Found FreeOpcUa on system")
 else()
-  message(STATUS "Fetching freeopcua")
-  FetchContent_Declare(
-    FreeOpcUa
-    GIT_REPOSITORY https://github.com/FreeOpcUa/freeopcua.git
-    GIT_SHALLOW TRUE
-  )
-  FetchContent_MakeAvailable(FreeOpcUa)
+#  message(STATUS "Fetching freeopcua")
+#  FetchContent_Declare(
+#    FreeOpcUa
+#    GIT_REPOSITORY https://github.com/FreeOpcUa/freeopcua.git
+#    GIT_SHALLOW TRUE
+#  )
+#  FetchContent_MakeAvailable(FreeOpcUa)
 endif()

From c65bfcf9b0191d70544a5fac86e09ec05eaca34d Mon Sep 17 00:00:00 2001
From: Peter Kohout <peter.kohout@student.tugraz.at>
Date: Tue, 9 Aug 2022 17:53:35 +0200
Subject: [PATCH 5/6] fix build with Boost > 1.70

---
 third_party/third_party.cmake | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/third_party/third_party.cmake b/third_party/third_party.cmake
index 610a72e7..3353f06d 100644
--- a/third_party/third_party.cmake
+++ b/third_party/third_party.cmake
@@ -13,6 +13,7 @@ else()
   set(SPDLOG_BUILD_SHARED ON)
 #  FetchContent_MakeAvailable(spdlog)
 endif()
+find_package( Boost COMPONENTS system program_options filesystem thread REQUIRED )
 find_package(FreeOpcUa QUIET)
 if (FreeOpcUa_FOUND)
   message(STATUS "Found FreeOpcUa on system")
@@ -24,4 +25,5 @@ else()
 #    GIT_SHALLOW TRUE
 #  )
 #  FetchContent_MakeAvailable(FreeOpcUa)
+  message(STATUS "Found FreeOpcUa NOT on system")
 endif()

From c2395a136a5861ec8c0ca4fb0b401e4c69048d9b Mon Sep 17 00:00:00 2001
From: Peter Kohout <peter.kohout@student.tugraz.at>
Date: Mon, 22 Aug 2022 21:36:12 +0200
Subject: [PATCH 6/6] fix bug in gripper plugin where wrong link was selected
 while gripping

---
 plugins/src/plugins/gripper/gripper.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/plugins/src/plugins/gripper/gripper.cpp b/plugins/src/plugins/gripper/gripper.cpp
index 1df32bf7..8033cb6c 100644
--- a/plugins/src/plugins/gripper/gripper.cpp
+++ b/plugins/src/plugins/gripper/gripper.cpp
@@ -183,11 +183,13 @@ Gripper::close()
 	setPuckPose();
 
 	// link both models through a joint
-	gazebo::physics::LinkPtr gripperLink = getLinkEndingWith(model_, "link");
+	gazebo::physics::LinkPtr gripperLink = getLinkEndingWith(model_, "gripper::link");
 
 	if (!gripperLink) {
 		std::cerr << "Link 'gripper_grab' not found in gripper model" << std::endl;
 		return;
+	} else {
+		std::cout << "Link 'gripper_grab' is: " << gripperLink->GetName() << std::endl;
 	}
 
 	gazebo::physics::LinkPtr puckLink = getLinkEndingWith(grippedPuck, "cylinder");