Suggestion for new dynamic detachable joint plugin

[AdarshKaran]

🎉 New feature

Closes -

Summary

Added ros - gz bridge support for the the dynamic_detachable_joint system discussed in Issue gazebosim/gz-sim#2362

Test it

Adding the plugin to robot model URDF/SDF

    <gazebo>
      <plugin filename="gz-sim-dynamic-detachable-joint-system"
            name="gz::sim::systems::DynamicDetachableJoint">
        <parent_link>robotiq_85_left_finger_tip_link</parent_link>
        <service_name>/payload/attach_detach</service_name>
        <output_topic>/child_state</output_topic>
        <attach_distance>0.25</attach_distance>
      </plugin>
    </gazebo>

GZ Service call command

# Attach
gz service -s /payload/attach_detach \
    --reqtype gz.msgs.AttachDetachRequest \
    --reptype gz.msgs.AttachDetachResponse \
    --timeout 3000 \
    --req 'child_model_name: "cube", 
           child_link_name: "link", 
           command: "attach"'

# Detach
gz service -s /payload/attach_detach \
    --reqtype gz.msgs.AttachDetachRequest \
    --reptype gz.msgs.AttachDetachResponse \
    --timeout 2000 \
    --req 'child_model_name: "cube", 
           child_link_name: "link", 
           command: "detach"'

ROS2 Service call command

# Attach
ros2 service call /payload/attach_detach \
    ros_gz_interfaces/srv/AttachDetach \
    "{child_model_name: 'cube', 
      child_link_name: 'link', 
      command: 'attach'}"

# Detach  
ros2 service call /payload/attach_detach \
    ros_gz_interfaces/srv/AttachDetach \
    "{child_model_name: 'cube', 
      child_link_name: 'link', 
      command: 'detach'}"

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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[ahcorde]

Do you mind to add some test ?

[AdarshKaran]

Hi @ahcorde, I’ve pushed updates for the new gz-msgs API and added a test:

• AttachDetach.srv uses command constants instead of a free string.
• Response maps to error_code/message from gz.msgs.Result.
• Bridge factory also now maps AttachDetach to gz.msgs.AttachDetachRequest / gz.msgs.Result.
• Added a factory registration test for AttachDetach.