diff --git a/vrx_gz/CMakeLists.txt b/vrx_gz/CMakeLists.txt index 2ba453a29..f99c39e23 100644 --- a/vrx_gz/CMakeLists.txt +++ b/vrx_gz/CMakeLists.txt @@ -99,9 +99,11 @@ install( # Plugins list(APPEND VRX_GZ_PLUGINS AcousticPingerPlugin + BallShooterPlugin LightBuoyPlugin - PerceptionScoringPlugin NavigationScoringPlugin + PerceptionScoringPlugin + PlacardPlugin SimpleHydrodynamics StationkeepingScoringPlugin Surface diff --git a/vrx_gz/launch/competition.launch.py b/vrx_gz/launch/competition.launch.py index dadc92664..9d13e862e 100644 --- a/vrx_gz/launch/competition.launch.py +++ b/vrx_gz/launch/competition.launch.py @@ -30,6 +30,7 @@ def launch(context, *args, **kwargs): 'bridge_competition_topics').perform(context).lower() == 'true' robot = LaunchConfiguration('robot').perform(context) headless = LaunchConfiguration('headless').perform(context).lower() == 'true' + robot_urdf = LaunchConfiguration('urdf').perform(context) launch_processes = [] @@ -39,6 +40,8 @@ def launch(context, *args, **kwargs): models = Model.FromConfig(stream) else: m = Model('wamv', 'wam-v', [-532, 162, 0, 0, 0, 1]) + if robot_urdf and robot_urdf != '': + m.set_urdf(robot_urdf) models.append(m) launch_processes.extend(vrx_gz.launch.simulation(world_name, headless)) @@ -81,5 +84,9 @@ def generate_launch_description(): 'headless', default_value='False', description='True to run simulation headless (no GUI). '), + DeclareLaunchArgument( + 'urdf', + default_value='', + description='URDF file of the wam-v model. '), OpaqueFunction(function=launch), ]) diff --git a/vrx_gz/models/dock_2022/model.config b/vrx_gz/models/dock_2022/model.config new file mode 100644 index 000000000..486cbbe65 --- /dev/null +++ b/vrx_gz/models/dock_2022/model.config @@ -0,0 +1,15 @@ + + + robotx_dock_2022 + 1.0 + model.sdf + + + Carlos Agüero + caguero@openrobotics.org + + + + The dock used in RobotX 2022. + + diff --git a/vrx_gz/models/dock_2022/model.sdf b/vrx_gz/models/dock_2022/model.sdf new file mode 100644 index 000000000..1018b801d --- /dev/null +++ b/vrx_gz/models/dock_2022/model.sdf @@ -0,0 +1,461 @@ + + + + + true + + + + dock_2022_base + + + + + + 5.75 3 1.5 0 0 1.5707963267948966 + + true + 0 -0.2 0.25 0 0 3.14159 + placard_2022 + + + true + 0 0.07 0 0 0 0 + + 0 0 0 1.571 0 0 + + + 0.5 + 0.001 + + + 1 + + + robotx_dock_2022::dock_2022_placard1::link_symbols::visual_circle + robotx_dock_2022::dock_2022_placard1::link_symbols::visual_h_cross + robotx_dock_2022::dock_2022_placard1::link_symbols::visual_v_cross + robotx_dock_2022::dock_2022_placard1::link_symbols::visual_triangle + robotx_dock_2022::dock_2022_placard1::link_symbols::visual_rectangle + + true + vrx/dock_2022_placard1 + shuffle + + + + 0 0 0 1.571 0 0 + + + 0.99 0.33 0.001 + + + 1 + + + 0 0 0 1.571 0 0 + + + 0.33 0.99 0.001 + + + 1 + + + -0.5 0 -0.5 1.571 0 0 + + model://symbol_triangle/mesh/triangle.dae + + 1 + + + 0 0 0 1.571 0 0 + + + 1 0.75 0.001 + + + 1 + + + + + + + + + 0 0 0 0 0 0 + placard::link + link_symbols + + + + + + + + + + + + 5.75 9 1.5 0 0 1.5707963267948966 + + true + 0 -0.2 0.25 0 0 3.14159 + placard_2022 + + + true + 0 0.07 0 0 0 0 + + 0 0 0 1.571 0 0 + + + 0.5 + 0.001 + + + 1 + + + robotx_dock_2022::dock_2022_placard2::link_symbols::visual_circle + robotx_dock_2022::dock_2022_placard2::link_symbols::visual_h_cross + robotx_dock_2022::dock_2022_placard2::link_symbols::visual_v_cross + robotx_dock_2022::dock_2022_placard2::link_symbols::visual_triangle + robotx_dock_2022::dock_2022_placard2::link_symbols::visual_rectangle + + true + vrx/dock_2022_placard2 + shuffle + + + + 0 0 0 1.571 0 0 + + + 0.99 0.33 0.001 + + + 1 + + + 0 0 0 1.571 0 0 + + + 0.33 0.99 0.001 + + + 1 + + + -0.5 0 -0.5 1.571 0 0 + + model://symbol_triangle/mesh/triangle.dae + + 1 + + + 0 0 0 1.571 0 0 + + + 1 0.75 0.001 + + + 1 + + + + + + + + + 0 0 0 0 0 0 + placard::link + link_symbols + + + + + + + + + + + + 5.75 15 1.5 0 0 1.5707963267948966 + + true + 0 -0.2 0.25 0 0 3.14159 + placard_2022 + + + true + 0 0.07 0 0 0 0 + + 0 0 0 1.571 0 0 + + + 0.5 + 0.001 + + + 1 + + + robotx_dock_2022::dock_2022_placard3::link_symbols::visual_circle + robotx_dock_2022::dock_2022_placard3::link_symbols::visual_h_cross + robotx_dock_2022::dock_2022_placard3::link_symbols::visual_v_cross + robotx_dock_2022::dock_2022_placard3::link_symbols::visual_triangle + robotx_dock_2022::dock_2022_placard3::link_symbols::visual_rectangle + + true + vrx/dock_2022_placard3 + shuffle + + + + 0 0 0 1.571 0 0 + + + 0.99 0.33 0.001 + + + 1 + + + 0 0 0 1.571 0 0 + + + 0.33 0.99 0.001 + + + 1 + + + -0.5 0 -0.5 1.571 0 0 + + model://symbol_triangle/mesh/triangle.dae + + 1 + + + 0 0 0 1.571 0 0 + + + 1 0.75 0.001 + + + 1 + + + + + + + + + 0 0 0 0 0 0 + placard::link + link_symbols + + + + + + + + + + + diff --git a/vrx_gz/models/dock_2022_base/model.config b/vrx_gz/models/dock_2022_base/model.config new file mode 100644 index 000000000..7429ff832 --- /dev/null +++ b/vrx_gz/models/dock_2022_base/model.config @@ -0,0 +1,15 @@ + + + robotx_dock_2022_base + 1.0 + model.sdf + + + Carlos Agüero + caguero@openrobotics.org + + + + The dock base used in RobotX 2022. + + diff --git a/vrx_gz/models/dock_2022_base/model.sdf b/vrx_gz/models/dock_2022_base/model.sdf new file mode 100644 index 000000000..5463febf6 --- /dev/null +++ b/vrx_gz/models/dock_2022_base/model.sdf @@ -0,0 +1,142 @@ + + + + + + + false + + + + + true + + + + + dock_block_0_0 + 0 0 0.25 0 0 0 + dock_block_4x4 + + + dock_block_0_3 + 0 6 0.25 0 0 0 + dock_block_4x4 + + + dock_block_0_6 + 0 12 0.25 0 0 0 + dock_block_4x4 + + + dock_block_0_9 + 0 18 0.25 0 0 0 + dock_block_4x4 + + + + + dock_block_1_0 + 2 0 0.25 0 0 0 + dock_block_4x4 + + + dock_block_1_3 + 2 6 0.25 0 0 0 + dock_block_4x4 + + + dock_block_1_6 + 2 12 0.25 0 0 0 + dock_block_4x4 + + + dock_block_1_9 + 2 18 0.25 0 0 0 + dock_block_4x4 + + + + + dock_block_2_0 + 4 0 0.25 0 0 0 + dock_block_4x4 + + + dock_block_2_3 + 4 6 0.25 0 0 0 + dock_block_4x4 + + + dock_block_2_6 + 4 12 0.25 0 0 0 + dock_block_4x4 + + + dock_block_2_9 + 4 18 0.25 0 0 0 + dock_block_4x4 + + + + + dock_block_3_0 + 6 0 0.25 0 0 0 + dock_block_4x4 + + + dock_block_3_1 + 6 2 0.25 0 0 0 + dock_block_4x4 + + + dock_block_3_2 + 6 4 0.25 0 0 0 + dock_block_4x4 + + + dock_block_3_3 + 6 6 0.25 0 0 0 + dock_block_4x4 + + + dock_block_3_4 + 6 8 0.25 0 0 0 + dock_block_4x4 + + + dock_block_3_5 + 6 10 0.25 0 0 0 + dock_block_4x4 + + + dock_block_3_6 + 6 12 0.25 0 0 0 + dock_block_4x4 + + + dock_block_3_7 + 6 14 0.25 0 0 0 + dock_block_4x4 + + + dock_block_3_8 + 6 16 0.25 0 0 0 + dock_block_4x4 + + + dock_block_3_9 + 6 18 0.25 0 0 0 + dock_block_4x4 + + + + + + + + diff --git a/vrx_gz/models/dock_block_4x4/mesh/dock_block_4x4.dae b/vrx_gz/models/dock_block_4x4/mesh/dock_block_4x4.dae new file mode 100644 index 000000000..5f29d2bb7 --- /dev/null +++ b/vrx_gz/models/dock_block_4x4/mesh/dock_block_4x4.dae @@ -0,0 +1,107 @@ + + + + + Blender User + Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b + + 2018-07-26T22:33:55 + 2018-07-26T22:33:55 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.64 0.64 0.64 1 + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + -0.6545429 0.2500001 -0.4067023 -0.6780924 0.2597545 -0.4067023 -0.6605646 0.2507426 -0.4067023 -0.6671544 0.2528571 -0.4067023 -0.6733094 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3262 2261 32 3263 2275 142 3264 2289 132 3265 2278 132 3266 2260 133 3267 2303 42 3268 2270 42 3269 2263 71 3270 2295 138 3271 2262 138 3272 2276 143 3273 2290 93 3274 2279 93 3275 2264 140 3276 2296 71 3277 2263 71 3278 2279 93 3279 2291 128 3280 2280 128 3281 2272 136 3282 2282 86 3283 2271 86 3284 2267 141 3285 2299 132 3286 2265 132 3287 2280 128 3288 2292 99 3289 2281 99 3290 2271 86 3291 2284 131 3292 2273 131 3293 2266 127 3294 2297 140 3295 2264 140 3296 2642 132 3297 2640 132 3298 2641 132 3299 2305 28 3300 2321 28 3301 2304 28 3302 2307 126 3303 2322 126 3304 2323 126 3305 2646 133 3306 2644 133 3307 2645 133 3308 2317 28 3309 2325 28 3310 2316 28 3311 2319 126 3312 2326 126 3313 2327 126 3314 2650 127 3315 2648 127 3316 2649 127 3317 2312 28 3318 2328 28 3319 2329 28 3320 2314 126 3321 2331 126 3322 2315 126 3323 2654 136 3324 2652 136 3325 2653 136 3326 2309 28 3327 2333 28 3328 2308 28 3329 2311 126 3330 2334 126 3331 2335 126 3332 1998 28 3333 2002 28 3334 2028 28 3335 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3078 69 3568 3079 14 3569 2736 162 3570 3082 71 3571 3078 69 3572 2735 72 3573 3084 73 3574 3082 71 3575 2734 74 3576 3086 75 3577 3084 73 3578 3090 76 3579 2716 77 3580 2714 78 3581 3091 79 3582 2717 80 3583 2716 77 3584 3093 81 3585 2718 82 3586 2717 80 3587 3095 83 3588 2715 13 3589 2718 82 3590 2763 18 3591 3101 84 3592 2765 85 3593 2765 85 3594 3103 86 3595 2766 87 3596 2766 87 3597 3105 88 3598 2767 89 3599 2767 89 3600 3107 2 3601 2764 1 3602 3109 10 3603 2749 90 3604 3108 91 3605 3108 91 3606 2748 92 3607 3112 93 3608 3112 93 3609 2747 94 3610 3114 95 3611 3114 95 3612 2745 15 3613 3116 96 3614 3120 19 3615 3118 97 3616 3119 17 3617 2754 98 3618 3122 99 3619 3118 97 3620 2753 100 3621 3124 101 3622 3122 99 3623 2752 102 3624 3126 103 3625 3124 101 3626 2709 35 3627 3019 104 3628 3008 36 3629 2782 105 3630 2778 106 3631 2786 107 3632 2788 108 3633 2773 109 3634 2791 110 3635 2783 111 3636 2772 112 3637 2769 113 3638 2791 110 3639 2772 112 3640 2780 114 3641 2784 115 3642 2775 24 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93 3864 2874 139 3865 2843 139 3866 2850 71 3867 2862 140 3868 2851 140 3869 2845 128 3870 2877 93 3871 2844 93 3872 2837 86 3873 2870 136 3874 2836 136 3875 2853 132 3876 2863 141 3877 2852 141 3878 2846 99 3879 2878 128 3880 2845 128 3881 2838 131 3882 2869 86 3883 2837 86 3884 2851 140 3885 2865 127 3886 2854 127 3887 2836 136 3888 2879 99 3889 2846 99 3890 2839 81 3891 2871 131 3892 2838 131 3893 2852 141 3894 2866 52 3895 2855 52 3896 2840 142 3897 2872 81 3898 2839 81 3899 2855 52 3900 2867 135 3901 2856 135 3902 2848 133 3903 2858 32 3904 2847 32 3905 2843 139 3906 2875 127 3907 2841 127 3908 2856 135 3909 2868 42 3910 2857 42 3911 2847 32 3912 2860 138 3913 2849 138 3914 2842 132 3915 2873 142 3916 2840 142 3917 3227 28 3918 3217 28 3919 3216 28 3920 3229 28 3921 3216 28 3922 3218 28 3923 3219 28 3924 3229 28 3925 3218 28 3926 3231 28 3927 3219 28 3928 3220 28 3929 3221 28 3930 3233 28 3931 3222 28 3932 3234 28 3933 3220 28 3934 3223 28 3935 3224 28 3936 3232 28 3937 3221 28 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4011 2915 128 4012 2882 128 4013 2896 129 4014 2910 86 4015 2899 86 4016 2884 130 4017 2916 99 4018 2883 99 4019 2899 86 4020 2911 131 4021 2900 131 4022 2892 132 4023 2902 52 4024 2891 52 4025 2887 134 4026 2919 133 4027 2885 133 4028 2900 131 4029 2912 81 4030 2901 81 4031 2891 52 4032 2904 135 4033 2893 135 4034 2886 136 4035 2917 130 4036 2884 130 4037 3260 28 4038 3272 28 4039 3261 28 4040 3273 28 4041 3260 28 4042 3262 28 4043 3263 28 4044 3273 28 4045 3262 28 4046 3275 28 4047 3263 28 4048 3264 28 4049 3265 28 4050 3277 28 4051 3266 28 4052 3278 28 4053 3264 28 4054 3267 28 4055 3268 28 4056 3276 28 4057 3265 28 4058 3269 28 4059 3279 28 4060 3268 28 4061 3281 28 4062 3269 28 4063 3270 28 4064 3272 28 4065 3270 28 4066 3261 28 4067 3282 126 4068 3294 126 4069 3293 126 4070 3282 126 4071 3295 126 4072 3284 126 4073 3285 126 4074 3295 126 4075 3296 126 4076 3285 126 4077 3297 126 4078 3286 126 4079 3287 126 4080 3299 126 4081 3298 126 4082 3286 126 4083 3300 126 4084 3289 126 4085 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3304 132 4159 3305 132 4160 2968 28 4161 2984 28 4162 2985 28 4163 2970 126 4164 2987 126 4165 2971 126 4166 3310 133 4167 3308 133 4168 3309 133 4169 2981 28 4170 2989 28 4171 2980 28 4172 2983 126 4173 2990 126 4174 2991 126 4175 3314 127 4176 3312 127 4177 3313 127 4178 2976 28 4179 2992 28 4180 2993 28 4181 2978 126 4182 2995 126 4183 2979 126 4184 3318 136 4185 3316 136 4186 3317 136 4187 2973 28 4188 2997 28 4189 2972 28 4190 2975 126 4191 2998 126 4192 2999 126 4193 2662 28 4194 2666 28 4195 2692 28 4196 2666 28 4197 2668 28 4198 2669 28 4199 2672 28 4200 2671 28 4201 2674 28 4202 2669 28 4203 2670 28 4204 2667 28 4205 2666 28 4206 2669 28 4207 2667 28 4208 2667 28 4209 2671 28 4210 2666 28 4211 2671 28 4212 2673 28 4213 2674 28 4214 2674 28 4215 2675 28 4216 2672 28 4217 2672 28 4218 2686 28 4219 2666 28 4220 2686 28 4221 2688 28 4222 2689 28 4223 2666 28 4224 2686 28 4225 2692 28 4226 2689 28 4227 2690 28 4228 2687 28 4229 2687 28 4230 2691 28 4231 2686 28 4232 2691 28 4233 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26 28598 10415 208 28599 10050 26 28600 10421 26 28601 10410 27 28602 10359 27 28603 10366 27 28604 10359 27 28605 10358 27 28606 10366 27 28607 10358 27 28608 10362 204 28609 10364 27 28610 10364 27 28611 10366 27 28612 10358 27 28613 10366 27 28614 10356 27 28615 10403 27 28616 10356 27 28617 10353 27 28618 10349 27 28619 10353 27 28620 10351 210 28621 10349 27 28622 10349 27 28623 10059 27 28624 10356 27 28625 10059 27 28626 10431 27 28627 10356 27 28628 10431 27 28629 10429 190 28630 10055 27 28631 10356 27 28632 10431 27 28633 10055 27 28634 10429 190 28635 10427 204 28636 10055 27 28637 10427 204 28638 10425 225 28639 10055 27 28640 10055 27 28641 10403 27 28642 10356 27 28643 10403 27 28644 10402 192 28645 10406 191 28646 10406 191 28647 10408 27 28648 10403 27 28649 10408 27 28650 10410 27 28651 10403 27 28652 10305 22 28653 10306 21 28654 10017 165 28655 10304 30 28656 10017 165 28657 10016 31 28658 10308 32 28659 10016 31 28660 10015 33 28661 10310 34 28662 10015 33 28663 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128 28923 10120 128 28924 10121 99 28925 10104 86 28926 10137 86 28927 10134 129 28928 10110 99 28929 10121 99 28930 10122 130 28931 10105 131 28932 10138 131 28933 10137 86 28934 10097 52 28935 10129 52 28936 10130 132 28937 10113 133 28938 10124 133 28939 10123 134 28940 10106 81 28941 10139 81 28942 10138 131 28943 10098 135 28944 10131 135 28945 10129 52 28946 10111 130 28947 10122 130 28948 10125 136 28949 10096 132 28950 10130 132 28951 10139 81 28952 10099 42 28953 10132 42 28954 10131 135 28955 10112 134 28956 10123 134 28957 10126 32 28958 10100 137 28959 10133 137 28960 10132 42 28961 10115 32 28962 10126 32 28963 10127 138 28964 10108 127 28965 10119 127 28966 10118 93 28967 10103 129 28968 10134 129 28969 10135 136 28970 10116 138 28971 10127 138 28972 10128 71 28973 10107 93 28974 10118 93 28975 10120 128 28976 10102 133 28977 10136 133 28978 10133 137 28979 10476 28 28980 10487 28 28981 10488 28 28982 10489 28 28983 10487 28 28984 10476 28 28985 10479 28 28986 10490 28 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10149 128 29052 10182 128 29053 10181 93 29054 10141 86 29055 10173 86 29056 10174 136 29057 10157 132 29058 10168 132 29059 10167 141 29060 10150 99 29061 10183 99 29062 10182 128 29063 10142 131 29064 10175 131 29065 10173 86 29066 10155 140 29067 10166 140 29068 10169 127 29069 10140 136 29070 10174 136 29071 10183 99 29072 10143 81 29073 10176 81 29074 10175 131 29075 10156 141 29076 10167 141 29077 10170 52 29078 10144 142 29079 10177 142 29080 10176 81 29081 10159 52 29082 10170 52 29083 10171 135 29084 10152 133 29085 10163 133 29086 10162 32 29087 10147 139 29088 10178 139 29089 10179 127 29090 10160 135 29091 10171 135 29092 10172 42 29093 10151 32 29094 10162 32 29095 10164 138 29096 10146 132 29097 10180 132 29098 10177 142 29099 10520 28 29100 10531 28 29101 10532 28 29102 10533 28 29103 10531 28 29104 10520 28 29105 10523 28 29106 10534 28 29107 10533 28 29108 10535 28 29109 10534 28 29110 10523 28 29111 10525 28 29112 10536 28 29113 10537 28 29114 10538 28 29115 10535 28 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128 55 5 129 54 57 130 55 48 131 53 28 132 73 31 133 78 44 134 57 28 135 73 44 136 57 63 137 58 4 138 80 27 139 81 42 140 85 42 141 85 27 142 81 54 143 83 31 144 78 4 145 80 42 146 85 31 147 78 42 148 85 44 149 57 32 150 5 30 151 67 33 152 68 30 153 67 32 154 5 31 155 4 33 156 68 5 157 69 6 158 71 5 159 69 33 160 68 30 161 67 6 162 61 25 163 62 33 164 60 33 165 60 25 166 62 34 167 63 25 168 62 2 169 64 34 170 63 34 171 63 2 172 64 35 173 66 33 174 60 34 175 63 32 176 59 32 177 59 34 178 63 36 179 40 34 180 63 35 181 66 36 182 40 36 183 40 35 184 66 37 185 12 28 186 73 39 187 94 29 188 8 29 189 8 39 190 94 38 191 51 35 192 0 38 193 48 39 194 72 39 195 72 37 196 74 35 197 0 27 198 81 0 199 95 28 200 73 28 201 73 0 202 95 39 203 94 39 204 72 0 205 75 37 206 74 0 207 75 1 208 76 37 209 74 54 210 83 28 211 73 63 212 58 28 213 73 54 214 83 27 215 81 31 216 78 28 217 73 30 218 56 30 219 56 28 220 73 29 221 8 30 222 56 59 223 7 57 224 55 59 225 7 30 226 56 29 227 8 59 228 109 50 229 108 51 230 96 59 231 109 51 232 96 60 233 97 50 234 108 48 235 110 47 236 98 50 237 108 47 238 98 51 239 96 48 240 110 57 241 111 56 242 99 48 243 110 56 244 99 47 245 98 63 246 113 44 247 112 45 248 100 63 249 113 45 250 100 62 251 101 42 252 115 54 253 114 53 254 102 42 255 115 53 256 102 41 257 103 44 258 112 42 259 115 41 260 103 44 261 112 41 262 103 45 263 100 63 264 113 53 265 102 54 266 114 53 267 102 63 268 113 62 269 101 57 270 111 59 271 109 60 272 97 57 273 111 60 274 97 56 275 99</p> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="placard_2022" name="placard_2022"> + <node name="Box001" id="Box001" sid="Box001"> + <matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#Box001-lib"> + <bind_material> + <technique_common> + <instance_material symbol="Placard" target="#Placard"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <extra> + <technique profile="MAX3D"> + <frame_rate>30.000000</frame_rate> + </technique> + <technique profile="FCOLLADA"> + <start_time>0.000000</start_time> + <end_time>3.333333</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#placard_2022"/> + </scene> +</COLLADA> diff --git a/vrx_gz/models/placard_2022/model.config b/vrx_gz/models/placard_2022/model.config new file mode 100644 index 000000000..5ca0548f5 --- /dev/null +++ b/vrx_gz/models/placard_2022/model.config @@ -0,0 +1,20 @@ +<?xml version="1.0"?> +<model> + <name>placard_2022</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + + <author> + <name>Carlos Agüero</name> + <email>caguero@openrobotics.org</email> + </author> + + <author> + <name>Cole Biesemeyer</name> + <email>cole@openrobotics.org</email> + </author> + + <description> + A white placard with a symbol used in the RobotX competition. + </description> +</model> diff --git a/vrx_gz/models/placard_2022/model.sdf b/vrx_gz/models/placard_2022/model.sdf new file mode 100644 index 000000000..1a8e95e01 --- /dev/null +++ b/vrx_gz/models/placard_2022/model.sdf @@ -0,0 +1,72 @@ +<?xml version="1.0" ?> +<sdf version="1.6"> + <model name="placard"> + <pose>0 0 1 0 0 0</pose> + <!-- The white placard --> + <link name="link"> + <collision name="collision_1"> + <pose>-0.9234 0.0 1.164 0.0 0.0 0.0</pose> + <geometry> + <box> + <size>0.153199 0.500 0.672</size> + </box> + </geometry> + </collision> + <collision name="collision_2"> + <pose>-0.596803 0.0 1.41357 -3.14159 -1.5708 0.0</pose> + <geometry> + <box> + <size>0.17285 0.5 0.5</size> + </box> + </geometry> + </collision> + <collision name="collision_3"> + <pose>0.326598 0.0 1.35111 0.0 0.0 0.0</pose> + <geometry> + <box> + <size>1.3468 0.500 0.29777</size> + </box> + </geometry> + </collision> + <collision name="collision_4"> + <pose>0.070527 0.0 1.07723 0.0 0.0 0.0</pose> + <geometry> + <box> + <size>0.834664 0.500 0.25</size> + </box> + </geometry> + </collision> + <collision name="collision_6"> + <pose>0.326598 0.0 0.890117 0.0 0.0 0.0</pose> + <geometry> + <box> + <size>1.3468 0.500 0.124233</size> + </box> + </geometry> + </collision> + <collision name="collision_5"> + <pose>0.868936 0.0 1.07723 1.5708 0.0 1.5708</pose> + <geometry> + <box> + <size>0.500 0.25 0.262128</size> + </box> + </geometry> + </collision> + <collision name="collision_7"> + <pose>0.0 0.0 -0.336 0.0 0.0 0.0</pose> + <geometry> + <box> + <size>2.000 0.500 2.328</size> + </box> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <mesh> + <uri>meshes/placard_2022.dae</uri> + </mesh> + </geometry> + </visual> + </link> + </model> +</sdf> diff --git a/vrx_gz/models/symbol_triangle/mesh/triangle.dae b/vrx_gz/models/symbol_triangle/mesh/triangle.dae new file mode 100644 index 000000000..622040240 --- /dev/null +++ b/vrx_gz/models/symbol_triangle/mesh/triangle.dae @@ -0,0 +1,158 @@ +<?xml version="1.0" encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <author>Blender User</author> + <authoring_tool>Blender 2.77.0 commit date:2016-04-05, commit time:18:12, hash:abf6f08</authoring_tool> + </contributor> + <created>2018-07-24T14:01:18</created> + <modified>2018-07-24T14:01:18</modified> + <unit name="meter" meter="1"/> + <up_axis>Z_UP</up_axis> + </asset> + <library_cameras> + <camera id="Camera-camera" name="Camera"> + <optics> + <technique_common> + <perspective> + <xfov sid="xfov">49.13434</xfov> + <aspect_ratio>1.777778</aspect_ratio> + <znear sid="znear">0.1</znear> + <zfar sid="zfar">100</zfar> + </perspective> + </technique_common> + </optics> + <extra> + <technique profile="blender"> + <YF_dofdist>0</YF_dofdist> + <shiftx>0</shiftx> + <shifty>0</shifty> + </technique> + </extra> + </camera> + </library_cameras> + <library_lights> + <light id="Lamp-light" name="Lamp"> + <technique_common> + <point> + <color sid="color">1 1 1</color> + <constant_attenuation>1</constant_attenuation> + <linear_attenuation>0</linear_attenuation> + <quadratic_attenuation>0.00111109</quadratic_attenuation> + </point> + </technique_common> + <extra> + <technique profile="blender"> + <adapt_thresh>0.000999987</adapt_thresh> + <area_shape>1</area_shape> + <area_size>0.1</area_size> + <area_sizey>0.1</area_sizey> + <area_sizez>1</area_sizez> + <atm_distance_factor>1</atm_distance_factor> + <atm_extinction_factor>1</atm_extinction_factor> + <atm_turbidity>2</atm_turbidity> + <att1>0</att1> + <att2>1</att2> + <backscattered_light>1</backscattered_light> + <bias>1</bias> + <blue>1</blue> + <buffers>1</buffers> + <bufflag>0</bufflag> + <bufsize>2880</bufsize> + <buftype>2</buftype> + <clipend>30.002</clipend> + <clipsta>1.000799</clipsta> + <compressthresh>0.04999995</compressthresh> + <dist sid="blender_dist">29.99998</dist> + <energy sid="blender_energy">1</energy> + <falloff_type>2</falloff_type> + <filtertype>0</filtertype> + <flag>0</flag> + <gamma sid="blender_gamma">1</gamma> + <green>1</green> + <halo_intensity sid="blnder_halo_intensity">1</halo_intensity> + <horizon_brightness>1</horizon_brightness> + <mode>8192</mode> + <ray_samp>1</ray_samp> + <ray_samp_method>1</ray_samp_method> + <ray_samp_type>0</ray_samp_type> + <ray_sampy>1</ray_sampy> + <ray_sampz>1</ray_sampz> + <red>1</red> + <samp>3</samp> + <shadhalostep>0</shadhalostep> + <shadow_b sid="blender_shadow_b">0</shadow_b> + <shadow_g sid="blender_shadow_g">0</shadow_g> + <shadow_r sid="blender_shadow_r">0</shadow_r> + <sky_colorspace>0</sky_colorspace> + <sky_exposure>1</sky_exposure> + <skyblendfac>1</skyblendfac> + <skyblendtype>1</skyblendtype> + <soft>3</soft> + <spotblend>0.15</spotblend> + <spotsize>75</spotsize> + <spread>1</spread> + <sun_brightness>1</sun_brightness> + <sun_effect_type>0</sun_effect_type> + <sun_intensity>1</sun_intensity> + <sun_size>1</sun_size> + <type>0</type> + </technique> + </extra> + </light> + </library_lights> + <library_geometries> + <geometry id="Cone-mesh" name="Cone"> + <mesh> + <source id="Cone-mesh-positions"> + <float_array id="Cone-mesh-positions-array" count="18">0.5 0.866 9.60708e-4 1 0 0 0 0 0 0.5 0.8660011 -3.92918e-5 1 1.10936e-6 -9.99999e-4 0 1.10936e-6 -9.99999e-4</float_array> + <technique_common> + <accessor source="#Cone-mesh-positions-array" count="6" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <source id="Cone-mesh-normals"> + <float_array id="Cone-mesh-normals-array" count="18">0 -0.001109361 0.9999995 0 0.001109361 -0.9999994 -0.8660192 0.5000105 5.66256e-4 0 -0.9999994 -0.001109361 0.8660192 0.5000106 5.66256e-4 0.8660193 0.5000104 5.66256e-4</float_array> + <technique_common> + <accessor source="#Cone-mesh-normals-array" count="6" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <vertices id="Cone-mesh-vertices"> + <input semantic="POSITION" source="#Cone-mesh-positions"/> + </vertices> + <polylist count="8"> + <input semantic="VERTEX" source="#Cone-mesh-vertices" offset="0"/> + <input semantic="NORMAL" source="#Cone-mesh-normals" offset="1"/> + <vcount>3 3 3 3 3 3 3 3 </vcount> + <p>0 0 2 0 1 0 3 1 4 1 5 1 0 2 5 2 2 2 2 3 4 3 1 3 0 4 4 4 3 4 0 2 3 2 5 2 2 3 5 3 4 3 0 5 1 5 4 5</p> + </polylist> + </mesh> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="Scene" name="Scene"> + <node id="Camera" name="Camera" type="NODE"> + <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix> + <instance_camera url="#Camera-camera"/> + </node> + <node id="Lamp" name="Lamp" type="NODE"> + <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix> + <instance_light url="#Lamp-light"/> + </node> + <node id="Cone" name="Cone" type="NODE"> + <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix> + <instance_geometry url="#Cone-mesh" name="Cone"/> + </node> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#Scene"/> + </scene> +</COLLADA> \ No newline at end of file diff --git a/vrx_gz/models/symbol_triangle/model.config b/vrx_gz/models/symbol_triangle/model.config new file mode 100644 index 000000000..d2b81c2cd --- /dev/null +++ b/vrx_gz/models/symbol_triangle/model.config @@ -0,0 +1,15 @@ +<?xml version="1.0"?> +<model> + <name>symbol_triangle</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + + <author> + <name>Carlos Agüero</name> + <email>caguero@openrobotics.org</email> + </author> + + <description> + A triangle symbol used in some elements of the RobotX competition. + </description> +</model> diff --git a/vrx_gz/models/symbol_triangle/model.sdf b/vrx_gz/models/symbol_triangle/model.sdf new file mode 100644 index 000000000..3d6ba5be0 --- /dev/null +++ b/vrx_gz/models/symbol_triangle/model.sdf @@ -0,0 +1,15 @@ +<?xml version="1.0" ?> +<sdf version="1.6"> + <model name="symbol_triangle"> + <static>true</static> + <pose>0 0 0 1.5708 0 0</pose> + <link name="link"> + <visual name="visual"> + <geometry> + <mesh><uri>mesh/triangle.dae</uri></mesh> + </geometry> + <transparency>1</transparency> + </visual> + </link> + </model> +</sdf> diff --git a/vrx_gz/src/BallShooterPlugin.cc b/vrx_gz/src/BallShooterPlugin.cc new file mode 100644 index 000000000..fba13115e --- /dev/null +++ b/vrx_gz/src/BallShooterPlugin.cc @@ -0,0 +1,310 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include <mutex> +#include <string> + +#include <gz/math/Matrix4.hh> +#include <gz/plugin/Register.hh> + +#include <gz/sim/Link.hh> +#include <gz/sim/Model.hh> +#include <gz/sim/components/AngularVelocityCmd.hh> +#include <gz/sim/components/LinearVelocityCmd.hh> +#include <gz/sim/components/Link.hh> +#include <gz/sim/components/Model.hh> +#include <gz/sim/components/Name.hh> +#include <gz/sim/components/ParentEntity.hh> +#include <gz/sim/components/Pose.hh> +#include <gz/sim/components/PoseCmd.hh> + +#include <gz/transport/Node.hh> + +#include "BallShooterPlugin.hh" + +using namespace gz; +using namespace vrx; + +/// \brief Private BallShooterPlugin data class. +class BallShooterPlugin::Implementation +{ + /// \brief Callback function called when receiving a new fire message. + /// \param[in] _msg Unused. + public: void OnFire(const gz::msgs::Empty &_msg); + + /// \brief Protect some member variables used in the callback. + public: std::mutex mutex; + + /// \brief Gz transport node + public: gz::transport::Node node; + + /// \brief Number of shots allowed. + public: unsigned int remainingShots = math::MAX_UI32; + + /// \brief The force (N) to be applied to the projectile. + public: double shotForce = 250; + + /// \brief Projectile model entity. + public: gz::sim::Model projectileModel; + + /// \brief Projectile link entity. + public: gz::sim::Link projectileLink; + + /// \brief Link/model entity that the projectile pose uses as its frame of + /// reference. + public: gz::sim::Entity frame; + + /// \brief Pose in which the projectile should be placed before launching it. + public: gz::math::Pose3d pose = gz::math::Pose3d::Zero; + + /// \brief Ready to shoot a ball when true. + public: bool shotReady = false; + + /// \brief True to reset ball velocities + public: bool resetVel = false; +}; + +////////////////////////////////////////////////// +BallShooterPlugin::BallShooterPlugin() + : System(), dataPtr(utils::MakeUniqueImpl<Implementation>()) +{ +} + +////////////////////////////////////////////////// +void BallShooterPlugin::Configure(const sim::Entity &_entity, + const std::shared_ptr<const sdf::Element> &_sdf, + sim::EntityComponentManager &_ecm, sim::EventManager &_eventMgr) +{ + auto sdf = _sdf->Clone(); + + // Parse the required <projectile> element. + if (!sdf->HasElement("projectile")) + { + gzerr << "BallShooterPlugin: Missing <projectile> element" << std::endl; + return; + } + + sdf::ElementPtr projectileElem = sdf->GetElement("projectile"); + + // Parse the required <projectile><model_name> used as projectile. + if (!projectileElem->HasElement("model_name")) + { + gzerr << "BallShooterPlugin: Missing <projectile><model_name> element\n"; + return; + } + + std::string projectileName = + projectileElem->GetElement("model_name")->Get<std::string>(); + + sim::Entity projectileModelEntity = _ecm.EntityByComponents( + sim::components::Model(), sim::components::Name(projectileName)); + + if (projectileModelEntity == sim::kNullEntity) + { + gzerr << "BallShooterPlugin: The model '" << projectileName + << "' does not exist" << std::endl; + return; + } + this->dataPtr->projectileModel = sim::Model(projectileModelEntity); + + // Parse the required <projectile><link_name> + if (!projectileElem->HasElement("link_name")) + { + gzerr << "BallShooterPlugin: Missing <projectile><link_name> element\n"; + return; + } + + std::string projectileLinkName = + projectileElem->GetElement("link_name")->Get<std::string>(); + + sim::Entity projectileLinkEntity = _ecm.EntityByComponents( + sim::components::Link(), sim::components::Name(projectileLinkName), + sim::components::ParentEntity(this->dataPtr->projectileModel.Entity())); + + if (projectileLinkEntity == sim::kNullEntity) + { + gzerr << "BallShooterPlugin: The link '" << projectileLinkName + << "' does not exist within '" << projectileName << "'" << std::endl; + return; + } + this->dataPtr->projectileLink = sim::Link(projectileLinkEntity); + + // Parse <frame> if available. + std::string frameName; + if (projectileElem->HasElement("frame")) + { + frameName = projectileElem->Get<std::string>("frame"); + + this->dataPtr->frame = _ecm.EntityByComponents( + sim::components::Name(frameName)); + + if (this->dataPtr->frame == sim::kNullEntity) + { + gzerr << "The frame '" << frameName << "' does not exist" << std::endl; + frameName = ""; + } + else + { + auto isModel = _ecm.Component<sim::components::Model>( + this->dataPtr->frame); + auto isLink = _ecm.Component<sim::components::Link>(this->dataPtr->frame); + if (isLink) + { + // create world pose comp to be populated by physics if it does not + // exist yet + auto worldPoseComp = _ecm.Component<sim::components::WorldPose>( + this->dataPtr->frame); + if (!worldPoseComp) + { + _ecm.CreateComponent( + this->dataPtr->frame, + sim::components::WorldPose()); + } + } + else if (!isModel) + { + this->dataPtr->frame = sim::kNullEntity; + frameName = ""; + gzerr << "<frame> tag must list the name of a link or model" << std::endl; + } + } + } + + // Parse <pose> if available. + if (projectileElem->HasElement("pose")) + this->dataPtr->pose = projectileElem->Get<math::Pose3d>("pose"); + + // Parse <topic> if available. + std::string topic = "/ball_shooter/fire"; + if (sdf->HasElement("topic")) + topic = sdf->GetElement("topic")->Get<std::string>(); + + // Parse <num_shots> if available. + if (sdf->HasElement("num_shots")) + { + this->dataPtr->remainingShots = + sdf->GetElement("num_shots")->Get<unsigned int>(); + } + + // Parse <shot_force> if available. + if (sdf->HasElement("shot_force")) + this->dataPtr->shotForce = sdf->GetElement("shot_force")->Get<double>(); + + this->dataPtr->node.Subscribe(topic, + &BallShooterPlugin::Implementation::OnFire, this->dataPtr.get()); + + // Debug output. + gzdbg << "<projectile><model_name>: " << projectileName << std::endl; + gzdbg << "<projectile><link_name>: " << projectileLinkName << std::endl; + gzdbg << "<frame>: " << frameName << std::endl; + gzdbg << "<num_shots>: " << this->dataPtr->remainingShots << std::endl; + gzdbg << "<pose>: " << this->dataPtr->pose.Pos() << " " + << this->dataPtr->pose.Rot().Euler() << std::endl; + gzdbg << "<shot_force>: " << this->dataPtr->shotForce << std::endl; + gzdbg << "<topic>: " << topic << std::endl; +} + +////////////////////////////////////////////////// +void BallShooterPlugin::PreUpdate(const sim::UpdateInfo &, + sim::EntityComponentManager &_ecm) + +{ + std::lock_guard<std::mutex> lock(this->dataPtr->mutex); + + if (!this->dataPtr->shotReady || + this->dataPtr->projectileModel.Entity() == sim::kNullEntity || + this->dataPtr->projectileLink.Entity() == sim::kNullEntity) + return; + + // reset so the ball does not accumulate vel + // Do this for one physics iteration first. Then fire the shooter in the next + // iteration. + if (!this->dataPtr->resetVel) + { + this->dataPtr->projectileLink.SetLinearVelocity(_ecm, math::Vector3d::Zero); + this->dataPtr->projectileLink.SetAngularVelocity(_ecm, math::Vector3d::Zero); + this->dataPtr->resetVel = true; + return; + } + else + { + // make sure to remove the comp otherwise the physics system will keep + // setting zero vel to the link + _ecm.RemoveComponent<sim::components::AngularVelocityCmd>( + this->dataPtr->projectileLink.Entity()); + _ecm.RemoveComponent<sim::components::LinearVelocityCmd>( + this->dataPtr->projectileLink.Entity()); + } + + // Set the new pose of the projectile based on the frame. + math::Pose3d projectilePose = this->dataPtr->pose; + if (this->dataPtr->frame != sim::kNullEntity) + { + // get frame entity's world pose + math::Pose3d framePose; + if (_ecm.Component<sim::components::Model>(this->dataPtr->frame)) + { + framePose = _ecm.Component<sim::components::Pose>( + this->dataPtr->frame)->Data(); + } + else if (_ecm.Component<sim::components::Link>(this->dataPtr->frame)) + { + framePose = _ecm.Component<sim::components::WorldPose>( + this->dataPtr->frame)->Data(); + } + + math::Matrix4d transMat(framePose); + math::Matrix4d poseLocal(this->dataPtr->pose); + projectilePose = (transMat * poseLocal).Pose(); + } + + // Teleport the projectile to the ball shooter. + this->dataPtr->projectileModel.SetWorldPoseCmd(_ecm, projectilePose); + + // Ignition! + const auto worldPose = this->dataPtr->projectileLink.WorldPose(_ecm); + auto force = worldPose->Rot().RotateVector( + math::Vector3d(this->dataPtr->shotForce, 0, 0)); + this->dataPtr->projectileLink.AddWorldForce(_ecm, force); + + --this->dataPtr->remainingShots; + this->dataPtr->shotReady = false; + this->dataPtr->resetVel = false; +} + +////////////////////////////////////////////////// +void BallShooterPlugin::Implementation::OnFire(const gz::msgs::Empty &_msg) +{ + std::lock_guard<std::mutex> lock(this->mutex); + + if (this->remainingShots <= 0) + { + gzdbg << "BallShooterPlugin: Maximum number of shots already reached. " + << "Request ignored" << std::endl; + return; + } + + this->shotReady = true; +} + +GZ_ADD_PLUGIN(BallShooterPlugin, + sim::System, + BallShooterPlugin::ISystemConfigure, + BallShooterPlugin::ISystemPreUpdate) + +GZ_ADD_PLUGIN_ALIAS(vrx::BallShooterPlugin, + "vrx::BallShooterPlugin") diff --git a/vrx_gz/src/BallShooterPlugin.hh b/vrx_gz/src/BallShooterPlugin.hh new file mode 100644 index 000000000..72d92c50e --- /dev/null +++ b/vrx_gz/src/BallShooterPlugin.hh @@ -0,0 +1,90 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#ifndef VRX_BALL_SHOOTER_PLUGIN_HH_ +#define VRX_BALL_SHOOTER_PLUGIN_HH_ + +#include <gz/msgs/empty.pb.h> + +#include <memory> +#include <gz/sim/System.hh> +#include <gz/utils/ImplPtr.hh> +#include <sdf/sdf.hh> + +namespace vrx +{ +/// \brief Simulate a ball shooter. A projectile is launched when a +/// ROS message is received. The ball is reused (teleported) from previous +/// shots. +/// +/// The plugin accepts the following SDF parameters: +/// * Required parameters: +/// <projectile> The object used as projectile should be declared as a +/// <projectile> element with the following parameters: +/// * <model_name> The name of the model used as projectile. +/// Required parameter. +/// * <link_name> The name of the link within the projectile +/// model where the force will be applied when +/// firing the shooter. Required parameter. +/// * <frame> If present, the <pose> parameter will be in the +/// frame of this link/model. Otherwise the world +/// frame is used. Optional parameter. +/// * <pose> - Pose of the projectile right before being shot. +/// Optional parameter. Default to {0 0 0 0 0 0}. +/// +/// * Optional parameters: +/// <num_shots> - Number of shots allowed. Default to UINT_MAX. +/// <shot_force> - Force (N) applied to the projectile. Default to 250 N. +/// <topic> - Name of the ROS topic to shoot. Default to "/ball_shooter/fire". +/// +/// Here's an example: +/// <plugin name="ball_shooter_plugin" filename="libball_shooter_plugin.so"> +/// <projectile> +/// <model_name>a_projectile</model_name> +/// <link_name>link</link_name> +/// <frame>my_robot/ball_shooter_link</frame> +/// <pose>0.2 0 0 0 0 0</pose> +/// </projectile> +/// <shot_force>250</shot_force> +/// <topic>my_robot/ball_shooter/fire</topic> +/// </plugin> +class BallShooterPlugin + : public gz::sim::System, + public gz::sim::ISystemConfigure, + public gz::sim::ISystemPreUpdate +{ + // \brief Constructor. + public: BallShooterPlugin(); + + /// \brief Destructor. + public: ~BallShooterPlugin() override = default; + + // Documentation inherited. + public: void Configure(const gz::sim::Entity &_entity, + const std::shared_ptr<const sdf::Element> &_sdf, + gz::sim::EntityComponentManager &_ecm, + gz::sim::EventManager &_eventMgr) override; + + // Documentation inherited. + public: void PreUpdate(const gz::sim::UpdateInfo &_info, + gz::sim::EntityComponentManager &_ecm) override; + + /// \brief Private data pointer. + GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) +}; +} +#endif diff --git a/vrx_gz/src/PlacardPlugin.cc b/vrx_gz/src/PlacardPlugin.cc new file mode 100644 index 000000000..577f15c5c --- /dev/null +++ b/vrx_gz/src/PlacardPlugin.cc @@ -0,0 +1,454 @@ +/* + * Copyright (C) 2019 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include <gz/msgs/color.pb.h> +#include <gz/msgs/empty.pb.h> +#include <gz/msgs/stringmsg_v.pb.h> + +#include <array> +#include <chrono> +#include <cstdint> +#include <map> +#include <mutex> +#include <string> +#include <vector> + +#include <gz/plugin/Register.hh> +#include <gz/rendering/Scene.hh> +#include <gz/rendering/Material.hh> +#include <gz/rendering/RenderingIface.hh> +#include <gz/rendering/Visual.hh> +#include <gz/sim/Entity.hh> +#include <gz/sim/rendering/Events.hh> +#include <gz/transport/Node.hh> + +#include <sdf/sdf.hh> + +#include "PlacardPlugin.hh" + +using namespace gz; +using namespace vrx; + +/// \brief Private PlacardPlugin data class. +class PlacardPlugin::Implementation +{ + /// \brief Creates a msgs::Color message from 4 doubles. + /// \param[in] _r Red. + /// \param[in] _g Green. + /// \param[in] _b Blue. + /// \param[in] _a Alpha. + /// \return The Color message. + public: static msgs::Color CreateColor(const double _r, + const double _g, + const double _b, + const double _a); + + /// \brief Initialize all color/symbol sequences. + public: void InitializeAllPatterns(); + + /// \brief Parse all SDF parameters. + /// \param[in] _sdf SDF elements. + public: bool ParseSDF(sdf::ElementPtr _sdf); + + /// \brief Display the symbol in the placard + public: void Update(); + + /// \brief ROS callback for changing a symbol and its color. + /// \param[in] _msg Not used. + public: void ChangeSymbol(const msgs::Empty &_msg); + + /// \brief Gazebo callback for changing light to a specific color pattern. + /// \param[in] _msg New symbol. + public: void ChangeSymbolTo(const msgs::StringMsg_V &_msg); + + /// \brief List of the color options (red, green, blue, and no color) + /// with their string name for logging. + public: static std::map<std::string, msgs::Color> kColors; + + /// \brief List of the shape options (circle, cross, triangle) + /// with their string name for logging. + public: static std::vector<std::string> kShapes; + + /// \brief The current color. + public: std::string color; + + /// \brief The current shape. + public: std::string shape; + + /// \brief All color/symbol sequences. + public: std::vector<std::array<std::string, 2u>> allPatterns; + + /// \brief The index pointing to one of the potential color/symbol sequence. + public: size_t allPatternsIdx = 0u; + + /// \brief Collection of visual names. + public: std::vector<std::string> visualNames; + + /// \brief Pointer to the visual elements to modify. + public: std::vector<rendering::VisualPtr> visuals; + + /// \brief Whether shuffle is enabled via a ROS topic or not. + public: bool shuffleEnabled = true; + + /// \brief Topic namespace. + public: std::string ns; + + /// \brief topic. + public: std::string shuffleTopic; + + /// \brief gazebo Node + public: transport::Node gzNode; + + /// \brief gazebo symbol sub topic + public: std::string symbolSubTopic; + + /// Pointer to the scene node. + public: rendering::ScenePtr scene; + + /// \brief True to change symbol shape and color in rendering thread + public: bool symbolDirty = false; + + /// \brief Locks state and pattern member variables. + public: std::mutex mutex; + + /// \brief Connection to pre-render event callback + public: common::ConnectionPtr connection{nullptr}; + + /// \brief Vsual entity this plugin is attached to + public: sim::Entity entity = sim::kNullEntity; +}; + +// Static initialization. +std::map<std::string, msgs::Color> PlacardPlugin::Implementation::kColors = + { + {"red", CreateColor(1.0, 0.0, 0.0, 1.0)}, + {"green", CreateColor(0.0, 1.0, 0.0, 1.0)}, + {"blue", CreateColor(0.0, 0.0, 1.0, 1.0)}, + {"yellow", CreateColor(1.0, 1.0, 0.0, 1.0)}, + }; + +std::vector<std::string> PlacardPlugin::Implementation::kShapes = + {"circle", "cross", "triangle", "rectangle"}; + +///////////////////////////////////////////////// +PlacardPlugin::PlacardPlugin() + : dataPtr(utils::MakeUniqueImpl<Implementation>()) +{ +} + +////////////////////////////////////////////////// +void PlacardPlugin::Configure(const sim::Entity &_entity, + const std::shared_ptr<const sdf::Element> &_sdf, + sim::EntityComponentManager &_ecm, + sim::EventManager &_eventMgr) +{ + this->dataPtr->entity = _entity; + this->dataPtr->InitializeAllPatterns(); + + auto sdf = _sdf->Clone(); + if (!this->dataPtr->ParseSDF(sdf)) + return; + + if (this->dataPtr->shuffleEnabled) + { + std::string topic = this->dataPtr->ns.empty() ? "" : this->dataPtr->ns + "/"; + topic += this->dataPtr->shuffleTopic; + this->dataPtr->gzNode.Subscribe(topic, + &PlacardPlugin::Implementation::ChangeSymbol, this->dataPtr.get()); + } + + // connect to the SceneUpdate event + // the callback is executed in the rendering thread so do all + // rendering operations in that thread + this->dataPtr->connection = + _eventMgr.Connect<sim::events::SceneUpdate>( + std::bind(&PlacardPlugin::Implementation::Update, this->dataPtr.get())); + + this->dataPtr->gzNode.Subscribe(this->dataPtr->symbolSubTopic, + &PlacardPlugin::Implementation::ChangeSymbolTo, this->dataPtr.get()); +} + +////////////////////////////////////////////////// +msgs::Color PlacardPlugin::Implementation::CreateColor(const double _r, + const double _g, const double _b, const double _a) +{ + static msgs::Color color; + color.set_r(_r); + color.set_g(_g); + color.set_b(_b); + color.set_a(_a); + return color; +} + +////////////////////////////////////////////////// +void PlacardPlugin::Implementation::InitializeAllPatterns() +{ + for (auto const &colorPair : this->kColors) + for (auto const &shape : this->kShapes) + this->allPatterns.push_back({colorPair.first, shape}); +} + +////////////////////////////////////////////////// +void PlacardPlugin::Implementation::ChangeSymbolTo( + const msgs::StringMsg_V &_msg) +{ + if (_msg.data_size() < 2) + { + gzerr << "2 string values, [shape, color], are required " + << "for changing symbol." << std::endl; + return; + } + + std::lock_guard<std::mutex> lock(this->mutex); + this->shape = _msg.data(0); + this->color = _msg.data(1); + this->symbolDirty = true; +} + +////////////////////////////////////////////////// +bool PlacardPlugin::Implementation::ParseSDF(sdf::ElementPtr _sdf) +{ + // We initialize it with a random shape and color. + msgs::Empty emptyMsg; + this->ChangeSymbol(emptyMsg); + + // Parse the shape. + if (_sdf->HasElement("shape")) + { + std::string aShape = _sdf->GetElement("shape")->Get<std::string>(); + std::transform(aShape.begin(), aShape.end(), aShape.begin(), ::tolower); + // Sanity check: Make sure the shape is allowed. + if (std::find(this->kShapes.begin(), this->kShapes.end(), aShape) != + this->kShapes.end()) + { + this->shape = aShape; + } + else + { + gzerr << "Incorrect " << aShape << " <shape>, using random shape" + << std::endl; + } + } + + // Parse the color. We initialize it with a random color. + if (_sdf->HasElement("color")) + { + std::string aColor = _sdf->GetElement("color")->Get<std::string>(); + std::transform(aColor.begin(), aColor.end(), aColor.begin(), ::tolower); + // Sanity check: Make sure the color is allowed. + if (this->kColors.find(aColor) != this->kColors.end()) + { + this->color = aColor; + } + else + { + gzerr << "Incorrect " << aColor << " <color>, using random color" + << std::endl; + } + } + + // Required: visuals. + if (!_sdf->HasElement("visuals")) + { + gzerr << "<visuals> missing" << std::endl; + return false; + } + + auto visualsElem = _sdf->GetElement("visuals"); + if (!visualsElem->HasElement("visual")) + { + gzerr << "<visual> missing" << std::endl; + return false; + } + + auto visualElem = visualsElem->GetElement("visual"); + while (visualElem) + { + std::string visualName = visualElem->Get<std::string>(); + this->visualNames.push_back(visualName); + visualElem = visualElem->GetNextElement(); + } + + // Optional: Is shuffle enabled? + if (_sdf->HasElement("shuffle")) + { + this->shuffleEnabled = _sdf->GetElement("shuffle")->Get<bool>(); + + // Required if shuffle enabled: ROS topic. + if (!_sdf->HasElement("shuffle_topic")) + { + gzerr << "<shuffle_topic> missing" << std::endl; + return false; + } + this->shuffleTopic = _sdf->GetElement("shuffle_topic")->Get<std::string>(); + } + + // Required: namespace. + if (!_sdf->HasElement("robot_namespace")) + { + gzerr << "<robot_namespace> missing" << std::endl; + return false; + } + this->ns = _sdf->GetElement("robot_namespace")->Get<std::string>(); + if (!_sdf->HasElement("symbol_topic")) + { + this->symbolSubTopic = "/" + this->ns + "/symbol"; + } + else + { + this->symbolSubTopic = _sdf->GetElement("symbol_topic")->Get<std::string>(); + } + + return true; +} + +////////////////////////////////////////////////// +void PlacardPlugin::Implementation::Update() +{ + if (!this->scene) + this->scene = rendering::sceneFromFirstRenderEngine(); + + if (!this->scene) + return; + + // Get the visuals if needed. + if (this->visuals.empty()) + { + // this does a breadth first search for visual with the entity id + auto rootVis = scene->RootVisual(); + std::list<rendering::NodePtr> nodes; + nodes.push_back(rootVis); + rendering::VisualPtr visual; + while (!nodes.empty()) + { + auto n = nodes.front(); + nodes.pop_front(); + if (n && n->HasUserData("gazebo-entity")) + { + auto variant = n->UserData("gazebo-entity"); + const uint64_t *value = std::get_if<uint64_t>(&variant); + if (value && *value == static_cast<uint64_t>(this->entity)) + { + visual = std::dynamic_pointer_cast<rendering::Visual>(n); + break; + } + } + for (unsigned int i = 0; i < n->ChildCount(); ++i) + nodes.push_back(n->ChildByIndex(i)); + } + + if (!visual) + { + gzerr << "Unable to find visual associated with entity id: " + << this->entity << std::endl; + return; + } + + rendering::VisualPtr linkVisual = + std::dynamic_pointer_cast<rendering::Visual>(visual->Parent()); + + if (!linkVisual) + { + gzerr << "Unable to find parent link associated with visual entity id: " + << this->entity << std::endl; + return; + } + + for (const auto &name : this->visualNames) + { + // find visual using specified name + rendering::NodePtr node = linkVisual->ChildByName(name); + + // if not found, try searching using short name + if (!node) + { + auto delim = name.rfind("/"); + auto shortName = name.substr(delim + 1); + node = linkVisual->ChildByName(shortName); + } + + if (node) + { + auto v = std::dynamic_pointer_cast<rendering::Visual>(node); + if (v) + this->visuals.push_back(v); + } + else + { + gzerr << "Unable to find visual: " << name << std::endl; + } + } + } + + std::lock_guard<std::mutex> lock(this->mutex); + + // Only update the plugin if new symbol cmd is received + if (!this->symbolDirty) + return; + + // Update the visuals. + for (auto visual : this->visuals) + { + msgs::Color color; + color.set_a(0.0); + auto name = visual->Name(); + auto delim = name.rfind("/"); + auto shortName = name.substr(delim + 1); + if (shortName.find(this->shape) != std::string::npos) + { + color = this->kColors[this->color]; + } + math::Color gazeboColor(color.r(), color.g(), color.b(), color.a()); + + auto mat = visual->Material(); + if (!mat) + { + auto newMat = this->scene->CreateMaterial(); + // this sets the material with clone = true so internally the visual + // makes a clone of the material. We can then remove newMat + visual->SetMaterial(newMat); + mat = visual->Material(); + this->scene->DestroyMaterial(newMat); + } + mat->SetAmbient(gazeboColor); + mat->SetDiffuse(gazeboColor); + } + + this->symbolDirty = false; +} + +////////////////////////////////////////////////// +void PlacardPlugin::Implementation::ChangeSymbol(const msgs::Empty &_msg) +{ + { + std::lock_guard<std::mutex> lock(this->mutex); + this->color = this->allPatterns[this->allPatternsIdx].at(0); + this->shape = this->allPatterns[this->allPatternsIdx].at(1); + this->allPatternsIdx = + (this->allPatternsIdx + 1) % this->allPatterns.size(); + this->symbolDirty = true; + } + + gzmsg << "New symbol is " << this->color << " " << this->shape << std::endl; +} + +GZ_ADD_PLUGIN(PlacardPlugin, + sim::System, + PlacardPlugin::ISystemConfigure) + +GZ_ADD_PLUGIN_ALIAS(vrx::PlacardPlugin, + "vrx::PlacardPlugin") diff --git a/vrx_gz/src/PlacardPlugin.hh b/vrx_gz/src/PlacardPlugin.hh new file mode 100644 index 000000000..435ee184b --- /dev/null +++ b/vrx_gz/src/PlacardPlugin.hh @@ -0,0 +1,82 @@ +/* + * Copyright (C) 2019 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#ifndef VRX_PLACARD_PLUGIN_HH_ +#define VRX_PLACARD_PLUGIN_HH_ + +#include <memory> +#include <sdf/sdf.hh> +#include <gz/sim/System.hh> +#include <gz/utils/ImplPtr.hh> + +namespace vrx +{ + +/// \brief Controls the shape and color of a symbol. +/// +/// It selects a shape (triangle, cross, circle, rectangle) and a color +/// (red, green, blue, yellow) and applies to the current symbol. +/// This plugin can be configured with the following SDF tags: +/// +/// <shape> "triangle", "cross", "circle" or "rectangle". +/// If ommited, the shape will be randomly selected. +/// <color> "red", "green", "blue" or "yellow". If ommited, the color will be +/// randomly selected. +/// <shuffle>: True if the topic for shuffling the sequence is enabled. +/// <robot_namespace> Topic namespace. +/// <shuffle_topic>: The topic used to request color changes. +/// <symbol_topic>: The gazebo topic subscribed to set symbol changes +/// defaults to /<robot_namespace>/symbol +/// <visuals>: The set of visual symbols. It contains at least one visual: +/// <visual>: A visual displaying a shape. +/// +/// Here's an example: +/// <plugin name="vrx::PlacardPlugin" filename="libPlacardPlugin.so"> +/// <shape>triangle</shape> +/// <color>red</color> +/// <visuals> +/// <visual>dock_2018_placard1::visual_circle</visual> +/// <visual>dock_2018_placard1::visual_h_cross</visual> +/// <visual>dock_2018_placard1::visual_v_cross</visual> +/// <visual>dock_2018_placard1::visual_triangle</visual> +/// </visuals> +/// <shuffle>true</shuffle> +/// <robot_namespace>vrx</robot_namespace> +/// <shuffle_topic>dock/placard/shuffle</shuffle_topic> +/// </plugin> +class PlacardPlugin + : public gz::sim::System, + public gz::sim::ISystemConfigure +{ + // Documentation inherited. + public: PlacardPlugin(); + + /// \brief Destructor. + public: ~PlacardPlugin() override = default; + + // Documentation inherited. + public: void Configure(const gz::sim::Entity &_entity, + const std::shared_ptr<const sdf::Element> &_sdf, + gz::sim::EntityComponentManager &_ecm, + gz::sim::EventManager &_eventMgr) override; + + /// \brief Private data pointer. + GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) +}; +} + +#endif diff --git a/vrx_gz/src/vrx_gz/bridges.py b/vrx_gz/src/vrx_gz/bridges.py index e3d79043a..bb52d4475 100644 --- a/vrx_gz/src/vrx_gz/bridges.py +++ b/vrx_gz/src/vrx_gz/bridges.py @@ -5,16 +5,6 @@ def prefix(world_name, model_name, link_name): return f'/world/{world_name}/model/{model_name}/link/{link_name}/sensor' -def imu(world_name, model_name, link_name='base_link'): - sensor_prefix = prefix(world_name, model_name, link_name) - return Bridge( - gz_topic=f'{sensor_prefix}/imu_sensor/imu', - ros_topic='imu/data', - gz_type='ignition.msgs.IMU', - ros_type='sensor_msgs/msg/Imu', - direction=BridgeDirection.GZ_TO_ROS) - - def magnetometer(world_name, model_name, link_name='base_link'): sensor_prefix = prefix(world_name, model_name, link_name) return Bridge( @@ -135,15 +125,6 @@ def task_info(): direction=BridgeDirection.GZ_TO_ROS) -def contacts(): - return Bridge( - gz_topic=f'/vrx/contacts', - ros_topic=f'/vrx/contacts', - gz_type='ignition.msgs.Contacts', - ros_type='ros_gz_interfaces/msg/Contacts', - direction=BridgeDirection.GZ_TO_ROS) - - def stationkeeping_goal(): return Bridge( gz_topic=f'/vrx/stationkeeping/goal', diff --git a/vrx_gz/src/vrx_gz/launch.py b/vrx_gz/src/vrx_gz/launch.py index 8dea81c7d..b3e20691e 100644 --- a/vrx_gz/src/vrx_gz/launch.py +++ b/vrx_gz/src/vrx_gz/launch.py @@ -50,6 +50,9 @@ 'wildlife_task' ] +SCAN_DOCK_DELIVER_WORLDS = [ + 'scan_dock_deliver_task' +] def simulation(world_name, headless=False): gz_args = ['-v 4', '-r'] if headless: @@ -88,7 +91,6 @@ def simulation(world_name, headless=False): def competition_bridges(world_name): bridges = [ vrx_gz.bridges.clock(), - vrx_gz.bridges.contacts(), vrx_gz.bridges.task_info(), ] @@ -112,6 +114,9 @@ def competition_bridges(world_name): elif world_name in WILDLIFE_WORLDS: task_bridges = [ ] + elif world_name in SCAN_DOCK_DELIVER_WORLDS: + task_bridges = [ + ] bridges.extend(task_bridges) nodes = [] diff --git a/vrx_gz/src/vrx_gz/model.py b/vrx_gz/src/vrx_gz/model.py index a7e4d2823..9086d64f0 100644 --- a/vrx_gz/src/vrx_gz/model.py +++ b/vrx_gz/src/vrx_gz/model.py @@ -16,6 +16,8 @@ import os import subprocess +import sdformat13 as sdf + from ament_index_python.packages import get_package_share_directory from ament_index_python.packages import PackageNotFoundError @@ -52,6 +54,7 @@ def __init__(self, model_name, model_type, position): self.battery_capacity = 0 self.wavefield_size = 0 self.payload = {} + self.urdf = '' def is_UAV(self): return self.model_type in UAVS @@ -63,8 +66,6 @@ def bridges(self, world_name): custom_launches = [] nodes = [] bridges = [ - # IMU - # vrx_gz.bridges.imu(world_name, self.model_name), # pose vrx_gz.bridges.pose(self.model_name), # pose static @@ -112,52 +113,43 @@ def payload_bridges_impl(self, world_name, payloads): bridges = [] nodes = [] payload_launches = [] - for (idx, k) in enumerate(sorted(payloads.keys())): - p = payloads[k] - if not p['sensor'] or p['sensor'] == 'None' or p['sensor'] == '': - continue - - # check if it is a custom payload - if self.is_custom_model(p['sensor']): - payload_launch = self.custom_payload_launch(world_name, self.model_name, - p['sensor'], idx) - if payload_launch is not None: - payload_launches.append(payload_launch) - - # if not custom payload, add our own bridges and nodes - else: - model_prefix = '' - ros_slot_prefix = f'slot{idx}' - bridges.extend( - vrx_gz.payload_bridges.payload_bridges( - world_name, self.model_name, p['sensor'], idx, model_prefix)) - - if p['sensor'] in vrx_gz.payload_bridges.camera_models(): - nodes.append(Node( - package='vrx_ros', - executable='optical_frame_publisher', - arguments=['1'], - remappings=[('input/image', f'{ros_slot_prefix}/image_raw'), - ('output/image', f'{ros_slot_prefix}/optical/image_raw'), - ('input/camera_info', f'{ros_slot_prefix}/camera_info'), - ('output/camera_info', - f'{ros_slot_prefix}/optical/camera_info')])) - elif p['sensor'] in vrx_gz.payload_bridges.rgbd_models(): - nodes.append(Node( - package='vrx_ros', - executable='optical_frame_publisher', - arguments=['1'], - remappings=[('input/image', f'{ros_slot_prefix}/image_raw'), - ('output/image', f'{ros_slot_prefix}/optical/image_raw'), - ('input/camera_info', f'{ros_slot_prefix}/camera_info'), - ('output/camera_info', - f'{ros_slot_prefix}/optical/camera_info')])) - nodes.append(Node( - package='vrx_ros', - executable='optical_frame_publisher', - arguments=['1'], - remappings=[('input/image', f'{ros_slot_prefix}/depth'), - ('output/image', f'{ros_slot_prefix}/optical/depth')])) + for sensor_name, value in payloads.items(): + link_name = value[0] + sensor_type = value[1] + + bridges.extend( + vrx_gz.payload_bridges.payload_bridges( + world_name, self.model_name, link_name, sensor_name, sensor_type)) + + if sensor_type == sdf.Sensortype.CAMERA: + ros_sensor_prefix = f'sensors/cameras/{sensor_name}' + nodes.append(Node( + package='vrx_ros', + executable='optical_frame_publisher', + arguments=['1'], + remappings=[('input/image', f'{ros_sensor_prefix}/image_raw'), + ('output/image', f'{ros_sensor_prefix}/optical/image_raw'), + ('input/camera_info', f'{ros_sensor_prefix}/camera_info'), + ('output/camera_info', + f'{ros_sensor_prefix}/optical/camera_info')])) + elif sensor_type == sdf.Sensortype.RGBD_CAMERA: + ros_sensor_prefix = f'sensors/cameras/{sensor_name}' + nodes.append(Node( + package='vrx_ros', + executable='optical_frame_publisher', + arguments=['1'], + remappings=[('input/image', f'{ros_sensor_prefix}/image_raw'), + ('output/image', f'{ros_sensor_prefix}/optical/image_raw'), + ('input/camera_info', f'{ros_sensor_prefix}/camera_info'), + ('output/camera_info', + f'{ros_sensor_prefix}/optical/camera_info')])) + nodes.append(Node( + package='vrx_ros', + executable='optical_frame_publisher', + arguments=['1'], + remappings=[('input/image', f'{ros_sensor_prefix}/depth'), + ('output/image', f'{ros_sensor_prefix}/optical/depth')])) + return [bridges, nodes, payload_launches] def is_custom_model(self, model): @@ -210,15 +202,16 @@ def set_wavefield(self, world_name): else: self.wavefield_size = WAVEFIELD_SIZE[world_name] - def generate(self): + + def erb_cmd(self): + # this function is currently not called. + # xacro_cmd is used instead + # Generate SDF by executing ERB and populating templates template_file = os.path.join( get_package_share_directory('vrx_gz'), 'models', self.model_type, 'model.sdf.erb') - model_dir = os.path.join(get_package_share_directory('vrx_gz'), 'models') - model_tmp_dir = os.path.join(model_dir, 'tmp') - command = ['erb'] command.append(f'name={self.model_name}') @@ -241,12 +234,47 @@ def generate(self): command.append(f'wavefieldSize={self.wavefield_size}') command.append(template_file) + return command + + + def xacro_cmd(self): + # run xacro to generate urdf file + xacro_command = ['xacro'] + xacro_command.append(self.urdf) + xacro_command.append(f'namespace:={self.model_name}') + xacro_command.append(f'locked:=true') + xacro_command.append(f'vrx_sensors_enabled:=true') + xacro_command.append(f'thruster_config:=H') + xacro_process = subprocess.Popen(xacro_command, + stdout=subprocess.PIPE, + stderr=subprocess.PIPE) + stdout = xacro_process.communicate()[0] + urdf_str = codecs.getdecoder('unicode_escape')(stdout)[0] + print(xacro_command) + + # run gz sdf print to generate sdf file + model_dir = os.path.join(get_package_share_directory('vrx_gazebo'), 'models', self.model_name) + model_tmp_dir = os.path.join(model_dir, 'tmp') + model_output_file = os.path.join(model_tmp_dir, 'model.urdf') + if not os.path.exists(model_tmp_dir): + pathlib.Path(model_tmp_dir).mkdir(parents=True, exist_ok=True) + with open(model_output_file, 'w') as f: + f.write(urdf_str) + command = ['gz', 'sdf', '-p'] + command.append(model_output_file) + return command + + def generate(self): + command = None + if not self.urdf: + self.urdf = os.path.join(get_package_share_directory('wamv_gazebo'), + 'urdf', 'wamv_gazebo.urdf.xacro') + command = self.xacro_cmd() process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE) - # evaluate error output to see if there were undefined variables - # for the ERB process + # evaluate error output for the xacro process stderr = process.communicate()[1] err_output = codecs.getdecoder('unicode_escape')(stderr)[0] for line in err_output.splitlines(): @@ -255,10 +283,34 @@ def generate(self): stdout = process.communicate()[0] model_sdf = codecs.getdecoder('unicode_escape')(stdout)[0] - print(command) + + # parse sdf for payloads if model is urdf + if self.urdf != '': + self.payload = self.payload_from_sdf(model_sdf) + + # for debugging generated sdf file + # with open('/tmp/wamv.sdf', 'w') as f: + # f.write(model_sdf) + # print(command) return command, model_sdf + def payload_from_sdf(self, model_sdf): + payload = {} + root = sdf.Root() + root.load_sdf_string(model_sdf) + model = root.model() + for link_index in range(model.link_count()): + link = model.link_by_index(link_index) + for sensor_index in range(link.sensor_count()): + sensor = link.sensor_by_index(sensor_index) + payload[sensor.name()] = [link.name(), sensor.type()] + plugins = model.plugins() + for plugin in plugins: + payload[plugin.name()] = ['', plugin.filename()] + return payload + + def spawn_args(self, model_sdf=None): if not model_sdf: [command, model_sdf] = self.generate() @@ -273,6 +325,9 @@ def spawn_args(self, model_sdf=None): '-P', str(self.position[4]), '-Y', str(self.position[5])] + def set_urdf(self, urdf): + self.urdf = urdf + @classmethod def FromConfig(cls, stream): # Generate a Model instance (or multiple instances) from a stream diff --git a/vrx_gz/src/vrx_gz/payload_bridges.py b/vrx_gz/src/vrx_gz/payload_bridges.py index 5878a0b4a..20dc8f249 100644 --- a/vrx_gz/src/vrx_gz/payload_bridges.py +++ b/vrx_gz/src/vrx_gz/payload_bridges.py @@ -1,144 +1,178 @@ from vrx_gz.bridge import Bridge, BridgeDirection +import sdformat13 as sdf -def camera_models(): - models = ['vrx_vga_camera', - 'vrx_hd_camera'] - return models +def gz_prefix(world_name, model_name, link_name, sensor_name): + return f'/world/{world_name}/model/{model_name}/link/{link_name}/sensor/{sensor_name}' -def rgbd_models(): - models = ['vrx_rgbd_camera'] - return models +def ros_prefix(sensor_name, sensor_type): + return f'sensors/{sensor_type}/{sensor_name}' -def lidar_models(): - models = ['vrx_planar_lidar', - 'vrx_3d_lidar', - ] - return models - -def rfranger_models(): - models = ['vrx_rf_range', - 'vrx_rf_long_range'] - return models - - -def slot_prefix(world_name, model_name, slot_idx, model_prefix=''): - s = f'/world/{world_name}/model/{model_name}/model/' - if model_prefix != '': - s += f'{model_prefix}/model/' - s += f'sensor_{slot_idx}/link/sensor_link/sensor' - return s - - -def ros_slot_prefix(slot_idx, model_prefix=''): - s = '' - if model_prefix != '': - s = f'{model_prefix}/' - s += f'slot{slot_idx}' - return s - - -def image(world_name, model_name, slot_idx, model_prefix=''): - prefix = slot_prefix(world_name, model_name, slot_idx, model_prefix) - ros_prefix = ros_slot_prefix(slot_idx, model_prefix) +def image(world_name, model_name, link_name, sensor_name): + gz_sensor_prefix = gz_prefix(world_name, model_name, link_name, sensor_name) + ros_sensor_prefix = ros_prefix(sensor_name, 'cameras') return Bridge( - gz_topic=f'{prefix}/camera/image', - ros_topic=f'{ros_prefix}/image_raw', - gz_type='gz.msgs.Image', + gz_topic=f'{gz_sensor_prefix}/image', + ros_topic=f'{ros_sensor_prefix}/image_raw', + gz_type='ignition.msgs.Image', ros_type='sensor_msgs/msg/Image', direction=BridgeDirection.GZ_TO_ROS) -def depth_image(world_name, model_name, slot_idx, model_prefix=''): - prefix = slot_prefix(world_name, model_name, slot_idx, model_prefix) - ros_prefix = ros_slot_prefix(slot_idx, model_prefix) +def depth_image(world_name, model_name, link_name, sensor_name): + gz_sensor_prefix = gz_prefix(world_name, model_name, link_name, sensor_name) + ros_sensor_prefix = ros_prefix(sensor_name, 'cameras') return Bridge( - gz_topic=f'{prefix}/camera/depth_image', - ros_topic=f'{ros_prefix}/depth', - gz_type='gz.msgs.Image', + gz_topic=f'{gz_sensor_prefix}/depth_image', + ros_topic=f'{ros_sensor_prefix}/depth', + gz_type='ignition.msgs.Image', ros_type='sensor_msgs/msg/Image', direction=BridgeDirection.GZ_TO_ROS) -def camera_info(world_name, model_name, slot_idx, model_prefix=''): - prefix = slot_prefix(world_name, model_name, slot_idx, model_prefix) - ros_prefix = ros_slot_prefix(slot_idx, model_prefix) +def camera_info(world_name, model_name, link_name, sensor_name): + gz_sensor_prefix = gz_prefix(world_name, model_name, link_name, sensor_name) + ros_sensor_prefix = ros_prefix(sensor_name, 'cameras') return Bridge( - gz_topic=f'{prefix}/camera/camera_info', - ros_topic=f'{ros_prefix}/camera_info', - gz_type='gz.msgs.CameraInfo', + gz_topic=f'{gz_sensor_prefix}/camera_info', + ros_topic=f'{ros_sensor_prefix}/camera_info', + gz_type='ignition.msgs.CameraInfo', ros_type='sensor_msgs/msg/CameraInfo', direction=BridgeDirection.GZ_TO_ROS) -def lidar_scan(world_name, model_name, slot_idx, model_prefix=''): - prefix = slot_prefix(world_name, model_name, slot_idx, model_prefix) - ros_prefix = ros_slot_prefix(slot_idx, model_prefix) +def lidar_scan(world_name, model_name, link_name, sensor_name): + gz_sensor_prefix = gz_prefix(world_name, model_name, link_name, sensor_name) + ros_sensor_prefix = ros_prefix(sensor_name, 'lidars') return Bridge( - gz_topic=f'{prefix}/lidar/scan', - ros_topic=f'{ros_prefix}/scan', - gz_type='gz.msgs.LaserScan', + gz_topic=f'{gz_sensor_prefix}/scan', + ros_topic=f'{ros_sensor_prefix}/scan', + gz_type='ignition.msgs.LaserScan', ros_type='sensor_msgs/msg/LaserScan', direction=BridgeDirection.GZ_TO_ROS) -def lidar_points(world_name, model_name, slot_idx, model_prefix=''): - prefix = slot_prefix(world_name, model_name, slot_idx, model_prefix) - ros_prefix = ros_slot_prefix(slot_idx, model_prefix) +def lidar_points(world_name, model_name, link_name, sensor_name): + gz_sensor_prefix = gz_prefix(world_name, model_name, link_name, sensor_name) + ros_sensor_prefix = ros_prefix(sensor_name, 'lidars') return Bridge( - gz_topic=f'{prefix}/lidar/scan/points', - ros_topic=f'{ros_prefix}/points', - gz_type='gz.msgs.PointCloudPacked', + gz_topic=f'{gz_sensor_prefix}/scan/points', + ros_topic=f'{ros_sensor_prefix}/points', + gz_type='ignition.msgs.PointCloudPacked', ros_type='sensor_msgs/msg/PointCloud2', direction=BridgeDirection.GZ_TO_ROS) -def camera_points(world_name, model_name, slot_idx, model_prefix=''): - prefix = slot_prefix(world_name, model_name, slot_idx, model_prefix) - ros_prefix = ros_slot_prefix(slot_idx, model_prefix) +def camera_points(world_name, model_name, link_name, sensor_name): + gz_sensor_prefix = gz_prefix(world_name, model_name, link_name, sensor_name) + ros_sensor_prefix = ros_prefix(sensor_name, 'cameras') return Bridge( - gz_topic=f'{prefix}/camera/points', - ros_topic=f'{ros_prefix}/points', - gz_type='gz.msgs.PointCloudPacked', + gz_topic=f'{gz_sensor_prefix}/points', + ros_topic=f'{ros_sensor_prefix}/points', + gz_type='ignition.msgs.PointCloudPacked', ros_type='sensor_msgs/msg/PointCloud2', direction=BridgeDirection.GZ_TO_ROS) -def rfranger(world_name, model_name, slot_idx, model_prefix=''): - prefix = f'/world/{world_name}/model/{model_name}/model/sensor_{slot_idx}' - ros_prefix = ros_slot_prefix(slot_idx, model_prefix) +def rfranger(world_name, model_name, link_name, sensor_name): + gz_sensor_prefix = gz_prefix(world_name, model_name, link_name, sensor_name) + ros_sensor_prefix = ros_prefix(sensor_name) return Bridge( - gz_topic=f'{prefix}/rfsensor', - ros_topic=f'{ros_prefix}/rfsensor', - gz_type='gz.msgs.Param_V', + gz_topic=f'{gz_sensor_prefix}/rfsensor', + ros_topic=f'{ros_sensor_prefix}/rfsensor', + gz_type='ignition.msgs.Param_V', ros_type='ros_gz_interfaces/msg/ParamVec', direction=BridgeDirection.GZ_TO_ROS) +def imu(world_name, model_name, link_name, sensor_name): + gz_sensor_prefix = gz_prefix(world_name, model_name, link_name, sensor_name) + ros_sensor_prefix = ros_prefix('', 'imu') + return Bridge( + gz_topic=f'{gz_sensor_prefix}/imu', + ros_topic=f'{ros_sensor_prefix}imu/data', + gz_type='ignition.msgs.IMU', + ros_type='sensor_msgs/msg/Imu', + direction=BridgeDirection.GZ_TO_ROS) + +def navsat(world_name, model_name, link_name, sensor_name): + gz_sensor_prefix = gz_prefix(world_name, model_name, link_name, sensor_name) + ros_sensor_prefix = ros_prefix('', 'gps') + return Bridge( + gz_topic=f'{gz_sensor_prefix}/navsat', + ros_topic=f'{ros_sensor_prefix}gps/fix', + gz_type='ignition.msgs.NavSat', + ros_type='sensor_msgs/msg/NavSatFix', + direction=BridgeDirection.GZ_TO_ROS) + + +def contacts(): + return Bridge( + gz_topic=f'/vrx/contacts', + ros_topic=f'/vrx/contacts', + gz_type='ignition.msgs.Contacts', + ros_type='ros_gz_interfaces/msg/Contacts', + direction=BridgeDirection.GZ_TO_ROS) + + +def odometry(model_name): + ros_sensor_prefix = ros_prefix('', 'position') + return Bridge( + gz_topic=f'/model/{model_name}/odometry', + ros_topic=f'{ros_sensor_prefix}ground_truth_odometry', + gz_type='ignition.msgs.Odometry', + ros_type='nav_msgs/msg/Odometry', + direction=BridgeDirection.GZ_TO_ROS) + +def ball_shooter(model_name): + return Bridge( + gz_topic=f'/{model_name}/shooters/ball_shooter/fire', + ros_topic=f'shooters/ball_shooter/fire', + gz_type='ignition.msgs.Empty', + ros_type='std_msgs/msg/Empty', + direction=BridgeDirection.ROS_TO_GZ) + -def payload_bridges(world_name, model_name, payload, idx, model_prefix=''): +def payload_bridges(world_name, model_name, link_name, sensor_name, sensor_type): bridges = [] - if payload in camera_models(): + if sensor_type == sdf.Sensortype.CAMERA: + bridges = [ + image(world_name, model_name, link_name, sensor_name), + camera_info(world_name, model_name, link_name, sensor_name) + ] + elif sensor_type == sdf.Sensortype.IMU: + bridges = [ + imu(world_name, model_name, link_name, sensor_name) + ] + elif sensor_type == sdf.Sensortype.CONTACT: + bridges = [ + contacts(), + ] + elif sensor_type == sdf.Sensortype.NAVSAT: + bridges = [ + navsat(world_name, model_name, link_name, sensor_name), + ] + elif sensor_type == sdf.Sensortype.GPU_LIDAR: bridges = [ - image(world_name, model_name, idx, model_prefix), - camera_info(world_name, model_name, idx, model_prefix) + lidar_scan(world_name, model_name, link_name, sensor_name), + lidar_points(world_name, model_name, link_name, sensor_name) ] - elif payload in lidar_models(): + elif sensor_type == sdf.Sensortype.RGBD_CAMERA: bridges = [ - lidar_scan(world_name, model_name, idx, model_prefix), - lidar_points(world_name, model_name, idx, model_prefix) + image(world_name, model_name, link_name, sensor_name), + camera_info(world_name, model_name, link_name, sensor_name), + depth_image(world_name, model_name, link_name, sensor_name), + camera_points(world_name, model_name, link_name, sensor_name), ] - elif payload in rgbd_models(): + elif 'OdometryPublisher' in sensor_name: bridges = [ - image(world_name, model_name, idx, model_prefix), - camera_info(world_name, model_name, idx, model_prefix), - depth_image(world_name, model_name, idx, model_prefix), - camera_points(world_name, model_name, idx, model_prefix), + odometry(model_name), ] - elif payload in rfranger_models(): + elif 'BallShooter' in sensor_name: bridges = [ - rfranger(world_name, model_name, idx, model_prefix), + ball_shooter(model_name), ] + return bridges diff --git a/vrx_gz/worlds/perception_task.sdf b/vrx_gz/worlds/perception_task.sdf index dbcae77fc..ec492279d 100644 --- a/vrx_gz/worlds/perception_task.sdf +++ b/vrx_gz/worlds/perception_task.sdf @@ -304,6 +304,11 @@ filename="gz-sim-contact-system" name="gz::sim::systems::Contact"> </plugin> + <plugin + filename="gz-sim-navsat-system" + name="gz::sim::systems::NavSat"> + </plugin> + <scene> <sky></sky> <grid>false</grid> @@ -395,11 +400,43 @@ </include> <!-- The projectile for the ball shooter --> - <!-- <include> + <include> <name>blue_projectile</name> <pose>-545 60 0.03 0 0 0</pose> <uri>blue_projectile</uri> - </include> --> + <plugin name="vrx::PolyhedraBuoyancyDrag" + filename="libPolyhedraBuoyancyDrag.so"> + <fluid_density>1000</fluid_density> + <fluid_level>0.0</fluid_level> + <linear_drag>25.0</linear_drag> + <angular_drag>2.0</angular_drag> + <buoyancy name="collision_outer"> + <link_name>link</link_name> + <pose>0 0 -0.02 0 0 0</pose> + <geometry> + <sphere> + <radius>0.0285</radius> + </sphere> + </geometry> + </buoyancy> + <wavefield> + <size>1000 1000</size> + <cell_count>50 50></cell_count> + <wave> + <model>PMS</model> + <period>5.0</period> + <number>3</number> + <scale>1.1</scale> + <gain>0.3</gain> + <direction>1 0</direction> + <angle>0.4</angle> + <tau>2.0</tau> + <amplitude>0.0</amplitude> + <steepness>0.0</steepness> + </wave> + </wavefield> + </plugin> + </include> <wind> <linear_velocity>0 0 0</linear_velocity> diff --git a/vrx_gz/worlds/scan_dock_deliver_task.sdf b/vrx_gz/worlds/scan_dock_deliver_task.sdf index 15cccbbc4..292220c22 100644 --- a/vrx_gz/worlds/scan_dock_deliver_task.sdf +++ b/vrx_gz/worlds/scan_dock_deliver_task.sdf @@ -304,6 +304,11 @@ filename="gz-sim-contact-system" name="gz::sim::systems::Contact"> </plugin> + <plugin + filename="gz-sim-navsat-system" + name="gz::sim::systems::NavSat"> + </plugin> + <scene> <sky></sky> <grid>false</grid> @@ -356,7 +361,7 @@ <include> <name>robotx_light_buoy</name> - <pose>-528 191 0.32 0 0 0</pose> + <pose>-528 186 0.32 0 0 0</pose> <uri>robotx_light_buoy</uri> <plugin name="vrx::PolyhedraBuoyancyDrag" @@ -444,11 +449,45 @@ </include> <!-- The projectile for the ball shooter --> - <!-- <include> + <!-- + <include> <name>blue_projectile</name> <pose>-545 60 0.03 0 0 0</pose> <uri>blue_projectile</uri> - </include> --> + <plugin name="vrx::PolyhedraBuoyancyDrag" + filename="libPolyhedraBuoyancyDrag.so"> + <fluid_density>1000</fluid_density> + <fluid_level>0.0</fluid_level> + <linear_drag>25.0</linear_drag> + <angular_drag>2.0</angular_drag> + <buoyancy name="collision_outer"> + <link_name>link</link_name> + <pose>0 0 -0.02 0 0 0</pose> + <geometry> + <sphere> + <radius>0.0285</radius> + </sphere> + </geometry> + </buoyancy> + <wavefield> + <size>1000 1000</size> + <cell_count>50 50></cell_count> + <wave> + <model>PMS</model> + <period>5.0</period> + <number>3</number> + <scale>1.1</scale> + <gain>0.3</gain> + <direction>1 0</direction> + <angle>0.4</angle> + <tau>2.0</tau> + <amplitude>0.0</amplitude> + <steepness>0.0</steepness> + </wave> + </wavefield> + </plugin> + </include> + --> <wind> <linear_velocity>0 0 0</linear_velocity> @@ -491,5 +530,12 @@ </vertical> </plugin> + + <include> + <uri>dock_2022</uri> + <pose>-480 190 0 0 0 1.0</pose> + </include> + + <!-- The base scoring plugin --> </world> </sdf> diff --git a/vrx_gz/worlds/stationkeeping_task.sdf b/vrx_gz/worlds/stationkeeping_task.sdf index d1fe37c7d..cf3621826 100644 --- a/vrx_gz/worlds/stationkeeping_task.sdf +++ b/vrx_gz/worlds/stationkeeping_task.sdf @@ -304,6 +304,11 @@ filename="gz-sim-contact-system" name="gz::sim::systems::Contact"> </plugin> + <plugin + filename="gz-sim-navsat-system" + name="gz::sim::systems::NavSat"> + </plugin> + <scene> <sky></sky> <grid>false</grid> @@ -633,11 +638,43 @@ </include> <!-- The projectile for the ball shooter --> - <!-- <include> + <include> <name>blue_projectile</name> <pose>-545 60 0.03 0 0 0</pose> <uri>blue_projectile</uri> - </include> --> + <plugin name="vrx::PolyhedraBuoyancyDrag" + filename="libPolyhedraBuoyancyDrag.so"> + <fluid_density>1000</fluid_density> + <fluid_level>0.0</fluid_level> + <linear_drag>25.0</linear_drag> + <angular_drag>2.0</angular_drag> + <buoyancy name="collision_outer"> + <link_name>link</link_name> + <pose>0 0 -0.02 0 0 0</pose> + <geometry> + <sphere> + <radius>0.0285</radius> + </sphere> + </geometry> + </buoyancy> + <wavefield> + <size>1000 1000</size> + <cell_count>50 50></cell_count> + <wave> + <model>PMS</model> + <period>5.0</period> + <number>3</number> + <scale>1.1</scale> + <gain>0.3</gain> + <direction>1 0</direction> + <angle>0.4</angle> + <tau>2.0</tau> + <amplitude>0.0</amplitude> + <steepness>0.0</steepness> + </wave> + </wavefield> + </plugin> + </include> <wind> <linear_velocity>0 0 0</linear_velocity> diff --git a/vrx_gz/worlds/sydney_regatta.sdf b/vrx_gz/worlds/sydney_regatta.sdf index bc071ab61..161efba8d 100644 --- a/vrx_gz/worlds/sydney_regatta.sdf +++ b/vrx_gz/worlds/sydney_regatta.sdf @@ -304,6 +304,11 @@ filename="gz-sim-contact-system" name="gz::sim::systems::Contact"> </plugin> + <plugin + filename="gz-sim-navsat-system" + name="gz::sim::systems::NavSat"> + </plugin> + <scene> <sky></sky> <grid>false</grid> @@ -633,11 +638,43 @@ </include> <!-- The projectile for the ball shooter --> - <!-- <include> + <include> <name>blue_projectile</name> <pose>-545 60 0.03 0 0 0</pose> <uri>blue_projectile</uri> - </include> --> + <plugin name="vrx::PolyhedraBuoyancyDrag" + filename="libPolyhedraBuoyancyDrag.so"> + <fluid_density>1000</fluid_density> + <fluid_level>0.0</fluid_level> + <linear_drag>25.0</linear_drag> + <angular_drag>2.0</angular_drag> + <buoyancy name="collision_outer"> + <link_name>link</link_name> + <pose>0 0 -0.02 0 0 0</pose> + <geometry> + <sphere> + <radius>0.0285</radius> + </sphere> + </geometry> + </buoyancy> + <wavefield> + <size>1000 1000</size> + <cell_count>50 50></cell_count> + <wave> + <model>PMS</model> + <period>5.0</period> + <number>3</number> + <scale>1.1</scale> + <gain>0.3</gain> + <direction>1 0</direction> + <angle>0.4</angle> + <tau>2.0</tau> + <amplitude>0.0</amplitude> + <steepness>0.0</steepness> + </wave> + </wavefield> + </plugin> + </include> <wind> <linear_velocity>0 0 0</linear_velocity> diff --git a/vrx_gz/worlds/wayfinding_task.sdf b/vrx_gz/worlds/wayfinding_task.sdf index 3d91575b7..7b1be7d5b 100644 --- a/vrx_gz/worlds/wayfinding_task.sdf +++ b/vrx_gz/worlds/wayfinding_task.sdf @@ -304,6 +304,11 @@ filename="gz-sim-contact-system" name="gz::sim::systems::Contact"> </plugin> + <plugin + filename="gz-sim-navsat-system" + name="gz::sim::systems::NavSat"> + </plugin> + <scene> <sky></sky> <grid>false</grid> @@ -633,11 +638,43 @@ </include> <!-- The projectile for the ball shooter --> - <!-- <include> + <include> <name>blue_projectile</name> <pose>-545 60 0.03 0 0 0</pose> <uri>blue_projectile</uri> - </include> --> + <plugin name="vrx::PolyhedraBuoyancyDrag" + filename="libPolyhedraBuoyancyDrag.so"> + <fluid_density>1000</fluid_density> + <fluid_level>0.0</fluid_level> + <linear_drag>25.0</linear_drag> + <angular_drag>2.0</angular_drag> + <buoyancy name="collision_outer"> + <link_name>link</link_name> + <pose>0 0 -0.02 0 0 0</pose> + <geometry> + <sphere> + <radius>0.0285</radius> + </sphere> + </geometry> + </buoyancy> + <wavefield> + <size>1000 1000</size> + <cell_count>50 50></cell_count> + <wave> + <model>PMS</model> + <period>5.0</period> + <number>3</number> + <scale>1.1</scale> + <gain>0.3</gain> + <direction>1 0</direction> + <angle>0.4</angle> + <tau>2.0</tau> + <amplitude>0.0</amplitude> + <steepness>0.0</steepness> + </wave> + </wavefield> + </plugin> + </include> <wind> <linear_velocity>0 0 0</linear_velocity> diff --git a/vrx_gz/worlds/wildlife_task.sdf b/vrx_gz/worlds/wildlife_task.sdf index c0be61e71..7e58a10cf 100644 --- a/vrx_gz/worlds/wildlife_task.sdf +++ b/vrx_gz/worlds/wildlife_task.sdf @@ -304,6 +304,11 @@ filename="gz-sim-contact-system" name="gz::sim::systems::Contact"> </plugin> + <plugin + filename="gz-sim-navsat-system" + name="gz::sim::systems::NavSat"> + </plugin> + <scene> <sky></sky> <grid>false</grid> @@ -548,11 +553,43 @@ </include> <!-- The projectile for the ball shooter --> - <!-- <include> + <include> <name>blue_projectile</name> <pose>-545 60 0.03 0 0 0</pose> <uri>blue_projectile</uri> - </include> --> + <plugin name="vrx::PolyhedraBuoyancyDrag" + filename="libPolyhedraBuoyancyDrag.so"> + <fluid_density>1000</fluid_density> + <fluid_level>0.0</fluid_level> + <linear_drag>25.0</linear_drag> + <angular_drag>2.0</angular_drag> + <buoyancy name="collision_outer"> + <link_name>link</link_name> + <pose>0 0 -0.02 0 0 0</pose> + <geometry> + <sphere> + <radius>0.0285</radius> + </sphere> + </geometry> + </buoyancy> + <wavefield> + <size>1000 1000</size> + <cell_count>50 50></cell_count> + <wave> + <model>PMS</model> + <period>5.0</period> + <number>3</number> + <scale>1.1</scale> + <gain>0.3</gain> + <direction>1 0</direction> + <angle>0.4</angle> + <tau>2.0</tau> + <amplitude>0.0</amplitude> + <steepness>0.0</steepness> + </wave> + </wavefield> + </plugin> + </include> <wind> <linear_velocity>0 0 0</linear_velocity> diff --git a/vrx_urdf/vrx_gazebo/CMakeLists.txt b/vrx_urdf/vrx_gazebo/CMakeLists.txt new file mode 100644 index 000000000..3288b4f9d --- /dev/null +++ b/vrx_urdf/vrx_gazebo/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) +project(vrx_gazebo) +find_package(ament_cmake REQUIRED) + +# Hooks +ament_environment_hooks("hooks/resource_paths.dsv.in") +ament_environment_hooks("hooks/resource_paths.sh") + +# Models +install(DIRECTORY models/ + DESTINATION share/${PROJECT_NAME}/models) + +# Launch scripts +install(DIRECTORY launch/ + DESTINATION share/${PROJECT_NAME}/launch) + +# config +install(DIRECTORY config/ + DESTINATION share/${PROJECT_NAME}/config) + + +# scripts +install(PROGRAMS scripts/generate_wamv.py + DESTINATION lib/${PROJECT_NAME}) + + +ament_python_install_package( + vrx_gazebo + PACKAGE_DIR src/vrx_gazebo +) +ament_package() diff --git a/vrx_urdf/vrx_gazebo/config/wamv_config/component_compliance/bounding_boxes.yaml b/vrx_urdf/vrx_gazebo/config/wamv_config/component_compliance/bounding_boxes.yaml new file mode 100644 index 000000000..2acf742cd --- /dev/null +++ b/vrx_urdf/vrx_gazebo/config/wamv_config/component_compliance/bounding_boxes.yaml @@ -0,0 +1,8 @@ +component_compliance_for: + pose: '0.8 0 1.8 0 0 0' + size: '1 1 1' + capacity: '-1' +component_compliance_aft: + pose: '-0.9 0 1.8 0 0 0' + size: '0.5 1 1' + capacity: '-1' diff --git a/vrx_urdf/vrx_gazebo/config/wamv_config/component_compliance/numeric.yaml b/vrx_urdf/vrx_gazebo/config/wamv_config/component_compliance/numeric.yaml new file mode 100644 index 000000000..5815e66f4 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/config/wamv_config/component_compliance/numeric.yaml @@ -0,0 +1,68 @@ +wamv_camera: + num: 3 + allowed_params: + name + x + y + z + R + P + Y + post_Y + visualize + +wamv_gps: + num: 1 + allowed_params: + name + x + y + z + R + P + Y + +wamv_imu: + num: 1 + allowed_params: + name + x + y + z + R + P + Y + +lidar: + num: 2 + allowed_params: + name + type + x + y + z + R + P + Y + post_Y + +wamv_ball_shooter: + num: 1 + allowed_params: + name + x + y + z + pitch + yaw + +wamv_pinger: + num: 1 + allowed_params: + name + position + +wamv_p3d: + num: 0 + allowed_params: + name diff --git a/vrx_urdf/vrx_gazebo/config/wamv_config/example_component_config.yaml b/vrx_urdf/vrx_gazebo/config/wamv_config/example_component_config.yaml new file mode 100644 index 000000000..7a0ef5fd2 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/config/wamv_config/example_component_config.yaml @@ -0,0 +1,64 @@ +wamv_camera: + - name: front_left_camera + visualize: False + x: 0.75 + y: 0.1 + z: 1.5 + R: 0.0 + P: ${radians(15)} + Y: 0.0 + post_Y: 0.0 + - name: front_right_camera + visualize: False + x: 0.75 + y: -0.1 + z: 1.5 + R: 0.0 + P: ${radians(15)} + Y: 0.0 + post_Y: 0.0 + - name: far_left_camera + visualize: False + x: 0.75 + y: 0.3 + z: 1.5 + R: 0.0 + P: ${radians(15)} + Y: 0.0 + post_Y: 0.0 +wamv_gps: + - name: gps_wamv + x: -0.85 + y: 0.0 + z: 1.3 + R: 0.0 + P: 0.0 + Y: 0.0 +wamv_imu: + - name: imu_wamv + x: 0.3 + y: -0.2 + z: 1.3 + R: 0.0 + P: 0.0 + Y: 0.0 +lidar: + - name: lidar_wamv + type: 16_beam + x: 0.7 + y: 0.0 + z: 1.8 + R: 0.0 + P: ${radians(8)} + Y: 0.0 + post_Y: 0.0 +wamv_ball_shooter: + - name: ball_shooter + x: 0.55 + y: -0.3 + z: 1.3 + pitch: ${radians(-20)} + yaw: 0.0 +wamv_pinger: + - name: pinger + position: 1.0 0 -1.0 diff --git a/vrx_urdf/vrx_gazebo/config/wamv_config/example_thruster_config.yaml b/vrx_urdf/vrx_gazebo/config/wamv_config/example_thruster_config.yaml new file mode 100644 index 000000000..169f622d0 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/config/wamv_config/example_thruster_config.yaml @@ -0,0 +1,7 @@ +engine: + - prefix: "left" + position: "-2.373776 1.027135 0.318237" + orientation: "0.0 0.0 0.0" + - prefix: "right" + position: "-2.373776 -1.027135 0.318237" + orientation: "0.0 0.0 0.0" diff --git a/vrx_urdf/vrx_gazebo/config/wamv_config/thruster_compliance/bounding_boxes.yaml b/vrx_urdf/vrx_gazebo/config/wamv_config/thruster_compliance/bounding_boxes.yaml new file mode 100644 index 000000000..d86234c31 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/config/wamv_config/thruster_compliance/bounding_boxes.yaml @@ -0,0 +1,20 @@ +thruster_compliance_port_aft: + pose: '-2.25 1 0 0 0 0' + size: '1 1 1.2' + capacity: '1' +thruster_compliance_star_aft: + pose: '-2.25 -1 0 0 0 0' + size: '1 1 1.2' + capacity: '1' +thruster_compliance_port_for: + pose: '1.25 1 0 0 0 0' + size: '1 1 1.2' + capacity: '1' +thruster_compliance_star_for: + pose: '1.25 -1 0 0 0 0' + size: '1 1 1.2' + capacity: '1' +thruster_compliance_middle: + pose: 0.25 0 0 0 0 0 + size: '2.5 1 1.2' + capacity: '1' diff --git a/vrx_urdf/vrx_gazebo/config/wamv_config/thruster_compliance/numeric.yaml b/vrx_urdf/vrx_gazebo/config/wamv_config/thruster_compliance/numeric.yaml new file mode 100644 index 000000000..f73bc8787 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/config/wamv_config/thruster_compliance/numeric.yaml @@ -0,0 +1,6 @@ +engine: + num: 4 + allowed_params: + prefix + position + orientation diff --git a/vrx_urdf/vrx_gazebo/hooks/resource_paths.dsv.in b/vrx_urdf/vrx_gazebo/hooks/resource_paths.dsv.in new file mode 100644 index 000000000..d0cb7bbf6 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/hooks/resource_paths.dsv.in @@ -0,0 +1,2 @@ +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/ +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/models diff --git a/vrx_urdf/vrx_gazebo/hooks/resource_paths.sh b/vrx_urdf/vrx_gazebo/hooks/resource_paths.sh new file mode 100644 index 000000000..e17e3f0b2 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/hooks/resource_paths.sh @@ -0,0 +1,2 @@ +ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share" +ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/vrx_gazebo/models" diff --git a/vrx_urdf/vrx_gazebo/launch/generate_wamv.launch.py b/vrx_urdf/vrx_gazebo/launch/generate_wamv.launch.py new file mode 100644 index 000000000..65f8394b0 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/launch/generate_wamv.launch.py @@ -0,0 +1,80 @@ +# Copyright 2021 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.substitutions import LaunchConfiguration + +from launch_ros.actions import Node + + +def launch(context, *args, **kwargs): + wamv_locked = LaunchConfiguration('wamv_locked').perform(context) + component_yaml = LaunchConfiguration('component_yaml').perform(context) + thruster_yaml = LaunchConfiguration('thruster_yaml').perform(context) + wamv_target = LaunchConfiguration('wamv_target').perform(context) + + if not component_yaml: + component_yaml = os.path.join(get_package_share_directory('vrx_gazebo'), + 'config', 'wamv_config', 'example_component_config.yaml') + if not thruster_yaml: + thruster_yaml = os.path.join(get_package_share_directory('vrx_gazebo'), + 'config', 'wamv_config', 'example_thruster_config.yaml') + + components_dir = os.path.join(get_package_share_directory('wamv_gazebo'), + 'urdf', 'components') + thrusters_dir = os.path.join(get_package_share_directory('wamv_description'), + 'urdf', 'thrusters') + wamv_gazebo = os.path.join(get_package_share_directory('wamv_gazebo'), + 'urdf', 'wamv_gazebo.urdf.xacro') + + node = Node(package='vrx_gazebo', + executable='generate_wamv.py', + output='screen', + parameters=[{'wamv_locked': wamv_locked}, + {'component_yaml': component_yaml}, + {'thruster_yaml': thruster_yaml}, + {'wamv_target': wamv_target}, + {'components_dir': components_dir}, + {'thrusters_dir': thrusters_dir}, + {'wamv_gazebo': wamv_gazebo}]) + + return [node] + +def generate_launch_description(): + return LaunchDescription([ + # Launch Arguments + DeclareLaunchArgument( + 'wamv_locked', + default_value='False', + description='WAM-V locked'), + DeclareLaunchArgument( + 'component_yaml', + default_value='', + description='Path to component yaml file.'), + DeclareLaunchArgument( + 'thruster_yaml', + default_value='', + description='Path to thruster yaml file.'), + DeclareLaunchArgument( + 'wamv_target', + default_value='', + description='WAM-V target output URDF file'), + OpaqueFunction(function=launch), + ]) diff --git a/vrx_urdf/vrx_gazebo/models/3d_lidar/mesh/3d_lidar.dae b/vrx_urdf/vrx_gazebo/models/3d_lidar/mesh/3d_lidar.dae new file mode 100644 index 000000000..9a991894e --- /dev/null +++ b/vrx_urdf/vrx_gazebo/models/3d_lidar/mesh/3d_lidar.dae @@ -0,0 +1,775 @@ +<?xml version="1.0" encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <authoring_tool>FBX COLLADA exporter</authoring_tool> + </contributor> + <created>2019-03-06T23:30:15Z</created> + <modified>2019-03-06T23:30:15Z</modified> + <unit meter="1.000000" name="centimeter"/> + <up_axis>Z_UP</up_axis> + </asset> + <library_images> + <image id="Lidar_01_ncl1_2-image" name="Lidar_01_ncl1_2"> + <init_from>3d_lidar.png</init_from> + </image> + 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source="#Launcher-Matrix-animation-output-transform-array" count="0" stride="16"> + <param type="float4x4"/> + </accessor> + </technique_common> + </source> + <source id="Launcher-Interpolations"> + <Name_array id="Launcher-Interpolations-array" count="0"> +</Name_array> + <technique_common> + <accessor source="#Launcher-Interpolations-array" count="0"> + <param type="name"/> + </accessor> + </technique_common> + </source> + <sampler id="Launcher-Matrix-animation-transform"> + <input semantic="INPUT" source="#Launcher-Matrix-animation-input"/> + <input semantic="OUTPUT" source="#Launcher-Matrix-animation-output-transform"/> + <input semantic="INTERPOLATION" source="#Launcher-Interpolations"/> + </sampler> + <channel source="#Launcher-Matrix-animation-transform" target="Launcher/matrix"/> + </animation> + </animation> + </library_animations> + <library_visual_scenes> + <visual_scene id="Launcher" name="Launcher"> + <node name="Launcher" id="Launcher" sid="Launcher"> + <matrix 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000000000..0c5c8ec2f --- /dev/null +++ b/vrx_urdf/vrx_gazebo/models/ball_shooter/model.config @@ -0,0 +1,20 @@ +<?xml version="1.0"?> +<model> + <name>ball_shooter</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + + <author> + <name>Carlos Agüero</name> + <email>caguero@openrobotics.org</email> + </author> + + <author> + <name>Rafi Abudllah</name> + <email>rafi@openrobotics.org</email> + </author> + + <description> + A RobotX/VRX ball shooter. + </description> +</model> diff --git a/vrx_urdf/vrx_gazebo/models/ball_shooter/model.sdf b/vrx_urdf/vrx_gazebo/models/ball_shooter/model.sdf new file mode 100644 index 000000000..8b620dca3 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/models/ball_shooter/model.sdf @@ -0,0 +1,64 @@ +<?xml version="1.0" ?> +<sdf version="1.6"> + <model name="ball_shooter"> + <link name="base_link"> + <pose>0 0 0 0 0 0</pose> + <inertial> + <pose>-0.02 0 0.05 0 0 0</pose> + <mass>0.5</mass> + <inertia> + <ixx>0.00083</ixx> + <ixy>0</ixy> + 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241 1084 350 242 1085 351 243 1086 352 238 1087 347 237 1088 346 237 1089 346 242 1090 351 243 1091 352 239 1092 431 234 1093 430 238 1094 347 238 1095 347 243 1096 352 239 1097 431 245 1098 354 240 1099 349 239 1100 348 239 1101 348 244 1102 353 245 1103 354 246 1104 355 241 1105 350 240 1106 349 240 1107 349 245 1108 354 246 1109 355 247 1110 356 242 1111 351 241 1112 350 241 1113 350 246 1114 355 247 1115 356 248 1116 357 243 1117 352 242 1118 351 242 1119 351 247 1120 356 248 1121 357 244 1122 432 239 1123 431 243 1124 352 243 1125 352 248 1126 357 244 1127 432 244 1128 353 249 1129 358 250 1130 359 250 1131 359 245 1132 354 244 1133 353 245 1134 354 250 1135 359 251 1136 360 251 1137 360 246 1138 355 245 1139 354 246 1140 355 251 1141 360 252 1142 361 252 1143 361 247 1144 356 246 1145 355 247 1146 356 252 1147 361 253 1148 362 253 1149 362 248 1150 357 247 1151 356 248 1152 357 253 1153 362 249 1154 433 249 1155 433 244 1156 432 248 1157 357 249 1158 358 254 1159 363 255 1160 364 255 1161 364 250 1162 359 249 1163 358 250 1164 359 255 1165 364 256 1166 365 256 1167 365 251 1168 360 250 1169 359 251 1170 360 256 1171 365 257 1172 366 257 1173 366 252 1174 361 251 1175 360 252 1176 361 257 1177 366 258 1178 367 258 1179 367 253 1180 362 252 1181 361 253 1182 362 258 1183 367 254 1184 434 254 1185 434 249 1186 433 253 1187 362 254 1188 363 259 1189 368 260 1190 369 260 1191 369 255 1192 364 254 1193 363 255 1194 364 260 1195 369 261 1196 370 261 1197 370 256 1198 365 255 1199 364 256 1200 365 261 1201 370 262 1202 371 262 1203 371 257 1204 366 256 1205 365 257 1206 366 262 1207 371 263 1208 372 263 1209 372 258 1210 367 257 1211 366 258 1212 367 263 1213 372 259 1214 435 259 1215 435 254 1216 434 258 1217 367 1 1218 436 18 1219 438 29 1220 439 29 1221 439 16 1222 437 1 1223 436 264 1224 440 265 1225 441 29 1226 439 29 1227 439 18 1228 438 264 1229 440</p> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="Battery" name="Battery"> + <node name="Battery" id="Battery" layer="Crate_01" sid="Battery"> + <matrix sid="matrix">0.010000 0.000000 0.000000 0.000000 0.000000 0.010000 0.000000 -0.000000 0.000000 0.000000 0.010000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#Battery-lib"> + <bind_material> + <technique_common> + <instance_material symbol="Payload" target="#Payload"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <extra> + <technique profile="MAX3D"> + <frame_rate>30.000000</frame_rate> + </technique> + <technique profile="FCOLLADA"> + <start_time>0.000000</start_time> + <end_time>3.333333</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#Battery"/> + </scene> +</COLLADA> diff --git a/vrx_urdf/vrx_gazebo/models/battery/mesh/battery.png b/vrx_urdf/vrx_gazebo/models/battery/mesh/battery.png new file mode 100644 index 000000000..2bab6c1e3 Binary files /dev/null and b/vrx_urdf/vrx_gazebo/models/battery/mesh/battery.png differ diff --git a/vrx_urdf/vrx_gazebo/models/battery/model.config b/vrx_urdf/vrx_gazebo/models/battery/model.config new file mode 100644 index 000000000..70c008999 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/models/battery/model.config @@ -0,0 +1,15 @@ +<?xml version="1.0"?> +<model> + <name>battery</name> + <sdf version="1.6">model.sdf</sdf> + + <author> + <name>Marshall Rawson</name> + <email>marshallrawson@openrobotics.org</email> + </author> + + <description> + marine battery commonly used for WAM-V's (Power 24-3500 ) + https://www.torqeedo.com/us/en-us/products/batteries/power-24-3500-/2106-00.html + </description> +</model> diff --git a/vrx_urdf/vrx_gazebo/models/battery/model.sdf b/vrx_urdf/vrx_gazebo/models/battery/model.sdf new file mode 100644 index 000000000..3c6f44a57 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/models/battery/model.sdf @@ -0,0 +1,33 @@ +<?xml version="1.0"?> +<sdf version="1.6"> + <model name="battery"> + <link name="battery_link"> + <visual name="battery_visual"> + <pose>0 -1.03 -.45 0 0 0 </pose> + <geometry> + <mesh> + <uri>model://battery/mesh/battery.dae</uri> + </mesh> + </geometry> + </visual> + <collision name="battery_collision"> + <pose>0 0 .15 0 0 0</pose> + <geometry> + <box><size>.6 .4 .31</size></box> + </geometry> + </collision> + <inertial> + <pose>0 0 .15 0 0 0</pose> + <mass>23.5</mass> + <inertia> + <ixx>0.5015291666666667</ixx> + <iyy>0.8931958333333333</iyy> + <izz>1.0183333333333333</izz> + <ixy>0</ixy> + <ixz>0</ixz> + <iyz>0</iyz> + </inertia> + </inertial> + </link> + </model> +</sdf> diff --git a/vrx_urdf/vrx_gazebo/models/blue_projectile/model.config b/vrx_urdf/vrx_gazebo/models/blue_projectile/model.config new file mode 100644 index 000000000..94cc16dd8 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/models/blue_projectile/model.config @@ -0,0 +1,16 @@ +<?xml version="1.0"?> +<model> + <name>blue_projectile</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + + <author> + <name>Carlos Agüero</name> + <email>caguero@openrobotics.org</email> + </author> + + <description> + A blue projectile to be used with the ball shooter. + Reference: https://bit.ly/3jaJDzs + </description> +</model> diff --git a/vrx_urdf/vrx_gazebo/models/blue_projectile/model.sdf b/vrx_urdf/vrx_gazebo/models/blue_projectile/model.sdf new file mode 100644 index 000000000..64bd30b50 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/models/blue_projectile/model.sdf @@ -0,0 +1,38 @@ +<?xml version="1.0" ?> +<sdf version="1.6"> + <model name="blue_projectile"> + <link name="link"> + <inertial> + <mass>0.04</mass> + <!-- Mark only - based on cylinder --> + <inertia> + <ixx>0.00002166</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>00002166</iyy> + <iyz>0</iyz> + <izz>00002166</izz> + </inertia> + </inertial> + <collision name="collision"> + <geometry> + <sphere> + <radius>0.0285</radius> + </sphere> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <sphere> + <radius>0.0285</radius> + </sphere> + </geometry> + <material> + <ambient>0.3176 0.6118 0.8353</ambient> + <diffuse>0.3176 0.6118 0.8353</diffuse> + <specular>0.3176 0.6118 0.8353</specular> + </material> + </visual> + </link> + </model> +</sdf> diff --git a/vrx_urdf/vrx_gazebo/models/cpu_cases/mesh/cpu_cases.dae b/vrx_urdf/vrx_gazebo/models/cpu_cases/mesh/cpu_cases.dae new file mode 100644 index 000000000..f2a406fe5 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/models/cpu_cases/mesh/cpu_cases.dae @@ -0,0 +1,9605 @@ +<?xml version="1.0" encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <authoring_tool>FBX COLLADA exporter</authoring_tool> + </contributor> + <created>2019-05-07T18:12:40Z</created> + 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1377 402 269 1378 400 257 1379 399 258 1380 401 247 1381 379 259 1382 382 259 1383 382 270 1384 402 258 1385 401</p> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="MonoCamera" name="MonoCamera"> + <node name="MonoCamera" id="MonoCamera" sid="MonoCamera"> + <matrix sid="matrix">0.010000 0.000000 0.000000 0.000000 0.000000 0.010000 0.000000 0.000000 0.000000 0.000000 0.010000 -0.000000 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#MonoCamera-lib"> + <bind_material> + <technique_common> + <instance_material symbol="MonoCamera_ncl1_1" target="#MonoCamera_ncl1_1"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <extra> + <technique profile="MAX3D"> + <frame_rate>30.000000</frame_rate> + </technique> + <technique profile="FCOLLADA"> + <start_time>0.000000</start_time> + <end_time>3.333333</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#MonoCamera"/> + </scene> +</COLLADA> diff --git a/vrx_urdf/vrx_gazebo/models/mono_camera/mesh/mono_camera.png b/vrx_urdf/vrx_gazebo/models/mono_camera/mesh/mono_camera.png new file mode 100644 index 000000000..2203e1577 Binary files /dev/null and b/vrx_urdf/vrx_gazebo/models/mono_camera/mesh/mono_camera.png differ diff --git a/vrx_urdf/vrx_gazebo/models/mono_camera/model.config b/vrx_urdf/vrx_gazebo/models/mono_camera/model.config new file mode 100644 index 000000000..fb08f2831 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/models/mono_camera/model.config @@ -0,0 +1,15 @@ +<?xml version="1.0"?> +<model> + <name>mono_camera</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + + <author> + <name>Tyler Lum</name> + <email>tylergwlum@gmail.com</email> + </author> + + <description> + Monocular camera + </description> +</model> diff --git a/vrx_urdf/vrx_gazebo/models/mono_camera/model.sdf b/vrx_urdf/vrx_gazebo/models/mono_camera/model.sdf new file mode 100644 index 000000000..8df820e37 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/models/mono_camera/model.sdf @@ -0,0 +1,44 @@ +<?xml version="1.0"?> +<sdf version="1.6"> + <model name="mono_camera"> + <link name="mono_camera_link"> + <visual name="mono_camera_visual"> + <pose>0 -0.033 0 0 0 3.1415</pose> + <geometry> + <mesh> + <uri>model://mono_camera/mesh/mono_camera.dae</uri> + </mesh> + </geometry> + </visual> + <collision name="mono_camera_lens_collision"> + <pose>0 0.018 0 1.57 0 0</pose> + <geometry> + <cylinder> + <length>0.042</length> + <radius>0.015</radius> + </cylinder> + </geometry> + </collision> + <collision name="mono_camera_box_collision"> + <pose>0 -0.0205 0 0 0 0</pose> + <geometry> + <box> + <size>0.03 0.036 0.03</size> + </box> + </geometry> + </collision> + <!-- Model inertia as box with <size>0.03 0.078 0.03</size> --> + <inertial> + <mass>0.3</mass> + 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+0.996830 0.719209 +0.996830 0.669708 +0.996830 0.589150 +0.996830 0.539649 +0.996830 0.629429 +</float_array> + <technique_common> + <accessor source="#Arm-UV0-array" count="56" stride="2"> + <param name="S" type="float"/> + <param name="T" type="float"/> + </accessor> + </technique_common> + </source> + <vertices id="Arm-VERTEX"> + <input semantic="POSITION" source="#Arm-POSITION"/> + </vertices> + <triangles count="56" material="GPS"> + <input semantic="VERTEX" offset="0" source="#Arm-VERTEX"/> + <input semantic="NORMAL" offset="1" source="#Arm-Normal0"/> + <input semantic="TEXCOORD" offset="2" set="0" source="#Arm-UV0"/> + <p> 0 0 0 1 1 1 2 2 2 5 3 3 4 4 4 3 5 5 2 6 2 1 7 1 4 8 4 2 9 2 4 10 4 5 11 3 3 12 10 6 13 8 0 14 9 6 15 8 3 16 10 7 17 11 0 18 0 6 19 6 1 20 1 4 21 4 7 22 7 3 23 5 8 24 12 9 25 13 10 26 14 8 27 12 10 28 14 11 29 15 8 30 12 11 31 15 12 32 16 8 33 12 12 34 16 13 35 17 8 36 46 13 37 48 14 38 18 8 39 46 14 40 18 15 41 19 8 42 46 15 43 19 16 44 20 8 45 46 16 46 20 9 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<end_time>3.333333</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#Post"/> + </scene> +</COLLADA> diff --git a/vrx_urdf/vrx_gazebo/models/sensor_post/model.config b/vrx_urdf/vrx_gazebo/models/sensor_post/model.config new file mode 100644 index 000000000..9a34eefc2 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/models/sensor_post/model.config @@ -0,0 +1,15 @@ +<?xml version="1.0"?> +<model> + <name>sensor_post</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + + <author> + <name>Tyler Lum</name> + <email>tylergwlum@gmail.com</email> + </author> + + <description> + Sensor post for lidars and cameras to be mounted on. + </description> +</model> diff --git a/vrx_urdf/vrx_gazebo/models/sensor_post/model.sdf b/vrx_urdf/vrx_gazebo/models/sensor_post/model.sdf new file mode 100644 index 000000000..751f276ff --- /dev/null +++ b/vrx_urdf/vrx_gazebo/models/sensor_post/model.sdf @@ -0,0 +1,80 @@ +<?xml version="1.0"?> +<sdf version="1.6"> + <model name="sensor_post"> + <pose>0 0 0 1.57 0 0</pose> + <!-- Post link --> + <link name="post_link"> + <visual name="post_visual"> + <pose>0 -0.2515 0 0 0</pose> + <geometry> + <mesh> + <uri>model://sensor_post/mesh/sensor_post.dae</uri> + </mesh> + </geometry> + </visual> + <collision name="post_collision"> + <pose>0 0 0 1.57 0 0</pose> + <geometry> + <cylinder> + <radius>0.0076</radius> + <length>0.503</length> + </cylinder> + </geometry> + </collision> + <inertial> + <pose>0 0 0 1.57 0 0</pose> + <mass>0.5</mass> + <inertia> + <ixx>0.010549261666667</ixx> + <iyy>0.010549261666667</iyy> + <izz>0.000014440000000</izz> + <ixy>0</ixy> + <ixz>0</ixz> + <iyz>0</iyz> + </inertia> + </inertial> + </link> + + <!-- Arm link --> + <link name="arm_link"> + <pose>0 0.2 0.03 0 0 0</pose> + <visual name="arm_visual"> + <pose>0 -0.016 -0.035 0 0 0 </pose> + <geometry> + <mesh> + <uri>model://sensor_post/mesh/sensor_post_arm.dae</uri> + </mesh> + </geometry> + </visual> + <collision name="arm_collision"> + <pose>0 0 0 -0.15 0 0 </pose> + <geometry> + <cylinder> + <radius>0.008</radius> + <length>0.065</length> + </cylinder> + </geometry> + </collision> + <inertial> + <pose>0 0 0 -0.15 0 0 </pose> + <mass>0.1</mass> + <inertia> + <ixx>0.00003680833</ixx> + <iyy>0.00003680833</iyy> + <izz>0.00000320000</izz> + <ixy>0</ixy> + <ixz>0</ixz> + <iyz>0</iyz> + </inertia> + </inertial> + </link> + + <!-- Post to arm joint --> + <joint name="post_to_arm_joint" type="fixed"> + <parent>post_link</parent> + <child>arm_link</child> + <pose>0 0 -0.03 0 0 0</pose> + </joint> + + </model> +</sdf> diff --git a/vrx_urdf/vrx_gazebo/package.xml b/vrx_urdf/vrx_gazebo/package.xml new file mode 100644 index 000000000..a1afd1008 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/package.xml @@ -0,0 +1,21 @@ +<?xml version="1.0"?> +<package format="2"> + <name>vrx_gazebo</name> + <version>1.3.0</version> + <description> + The ROS package for the RobotX competition running in Gazebo - models only. + </description> + <maintainer email="caguero@osrfoundation.org">Carlos Aguero</maintainer> + <maintainer email="jriveroo@osrfoundation.org">Jose Luis Rivero</maintainer> + <license>Apache 2.0</license> + <url type="website">http://wiki.ros.org/vrx_gazebo</url> + <url type="bugtracker">http://github.com/osrf/vrx/issues</url> + <author email="briansbingham@gmail.com">Brian Bingham</author> + <author email="caguero@osrfoundation.org">Carlos Aguero</author> + <replace>vmrc_gazebo</replace> + <buildtool_depend>ament_cmake</buildtool_depend> + + <export> + <build_type>ament_cmake</build_type> + </export> +</package> diff --git a/vrx_urdf/vrx_gazebo/scripts/generate_wamv.py b/vrx_urdf/vrx_gazebo/scripts/generate_wamv.py new file mode 100644 index 000000000..13a518dde --- /dev/null +++ b/vrx_urdf/vrx_gazebo/scripts/generate_wamv.py @@ -0,0 +1,6 @@ +#!/usr/bin/env python3 + +from vrx_gazebo.configure_wamv import main + +if __name__ == '__main__': + main() diff --git a/vrx_urdf/vrx_gazebo/src/vrx_gazebo/__init__.py b/vrx_urdf/vrx_gazebo/src/vrx_gazebo/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/vrx_urdf/vrx_gazebo/src/vrx_gazebo/compliance.py b/vrx_urdf/vrx_gazebo/src/vrx_gazebo/compliance.py new file mode 100644 index 000000000..605197322 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/src/vrx_gazebo/compliance.py @@ -0,0 +1,195 @@ +#!/usr/bin/env python3 + +from ament_index_python.packages import get_package_share_directory + +import numpy as np +import os +import yaml + +from vrx_gazebo.utils import get_macros + + +class ComponentCompliance: + def __init__(self, components_dir): + self.components_dir = components_dir + + self.config_dir = os.path.join( + get_package_share_directory('vrx_gazebo'), 'config', 'wamv_config') + + # open component_compliance/bounding_boxes.yaml and all the boxes defined + self.boxes = find_boxes(os.path.join(self.config_dir, + 'component_compliance', 'bounding_boxes.yaml')) + # look at all components in components directory and get the default params + self.default_parameters = get_macros(self.components_dir) + + self.numeric = yaml.safe_load(open(os.path.join(self.config_dir, + 'component_compliance', 'numeric.yaml'))) + return + + def param_compliance(self, component_type, params={}): + # ie: given an instance of component_type = 'wamv_camera' + # with parameters = params, is this camera in compliance + # check if the component is allowed + params = params.copy() + if component_type not in self.default_parameters: + rclpy.logging.get_logger("compliance").error('%s is not defined anywhere under %s' % + (component_type, self.config_dir)) + assert component_type in self.default_parameters,\ + '%s is not defined anywhere under %s' % (component_type, self.config_dir) + for i in params: + if i not in self.numeric[component_type]['allowed_params']: + rclpy.logging.get_logger("compliance").error('%s parameter specification of %s not permitted' % + (i, component_type)) + + # add the default params to params if not specified + for i in self.default_parameters[component_type]: + if i not in params: + params[i] = self.default_parameters[component_type][i] + if 'x' and 'y' and 'z' in params: + xyz = np.array([float(params['x']), + float(params['y']), + float(params['z'])]) + for box in self.boxes: + if box.fit(xyz): + return True + rclpy.logging.get_logger("compliance").error('%s %s is out of bounds' % + (component_type, params['name'])) + rclpy.logging.get_logger("compliance").error('%s %s is at xyz=(%s, %s, %s), %s' % + (component_type, params['name'], + xyz[0], xyz[1], xyz[2], + 'must fit in at least one of the following boxes ' + + 'with remaining space:')) + for box in self.boxes: + rclpy.logging.get_logger("compliance").error(' %s' % str(box)) + return False + else: + return True + + def number_compliance(self, component_type, n): + # ie: are n wamv_cameras allowed? + if n > self.numeric[component_type]['num']: + rclpy.logging.get_logger("compliance").error('Too many %s requested' % component_type) + rclpy.logging.get_logger("compliance").error(' maximum of %s %s allowed' % + (self.numeric[component_type]['num'], component_type)) + return False + return True + + def set_components_dir(self, components_dir): + self.components_dir = components_dir + + +class ThrusterCompliance: + def __init__(self, thrusters_dir): + self.thrusters_dir = thrusters_dir + + self.config_dir = os.path.join( + get_package_share_directory('vrx_gazebo'), 'config', 'wamv_config') + + # open thruster_compliance/bounding_boxes.yaml and the boxes defined + self.boxes = find_boxes(os.path.join(self.config_dir, + 'thruster_compliance', 'bounding_boxes.yaml')) + # look at all thrusters in thrusters directory and get the default params + self.default_parameters = get_macros(self.thrusters_dir) + self.numeric = yaml.safe_load(open(os.path.join(self.config_dir, + 'thruster_compliance', 'numeric.yaml'))) + return + + def param_compliance(self, thruster_type, params={}): + # ie: given an instance of thruster_type = 'engine' + # with parameters = params, is this engine in compliance + # check if the thruster is allowed + + params = params.copy() + if thruster_type not in self.default_parameters: + rclpy.logging.get_logger("compliance").error('%s is not defined anywhere under %s' % + (thruster_type, self.config_dir)) + assert thruster_type in self.default_parameters,\ + '%s is not defined anywhere under %s' % \ + (thruster_type, self.config_dir) + for i in params: + if i not in self.numeric[thruster_type]['allowed_params']: + rclpy.logging.get_logger("compliance").error('%s parameter specification of not permitted' % + (i, thruster_type)) + assert False + + # add the default params to params if not specified + for i in self.default_parameters[thruster_type]: + if i not in params: + params[i] = self.default_parameters[thruster_type][i] + # right now the ONLY compliance check we have is to make sure that + # the thrusters are in at least one of the boxes + xyz = np.array([float(j) for j in [i for i in + params['position'].split(' ') + if i != '']]) + for box in self.boxes: + if box.fit(xyz): + return True + rclpy.logging.get_logger("compliance").error('%s %s is out of bounds' % + (thruster_type, params['prefix'])) + rclpy.logging.get_logger("compliance").error('%s %s is at xyz=(%s, %s, %s), %s' % + (thruster_type, params['prefix'], + xyz[0], xyz[1], xyz[2], + 'it must fit in at least one of the following boxes ' + + 'with remaining space:')) + for box in self.boxes: + rclpy.logging.get_logger("compliance").error(' %s' % str(box)) + return False + + def number_compliance(self, thruster_type, n): + if n > self.numeric[thruster_type]['num']: + rclpy.logging.get_logger("compliance").error('Too many %s requested' % thruster_type) + rclpy.logging.get_logger("compliance").error(' maximum of %s %s allowed' % + (self.numeric[thruster_type]['num'], thruster_type)) + return False + return True + + +class Box: + def __init__(self, name, pose, size, space): + self.name = name + + self.pose = np.array([float(j) for j in [i for i in pose.split(' ') + if i != '']]) + self.size = np.array([float(j) for j in [i for i in size.split(' ') + if i != '']]) + self.space = int(space) + return + + def fit(self, pose): + pose = pose-self.pose[:3] + for idx, i in enumerate(pose): + if abs(i) > self.size[idx]/2: + return False + # if space is -1, unlimited things + if self.space == -1: + return True + elif self.space == 0: + return False + elif self.space > 0: + self.space -= 1 + return True + + def __str__(self): + return '<Box name:%s x:[%s, %s] y:[%s,%s] z:[%s,%s]\ + remaining_space:%s>' % \ + (self.name, + (self.pose[0] + self.size[0]/2), + (self.pose[0] - self.size[0]/2), + (self.pose[1] + self.size[1]/2), + (self.pose[1] - self.size[1]/2), + (self.pose[2] + self.size[2]/2), + (self.pose[2] - self.size[2]/2), + self.space) + + +def find_boxes(box_yaml): + box_def = yaml.safe_load(open(box_yaml)) + + boxes = [] + + for name, properties in iter(box_def.items()): + boxes.append(Box(str(name), + properties['pose'], + properties['size'], + properties['capacity'])) + return boxes diff --git a/vrx_urdf/vrx_gazebo/src/vrx_gazebo/configure_wamv.py b/vrx_urdf/vrx_gazebo/src/vrx_gazebo/configure_wamv.py new file mode 100644 index 000000000..e781f41d5 --- /dev/null +++ b/vrx_urdf/vrx_gazebo/src/vrx_gazebo/configure_wamv.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +import rclpy +from rclpy.node import Node + +import os + +from vrx_gazebo.compliance import ComponentCompliance +from vrx_gazebo.compliance import ThrusterCompliance + +from vrx_gazebo.utils import create_xacro_file +from vrx_gazebo.utils import add_gazebo_thruster_config + + +def create_thruster_xacro(node): + """ + Purpose: Create a thruster xacro file using the given + rosparameters + """ + # Get yaml files for thruster number and pose + thruster_yaml = node.get_parameter('thruster_yaml').get_parameter_value().string_value + node.get_logger().info('\nUsing %s as the thruster configuration yaml file\n' % + thruster_yaml) + + # Set thruster xacro target + thruster_xacro_target = os.path.splitext(thruster_yaml)[0] + '.xacro' + node.get_logger().info('\nTrying to open %s \n' % thruster_xacro_target) + + # Things to start/open the macro + thruster_boiler_plate_top = ('<?xml version="1.0"?>\n' + '<robot ' + 'xmlns:xacro="http://ros.org/wiki/xacro" ' + 'name="wam-v-thrusters">\n' + ' <xacro:include filename=' + '"$(find wamv_description)/urdf/thrusters/' + 'engine.xacro" />\n') + + # Things to close the macro + thruster_boiler_plate_bot = '' + + # Check if valid number of thrusters and valid thruster parameters + thrusters_dir = node.get_parameter('thrusters_dir').get_parameter_value().string_value + '/' + comp = ThrusterCompliance(thrusters_dir) + thruster_num_test = comp.number_compliance + thruster_param_test = comp.param_compliance + + # Create thruster xacro with thruster macros + compliant = create_xacro_file(yaml_file=thruster_yaml, + xacro_target=thruster_xacro_target, + boiler_plate_top=thruster_boiler_plate_top, + boiler_plate_bot=thruster_boiler_plate_bot, + num_test=thruster_num_test, + param_test=thruster_param_test) + + gz_boiler_plate_top = (' <xacro:include filename="$(find wamv_gazebo)' + '/urdf/thruster_layouts/' + 'wamv_gazebo_thruster_config.xacro" />\n') + gz_boiler_plate_bot = ('</robot>') + + + # Append gazebo thruster config to thruster xacro + add_gazebo_thruster_config(yaml_file=thruster_yaml, + xacro_target=thruster_xacro_target, + boiler_plate_top=gz_boiler_plate_top, + boiler_plate_bot=gz_boiler_plate_bot, + ) + return compliant + + +def create_component_xacro(node): + """ + Purpose: Create a component xacro file using the given + rosparameters + """ + # Get yaml files for component number and pose + component_yaml = node.get_parameter('component_yaml').get_parameter_value().string_value + node.get_logger().info('\nUsing %s as the component configuration yaml file\n' % + component_yaml) + + # Set component xacro target + component_xacro_target = os.path.splitext(component_yaml)[0] + '.xacro' + + # Things to start/open the macro + component_boiler_plate_top = ('<?xml version="1.0"?>\n' + '<robot ' + 'xmlns:xacro="http://ros.org/wiki/xacro" ' + 'name="wam-v-components">\n' + + ' <xacro:macro name="yaml_components">\n') + + # Things to close the macro + component_boiler_plate_bot = ' </xacro:macro>\n</robot>' + + # Check if valid number of components and valid component parameters + components_dir = node.get_parameter('components_dir').get_parameter_value().string_value + '/' + comp = ComponentCompliance(components_dir) + component_num_test = comp.number_compliance + component_param_test = comp.param_compliance + + # Create component xacro with component macros + return create_xacro_file(yaml_file=component_yaml, + xacro_target=component_xacro_target, + boiler_plate_top=component_boiler_plate_top, + boiler_plate_bot=component_boiler_plate_bot, + num_test=component_num_test, + param_test=component_param_test) + + +def main(args=None): + rclpy.init(args=args) + node = rclpy.create_node('configure_wamv') + + node.declare_parameter('thruster_yaml', '') + node.declare_parameter('component_yaml', '') + node.declare_parameter('wamv_target', '') + node.declare_parameter('wamv_gazebo', '') + node.declare_parameter('wamv_locked', '') + node.declare_parameter('components_dir', '') + node.declare_parameter('thrusters_dir', '') + + # Check if yaml files were given + thruster_yaml = node.get_parameter('thruster_yaml').get_parameter_value().string_value + component_yaml = node.get_parameter('component_yaml').get_parameter_value().string_value + received_thruster_yaml = len(thruster_yaml) > 0 + received_component_yaml = len(component_yaml) > 0 + + thruster_compliant = None + component_compliant = None + + # Setup thruster xacro + if received_thruster_yaml: + thruster_compliant = create_thruster_xacro(node) + + # Setup component xacro + if received_component_yaml: + component_compliant = create_component_xacro(node) + + # Setup command to generate WAM-V urdf file + wamv_target = node.get_parameter('wamv_target').get_parameter_value().string_value + wamv_gazebo = node.get_parameter('wamv_gazebo').get_parameter_value().string_value + wamv_locked = node.get_parameter('wamv_locked').get_parameter_value().string_value + + create_urdf_command = ("ros2 run xacro xacro -o " + wamv_target + + " '" + wamv_gazebo + "'") + + if wamv_locked: + create_urdf_command += (" locked:=" + + str(wamv_locked)) + + # Add xacro files if created + if received_thruster_yaml: + thruster_xacro_target = os.path.splitext(thruster_yaml)[0] + '.xacro' + create_urdf_command += (" yaml_thruster_generation:=true " + "thruster_xacro_file:=" + + thruster_xacro_target) + if received_component_yaml: + component_xacro_target = os.path.splitext(component_yaml)[0] + '.xacro' + create_urdf_command += (" yaml_component_generation:=true " + "component_xacro_file:=" + component_xacro_target) + + # Create urdf and print to console + os.system(create_urdf_command) + if not (thruster_compliant and component_compliant): + node.get_logger().error('\nThis component/thruster configuration is NOT compliant ' + + 'with the (current) VRX constraints. A urdf file will ' + + 'be created, but please note that the above errors ' + + 'must be fixed for this to be a valid configuration ' + + 'for the VRX competition.\n') + + print('WAM-V urdf file sucessfully generated. File location: ' + + wamv_target) + + node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() + diff --git a/vrx_urdf/vrx_gazebo/src/vrx_gazebo/utils.py b/vrx_urdf/vrx_gazebo/src/vrx_gazebo/utils.py new file mode 100644 index 000000000..5cf5c389c --- /dev/null +++ b/vrx_urdf/vrx_gazebo/src/vrx_gazebo/utils.py @@ -0,0 +1,202 @@ +import os +import yaml + + +def create_xacro_file(xacro_target, + yaml_file=None, + requested_macros=None, + boiler_plate_top='', + boiler_plate_bot='', + num_test=lambda name, num: True, + param_test=lambda name, params={}: True, + ): + """ + Purpose: Create a .xacro file to create a custom WAM-V .urdf + + Args: + xacro_target (str): Target file for writing the xacro to + NOTE: will overwrite an existing file + yaml_file (str): .yaml file with requested macros + requested_macros (dict): if dict is passed directly => ignore yaml file + boiler_plate_top (str): String to start the xacro file + boiler_plate_bot (str): String to end the xacro file + num_test (function): test if the number of macro types is allowed + param_test (function): test if a macro call parameters are sensible + + Creates a xacro file at 'xacro_target' + + Returns test_fail (bool): Indicator if the wamv passed compliance tests + """ + test_fail = False + # Initialize xacro file + xacro_file = open(xacro_target, 'w') + xacro_file.write(boiler_plate_top) + + # If requested_macros not given, then open yaml_file + if requested_macros is None: + s = open(yaml_file, 'r') + requested_macros = yaml.safe_load(s) + + # Handle case with empty yaml file + if requested_macros is None: + xacro_file.write(boiler_plate_bot) + xacro_file.close() + return + + # Object must be available + for key, objects in requested_macros.items(): + # Check if number of objects is valid + test_fail = num_test(key, len(objects)) + + # Create block for each object + xacro_file.write(' <!-- === %s === -->\n' % key) + for i in objects: + # Check for valid parameters + test_fail = param_test(key, i) + + # Write macro + # Strip all astrisks from key value to allow us to call + # the same macro multiple times. + xacro_file.write(' ' + macro_call_gen(key.strip('*'), i)) + xacro_file.write('\n') + + xacro_file.write(boiler_plate_bot) + xacro_file.close() + return test_fail + + +def add_gazebo_thruster_config(xacro_target, + yaml_file=None, + requested_macros=None, + boiler_plate_top='', + boiler_plate_bot='', + ): + """ + Purpose: Append gazebo thruster config tags to a .xacro file to + create a custom WAM-V .urdf + + Args: + xacro_target (str): Target file for writing the xacro to + NOTE: will append an existing file + should be used on thruster + xacro file created by + create_xacro_file() + yaml_file (str): .yaml file with requested macros + requested_macros (dict): if dict is passed directly => ignore yaml file + boiler_plate_top (str): First string to append to the xacro file + boiler_plate_bot (str): Last string to append to the xacro file + + Appends gazebo thruster config tags to 'xacro_target' + """ + # Initialize xacro file for appending + xacro_file = open(xacro_target, 'a') + xacro_file.write(boiler_plate_top) + + # If requested_macros not given, then open yaml_file + if requested_macros is None: + s = open(yaml_file, 'r') + requested_macros = yaml.safe_load(s) + + # Handle case with empty yaml file + if requested_macros is None: + xacro_file.write(boiler_plate_bot) + xacro_file.close() + return + + # WAM-V Gazebo thrust plugin setup + for key, objects in requested_macros.items(): + for obj in objects: + xacro_file.write(' ' + + macro_call_gen('wamv_gazebo_thruster_config', + {'name': obj['prefix']})) + + xacro_file.write(boiler_plate_bot) + xacro_file.close() + + +def macro_call_gen(name, params={}): + macro_call = ' <xacro:%s ' % name + endline = '/>\n' + insert = [] + for i in params: + if i[:3] == '/**': + endline = '>\n' + insert.append(i[3:]) + else: + macro_call += '%s="%s" ' % (i, str(params[i])) + macro_call += endline + if insert == []: + return macro_call + for i in insert: + macro_call += ' <%s>\n' % i + macro_call += str(params['/**' + i]) + macro_call += ' </%s>\n' % i + macro_call += ' </xacro:' + name + '>\n' + return macro_call + + +# Note: all functions below are not currently used, but they are intended +# to be used by compliance tests. +def get_macros(directory): + xacro_files = get_macro_files(directory) + macros = {} + for i in xacro_files: + name, params = parse_xacro_file(i) + macros[name] = params + return macros + + +def get_macro_files(directory): + xacro_files = [directory+'/'+f for f in os.listdir(directory) + if os.path.isfile(os.path.join(directory, f)) and + (f[-6:] == '.xacro')] + child_directories = [d[0] for d in os.walk(directory)] + child_directories = child_directories[1:] + for i in child_directories: + for j in get_macro_files(i): + xacro_files.append(j) + return xacro_files + + +def parse_xacro_file(xacro_file_name): + xacro_file = open(xacro_file_name, 'r') + contents = xacro_file.read() + # remove comment blocks + while '<!--' in contents: + start = contents.find('<!--') + end = contents.find('-->') + contents = contents.replace(contents[start:end+3], '') + # get macro declaration + start = contents.find('<xacro:macro') + end = contents.find('>', start) + declaration = contents[start:end] + + contents = contents.replace(contents[start:end+1], '') + # remove the declaration from the string so we know we processed it + name_pose = declaration.find('name') + start = declaration.find('"', name_pose) + end = declaration.find('"', start+1) + name = declaration[start+1:end] + + params_pose = declaration.find('params') + start = declaration.find('"', params_pose) + end = declaration.find('"', start+1) + params_str = declaration[start+1:end].split(' ') + params = {} + for i in params_str: + i = i.replace('\n', '') + if i != '': + key = i + if ':' in i: + key = i[:i.find(':')] + if '=' in i: + value = i[i.find('=')+1:] + else: + value = '' + value = value.replace('\n', '') + params[key] = value + + if contents.find('<xacro:macro') != -1: + raise Exception('multiple macros defined in %s' % xacro_file_name) + + return name, params diff --git a/vrx_urdf/wamv_description/CHANGELOG.rst b/vrx_urdf/wamv_description/CHANGELOG.rst new file mode 100644 index 000000000..2c0b03880 --- /dev/null +++ b/vrx_urdf/wamv_description/CHANGELOG.rst @@ -0,0 +1,162 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package wamv_description +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.3.0 (2019-12-26) +------------------ +* Move rudder farther back +* Add sail and rudder link to wamv base, as well as turn post to wind direction arrow +* Add sail link and joint +* Contributors: Tyler Lum <tylergwlum@gmail.com> + +1.2.6 (2019-10-04) +------------------ + +1.2.5 (2019-09-19) +------------------ + +1.2.4 (2019-09-12) +------------------ + +1.2.3 (2019-09-12) +------------------ + +1.2.2 (2019-09-06) +------------------ + +1.2.1 (2019-09-05) +------------------ +* Merge +* merged with master +* Contributors: Rumman Waqar <rumman.waqar05@gmail.com>, Tyler Lum <tylergwlum@gmail.com> + +1.2.0 (2019-08-19) +------------------ +* Merge from topic_namespace_generation +* fix catkin make install issues with meshes +* Merged in Fix-RVIZ-Mesh-Issue (pull request #158) + Fix RVIZ Mesh Issue + Approved-by: Carlos Agüero <cen.aguero@gmail.com> +* Fully functional solution, with urdf file modified when calling spawn_wamv.bash and giving proper model dirs to wamv_gazebo and wamv_description +* Fully functional solution, with model.config errors only when non_competition_mode:=false +* Change all to package://vrx_gazebo +* Rm fake vrx_gazebo/models and make it work, needs testing +* Change model names to No Model +* Add sensor namepsace to planar lidar + Remove gloabl namespace +* Add support for namespaces This includes thruster, camera and sensor namespaces, as well as a global namespace allowing multiple vehicles to be created without causing interference. +* Merged default into gps_plugin +* Clean up model.config files +* Add fake models in vrx_gazebo, wamv_description, wamv_gazebo to avoid GAZEBO_MODEL_PATH errors +* Contributors: Carlos Aguero, Carlos Agüero <cen.aguero@gmail.com>, Jonathan Wheare <jonathan.wheare@flinders.edu.au>, MarshallRawson, Tyler Lum <tylergwlum@gmail.com> + +1.1.2 (2019-07-10) +------------------ + +1.1.1 (2019-07-03) +------------------ + +1.1.0 (2019-07-01) +------------------ +* added dummy link for robot state publisher +* functional. no recording +* linting +* Merged default into issue#94-buoyancy +* merge +* merging default +* Merge from default, conflicts and style. +* Refix engine.xacro to have revolute joint +* Remove old engine.xacro file +* Merged in Issue#90_YAML_world_genreation (pull request #102) + Issue#90 YAML world generation + Approved-by: Carlos Agüero <cen.aguero@gmail.com> +* merge for api update +* Implement turnable thruster joint +* Remove unnecessary files +* Add namespace to thruster config parameters and look in thrusters directory for valid engine types +* merge +* merge +* incremental +* incremental +* updated readme, changed operation procedure, still not installed +* fixed styling problems with flake8, updated readme +* changed directory, added launch file support +* incremental, now supports macros with no parameters +* Change cpu case collision box from 1 box to 2 boxes +* Move boxes forward to prevent collision with gps +* Tweak indentation. +* added a variance function parameter and fixed some bugs +* incremental +* incremental +* Fix formatting (tab->spaces, etc.) +* Add CPU case model to WAM-V +* incremental +* incremental +* Added script to interpret a yaml and auto generate appropriate xacro macro file while checking for compliance +* Added Batteries to vrx_gazebo/models(sdf format) and macro(urdf format) to place on wamv +* Sandisland texture, sensor meshes and extra objects. +* Contributors: Brian Bingham <briansbingham@gmail.com>, Carlos Aguero, Carlos Agüero <cen.aguero@gmail.com>, MarshallRawson, Rumman Waqar <rumman.waqar05@gmail.com>, Tyler Lum <tylergwlum@gmail.com> + +1.0.1 (2019-03-01) +------------------ +* Merged in wamv_meshes_meters (pull request #75) + Fix issue #66 + Approved-by: Brian Bingham <briansbingham@gmail.com> +* Change mesh units to meters. +* Contributors: Carlos Aguero, Carlos Agüero <cen.aguero@gmail.com> + +1.0.0 (2019-02-28) +------------------ +* Rename vmrc to vrx. +* removing static tags so vessel is freee to move +* Contributors: Brian Bingham <briansbingham@gmail.com>, Carlos Aguero + +0.3.2 (2018-10-08) +------------------ +* Include jrivero as maintainer of the ROS packages +* Contributors: Jose Luis Rivero <jrivero@osrfoundation.org> + +0.3.1 (2018-10-05) +------------------ + +0.3.0 (2018-09-28) +------------------ +* vrx metapackage and spring cleaning. +* Static model and fog. +* Merge from default. +* Merged in holonomic-example-refactored (pull request #40) + Holonomic example refactored + Approved-by: Carlos Agüero <cen.aguero@gmail.com> +* Refactor thruster layout customization +* adding blank world for photo shoot of propulsion +* adding examples for T and X thruster configurations - accessible as args to sandisland.launch. Prototype - too much redundancy in the various urdf.xacro file hierarchy, but functional. +* Integrate the placards into the docks. +* Install config/launch files +* Remove references to the Gazebo 8 wind plugin. +* Do not generate anything from engine.xacro. +* Restore wind +* Split the wamv xacro file. +* More modular model with spinning propellers. +* Merged in packages (pull request #4) + Packages + Approved-by: Carlos Agüero <cen.aguero@gmail.com> +* Remove unused properties.urdf +* Remove unused PROPELLER.dae +* Merged in kevin-refactor (pull request #3) + Various cleanups / refactors + Approved-by: Carlos Agüero <cen.aguero@gmail.com> + Approved-by: Kevin Allen <kallen@osrfoundation.org> +* Remove unused spreadsheets and thrust_curve_fit program +* Remove autogenerated files +* Build xacro files as install targets +* Remove platform specific features from wamv base +* Delete unused/broken launch files in wamv_description +* Delete unused blender param files +* Merge from default +* Simplified collisions +* Simplified collisions +* Small cleanup of old comments. +* Updated WAM-V model. +* Merge from waves/master usv_gazebo_plugins. +* Initial version of the code. +* Contributors: Brian Bingham <briansbingham@gmail.com>, Carlos Aguero, Carlos Agüero <caguero@osrfoundation.org>, Carlos Agüero <cen.aguero@gmail.com>, Kevin Allen <kallen@osrfoundation.org> diff --git a/vrx_urdf/wamv_description/CMakeLists.txt b/vrx_urdf/wamv_description/CMakeLists.txt new file mode 100644 index 000000000..5b07eeff8 --- /dev/null +++ b/vrx_urdf/wamv_description/CMakeLists.txt @@ -0,0 +1,23 @@ +cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) +project(wamv_description) +find_package(ament_cmake REQUIRED) + +find_package(xacro REQUIRED) + +# Hooks +ament_environment_hooks("hooks/resource_paths.dsv.in") +ament_environment_hooks("hooks/resource_paths.sh") + +xacro_add_files( + urdf/wamv_base.urdf.xacro + INSTALL DESTINATION urdf +) + +install(DIRECTORY models/ + DESTINATION share/${PROJECT_NAME}/models) + +install(DIRECTORY urdf/ + DESTINATION share/${PROJECT_NAME}/urdf) + + +ament_package() diff --git a/vrx_urdf/wamv_description/hooks/resource_paths.dsv.in b/vrx_urdf/wamv_description/hooks/resource_paths.dsv.in new file mode 100644 index 000000000..18bfdc43d --- /dev/null +++ b/vrx_urdf/wamv_description/hooks/resource_paths.dsv.in @@ -0,0 +1 @@ +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/models diff --git a/vrx_urdf/wamv_description/hooks/resource_paths.sh b/vrx_urdf/wamv_description/hooks/resource_paths.sh new file mode 100644 index 000000000..13efdad48 --- /dev/null +++ b/vrx_urdf/wamv_description/hooks/resource_paths.sh @@ -0,0 +1 @@ +ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/wamv_description/models" diff --git a/vrx_urdf/wamv_description/models/WAM-V-Base/mesh/WAM-V-Base.dae b/vrx_urdf/wamv_description/models/WAM-V-Base/mesh/WAM-V-Base.dae new file mode 100755 index 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0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#Prop_Left-lib"> + <bind_material> + <technique_common> + <instance_material symbol="WamV" target="#WamV"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <extra> + <technique profile="MAX3D"> + <frame_rate>30.000000</frame_rate> + </technique> + <technique profile="FCOLLADA"> + <start_time>0.000000</start_time> + <end_time>3.333333</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#propeller"/> + </scene> +</COLLADA> diff --git a/vrx_urdf/wamv_description/models/propeller/model.config b/vrx_urdf/wamv_description/models/propeller/model.config new file mode 100644 index 000000000..f7379e5c8 --- /dev/null +++ b/vrx_urdf/wamv_description/models/propeller/model.config @@ -0,0 +1,15 @@ +<?xml version="1.0"?> +<model> + <name>_</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + + <author> + <name>Tyler Lum</name> + <email>tylergwlum@gmail.com</email> + </author> + + <description> + Fake model to prevent errors from GAZEBO_MODEL_PATH + </description> +</model> diff --git a/vrx_urdf/wamv_description/package.xml b/vrx_urdf/wamv_description/package.xml new file mode 100644 index 000000000..ebbb3cb77 --- /dev/null +++ b/vrx_urdf/wamv_description/package.xml @@ -0,0 +1,20 @@ +<?xml version="1.0"?> +<package format="2"> + <name>wamv_description</name> + <version>1.3.0</version> + <description>This package provides a URDF model of WAM-V</description> + <maintainer email="caguero@osrfoundation.org">Carlos Aguero</maintainer> + <maintainer email="jriveroo@osrfoundation.org">Jose Luis Rivero</maintainer> + <license>Apache 2.0</license> + <url type="website">http://wiki.ros.org/wamv_description</url> + <url type="bugtracker">http://github.com/osrf/vrx/issues</url> + <author email="briansbingham@gmail.com">Brian Bingham</author> + <author email="caguero@osrfoundation.org">Carlos Aguero</author> + <buildtool_depend>ament_cmake</buildtool_depend> + <depend>vrx_gazebo</depend> + <depend>xacro</depend> + + <export> + <build_type>ament_cmake</build_type> + </export> +</package> diff --git a/vrx_urdf/wamv_description/urdf/battery.xacro b/vrx_urdf/wamv_description/urdf/battery.xacro new file mode 100644 index 000000000..e1bb698e6 --- /dev/null +++ b/vrx_urdf/wamv_description/urdf/battery.xacro @@ -0,0 +1,35 @@ +<?xml version="1.0"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro" name="wam-v-batteries"> + <xacro:macro name="battery" params="prefix position:='0 0 0' orientation:='0 0 0'"> + <link name="${namespace}/${prefix}_battery_link"> + <visual name="${prefix}_battery_visual"> + <origin xyz="0 -1.03 -.45" rpy="0 0 0"/> + <geometry> + <mesh filename="package://vrx_gazebo/models/battery/mesh/battery.dae"/> + </geometry> + </visual> + <collision name="${prefix}_battery_collision"> + <origin xyz="0 0 .15" rpy="0 0 0"/> + <geometry> + <box size=".6 .4 .31"/> + </geometry> + </collision> + <inertial> + <origin xyz="0 0 .15" rpy=" 0 0 0"/> + <mass value="23.5"/> + <inertia + ixx="0.5015291666666667" + iyy="0.8931958333333333" + izz="1.0183333333333333" + ixy="0" + ixz="0" + iyz="0"/> + </inertial> + </link> + <joint name ="${namespace}/${prefix}_chasis_battery_joint" type="fixed"> + <origin xyz="${position}" rpy="${orientation}"/> + <parent link="${namespace}/base_link"/> + <child link="${namespace}/${prefix}_battery_link"/> + </joint> + </xacro:macro> +</robot> diff --git a/vrx_urdf/wamv_description/urdf/cpu_cases.xacro b/vrx_urdf/wamv_description/urdf/cpu_cases.xacro new file mode 100644 index 000000000..626d139f2 --- /dev/null +++ b/vrx_urdf/wamv_description/urdf/cpu_cases.xacro @@ -0,0 +1,42 @@ +<?xml version="1.0"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro" name="wam-v-cpu_cases"> +<xacro:macro name="cpu_cases" params="position:='0 0 0' orientation:='0 0 0'"> + <link name="${namespace}/cpu_cases_link"> + <visual name="cpu_cases_visual"> + <origin xyz="0.073 0 -1.53" rpy="0 0 0"/> + <geometry> + <mesh filename="package://vrx_gazebo/models/cpu_cases/mesh/cpu_cases.dae"/> + </geometry> + </visual> + <collision name="cpu_case_1_collision"> + <origin xyz="0.185 0 0" rpy="0 0 0"/> + <geometry> + <box size="0.595 0.83 0.47"/> + </geometry> + </collision> + <collision name="cpu_case_2_collision"> + <origin xyz="-0.3 0 -0.092" rpy="0 0 0"/> + <geometry> + <box size="0.375 0.64 0.28"/> + </geometry> + </collision> + <inertial> + <mass value="20"/> + <inertia + ixx="1.51633333333333" + iyy="1.93633333333333" + izz="2.71633333333333" + ixy="0" + ixz="0" + iyz="0"/> + </inertial> + </link> + <joint name ="${namespace}/chasis_cpu_cases_joint" type="fixed"> + <origin xyz="${position}" rpy="${orientation}"/> + <parent link="${namespace}/base_link"/> + <child link="${namespace}/cpu_cases_link"/> + </joint> + +</xacro:macro> +</robot> + diff --git a/vrx_urdf/wamv_description/urdf/thrusters/engine.xacro b/vrx_urdf/wamv_description/urdf/thrusters/engine.xacro new file mode 100644 index 000000000..ce46d6bf3 --- /dev/null +++ b/vrx_urdf/wamv_description/urdf/thrusters/engine.xacro @@ -0,0 +1,65 @@ +<?xml version="1.0"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro" name="wam-v-two-engines"> + <!-- Macro for inserting an engine with its propeller. --> + <xacro:macro name="engine" params="prefix position:='0 0 0' orientation:='0 0 0'"> + <link name="${namespace}/${prefix}_engine_link"> + <visual> + <geometry> + <mesh filename="package://wamv_description/models/engine/mesh/engine.dae"/> + </geometry> + </visual> + <collision name="${prefix}_engine_vertical_axis_collision"> + <origin xyz="-0.16 0 -0.24" rpy="0 0 0" /> + <geometry> + <box size="0.2 0.15 0.83" /> + </geometry> + </collision> + <collision name="${prefix}_engine_rear_end_collision"> + <origin xyz="-0.34 0 0.12" rpy="0 0 0" /> + <geometry> + <box size="0.12 0.15 0.12" /> + </geometry> + </collision> + <inertial> + <mass value="15"/> + <inertia ixx="0.889245" ixy="0.0" ixz="0.0" iyy="0.911125" iyz="0.0" izz="0.078125"/> + </inertial> + </link> + + <link name="${namespace}/${prefix}_propeller_link"> + <visual> + <geometry> + <mesh filename="package://wamv_description/models/propeller/mesh/propeller.dae"/> + </geometry> + </visual> + <collision name="${prefix}_propeller_collision"> + <origin xyz="-0.08 0 0" rpy="0 1.57 0" /> + <geometry> + <cylinder length="0.18" radius="0.24" /> + </geometry> + </collision> + <inertial> + <mass value="0.5"/> + <inertia ixx="0.008545" ixy="0.0" ixz="0.0" iyy="0.008545" iyz="0.0" izz="0.0144"/> + </inertial> + </link> + + <joint name="${namespace}/${prefix}_chassis_engine_joint" type="revolute"> + <axis xyz="0 0 1"/> + <limit lower="${-pi}" upper="${pi}" effort="10" velocity="10"/> + <origin xyz="${position}" rpy="${orientation}"/> + <parent link="${namespace}/base_link"/> + <child link="${namespace}/${prefix}_engine_link"/> + </joint> + + <joint name="${namespace}/${prefix}_engine_propeller_joint" type="continuous"> + <axis rpy="0 0 0" xyz="1 0 0"/> + <parent link="${namespace}/${prefix}_engine_link"/> + <child link="${namespace}/${prefix}_propeller_link"/> + <origin rpy="0 0 0" xyz="-0.278156 0 -0.509371"/> + <limit effort="100" velocity="100" /> + <dynamics friction="0.05" damping="0.05" /> + </joint> + </xacro:macro> +</robot> + diff --git a/vrx_urdf/wamv_description/urdf/wamv_base.urdf.xacro b/vrx_urdf/wamv_description/urdf/wamv_base.urdf.xacro new file mode 100644 index 000000000..d021ae11f --- /dev/null +++ b/vrx_urdf/wamv_description/urdf/wamv_base.urdf.xacro @@ -0,0 +1,153 @@ +<?xml version="1.0"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro" name="wam-v"> + <!-- Required arg for melodic and kinetic... --> + <xacro:arg name="namespace" default="wamv"/> + <xacro:property name="namespace" value="$(arg namespace)" scope="global" /> + <!-- Macro for creating the main collisions as simple shapes. --> + <xacro:macro name="main_collisions" params="prefix reflect:=1"> + <!-- Main float --> + <collision name="${prefix}_float"> + <origin xyz="-0.4 ${1.03*reflect} 0.2" rpy="${0*reflect} 1.57 0" /> + <geometry> + <cylinder length="4" radius="0.2" /> + </geometry> + </collision> + + <collision name="${prefix}_mid_float"> + <origin xyz="1.85 ${1.03*reflect} 0.3" rpy="${0*reflect} 1.38 0" /> + <geometry> + <cylinder length="0.5" radius="0.17" /> + </geometry> + </collision> + <collision name="${prefix}_front_float"> + <origin xyz="2.3 ${1.03*reflect} 0.4" rpy="${0*reflect} 1.3 0" /> + <geometry> + <cylinder length="0.45" radius="0.12" /> + </geometry> + </collision> + + <!-- Front beam --> + <collision name="front_${prefix}_beam_lower"> + <origin xyz="0.9 ${0.85*reflect} 1" rpy="${0.78*reflect} 0 0" /> + <geometry> + <cylinder length="0.5" radius="0.04" /> + </geometry> + </collision> + + <collision name="front_${prefix}_beam_upper"> + <origin xyz="0.9 ${0.6*reflect} 1.18" rpy="${1.35*reflect} 0 0" /> + <geometry> + <cylinder length="0.2" radius="0.04" /> + </geometry> + </collision> + + <!-- Mid beam --> + <collision name="mid_${prefix}_beam_lower"> + <origin xyz="-0.65 ${0.99*reflect} 0.7" rpy="${0.1*reflect} 0.25 0" /> + <geometry> + <cylinder length="0.45" radius="0.03" /> + </geometry> + </collision> + + <collision name="mid_${prefix}_beam_medium"> + <origin xyz="-0.57 ${0.87*reflect} 1.05" rpy="${0.75*reflect} 0.25 0" /> + <geometry> + <cylinder length="0.32" radius="0.03" /> + </geometry> + </collision> + + <collision name="mid_${prefix}_beam_upper"> + <origin xyz="-0.55 ${0.65*reflect} 1.17" rpy="${1.35*reflect} 0.25 0" /> + <geometry> + <cylinder length="0.3" radius="0.03" /> + </geometry> + </collision> + + <!-- Rear beam --> + <collision name="rear_${prefix}_beam_lower"> + <origin xyz="-0.74 ${1.03*reflect} 0.7" rpy="${0*reflect} -0.15 0" /> + <geometry> + <cylinder length="0.45" radius="0.03" /> + </geometry> + </collision> + + <collision name="rear_${prefix}_beam_medium"> + <origin xyz="-0.79 ${0.91*reflect} 1.05" rpy="${0.75*reflect} -0.15 0" /> + <geometry> + <cylinder length="0.32" radius="0.03" /> + </geometry> + </collision> + + <collision name="rear_${prefix}_beam_upper"> + <origin xyz="-0.81 ${0.67*reflect} 1.18" rpy="${1.45*reflect} -0.15 0" /> + <geometry> + <cylinder length="0.3" radius="0.03" /> + </geometry> + </collision> + + <!-- Joint --> + <collision name="${prefix}_joint"> + <origin xyz="0.58 ${1.03*reflect} 0.6" rpy="${0*reflect} -0.6 0" /> + <geometry> + <box size="0.65 0.2 0.1" /> + </geometry> + </collision> + </xacro:macro> + + <link name="${namespace}/base_link"> + </link> + + <joint name="${namespace}/dummy_joint" type="fixed"> + <parent link="${namespace}/base_link"/> + <child link="${namespace}/dummy_link"/> + </joint> + + <!-- Basic model of the 16' WAM-V USV --> + <link name="${namespace}/dummy_link"> + <visual> + <geometry> + <mesh filename="package://wamv_description/models/WAM-V-Base/mesh/WAM-V-Base.dae"/> + </geometry> + </visual> + + <!-- Left base collisions --> + <xacro:main_collisions prefix="left" reflect="1" /> + + <!-- Right side collisions --> + <xacro:main_collisions prefix="right" reflect="-1" /> + + <!-- Top base --> + <collision name="top_base"> + <origin xyz="0 -0 1.25" rpy="0 0 0" /> + <geometry> + <box size="1.85 1 0.1" /> + </geometry> + </collision> + + <inertial> + <!-- From WAM-V spec sheet --> + <mass value="180.0"/> + <inertia ixx="120.0" ixy="0.0" ixz="0.0" iyy="393" iyz="0.0" izz="446.0"/> + </inertial> + </link> + + <gazebo reference="${namespace}/base_link"> + <sensor type="contact" name="contact_sensor"> + <contact> + <!-- collisions are renamed during urdf -> sdf fixed joint lumping --> + <collision>${namespace}/base_link_fixed_joint_lump__top_base_collision_41</collision> + <collision>${namespace}/base_link_fixed_joint_lump__left_float_collision_17</collision> + <collision>${namespace}/base_link_fixed_joint_lump__left_mid_float_collision_18</collision> + <collision>${namespace}/base_link_fixed_joint_lump__left_front_float_collision_19</collision> + <collision>${namespace}/base_link_fixed_joint_lump__right_float_collision_29</collision> + <collision>${namespace}/base_link_fixed_joint_lump__right_mid_float_collision_30</collision> + <collision>${namespace}/base_link_fixed_joint_lump__right_front_float_collision_31</collision> + <topic>/vrx/contacts</topic> + </contact> + <always_on>1</always_on> + <update_rate>5</update_rate> + </sensor> + </gazebo> + + +</robot> diff --git a/vrx_urdf/wamv_gazebo/CHANGELOG.rst b/vrx_urdf/wamv_gazebo/CHANGELOG.rst new file mode 100644 index 000000000..4fcb18ee5 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/CHANGELOG.rst @@ -0,0 +1,278 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package wamv_gazebo +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.3.0 (2019-12-26) +------------------ +* Switch to 0 0 1 in axis. +* Create links where the GPS and IMU sensors are attached. +* Contributors: Carlos Aguero + +1.2.6 (2019-10-04) +------------------ + +1.2.5 (2019-09-19) +------------------ + +1.2.4 (2019-09-12) +------------------ + +1.2.3 (2019-09-12) +------------------ + +1.2.2 (2019-09-06) +------------------ + +1.2.1 (2019-09-05) +------------------ +* minor cleanup + env flag + disable z +* Adding namespaces to the other thruster configurations. +* Namespace tweaks. +* Fix typo. +* Style changes. +* Merge +* Added commented code to wamv_xacro +* removed from wamv +* force vectors are correct; scaling added +* merged with master +* Contributors: Carlos Aguero, Rumman Waqar <rumman.waqar05@gmail.com>, Tyler Lum <tylergwlum@gmail.com> + +1.2.0 (2019-08-19) +------------------ +* Merge from topic_namespace_generation +* Update rviz configuration with new lidar topic +* lidar->lidars in topic names +* Merged default into topic_namespace_generation +* Alter launch file to fix tf frame error in navsat_transform_node +* Update rviz configuration to match namespaces +* Update localisation example launch file to support namespace. The addition of a robot namespace also results in the creation of tf namespaces. This patch upadtes the launch file to support this +* Modify xacro files to add further topic subnamespaces to sensor models +* Merged default into topic_namespace_generation +* fix catkin make install issues with meshes +* Merged in Fix-RVIZ-Mesh-Issue (pull request #158) + Fix RVIZ Mesh Issue + Approved-by: Carlos Agüero <cen.aguero@gmail.com> +* Fully functional solution, with urdf file modified when calling spawn_wamv.bash and giving proper model dirs to wamv_gazebo and wamv_description +* Fully functional solution, with model.config errors only when non_competition_mode:=false +* Change all to package://vrx_gazebo +* Rm fake vrx_gazebo/models and make it work, needs testing +* Change model names to No Model +* Move cameras into sensor namespace + Add senosr namespace to p3d position feedback +* Remove extra slashes from topic names +* Merged default into topic_namespace_generation +* Fix namepsaces to work with robotNamespace parameter +* Merge changes with default branch +* Add sensor namepsace to planar lidar + Remove gloabl namespace +* Add support for namespaces This includes thruster, camera and sensor namespaces, as well as a global namespace allowing multiple vehicles to be created without causing interference. +* Add v3d plugin - this publishes a vecotr based on the world frame velocity in Gazebo + Update gps configuration to add gazebo gps and v3d plugins to standard configuration +* Add plugin for ROS interface to gazebo GPS sensor. +* Clean up model.config files +* Add fake models in vrx_gazebo, wamv_description, wamv_gazebo to avoid GAZEBO_MODEL_PATH errors +* fixed wamv_camera +* remove tab +* fix issue +* removed old debug msg +* added force visualization to wamv +* Contributors: Carlos Aguero, Carlos Agüero <cen.aguero@gmail.com>, Jonathan Wheare <jonathan.wheare@flinders.edu.au>, MarshallRawson, Rumman Waqar <rumman.waqar05@gmail.com>, Tyler Lum <tylergwlum@gmail.com> + +1.1.2 (2019-07-10) +------------------ +* lidar.xacro edited online with Bitbucket +* fixed issue +* cpu cases now included when configured by yaml +* Contributors: Marshall Rawson <marshallrawson@osrfoundation.org>, MarshallRawson + +1.1.1 (2019-07-03) +------------------ + +1.1.0 (2019-07-01) +------------------ +* wamv_gps.xacro edited online with Bitbucket +* Update camera resolution +* Using 16 beam lasers +* default urdf is now 32 beam lidar +* completed lidar specs +* ready for detailed lidar spec input +* added rviz config +* Merged default into issue#94-buoyancy +* merging with default - need to check wind +* Added allowences for post_Y and moved wamv_imu, wamv_gps default locations to be within compliance +* temporary branch for comparing with wave_visualization +* Merged in Issue#100-wind-plugin (pull request #106) + Issue#100 wind plugin moved to world plugin + Approved-by: Carlos Agüero <cen.aguero@gmail.com> +* Put required parameters together and make it obvious which are required +* Add <enableAngle> bool parameter that controls if angle is adjustable or not +* filled out the SensorCompliance. It is formatted by the sensors_compliance files +* Implement turnable thruster joint +* Basic implementation of angle adjustable thrusters, still need to test, add joints, and change visuals +* merged. expanded xacro capabilities +* changing the interface from timePeriod to frequency +* adding ROS API to probe for wind speed +* enabling the user to input only the angle for wind direction +* Make thruster config with yaml work without affecting use of sensor yaml config, still need to clean up +* Move engine.xacro to thrusters directory to allow for different types of thrusters +* Merged default into Issue#97-yaml-thruster-configuration +* Clarify link relative position calculation +* Implement varying length lidar pole +* Change post angle for right camera +* Vary post mass as length changes +* Fix camera seeing itself by increasing clip distance +* incremental(basic testing passed) +* Fix post color issue by removing <visual> tag name +* Add gazebo tag for color, still not working +* Update wamv_gazebo.urdf.xacro file to use thruster yaml file if given +* Initial testing of random seed with print statements +* Change from visual mesh to cylinder, but color not working. Stil showing white +* Define positioning variables for improved clarity +* Scale post length to better match camera height +* Simplify all transformations: base->post->arm->camera +* Tweaked comments. +* Simplify all transformations: base->post->arm->lidar +* Implement post_Y parameter that allows the post to be rotated in the yaw direction +* Redo sensor post to lidar joints to cleaner (x,y,z,r,p,y) coordinates +* Temporary test setting xyz of lidar, next need to change frames to simplify all of this +* updated readme, changed operation procedure, still not installed +* Add second adjustment link to perfectly match sensor and base frames +* Add adjustment link and joint to make the lidar frame better match base frame +* Add adjustment link and joint to make the camera frame match base frame +* Integrate sensor post to camera urdf, with height parameter +* Fix issue with lidar seeing itself and set default lidar angle downwards towards water +* Add mono_camera mesh to urdf file and onto WAM-V +* Merged default into Issue#86-add-3d-lidar-mesh +* Add sensor_post_arm.dae +* Add sensor post to 3d lidar on WAM-V, including height parameter +* Fix default 3d lidar pose +* Add CPU cases only in VRX configuration + remove redundant pose info +* Move boxes forward to prevent collision with gps +* Add 3D Lidar mesh and put it on WAM-V +* Add CPU case model to WAM-V +* Added script to interpret a yaml and auto generate appropriate xacro macro file while checking for compliance +* Added Batteries to vrx_gazebo/models(sdf format) and macro(urdf format) to place on wamv +* Lower mast. +* turning wind off to better test - tweaking waypoints in wayfinding task example +* Tweak names. +* Adding gps mesh, collisions and inertia. +* Tweaking positions and adding post and navigation course. +* Restoring cameras and laser visuals and creating demo.launch +* Sandisland texture, sensor meshes and extra objects. +* Implemented changed after PR is reviewed - V1 + Remove Ros dependency (regarding time) + fixed typoes + fixed wrong comments + Exposed seed value to user + Updated purpose of SDF params in the header file + lines are now shorted than 80 chars + added comments around explaining the calculations done +* made wind speed randomized +* Modify velodyne configuration to set intensity filtering + Alter ocean laser retro to be filtered by the lidar sensor +* Setting wave parameters by hand in source for testing +* setting default wind to zero +* Issue #23: Coordinate the physics and visualization of the wave field + 1. Use the asv_wave_sim_gazebo_plugins package for wave field visualisation and depth calculation. + 2. Update the buoyancy and dynamics plugins for buoyancy calculations. + 3. Update sdf and xacro for models that require buoyancy. + 4. Replace the ocean model with ocean_waves in the sandisland world. +* Red placards and rearrange a bit the sensors. +* Port to VRX code using Gazebo9. +* Contributors: Brian Bingham <briansbingham@gmail.com>, Carlos Aguero, Carlos Aguero <caguero@osrfoundation.org>, Carlos Agüero <cen.aguero@gmail.com>, Jonathan Wheare <jonathan.wheare@flinders.edu.au>, MarshallRawson, Rhys Mainwaring <rhys.mainwaring@me.com>, Rumman Waqar <rumman.waqar05@gmail.com>, Tyler Lum <tylergwlum@gmail.com>, Youssef Khaky <youssefkhaky@hotmail.com>, YoussefKhaky <youssefkhaky@hotmail.com.com> + +1.0.1 (2019-03-01) +------------------ +* changed rviz camera topic +* Contributors: Brian Bingham<briansbingham@gmail.com> + +1.0.0 (2019-02-28) +------------------ +* Merge from default. +* Merge from symbols_dock_part2 +* Merge from default. +* Merged in vrx (pull request #68) + Rename vmrc to vrx + Approved-by: Brian Bingham <briansbingham@gmail.com> +* Custom tweaks +* More leftovers. +* Rename vmrc to vrx. +* assembling pieces for stationkeeping +* Merged in urdf_easy (pull request #62) + Simplify urdf + Approved-by: Brian Bingham <briansbingham@gmail.com> +* Simplify urdf files. +* Locking the WAM-V conditionally. +* Playing with locking and releasing. +* Changed from buoyancy calculation method +* Decrease sensor noise to more clearly allow debugging of the simulation. +* Add the pinger plugin to the wamv_gazebo package. + The wamv_gazebo_sensors.urdf file has been modified to add support for the pinger plugin. +* add missing dependencies +* Create perception.launch and lock the WAM-V. +* removing static tags so vessel is freee to move +* Contributors: Brian Bingham <briansbingham@gmail.com>, Carlos Aguero, Carlos Aguero <caguero@osrfoundation.org>, Carlos Agüero <cen.aguero@gmail.com>, Jonathan Wheare <jonathan.wheare@flinders.edu.au>, chapulina <burajiru.no.chapulina@gmail.com> + +0.3.2 (2018-10-08) +------------------ +* Include jrivero as maintainer of the ROS packages +* Contributors: Jose Luis Rivero <jrivero@osrfoundation.org> + +0.3.1 (2018-10-05) +------------------ + +0.3.0 (2018-09-28) +------------------ +* Tweak +* vrx metapackage and spring cleaning. +* Static model and fog. +* trying to get wamv to be static using a fixed joint +* Merge from default. +* reverting example rviz config back to original to be consistent with existing tutorial +* adding launch/config files for running the example +* adding examples to the sensors tutorial for the T and X propulsion configuration +* Create a standard sensor configuration for VRX. +* Merged in 3dlaser (pull request #41) + Add 3D laser xacro + Approved-by: Carlos Agüero <cen.aguero@gmail.com> +* Merge from default. +* Merged in holonomic-example-refactored (pull request #40) + Holonomic example refactored + Approved-by: Carlos Agüero <cen.aguero@gmail.com> +* Add 3D laser xacro +* Refactor thruster layout customization +* Enable on/off arguments for sensors xacro +* Fix multibeam laser xacro +* adding examples for T and X thruster configurations - accessible as args to sandisland.launch. Prototype - too much redundancy in the various urdf.xacro file hierarchy, but functional. +* Tabs -> spaces +* Initial style pass +* props now spinning, removed old method of thrust implementation, removed custome UsvDrive message +* working prototype - next remove old method +* increment - builds, but need to go home +* Add changelog. +* Merge from default +* Removing superfluous SDF for thrust +* More tweaks. +* Merge from default. +* Merged in sensor-examples (pull request #12) + Add sensor macros and example + Approved-by: Carlos Agüero <cen.aguero@gmail.com> +* Add multibeam to example sensor urdf +* Add simple visuals for sensors +* Move multibream -> multibeam +* Remove unneeded robot_description param from localization_example.launch +* Add optical frame for proper camera visualization +* Install config/launch files +* Merge default into sensor-examples +* Simplify wamv_gazebo macros +* Simplify xacro macros +* Refactor wind plugin. +* Split the wamv xacro file. +* More modular model with spinning propellers. +* Add example rviz config/launch +* Tweak +* Tweak +* Add sensor macros and example localization config +* Fix issues after wamv_gazebo migration +* Boostrap wamv_gazebo +* Contributors: Brian Bingham <briansbingham@gmail.com>, Carlos Aguero, Carlos Agüero <caguero@osrfoundation.org>, Carlos Agüero <cen.aguero@gmail.com>, Kevin Allen <kallen@osrfoundation.org> diff --git a/vrx_urdf/wamv_gazebo/CMakeLists.txt b/vrx_urdf/wamv_gazebo/CMakeLists.txt new file mode 100644 index 000000000..af296c7b8 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) +project(wamv_gazebo) + +find_package(ament_cmake REQUIRED) +find_package(xacro REQUIRED) +find_package(wamv_description REQUIRED) + +# Generate urdf files from xacro and install +# xacro_add_files( +# urdf/wamv_gazebo.urdf.xacro +# INSTALL DESTINATION urdf +# ) + +# Install meshes and textures +install(DIRECTORY models/ + DESTINATION share/${PROJECT_NAME}/models) + +# Install xacro files / macros +install(DIRECTORY urdf/ + DESTINATION share/${PROJECT_NAME}/urdf) + +ament_package() diff --git a/vrx_urdf/wamv_gazebo/README.md b/vrx_urdf/wamv_gazebo/README.md new file mode 100644 index 000000000..62ee9d183 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/README.md @@ -0,0 +1,2 @@ +# wamv_gazebo +Provides templates and examples for integrating the WAM-V model into gazebo with dynamics, sensors, etc. diff --git a/vrx_urdf/wamv_gazebo/models/gps/mesh/gps.dae b/vrx_urdf/wamv_gazebo/models/gps/mesh/gps.dae new file mode 100755 index 000000000..6c265e2e5 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/models/gps/mesh/gps.dae @@ -0,0 +1,3542 @@ +<?xml version="1.0" encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <authoring_tool>FBX COLLADA exporter</authoring_tool> + </contributor> + <created>2019-04-24T17:28:33Z</created> + <modified>2019-04-24T17:28:33Z</modified> + <unit meter="0.010000" name="centimeter"/> + <up_axis>Z_UP</up_axis> + </asset> + <library_images> + <image id="GPS_ncl1_2-image" name="GPS_ncl1_2"> + <init_from>gps.png</init_from> + </image> + </library_images> + <library_materials> + <material id="GPS_ncl1_1" name="GPS_ncl1_1"> + <instance_effect url="#GPS_ncl1_1-fx"/> + </material> + </library_materials> + <library_effects> + <effect id="GPS_ncl1_1-fx" name="GPS_ncl1_1"> + <profile_COMMON> + <technique sid="standard"> + <phong> + <emission> + <color sid="emission">0.000000 0.000000 0.000000 1.000000</color> + </emission> + <ambient> + <color sid="ambient">0.588235 0.588235 0.588235 1.000000</color> + </ambient> + <diffuse> + <texture texture="GPS_ncl1_2-image" texcoord="CHANNEL0"> + <extra> + <technique profile="MAYA"> + <wrapU sid="wrapU0">TRUE</wrapU> + <wrapV sid="wrapV0">TRUE</wrapV> + <blend_mode>ADD</blend_mode> + </technique> + </extra> + </texture> + </diffuse> + <specular> + 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1947 623 213 1948 624 215 1949 622 211 1950 626 213 1951 624 347 1952 627 213 1953 624 346 1954 625 347 1955 627 209 1956 628 211 1957 626 348 1958 629 211 1959 626 347 1960 627 348 1961 629 207 1962 630 348 1963 629 349 1964 631 348 1965 629 207 1966 630 209 1967 628 205 1968 632 349 1969 631 350 1970 633 349 1971 631 205 1972 632 207 1973 630 203 1974 634 350 1975 633 351 1976 635 350 1977 633 203 1978 634 205 1979 632 201 1980 636 351 1981 635 352 1982 637 351 1983 635 201 1984 636 203 1985 634 352 1986 637 199 1987 638 201 1988 636 199 1989 638 352 1990 637 353 1991 639 0 1992 640 353 1993 639 165 1994 641 353 1995 639 0 1996 640 199 1997 638 149 1998 642 354 1999 644 339 2000 643 339 2001 643 354 2002 644 340 2003 645 340 2004 645 354 2005 644 341 2006 646 341 2007 646 354 2008 644 342 2009 647 342 2010 647 354 2011 644 343 2012 648 343 2013 648 354 2014 644 344 2015 649 344 2016 649 354 2017 644 345 2018 650 345 2019 650 354 2020 644 346 2021 651 346 2022 651 354 2023 644 347 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<library_visual_scenes> + <visual_scene id="GPS_Short" name="GPS_Short"> + <node name="GPS" id="GPS" sid="GPS"> + <matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> + <instance_geometry url="#GPS-lib"> + <bind_material> + <technique_common> + <instance_material symbol="GPS_ncl1_1" target="#GPS_ncl1_1"/> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="FCOLLADA"> + <visibility>1.000000</visibility> + </technique> + </extra> + </node> + <extra> + <technique profile="MAX3D"> + <frame_rate>30.000000</frame_rate> + </technique> + <technique profile="FCOLLADA"> + <start_time>0.000000</start_time> + <end_time>3.333333</end_time> + </technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#GPS_Short"/> + </scene> +</COLLADA> diff --git a/vrx_urdf/wamv_gazebo/models/gps/mesh/gps.png b/vrx_urdf/wamv_gazebo/models/gps/mesh/gps.png new file mode 100755 index 000000000..1c39466d8 Binary files /dev/null and b/vrx_urdf/wamv_gazebo/models/gps/mesh/gps.png differ diff --git a/vrx_urdf/wamv_gazebo/models/gps/model.config b/vrx_urdf/wamv_gazebo/models/gps/model.config new file mode 100644 index 000000000..f7379e5c8 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/models/gps/model.config @@ -0,0 +1,15 @@ +<?xml version="1.0"?> +<model> + <name>_</name> + <version>1.0</version> + <sdf version="1.6">model.sdf</sdf> + + <author> + <name>Tyler Lum</name> + <email>tylergwlum@gmail.com</email> + </author> + + <description> + Fake model to prevent errors from GAZEBO_MODEL_PATH + </description> +</model> diff --git a/vrx_urdf/wamv_gazebo/package.xml b/vrx_urdf/wamv_gazebo/package.xml new file mode 100644 index 000000000..a45a4a2b3 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/package.xml @@ -0,0 +1,22 @@ +<?xml version="1.0"?> +<package format="2"> + <name>wamv_gazebo</name> + <version>1.3.0</version> + <description> + Provides templates and examples for integrating the WAM-V model into gazebo with dynamics, sensors, etc. + </description> + <maintainer email="caguero@osrfoundation.org">Carlos Aguero</maintainer> + <maintainer email="jriveroo@osrfoundation.org">Jose Luis Rivero</maintainer> + <license>Apache 2.0</license> + <url type="website">http://wiki.ros.org/wamv_gazebo</url> + <url type="bugtracker">http://github.com/osrf/vrx/issues</url> + <author email="briansbingham@gmail.com">Brian Bingham</author> + <author email="caguero@osrfoundation.org">Carlos Aguero</author> + <buildtool_depend>ament_cmake</buildtool_depend> + <depend>wamv_description</depend> + <depend>xacro</depend> + + <export> + <build_type>ament_cmake</build_type> + </export> +</package> diff --git a/vrx_urdf/wamv_gazebo/urdf/components/ball_shooter.xacro b/vrx_urdf/wamv_gazebo/urdf/components/ball_shooter.xacro new file mode 100644 index 000000000..fc65e13b6 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/components/ball_shooter.xacro @@ -0,0 +1,79 @@ +<?xml version="1.0"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro"> + <xacro:macro name="wamv_ball_shooter" params="name:='ball_shooter' frameId:='wamv/ball_shooter' x:=0.55 y:=0.35 z:=1.4 pitch:='0' yaw:='0'"> + + <link name="${namespace}/${name}_base_link"> + <visual name="${name}_base_visual"> + <origin xyz="0 0 0" rpy="0 0 0" /> + <geometry> + <mesh filename="package://vrx_gazebo/models/ball_shooter/meshes/ball_shooter_base.dae"/> + </geometry> + </visual> + <inertial> + <origin xyz="-0.02 0 0.05" rpy="0 0 0" /> + <mass value="0.5"/> + <inertia ixx="0.00083" ixy="0.0" ixz="0.0" iyy="0.00052083" iyz="0.0" izz="0.00052083"/> + </inertial> + </link> + + <link name="${namespace}/${name}_launcher_link"> + <visual name="${name}_launcher_visual"> + <!-- The cylinder has a -15deg pitch. We compensate for that here. + That way, if the user passes a 0 deg rotation the cylinder will + be parallel to the ground --> + <!-- <origin xyz="-0.0204 0 0.107877" rpy="0 0.261799 0" /> --> + <origin xyz="0 0 0" rpy="0 0.261799 0" /> + <geometry> + <mesh filename="package://vrx_gazebo/models/ball_shooter/meshes/ball_shooter_launcher.dae"/> + </geometry> + </visual> + <!-- Uncomment to see the pose where the ball is teleported --> + <!-- <visual name="${name}_visual_ball"> + <origin xyz="0.14 0 0" rpy="0 0 0" /> + <geometry> + <sphere radius="0.0285"/> + </geometry> + </visual> --> + <collision name="${name}_collision"> + <origin xyz="0 0 0" rpy="0 0.261799 0" /> + <geometry> + <box size="0.3 0.3 0.2" /> + </geometry> + </collision> + <inertial> + <origin xyz="0 0 0" rpy="0 -1.5708 0" /> + <mass value="0.5"/> + <inertia ixx="0.001779167" ixy="0.0" ixz="0.0" iyy="0.001779167" iyz="0.0" izz="0.000225"/> + </inertial> + </link> + + <joint name="${namespace}/${name}_base_joint" type="revolute"> + <axis xyz="0 0 1"/> + <limit effort="1000.0" lower="0.0" upper="0" velocity="0"/> + <origin xyz="${x} ${y} ${z}" rpy="0 0 ${yaw}"/> + <parent link="${namespace}/base_link"/> + <child link="${namespace}/${name}_base_link"/> + </joint> + <joint name="${namespace}/${name}_launcher_joint" type="revolute"> + <axis xyz="0 0 1"/> + <limit effort="1000.0" lower="0.0" upper="0" velocity="0"/> + <origin xyz="-0.0204 0 0.107877" rpy="0 ${pitch} 0"/> + <parent link="${namespace}/${name}_base_link"/> + <child link="${namespace}/${name}_launcher_link"/> + </joint> + + <gazebo> + <plugin name="vrx::BallShooterPlugin" filename="libBallShooterPlugin.so"> + <projectile> + <model_name>blue_projectile</model_name> + <link_name>link</link_name> + <frame>wamv/ball_shooter_launcher_link</frame> + <pose>0.14 0 0 0 0 0</pose> + </projectile> + <num_shots>4</num_shots> + <shot_force>300</shot_force> + <topic>${namespace}/${shooter_namespace}${name}/fire</topic> + </plugin> + </gazebo> + </xacro:macro> +</robot> diff --git a/vrx_urdf/wamv_gazebo/urdf/components/lidar.xacro b/vrx_urdf/wamv_gazebo/urdf/components/lidar.xacro new file mode 100644 index 000000000..36078e9dc --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/components/lidar.xacro @@ -0,0 +1,30 @@ +<?xml version="1.0" encoding="UTF-8"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro"> + <xacro:include filename="$(find wamv_gazebo)/urdf/components/wamv_3d_lidar.xacro"/> + <xacro:macro name="lidar" + params = "type:='16_beam' + name + x:=0.7 y:=0 z:=1.8 + R:=0 P:=0 Y:=0 + post_Y:=0 post_z_from:=1.2965"> + <xacro:if value="${type == '16_beam'}"> + <xacro:wamv_3d_lidar name="${name}" + x="${x}" y="${y}" z="${z}" + R="${R}" P="${P}" Y="${Y}" + post_Y="${post_Y}" post_z_from="${post_z_from}" + vertical_lasers="16"/> + <!--specs for 16 beam lidar are implemented by default. + See wamv_3d_lidar for those--> + </xacro:if> + <xacro:if value="${type == '32_beam'}"> + <xacro:wamv_3d_lidar name="${name}" + x="${x}" y="${y}" z="${z}" + R="${R}" P="${P}" Y="${Y}" + post_Y="${post_Y}" post_z_from="${post_z_from}" + vertical_lasers="32" + samples="2187" + min_vertical_angle="-0.186" + max_vertical_angle="0.54"/> + </xacro:if> + </xacro:macro> +</robot> diff --git a/vrx_urdf/wamv_gazebo/urdf/components/wamv_3d_lidar.xacro b/vrx_urdf/wamv_gazebo/urdf/components/wamv_3d_lidar.xacro new file mode 100644 index 000000000..dfa93f868 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/components/wamv_3d_lidar.xacro @@ -0,0 +1,178 @@ +<?xml version="1.0" encoding="UTF-8"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro"> + <!-- Macro to insert a 3D scanning LIDAR with ROS integration + name: Prefix used for naming. + x: X position of the laser (from the base_link). + y: Y position of the laser (from the base_link). + z: Z position of the laser (from the base_link). + R: Roll orientation of the laser (from the laser's origin). + P: Pitch orientation of the laser (from the laser's origin). + Y: Yaw orientation of the laser (from the laser's origin). + post_Y: Yaw orientation of the post (from the post's origin). + post_z_from: Z position of the post's base. + update_rate: frequency to publish output, hz + vertical_lasers: number of vertical lasers which spin about Z to generate output + samples: number of samples during spin, higher is more dense but slows down simulation + resolution: This number is multiplied by samples to determine the number of range data points returned. + min_angle: the horizontal angle that the scan begins at + max_angle: the angle that the scan ends at + min_vertical_angle: the angle of the lowest vertical beam + max_vertical_angle: the angle of the highest vertical beam + max_range: maximum distance for an object to be detected by laser + noise_stddev: Standard deviation of gaussian noise applied to output pointcloud + --> + <xacro:macro name="wamv_3d_lidar" params="name + x:=0.7 y:=0 z:=1.8 + R:=0 P:=0 Y:=0 + post_Y:=0 post_z_from:=1.2965 + update_rate:=10 vertical_lasers:=16 samples:=1875 resolution:=1 + min_angle:=${-pi} max_angle:=${pi} + min_vertical_angle:=${-pi/12} max_vertical_angle:=${pi/12} + max_range:=130 noise_stddev:=0.01"> + <!-- Define length variables for link positioning --> + <xacro:property name="platform_z" value="${post_z_from}"/> + <xacro:property name="post_to_post_arm_x" value="0.03"/> + <xacro:property name="post_arm_to_lidar_x" value="0.04"/> + <xacro:property name="post_arm_to_lidar_z" value="0.05"/> + + <!-- 3d lidar sensor --> + <link name="${namespace}/${name}_link"> + <visual name="${name}_visual"> + <origin xyz="0 0 -0.035" rpy="0 0 0"/> + <geometry> + <mesh filename="package://vrx_gazebo/models/3d_lidar/mesh/3d_lidar.dae"/> + </geometry> + </visual> + <collision name="${name}_collision"> + <geometry> + <cylinder radius="0.055" length="0.075"/> + </geometry> + </collision> + <inertial> + <mass value="1"/> + <inertia + ixx="0.00109375" + iyy="0.00109375" + izz="0.00125" + ixy="0" + ixz="0" + iyz="0"/> + </inertial> + </link> + + <!-- Define post length and mass based on desired z position of sensor --> + <xacro:property name="post_length" value="${z-platform_z-post_arm_to_lidar_z}"/> + <xacro:property name="post_mass_per_meter" value="0.9"/> + <xacro:property name="post_mass" value="${post_mass_per_meter * post_length}"/> + <xacro:property name="post_radius" value="0.0076"/> + + <!-- Sensor post --> + <link name="${namespace}/${name}_post_link"> + <visual> + <geometry> + <cylinder radius="${post_radius}" length="${post_length}"/> + </geometry> + <material name="${name}_post_material"> + <color rgba="0.0 0.0 0.0 1.0"/> + </material> + </visual> + <collision name="${name}_post_collision"> + <geometry> + <cylinder radius="${post_radius}" length="${post_length}"/> + </geometry> + </collision> + <inertial> + <mass value="${post_mass}"/> + <inertia + ixx="${(post_mass/12) * (3*post_radius*post_radius + post_length*post_length)}" + iyy="${(post_mass/12) * (3*post_radius*post_radius + post_length*post_length)}" + izz="${(post_mass/2) * (post_radius*post_radius)}" + ixy="0" + ixz="0" + iyz="0"/> + </inertial> + </link> + + <!-- Sensor post arm --> + <link name="${namespace}/${name}_post_arm_link"> + <visual name="${name}_post_arm_visual"> + <origin xyz="-0.038 0 -0.003" rpy="${radians(-60)} 0 ${-pi/2}"/> + <geometry> + <mesh filename="package://vrx_gazebo/models/sensor_post/mesh/sensor_post_arm.dae"/> + </geometry> + </visual> + <collision name="${name}_post_arm_collision"> + <origin xyz="0 0 0" rpy="${radians(-60)-pi/20} 0 ${-pi/2}"/> + <geometry> + <cylinder radius="0.008" length="0.065"/> + </geometry> + </collision> + <inertial> + <origin xyz="0 0 0" rpy="${radians(-60)-pi/20} 0 ${-pi/2}"/> + <mass value="0.1"/> + <inertia + ixx="0.00003680833" + iyy="0.00003680833" + izz="0.00000320000" + ixy="0" + ixz="0" + iyz="0"/> + </inertial> + </link> + + <!-- Base to sensor post joint --> + <xacro:property name="post_z" value="${platform_z+post_length/2}"/> + <xacro:property name="post_to_lidar_x" value="${post_to_post_arm_x+post_arm_to_lidar_x}"/> + <joint name="${namespace}/base_to_${name}_post_joint" type="fixed"> + <origin xyz="${x-(post_to_lidar_x)*cos(post_Y)} ${y-(post_to_lidar_x)*sin(post_Y)} ${post_z}" rpy="0 0 ${post_Y}" /> + <parent link="${namespace}/base_link" /> + <child link="${namespace}/${name}_post_link" /> + </joint> + + <!-- Sensor post to sensor post arm joint --> + <joint name="${namespace}/${name}_post_to_${name}_post_arm_joint" type="fixed"> + <origin xyz="${post_to_post_arm_x} 0 ${z-post_z-post_arm_to_lidar_z}" rpy="0 0 0" /> + <parent link="${namespace}/${name}_post_link" /> + <child link="${namespace}/${name}_post_arm_link" /> + </joint> + + <!-- Sensor post arm to lidar joint --> + <joint name="${namespace}/${name}_post_arm_to_${name}_joint" type="fixed"> + <origin xyz="${post_arm_to_lidar_x} 0 ${post_arm_to_lidar_z}" rpy="${R} ${P} ${Y-post_Y}" /> + <parent link="${namespace}/${name}_post_arm_link" /> + <child link="${namespace}/${name}_link" /> + </joint> + + <gazebo reference="${namespace}/${name}_link"> + <sensor type="gpu_ray" name="${name}_sensor"> + <update_rate>${update_rate}</update_rate> + <ray> + <scan> + <horizontal> + <samples>${samples/resolution}</samples> + <resolution>${resolution}</resolution> + <min_angle>${min_angle}</min_angle> + <max_angle>${max_angle}</max_angle> + </horizontal> + <vertical> + <samples>${vertical_lasers}</samples> + <resolution>1</resolution> + <min_angle>${min_vertical_angle}</min_angle> + <max_angle>${max_vertical_angle}</max_angle> + </vertical> + </scan> + <range> + <min>0.1</min> + <max>${max_range}</max> + </range> + <noise> + <type>gaussian</type> + <mean>0.0</mean> + <stddev>${noise_stddev}</stddev> + </noise> + </ray> + </sensor> + </gazebo> + + </xacro:macro> +</robot> diff --git a/vrx_urdf/wamv_gazebo/urdf/components/wamv_camera.xacro b/vrx_urdf/wamv_gazebo/urdf/components/wamv_camera.xacro new file mode 100644 index 000000000..18d67a429 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/components/wamv_camera.xacro @@ -0,0 +1,169 @@ +<?xml version="1.0"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro"> + <xacro:macro name="wamv_camera" params="name x:=0.5 y:=0 z:=1.5 post_z_from:=1.2965 R:=0 P:=0 Y:=0 post_Y:=0 visualize:=False"> + <!-- Define length variables for link positioning --> + <xacro:property name="platform_z" value="${post_z_from}"/> + <xacro:property name="post_to_post_arm_x" value="0.03"/> + <xacro:property name="post_arm_to_camera_x" value="0.02"/> + <xacro:property name="post_arm_to_camera_z" value="0.027"/> + + <!-- Monocular Camera --> + <link name="${namespace}/${name}_link"> + <visual name="${name}_visual"> + <origin xyz="-0.033 0 0" rpy="0 0 ${pi/2}"/> + <geometry> + <mesh filename="package://vrx_gazebo/models/mono_camera/mesh/mono_camera.dae"/> + </geometry> + </visual> + <collision name="${name}_lens_collision"> + <origin xyz="0.018 0 0" rpy="0 ${pi/2} 0"/> + <geometry> + <cylinder radius="0.015" length="0.042"/> + </geometry> + </collision> + <collision name="${name}_box_collision"> + <origin xyz="-0.0205 0 0" rpy="0 0 0"/> + <geometry> + <box size="0.036 0.03 0.03"/> + </geometry> + </collision> + <!-- Model inertia as box with <size>0.078 0.03 0.03</size> --> + <inertial> + <mass value="0.3"/> + <inertia + ixx="0.0000450" + iyy="0.0001746" + izz="0.0001746" + ixy="0" + ixz="0" + iyz="0"/> + </inertial> + </link> + + <!-- Define a link for the optical frame. This will match the sensor frame and + be oriented in the camera convention. --> + <link name="${namespace}/${name}_link_optical"> + </link> + + <!-- Define post length and mass based on desired z position of sensor --> + <xacro:property name="post_length" value="${z-platform_z-post_arm_to_camera_z}"/> + <xacro:property name="post_mass_per_meter" value="0.9"/> + <xacro:property name="post_mass" value="${post_mass_per_meter * post_length}"/> + <xacro:property name="post_radius" value="0.0076"/> + + <!-- Sensor post --> + <link name="${namespace}/${name}_post_link"> + <visual> + <geometry> + <cylinder radius="${post_radius}" length="${post_length}"/> + </geometry> + <material name="${name}_post_material"> + <color rgba="0.0 0.0 0.0 1.0"/> + </material> + </visual> + <collision name="${name}_post_collision"> + <geometry> + <cylinder radius="${post_radius}" length="${post_length}"/> + </geometry> + </collision> + <inertial> + <mass value="${post_mass}"/> + <inertia + ixx="${(post_mass/12) * (3*post_radius*post_radius + post_length*post_length)}" + iyy="${(post_mass/12) * (3*post_radius*post_radius + post_length*post_length)}" + izz="${(post_mass/2) * (post_radius*post_radius)}" + ixy="0" + ixz="0" + iyz="0"/> + </inertial> + </link> + + <!-- Sensor post arm --> + <link name="${namespace}/${name}_post_arm_link"> + <visual name="${name}_post_arm_visual"> + <origin xyz="-0.038 0 -0.003" rpy="${radians(-60)} 0 ${-pi/2}"/> + <geometry> + <mesh filename="package://vrx_gazebo/models/sensor_post/mesh/sensor_post_arm.dae"/> + </geometry> + </visual> + <collision name="${name}_post_arm_collision"> + <origin xyz="0 0 0" rpy="${radians(-60)-pi/20} 0 ${-pi/2}"/> + <geometry> + <cylinder radius="0.008" length="0.065"/> + </geometry> + </collision> + <inertial> + <origin xyz="0 0 0" rpy="${radians(-60)-pi/20} 0 ${-pi/2}"/> + <mass value="0.1"/> + <inertia + ixx="0.00003680833" + iyy="0.00003680833" + izz="0.00000320000" + ixy="0" + ixz="0" + iyz="0"/> + </inertial> + </link> + + <!-- Base to sensor post joint --> + <xacro:property name="post_z" value="${platform_z+post_length/2}"/> + <xacro:property name="post_to_camera_x" value="${post_to_post_arm_x+post_arm_to_camera_x}"/> + <joint name="${namespace}/base_to_${name}_post_joint" type="fixed"> + <origin xyz="${x-(post_to_camera_x)*cos(post_Y)} ${y-(post_to_camera_x)*sin(post_Y)} ${post_z}" rpy="0 0 ${post_Y}" /> + <parent link="${namespace}/base_link" /> + <child link="${namespace}/${name}_post_link" /> + </joint> + + <!-- Sensor post to sensor post arm joint --> + <joint name="${namespace}/${name}_post_to_${name}_post_arm_joint" type="fixed"> + <origin xyz="${post_to_post_arm_x} 0 ${z-post_z-post_arm_to_camera_z}" rpy="0 0 0" /> + <parent link="${namespace}/${name}_post_link" /> + <child link="${namespace}/${name}_post_arm_link" /> + </joint> + + <!-- Sensor post arm to camera joint --> + <joint name="${namespace}/${name}_post_arm_to_${name}_joint" type="fixed"> + <origin xyz="${post_arm_to_camera_x} 0 ${post_arm_to_camera_z}" rpy="${R} ${P} ${Y-post_Y}" /> + <parent link="${namespace}/${name}_post_arm_link" /> + <child link="${namespace}/${name}_link" /> + </joint> + + <!-- Camera to optical frame joint. This is oriented to convert between ENU + and camera conventions --> + <joint name="${namespace}/${name}_to_${name}_link_optical_joint" type="fixed"> + <origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}" /> + <parent link="${namespace}/${name}_link" /> + <child link="${namespace}/${name}_link_optical" /> + </joint> + + <!-- Gazebo camera setup --> + <gazebo reference="${namespace}/${name}_link"> + <sensor type="camera" name="${name}_sensor"> + <update_rate>30.0</update_rate> + <xacro:if value="${visualize}"> + <visualize>true</visualize> + </xacro:if> + <camera name="${name}_camera"> + <horizontal_fov>1.3962634</horizontal_fov> + <image> + <width>1280</width> + <height>720</height> + <format>R8G8B8</format> + </image> + <clip> + <near>0.05</near> + <far>300</far> + </clip> + <noise> + <type>gaussian</type> + <!-- Noise is sampled independently per pixel on each frame. + That pixel's noise value is added to each of its color + channels, which at that point lie in the range [0,1]. --> + <mean>0.0</mean> + <stddev>0.007</stddev> + </noise> + </camera> + </sensor> + </gazebo> + </xacro:macro> +</robot> diff --git a/vrx_urdf/wamv_gazebo/urdf/components/wamv_gps.xacro b/vrx_urdf/wamv_gazebo/urdf/components/wamv_gps.xacro new file mode 100644 index 000000000..1a6d9ab43 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/components/wamv_gps.xacro @@ -0,0 +1,48 @@ +<?xml version="1.0" encoding="UTF-8"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro"> + <xacro:macro name="wamv_gps" params="name:=gps x:=0.3 y:=0 z:=1.3 + R:=0 P:=0 Y:=0 update_rate:=15"> + <link name="${namespace}/${name}_link"> + <visual name="${name}_visual"> + <geometry> + <mesh filename="package://wamv_gazebo/models/gps/mesh/gps.dae"/> + </geometry> + </visual> + <collision name="${name}_collision_base"> + <origin xyz="0 0 0.025" rpy="0 0 0" /> + <geometry> + <cylinder length="0.05" radius="0.015" /> + </geometry> + </collision> + <collision name="${name}_collision_antenna"> + <origin xyz="0 0 0.11" rpy="0 0 0" /> + <geometry> + <cylinder length="0.1" radius="0.15" /> + </geometry> + </collision> + <inertial> + <mass value="1"/> + <inertia ixx="0.006458" ixy="0.0" ixz="0.0" + iyy="0.006458" iyz="0.0" izz="0.01125"/> + </inertial> + </link> + <joint name="${namespace}/${name}_joint" type="revolute"> + <axis xyz="0 0 1"/> + <limit effort="1000.0" lower="0.0" upper="0" velocity="0"/> + <origin xyz="${x} ${y} ${z}" rpy="${R} ${P} ${Y}" /> + <parent link="${namespace}/base_link" /> + <child link="${namespace}/${name}_link" /> + </joint> + + + <gazebo reference="${namespace}/${name}_link"> + <sensor name="navsat" type="navsat"> + <always_on>1</always_on> + <update_rate>15</update_rate> + <!--<topic>${namespace}/${sensor_namespace}gps/gps/fix</topic>--> + </sensor> + </gazebo> + </xacro:macro> +</robot> + + diff --git a/vrx_urdf/wamv_gazebo/urdf/components/wamv_imu.xacro b/vrx_urdf/wamv_gazebo/urdf/components/wamv_imu.xacro new file mode 100644 index 000000000..f8f63c32d --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/components/wamv_imu.xacro @@ -0,0 +1,109 @@ +<?xml version="1.0"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro"> + <xacro:macro name="wamv_imu" params="name:=imu x:=0.3 y:=0.5 z:=1.3 R:=0 P:=0 Y:=0 update_rate:=15"> + <link name="${namespace}/${name}_link"> + <visual name="${name}_visual">> + <geometry> + <box size="0.05 0.025 0.005" /> + </geometry> + <material name="${name}_visual_material"> + <color rgba="1.0 0.0 00 1.0" /> + </material> + </visual> + <collision name="${name}_collision">> + <geometry> + <box size="0.05 0.025 0.005" /> + </geometry> + </collision> + <inertial> + <mass value="0.1"/> + <inertia ixx="0.00000542" ixy="0.0" ixz="0.0" iyy="0.00002104" iyz="0.0" izz="0.00002604"/> + </inertial> + </link> + <joint name="${namespace}/${name}_joint" type="revolute"> + <axis xyz="0 0 1"/> + <limit effort="1000.0" lower="0.0" upper="0" velocity="0"/> + <origin xyz="${x} ${y} ${z}" rpy="${R} ${P} ${Y}"/> + <parent link="${namespace}/base_link"/> + <child link="${namespace}/${name}_link"/> + </joint> + <gazebo reference="${namespace}/${name}_link"> + <sensor type="imu" name="${name}_sensor"> + <update_rate>${update_rate}</update_rate> + <imu> + <angular_velocity> + <x> + <noise type="gaussian"> + <mean>0</mean> + <stddev>0.009</stddev> + <bias_mean>0.00075</bias_mean> + <bias_stddev>0.005</bias_stddev> + <dynamic_bias_stddev>0.00002</dynamic_bias_stddev> + <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time> + <precision>0.00025</precision> + </noise> + </x> + <y> + <noise type="gaussian"> + <mean>0</mean> + <stddev>0.009</stddev> + <bias_mean>0.00075</bias_mean> + <bias_stddev>0.005</bias_stddev> + <dynamic_bias_stddev>0.00002</dynamic_bias_stddev> + <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time> + <precision>0.00025</precision> + </noise> + </y> + <z> + <noise type="gaussian"> + <mean>0</mean> + <stddev>0.009</stddev> + <bias_mean>0.00075</bias_mean> + <bias_stddev>0.005</bias_stddev> + <dynamic_bias_stddev>0.00002</dynamic_bias_stddev> + <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time> + <precision>0.00025</precision> + </noise> + </z> + </angular_velocity> + <linear_acceleration> + <x> + <noise type="gaussian"> + <mean>0</mean> + <stddev>0.021</stddev> + <bias_mean>0.05</bias_mean> + <bias_stddev>0.0075</bias_stddev> + <dynamic_bias_stddev>0.000375</dynamic_bias_stddev> + <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time> + <precision>0.005</precision> + </noise> + </x> + <y> + <noise type="gaussian"> + <mean>0</mean> + <stddev>0.021</stddev> + <bias_mean>0.05</bias_mean> + <bias_stddev>0.0075</bias_stddev> + <dynamic_bias_stddev>0.000375</dynamic_bias_stddev> + <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time> + <precision>0.005</precision> + </noise> + </y> + <z> + <noise type="gaussian"> + <mean>0</mean> + <stddev>0.021</stddev> + <bias_mean>0.05</bias_mean> + <bias_stddev>0.0075</bias_stddev> + <dynamic_bias_stddev>0.000375</dynamic_bias_stddev> + <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time> + <precision>0.005</precision> + </noise> + </z> + </linear_acceleration> + </imu> + </sensor> + </gazebo> + + </xacro:macro> +</robot> diff --git a/vrx_urdf/wamv_gazebo/urdf/components/wamv_p3d.xacro b/vrx_urdf/wamv_gazebo/urdf/components/wamv_p3d.xacro new file mode 100644 index 000000000..beac2fb34 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/components/wamv_p3d.xacro @@ -0,0 +1,15 @@ +<?xml version="1.0" encoding="UTF-8"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro"> + <xacro:macro name="wamv_p3d" params="name:=ground_truth_odometry"> + <gazebo> + <plugin + filename="gz-sim-odometry-publisher-system" + name="gz::sim::systems::OdometryPublisher"> + <dimensions>3</dimensions> + <odom_publish_frequency>10.0</odom_publish_frequency> + <odom_frame>map</odom_frame> + </plugin> + </gazebo> + + </xacro:macro> +</robot> diff --git a/vrx_urdf/wamv_gazebo/urdf/components/wamv_pinger.xacro b/vrx_urdf/wamv_gazebo/urdf/components/wamv_pinger.xacro new file mode 100644 index 000000000..f48f69558 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/components/wamv_pinger.xacro @@ -0,0 +1,55 @@ +<?xml version="1.0"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro"> + <xacro:macro name="wamv_pinger" params="name:='pinger' frameId:='wamv/pinger' position:='0 0 0' orientation:='0 0 0'"> + <link name="${namespace}/${name}"> + <visual> + <origin xyz="0 0 0" rpy="0 0 0" /> + <geometry> + <box size="0.1 0.1 0.1" /> + </geometry> + </visual> + <collision name="${name}_collision"> + <origin xyz="0 0 0" rpy="0 0 0" /> + <geometry> + <box size="0.1 0.1 0.1" /> + </geometry> + </collision> + </link> + <joint name="${namespace}/${name}_pinger_joint" type="fixed"> + <origin xyz="${position}" rpy="${orientation}"/> + <parent link="${namespace}/base_link"/> + <child link="${namespace}/${name}"/> + </joint> + +<!-- + <gazebo> + <plugin name="pinger_plugin" filename="libusv_gazebo_acoustic_pinger_plugin.so"> + <frameId>${frameId}</frameId> + <topicName>${namespace}/${sensor_namespace}${pinger_namespace}${name}/range_bearing</topicName> + <setPositionTopicName>${namespace}/${sensor_namespace}${pinger_namespace}${name}/set_pinger_position</setPositionTopicName> + <rangeNoise> + <noise> + <type>gaussian</type> + <mean>0.0</mean> + <stddev>3.0</stddev> + </noise> + </rangeNoise> + <bearingNoise> + <noise> + <type>gaussian</type> + <mean>0.0</mean> + <stddev>0.01</stddev> + </noise> + </bearingNoise> + <elevationNoise> + <noise> + <type>gaussian</type> + <mean>0.0</mean> + <stddev>0.01</stddev> + </noise> + </elevationNoise> + </plugin> + </gazebo> +--> + </xacro:macro> +</robot> diff --git a/vrx_urdf/wamv_gazebo/urdf/components/wamv_planar_lidar.xacro b/vrx_urdf/wamv_gazebo/urdf/components/wamv_planar_lidar.xacro new file mode 100644 index 000000000..4e2f3c1b5 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/components/wamv_planar_lidar.xacro @@ -0,0 +1,46 @@ +<?xml version="1.0" encoding="UTF-8"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro"> + <xacro:macro name="wamv_multibeam_laser" params="name x:=0.5 y:=0 z:=2 R:=0 P:=0 Y:=0"> + <link name="${namespace}/${name}_link"> + <visual name="${name}_visual">> + <geometry> + <cylinder radius="0.025" length="0.1" /> + </geometry> + <material name="${name}_visual_material"> + <color rgba="0.5 1.0 0.5 1.0" /> + </material> + </visual> + </link> + <joint name="${namespace}/${name}_joint" type="fixed"> + <origin xyz="${x} ${y} ${z}" rpy="${R} ${P} ${Y}" /> + <parent link="${namespace}/base_link" /> + <child link="${namespace}/${name}_link" /> + </joint> + + <gazebo reference="${namespace}/${name}_link"> + <sensor type="gpu_ray" name="multibeam_sensor_${name}"> + <update_rate>10</update_rate> + <ray> + <scan> + <horizontal> + <samples>256</samples> + <resolution>1</resolution> + <min_angle>-1.0472</min_angle> + <max_angle>1.0472</max_angle> + </horizontal> + </scan> + <range> + <!-- Minimum distance of the beam --> + <min>0.2</min> + <!-- Maximum distance of the beam --> + <max>70</max> + <!-- Linear resolution of the beam --> + <resolution>0.02</resolution> + </range> + </ray> + </sensor> + </gazebo> + </xacro:macro> +</robot> + + diff --git a/vrx_urdf/wamv_gazebo/urdf/dynamics/wamv_gazebo_dynamics_plugin.xacro b/vrx_urdf/wamv_gazebo/urdf/dynamics/wamv_gazebo_dynamics_plugin.xacro new file mode 100644 index 000000000..8a4c0e288 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/dynamics/wamv_gazebo_dynamics_plugin.xacro @@ -0,0 +1,88 @@ +<?xml version="1.0"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro"> + <xacro:macro name="usv_dynamics_gazebo" params="name wavefield_size:=1000"> + <!--Gazebo Plugin for simulating WAM-V dynamics--> + <gazebo> + <!-- Left hull --> + <plugin + filename="libSurface.so" + name="vrx::Surface"> + <link_name>${namespace}/base_link</link_name> + <hull_length>4.9</hull_length> + <hull_radius>0.213</hull_radius> + <fluid_level>0</fluid_level> + <points> + <point>0.6 1.03 0</point> + <point>-1.4 1.03 0</point> + </points> + <wavefield> + <size>${wavefield_size} ${wavefield_size}</size> + <cell_count>${wavefield_size / 20.0} ${wavefield_size / 20.0}</cell_count> + <wave> + <model>PMS</model> + <period>5.0</period> + <number>3</number> + <scale>1.1</scale> + <gain>0.3</gain> + <direction>1 0</direction> + <angle>0.4</angle> + <tau>2.0</tau> + <amplitude>0.0</amplitude> + <steepness>0.0</steepness> + </wave> + </wavefield> + </plugin> + + <!-- Right hull --> + <plugin + filename="libSurface.so" + name="vrx::Surface"> + <link_name>${namespace}/base_link</link_name> + <hull_length>4.9</hull_length> + <hull_radius>0.213</hull_radius> + <fluid_level>0</fluid_level> + <points> + <point>0.6 -1.03 0</point> + <point>-1.4 -1.03 0</point> + </points> + <wavefield> + <size>${wavefield_size} ${wavefield_size}</size> + <cell_count>${wavefield_size / 20.0} ${wavefield_size / 20.0}</cell_count> + <wave> + <model>PMS</model> + <period>5.0</period> + <number>3</number> + <scale>1.1</scale> + <gain>0.3</gain> + <direction>1 0</direction> + <angle>0.4</angle> + <tau>2.0</tau> + <amplitude>0.0</amplitude> + <steepness>0.0</steepness> + </wave> + </wavefield> + </plugin> + + <plugin + filename="libSimpleHydrodynamics.so" + name="vrx::SimpleHydrodynamics"> + <link_name>${namespace}/base_link</link_name> + <!-- Added mass --> + <xDotU>0.0</xDotU> + <yDotV>0.0</yDotV> + <nDotR>0.0</nDotR> + <!-- Linear and quadratic drag --> + <xU>51.3</xU> + <xUU>72.4</xUU> + <yV>40.0</yV> + <yVV>0.0</yVV> + <zW>500.0</zW> + <kP>100.0</kP> + <mQ>100.0</mQ> + <nR>400.0</nR> + <nRR>0.0</nRR> + </plugin> + + </gazebo> + </xacro:macro> +</robot> diff --git a/vrx_urdf/wamv_gazebo/urdf/macros.xacro b/vrx_urdf/wamv_gazebo/urdf/macros.xacro new file mode 100644 index 000000000..775ac0e72 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/macros.xacro @@ -0,0 +1,20 @@ +<?xml version="1.0"?> +<!-- Includes all macros in this package so they don't need to be included individualy --> +<robot xmlns:xacro="http://ros.org/wiki/xacro" + name="WAM-V"> + <!-- Include dynamics macros --> + <xacro:include filename="$(find wamv_gazebo)/urdf/dynamics/wamv_gazebo_dynamics_plugin.xacro" /> + + <!-- Include sensor macros --> + <xacro:include filename="$(find wamv_gazebo)/urdf/components/wamv_camera.xacro" /> + <xacro:include filename="$(find wamv_gazebo)/urdf/components/wamv_gps.xacro" /> + <xacro:include filename="$(find wamv_gazebo)/urdf/components/wamv_imu.xacro" /> + <xacro:include filename="$(find wamv_gazebo)/urdf/components/wamv_planar_lidar.xacro" /> + <xacro:include filename="$(find wamv_gazebo)/urdf/components/wamv_3d_lidar.xacro" /> + <xacro:include filename="$(find wamv_gazebo)/urdf/components/lidar.xacro" /> + <xacro:include filename="$(find wamv_gazebo)/urdf/components/wamv_p3d.xacro" /> + <xacro:include filename="$(find wamv_gazebo)/urdf/components/wamv_pinger.xacro" /> + + <!-- Include ball shooter macros --> + <xacro:include filename="$(find wamv_gazebo)/urdf/components/ball_shooter.xacro" /> +</robot> diff --git a/vrx_urdf/wamv_gazebo/urdf/thruster_layouts/wamv_aft_thrusters.xacro b/vrx_urdf/wamv_gazebo/urdf/thruster_layouts/wamv_aft_thrusters.xacro new file mode 100644 index 000000000..fd1a59801 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/thruster_layouts/wamv_aft_thrusters.xacro @@ -0,0 +1,11 @@ +<?xml version="1.0"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro"> + <xacro:include filename="$(find wamv_description)/urdf/thrusters/engine.xacro" /> + <xacro:engine prefix="left" position="-2.373776 1.027135 0.318237" /> + <xacro:engine prefix="right" position="-2.373776 -1.027135 0.318237" /> + + <xacro:include filename="$(find wamv_gazebo)/urdf/thruster_layouts/wamv_gazebo_thruster_config.xacro" /> + <xacro:wamv_gazebo_thruster_config name="left" /> + <xacro:wamv_gazebo_thruster_config name="right" /> + +</robot> diff --git a/vrx_urdf/wamv_gazebo/urdf/thruster_layouts/wamv_gazebo_thruster_config.xacro b/vrx_urdf/wamv_gazebo/urdf/thruster_layouts/wamv_gazebo_thruster_config.xacro new file mode 100644 index 000000000..736a2f2f4 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/thruster_layouts/wamv_gazebo_thruster_config.xacro @@ -0,0 +1,34 @@ +<?xml version="1.0"?> +<plugin xmlns:xacro="http://ros.org/wiki/xacro"> + <xacro:macro name="wamv_gazebo_thruster_config" params="name"> + + <gazebo> + <xacro:property name="x_uu" value="72.4" /> + <xacro:property name="x_u" value="51.3" /> + <xacro:property name="max_velocity_mps" value="7.71667" /> + + <plugin + filename="gz-sim-thruster-system" + name="gz::sim::systems::Thruster"> + <joint_name>${namespace}/${name}_engine_propeller_joint</joint_name> + <thrust_coefficient>0.004422</thrust_coefficient> + <fluid_density>1000</fluid_density> + <propeller_diameter>0.2</propeller_diameter> + <velocity_control>true</velocity_control> + <!-- max total thrust / 2 --> + <max_thrust_cmd>${((x_u + x_uu * max_velocity_mps) * max_velocity_mps)/ 2}</max_thrust_cmd> + <namespace>${namespace}</namespace> + <topic>thrusters/${name}/thrust</topic> + </plugin> + + <plugin + filename="gz-sim-joint-position-controller-system" + name="gz::sim::systems::JointPositionController"> + <joint_name>${namespace}/${name}_chassis_engine_joint</joint_name> + <use_velocity_commands>true</use_velocity_commands> + <topic>${namespace}/thrusters/${name}/pos</topic> + </plugin> + + </gazebo> + </xacro:macro> +</plugin> diff --git a/vrx_urdf/wamv_gazebo/urdf/thruster_layouts/wamv_t_thrusters.xacro b/vrx_urdf/wamv_gazebo/urdf/thruster_layouts/wamv_t_thrusters.xacro new file mode 100644 index 000000000..3d32c15d6 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/thruster_layouts/wamv_t_thrusters.xacro @@ -0,0 +1,13 @@ +<?xml version="1.0"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro"> + <xacro:include filename="$(find wamv_description)/urdf/thrusters/engine.xacro" /> + <xacro:engine prefix="left" position="-2.373776 1.027135 0.318237" /> + <xacro:engine prefix="right" position="-2.373776 -1.027135 0.318237" /> + <xacro:engine prefix="lateral" position="0.0 0.0 0.318237" orientation="0.0 0.0 1.5707"/> + + <xacro:include filename="$(find wamv_gazebo)/urdf/thruster_layouts/wamv_gazebo_thruster_config.xacro" /> + <xacro:wamv_gazebo_thruster_config name="left" /> + <xacro:wamv_gazebo_thruster_config name="right" /> + <xacro:wamv_gazebo_thruster_config name="lateral" /> + +</robot> diff --git a/vrx_urdf/wamv_gazebo/urdf/thruster_layouts/wamv_x_thrusters.xacro b/vrx_urdf/wamv_gazebo/urdf/thruster_layouts/wamv_x_thrusters.xacro new file mode 100644 index 000000000..bf9a19b02 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/thruster_layouts/wamv_x_thrusters.xacro @@ -0,0 +1,15 @@ +<?xml version="1.0"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro"> + <xacro:include filename="$(find wamv_description)/urdf/thrusters/engine.xacro" /> + <xacro:engine prefix="left_rear" position="-2.373776 1.027135 0.318237" orientation="0.0 0.0 0.785"/> + <xacro:engine prefix="right_rear" position="-2.373776 -1.027135 0.318237" orientation="0.0 0.0 -0.785"/> + <xacro:engine prefix="left_front" position="1.6 0.7 0.25" orientation="0.0 0.0 -0.785"/> + <xacro:engine prefix="right_front" position="1.6 -0.7 0.25" orientation="0.0 0.0 +0.785"/> + + <xacro:include filename="$(find wamv_gazebo)/urdf/thruster_layouts/wamv_gazebo_thruster_config.xacro" /> + <xacro:wamv_gazebo_thruster_config name="left_rear" /> + <xacro:wamv_gazebo_thruster_config name="right_rear" /> + <xacro:wamv_gazebo_thruster_config name="left_front" /> + <xacro:wamv_gazebo_thruster_config name="right_front" /> + +</robot> diff --git a/vrx_urdf/wamv_gazebo/urdf/wamv_gazebo.urdf.xacro b/vrx_urdf/wamv_gazebo/urdf/wamv_gazebo.urdf.xacro new file mode 100644 index 000000000..39718121e --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/wamv_gazebo.urdf.xacro @@ -0,0 +1,206 @@ +<?xml version="1.0"?> +<!-- Basic WAM-V with gazebo plugins for dynamics --> +<robot xmlns:xacro="http://ros.org/wiki/xacro" + name="WAM-V"> + <xacro:arg name="locked" default="false" /> + <xacro:arg name="thruster_config" default="H" /> + <xacro:arg name="camera_enabled" default="false" /> + <xacro:arg name="gps_enabled" default="false" /> + <xacro:arg name="imu_enabled" default="false" /> + <xacro:arg name="lidar_enabled" default="false" /> + <xacro:arg name="ground_truth_enabled" default="false" /> + <xacro:arg name="vrx_sensors_enabled" default="false" /> + <xacro:arg name="pinger_enabled" default="false" /> + <xacro:arg name="ball_shooter_enabled" default="false" /> + <xacro:arg name="thruster_namespace" default="thrusters/"/> + <xacro:arg name="camera_namespace" default="cameras/"/> + <xacro:arg name="sensor_namespace" default="sensors/"/> + <xacro:arg name="pinger_namespace" default="pingers/"/> + <xacro:arg name="shooter_namespace" default="shooters/"/> + <!-- Note: this is only used for some sensors that do not correctly use the + robotNamespace parameter --> + <xacro:arg name="namespace" default="wamv"/> + <xacro:property name="thruster_namespace" value="$(arg thruster_namespace)" scope="global" /> + <xacro:property name="camera_namespace" value="$(arg camera_namespace)" scope="global" /> + <xacro:property name="sensor_namespace" value="$(arg sensor_namespace)" scope="global" /> + <xacro:property name="pinger_namespace" value="$(arg pinger_namespace)" scope="global" /> + <xacro:property name="shooter_namespace" value="$(arg shooter_namespace)" scope="global" /> + <xacro:property name="namespace" value="$(arg namespace)" scope="global" /> + + <!-- Sensor yaml file --> + <xacro:arg name="yaml_component_generation" default="false"/> + <xacro:arg name="component_xacro_file" default = ""/> + + <!-- Thruster yaml file --> + <xacro:arg name="yaml_thruster_generation" default="false"/> + <xacro:arg name="thruster_xacro_file" default = ""/> + + <!-- === The WAM-V platform === --> + <xacro:include filename="$(find wamv_gazebo)/urdf/wamv_gazebo.xacro"/> + + <!-- === Batteries === --> + <xacro:include filename="$(find wamv_description)/urdf/battery.xacro"/> + <xacro:battery prefix="left" position="0 1 0.45" orientation="0 0 0"/> + <xacro:battery prefix="right" position="0 -1 0.45" orientation="0 0 0"/> + + <!-- === Thrusters === --> + <!-- Use thruster yaml file if given --> + <xacro:if value="$(arg yaml_thruster_generation)"> + <xacro:wamv_gazebo thruster_layout="$(arg thruster_xacro_file)"/> + </xacro:if> + + <!-- Otherwise, add thrusters based on thruster_config variable --> + <xacro:unless value="$(arg yaml_thruster_generation)"> + <xacro:property name="thruster_conf" value="$(arg thruster_config)"/> + + <!-- Default WAM-V with two aft thrusters --> + <xacro:if value="${thruster_conf == 'H'}"> + <xacro:wamv_gazebo thruster_layout="$(find wamv_gazebo)/urdf/thruster_layouts/wamv_aft_thrusters.xacro"/> + </xacro:if> + + <!-- WAMV with "T" thruster configuration --> + <xacro:if value="${thruster_conf == 'T'}"> + <xacro:wamv_gazebo thruster_layout="$(find wamv_gazebo)/urdf/thruster_layouts/wamv_t_thrusters.xacro"/> + </xacro:if> + + <!-- WAMV with "X" thruster configuration --> + <xacro:if value="${thruster_conf == 'X'}"> + <xacro:wamv_gazebo thruster_layout="$(find wamv_gazebo)/urdf/thruster_layouts/wamv_x_thrusters.xacro"/> + </xacro:if> + </xacro:unless> + + <!-- === Decide if we lock the robot to the world === --> + <xacro:if value="$(arg locked)"> + <gazebo> + <link name="wamv_external_link"/> + <link name="wamv_external_link_base"/> + <joint name="wamv_external_pivot_joint" type="universal"> + <parent>wamv_external_link</parent> + <child>wamv/base_link</child> + <axis> + <xyz>1 0 0</xyz> + </axis> + <axis2> + <xyz>0 1 0</xyz> + </axis2> + </joint> + <joint name="wamv_external_riser" type="prismatic"> + <parent>wamv_external_link_base</parent> + <child>wamv_external_link</child> + <axis> + <limit> + <lower>-3</lower> + <upper>3</upper> + </limit> + <xyz>0 0 1</xyz> + </axis> + </joint> + <plugin filename="gz-sim-detachable-joint-system" name="gz::sim::systems::DetachableJoint"> + <parent_link>wamv_external_link_base</parent_link> + <child_model>platform</child_model> + <child_link>dummy_base</child_link> + <topic>/vrx/release</topic> + <suppress_child_warning>true</suppress_child_warning> + </plugin> + </gazebo> + </xacro:if> + + <!-- === TF === --> + <!-- Publish robot state information --> + <gazebo> + <plugin filename="libgz-sim-pose-publisher-system.so" + name="gz::sim::systems::PosePublisher"> + <publish_link_pose>true</publish_link_pose> + <publish_sensor_pose>true</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>true</publish_nested_model_pose> + <publish_model_pose>false</publish_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>true</static_publisher> + <static_update_frequency>1</static_update_frequency> + </plugin> + </gazebo> + + <!-- === Sensors === --> + <!-- Use sensor yaml file if given --> + <xacro:if value="$(arg yaml_component_generation)"> + <xacro:include filename="$(arg component_xacro_file)"/> + <xacro:yaml_components /> + + <!-- Add CPU Cases --> + <xacro:include filename="$(find wamv_description)/urdf/cpu_cases.xacro" /> + <xacro:cpu_cases position="-0.15 0 1.53" orientation="0 0 0"/> + </xacro:if> + + <!-- Otherwise, add sensors based on enable variables --> + <xacro:unless value="$(arg yaml_component_generation)"> + <!-- Add a front camera --> + <xacro:if value="$(arg camera_enabled)"> + <xacro:wamv_camera name="front_camera" y="0.3" x="0.75" P="${radians(15)}" /> + </xacro:if> + + <!-- Add simulated GPS --> + <xacro:if value="$(arg gps_enabled)"> + <xacro:wamv_gps name="gps_wamv" x="-0.85" /> + </xacro:if> + + <!-- Add Simulated IMU --> + <xacro:if value="$(arg imu_enabled)"> + <xacro:wamv_imu name="imu_wamv" y="-0.2" /> + </xacro:if> + + <!-- Add 3D LIDAR --> + <xacro:if value="$(arg lidar_enabled)"> + <xacro:lidar name="lidar_wamv" y="-0.3" type="16_beam"/> + </xacro:if> + + <!-- Add P3D ground truth --> + <xacro:if value="$(arg ground_truth_enabled)"> + <xacro:wamv_p3d name="p3d_wamv"/> + </xacro:if> + + <!-- Add pinger --> + <xacro:if value="$(arg pinger_enabled)"> + <xacro:wamv_pinger name="pinger" position="1.0 0 -1.0" /> + </xacro:if> + + <!-- Add ball shooter (default pitch angle: ~-60 deg) --> + <xacro:if value="$(arg ball_shooter_enabled)"> + <xacro:wamv_ball_shooter name="ball_shooter" x="0.54" y="0.30" z="1.296" pitch="-1.04"/> + </xacro:if> + + <!-- ==== VRX sensor configuration ==== --> + <xacro:if value="$(arg vrx_sensors_enabled)"> + + <!-- Add CPU Cases --> + <xacro:include filename="$(find wamv_description)/urdf/cpu_cases.xacro" /> + <xacro:cpu_cases position="-0.15 0 1.53" orientation="0 0 0"/> + + <!-- Add a stereo camera pair --> + <xacro:wamv_camera name="front_left_camera" y="0.1" x="0.75" P="${radians(15)}" /> + <xacro:wamv_camera name="front_right_camera" y="-0.1" x="0.75" P="${radians(15)}" /> + + <!-- Add a camera facing right --> + <xacro:wamv_camera name="middle_right_camera" y="-0.45" P="${radians(15)}" Y="${radians(-90)}" post_Y="${radians(-90)}" /> + + <!-- Add simulated GPS --> + <xacro:wamv_gps name="gps_wamv" x="-0.85" /> + + <!-- Add Simulated IMU --> + <xacro:wamv_imu name="imu_wamv" y="-0.2" /> + + <!-- Add 3D LIDAR --> + <xacro:lidar name="lidar_wamv" type="16_beam"/> + + <!-- Add pinger --> + <xacro:wamv_pinger name="pinger" position="1.0 0 -1.0" /> + + <!-- Add ball shooter (default pitch angle: ~-60 deg) --> + <xacro:wamv_ball_shooter name="ball_shooter" x="0.54" y="0.30" z="1.296" pitch="-1.04"/> + + </xacro:if> + + </xacro:unless> + +</robot> diff --git a/vrx_urdf/wamv_gazebo/urdf/wamv_gazebo.xacro b/vrx_urdf/wamv_gazebo/urdf/wamv_gazebo.xacro new file mode 100644 index 000000000..496a09ee3 --- /dev/null +++ b/vrx_urdf/wamv_gazebo/urdf/wamv_gazebo.xacro @@ -0,0 +1,14 @@ +<?xml version="1.0"?> +<robot xmlns:xacro="http://ros.org/wiki/xacro"> + <!-- Include macros for dynamics plugins --> + <xacro:include filename="$(find wamv_gazebo)/urdf/macros.xacro" /> + <!-- Macro to create a WAM-V with dyanmics plugins and a customizeable thruster layout --> + <xacro:macro name="wamv_gazebo" params="thruster_layout"> + <!-- Defines the base vehicle --> + <xacro:include filename="$(find wamv_description)/urdf/wamv_base.urdf.xacro" /> + <!-- Thruster Layout --> + <xacro:include filename="${thruster_layout}"/> + <!-- Attach hydrodynamics plugin --> + <xacro:usv_dynamics_gazebo name="wamv_dynamics_plugin"/> + </xacro:macro> +</robot>