Merge pull request #7 from ThundeRatz/physics

Atualização parâmetros físicos
ThundeRatz · May 12, 2020 · f9fc66d · f9fc66d
2 parents 6af3ce7 + acf0559
commit f9fc66d
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Showing 36 changed files with 303 additions and 191 deletions.
diff --git a/.gitignore b/.gitignore
@@ -25,6 +25,9 @@ missing
 .tags*
 *.save*
 
+# Python compiled files
+*.pyc
+
 # Hidden files
 ..*
 

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -16,4 +16,5 @@
     },
     "python.linting.pycodestyleEnabled": true,
     "python.linting.enabled": true,
+    "python.linting.pep8Enabled": true,
 }
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -0,0 +1,34 @@
+# Changelog
+
+## v2.0.0-alpha
+
+- Quebra de compatibilidade com a v1.0.0
+- Tópicos recebem o valor do **torque em Nm**
+  - /robotX/vss_robot_left_controller/command
+  - /robotX/vss_robot_right_controller/command
+- Padronização da nomenclatura com o VSSVision
+- Simulação do atrito seco e viscoso no movimento das rodas
+- Adição do ```effort_controllers``` como dependência
+
+### Problemas conhecidos
+
+- Propriedades físicas da bola
+- A simulação falha em iniciar ocasionalmente
+
+## v1.0.0 - Iron Cup 2020
+
+- Primeira versão funcional
+- Projeto mecânico v1.1 - Thalles e Diego
+- Controle dos motores pela **velocidade em rad/s**
+  - /robot_X/vss_robot_left_controller/command
+  - /robot_X/vss_robot_right_controller/command
+- Ambientes de simulação
+  - Robô único
+  - Time de 3
+  - Partida 3x3
+- Adição do ```velocity_controllers``` como dependência
+
+### Problemas conhecidos
+
+- Propriedades físicas da bola
+- Comportamento dos motores ideal demais - longe da realidade
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -6,8 +6,6 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
-# find_package(?roslaunch)
-
 find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   roscpp
@@ -16,7 +14,7 @@ find_package(catkin REQUIRED COMPONENTS
   gazebo_msgs
 )
 
-foreach(dir config launch meshes urdf)
+foreach(dir config launch meshes urdf media worlds models)
 	install(DIRECTORY ${dir}/
 		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
 endforeach(dir)
diff --git a/README.md b/README.md
@@ -17,6 +17,7 @@ Projeto de simulação de um time IEEE VSS em um campo oficial em ROS utilizando
   - [Screenshots](#screenshots)
     - [Simulação de um robô](#simula%c3%a7%c3%a3o-de-um-rob%c3%b4)
     - [Simulação do time](#simula%c3%a7%c3%a3o-do-time)
+    - [Simulação da partida](#simula%c3%a7%c3%a3o-da-partida)
   - [TODO](#todo)
 
 ## Introdução
@@ -65,8 +66,8 @@ geometry_msgs/Twist[] twist   # desired twist in world frame
 
 Este pacote de simulação possui um script python que se increve no tópico do Gazebo e republica a informação nos 7 tópicos esperados pelo [ThunderVolt](https://github.com/ThundeRatz/vss_thundervolt):
 
-- **/vision/robot_[0...2]** - Tópicos para os robôs do nosso time
-- **/vision/foe_[0...2]** - Tópicos para os robôs adversários
+- **/vision/robot[1...3]** - Tópicos para os robôs do nosso time
+- **/vision/foe[1...3]** - Tópicos para os robôs adversários
 - **/vision/ball** - Tópico para a bola
 
 Todas as unidades estão no SI, distâncias estão em metros, ângulos estão em radianos, velocidade linear está em m/s e velocidade angular estã em rad/s
@@ -112,10 +113,10 @@ A simulação é desenvolvida para ROS e Gazebo, é recomendável instalar ambos
 sudo apt install ros-melodic-desktop-full
 ```
 
-O projeto depende do pacote velocity_controllers dentro da biblioteca [ros_controllers](https://github.com/ros-controls/ros_controllers) e da biblioteca python [pygame](https://github.com/pygame/pygame). É possível instalar com ```apt-get```
+O projeto depende do pacote velocity_controllers e do effort-controllers dentro da biblioteca [ros_controllers](https://github.com/ros-controls/ros_controllers) e da biblioteca python [pygame](https://github.com/pygame/pygame). É possível instalar com ```apt-get```
 
 ```bash
-sudo apt install ros-melodic-velocity-controllers python-pygame
+sudo apt install ros-melodic-velocity-controllers ros-melodic-effort-controllers python-pygame
 ```
 
 Ou usando ```rosdep```
@@ -130,7 +131,7 @@ A simulação é construída em volta da versão 1.1 do robô de VSS do time Thu
 
 ## Cores no Gazebo
 
-Para uma lista das cores disposníveis no Gazebo, confira o arquivo de configuração do [repo oficial](https://bitbucket.org/osrf/gazebo/src/gazebo11/media/materials/scripts/gazebo.material)
+Para uma lista das cores disponíveis no Gazebo, confira o arquivo de configuração do [repo oficial](https://bitbucket.org/osrf/gazebo/src/gazebo11/media/materials/scripts/gazebo.material). Temos também um [script OGRE](./media/materials/scripts/vss.material) para a definição de cores customizadas ([ref](http://gazebosim.org/tutorials?tut=color_model) do Gazebo a respeito).
 
 ## Screenshots
 
@@ -148,4 +149,5 @@ Para uma lista das cores disposníveis no Gazebo, confira o arquivo de configura
 
 ## TODO
 
-Completar documentação.
+- Completar documentação.
+- Atualizar screenshots
diff --git a/config/motor_effort.yaml b/config/motor_effort.yaml
@@ -0,0 +1,18 @@
+# Ref:
+# https://answers.ros.org/question/326628/how-to-control-velocity-of-joints-in-gazebo-using-ros_controllers/
+
+vss_robot_left_controller:
+  type: effort_controllers/JointEffortController
+  joint: roda_esq_joint
+  # pid:
+  #   p: 100.0
+  #   i: 0.01
+  #   d: 10.0
+
+vss_robot_right_controller:
+  type: effort_controllers/JointEffortController
+  joint: roda_dir_joint
+  # pid:
+  #   p: 100.0
+  #   i: 0.01
+  #   d: 10.0
diff --git a/config/vision_stat.yaml b/config/vision_stat.yaml
@@ -0,0 +1,8 @@
+# Parameters for statistical error simulation
+# See: vision_proxy.py
+#
+# var = data + error
+# error = gaus(mu=0, ro=std_dev)
+
+vision:
+  std_dev: 0
diff --git a/launch/gazebo.launch b/launch/gazebo.launch
@@ -10,7 +10,7 @@ https://github.com/ros/urdf_sim_tutorial -->
   <arg name="recording" default="false"/>
   <arg name="single" default="false"/>
   <arg name="match" default="false"/>
-  <arg name="world_name" default="$(find vss_simulation)/worlds/vss_field.world"/>
+  <arg name="world_name" default="vss_field.world"/>
   <arg name="model" default="$(find vss_simulation)/urdf/vss_simulation.xacro"/>
   <arg name="height" default="0.080"/>
   <arg name="x" default="-0.25" />
@@ -28,20 +28,17 @@ https://github.com/ros/urdf_sim_tutorial -->
     <arg name="paused" value="$(arg paused)"/>
     <arg name="use_sim_time" value="$(arg use_sim_time)"/>
     <arg name="recording" value="$(arg recording)"/>
-    <arg name="world_name" value="$(arg world_name)"/>
+    <arg name="world_name" value="$(find vss_simulation)/worlds/$(arg world_name)"/>
   </include>
 
-  <!-- Load tf basic node for reference frame control -->
-  <node
-    name="tf_footprint_base"
-    pkg="tf"
-    type="static_transform_publisher"
-    args="0 0 0 0 0 0 base_link base_footprint 40" />
-
   <!-- Load node to re-publish the gazebo message in the sintax of
     ThunderVolt project -->
   <node name="vision_proxy" pkg="vss_simulation" type="vision_proxy.py"/>
 
+  <!-- Load configs to statistical error simulation -->
+  <rosparam command="load"
+            file="$(find vss_simulation)/config/vision_stat.yaml" />
+
   <group if="$(arg single)" ns="robot1">
     <!-- Load robot file -->
     <include file="$(find vss_simulation)/launch/spawn_robot.launch">

diff --git a/launch/simulation_match.launch b/launch/simulation_match.launch
@@ -6,6 +6,7 @@
   <arg name="gui" default="true"/>
   <arg name="paused" default="true"/>
   <arg name="use_sim_time" default="true"/>
+  <arg name="world_name" default="vss_field.world"/>
   <arg name="recording" default="false"/>
 
   <!-- Control option -->
@@ -18,6 +19,7 @@
     <arg name="gui" value="$(arg gui)"/>
     <arg name="paused" value="$(arg paused)"/>
     <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+    <arg name="world_name" value="$(arg world_name)"/>
     <arg name="recording" value="$(arg recording)"/>
     <arg name="match" value="true"/>
   </include>

diff --git a/launch/simulation_robot.launch b/launch/simulation_robot.launch
@@ -6,6 +6,7 @@
   <arg name="gui" default="true"/>
   <arg name="paused" default="true"/>
   <arg name="use_sim_time" default="true"/>
+  <arg name="world_name" default="vss_field.world"/>
   <arg name="recording" default="false"/>
   <arg name="x" default="-0.25" />
   <arg name="y" default="0" />
@@ -21,6 +22,7 @@
     <arg name="gui" value="$(arg gui)"/>
     <arg name="paused" value="$(arg paused)"/>
     <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+    <arg name="world_name" value="$(arg world_name)"/>
     <arg name="recording" value="$(arg recording)"/>
     <arg name="x" default="$(arg x)" />
     <arg name="y" default="$(arg y)" />

diff --git a/launch/simulation_team.launch b/launch/simulation_team.launch
@@ -6,6 +6,7 @@
   <arg name="gui" default="true"/>
   <arg name="paused" default="true"/>
   <arg name="use_sim_time" default="true"/>
+  <arg name="world_name" default="vss_field.world"/>
   <arg name="recording" default="false"/>
 
   <!-- Control option -->
@@ -18,6 +19,7 @@
     <arg name="gui" value="$(arg gui)"/>
     <arg name="paused" value="$(arg paused)"/>
     <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+    <arg name="world_name" value="$(arg world_name)"/>
     <arg name="recording" value="$(arg recording)"/>
   </include>
 

diff --git a/launch/spawn_match.launch b/launch/spawn_match.launch
@@ -3,10 +3,13 @@
 
   <arg name="model" default="$(find vss_simulation)/urdf/vss_robot.xacro" />
 
+  <!-- NOTE: The namespace prefix for the topic name is set in the <gazebo>
+    inside the vss_robot.gazebo file -->
+
   <!-- Spawn frinds team -->
   <!-- Spawn robot #0 -->
   <group ns="robot1">
-    <param name="tf_prefix" value="robot0_tf" />
+    <param name="tf_prefix" value="robot1_tf" />
     <include file="$(find vss_simulation)/launch/spawn_robot.launch" >
       <arg name="robot_number"  value="1" />
       <arg name="team_number"  value="0" />
@@ -18,7 +21,7 @@
 
   <!-- Spawn robot #1 -->
   <group ns="robot2">
-    <param name="tf_prefix" value="robot1_tf" />
+    <param name="tf_prefix" value="robot2_tf" />
     <include file="$(find vss_simulation)/launch/spawn_robot.launch" >
       <arg name="robot_number"  value="2" />
       <arg name="team_number"  value="0" />
@@ -30,7 +33,7 @@
 
   <!-- Spawn robot #2 -->
   <group ns="robot3">
-    <param name="tf_prefix" value="robot2_tf" />
+    <param name="tf_prefix" value="robot3_tf" />
     <include file="$(find vss_simulation)/launch/spawn_robot.launch" >
       <arg name="robot_number"  value="3" />
       <arg name="team_number"  value="0" />
@@ -44,7 +47,7 @@
   <!-- Spawn foes team -->
   <!-- Spawn foe #0 -->
   <group ns="foe1">
-    <param name="tf_prefix" value="foe0_tf" />
+    <param name="tf_prefix" value="foe1_tf" />
     <include file="$(find vss_simulation)/launch/spawn_robot.launch" >
       <arg name="robot_number"  value="1" />
       <arg name="team_number"  value="1" />
@@ -58,7 +61,7 @@
 
   <!-- Spawn foe #1 -->
   <group ns="foe2">
-    <param name="tf_prefix" value="foe1_tf" />
+    <param name="tf_prefix" value="foe2_tf" />
     <include file="$(find vss_simulation)/launch/spawn_robot.launch" >
       <arg name="robot_number"  value="2" />
       <arg name="team_number"  value="1" />
@@ -72,7 +75,7 @@
 
   <!-- Spawn foe #2 -->
   <group ns="foe3">
-    <param name="tf_prefix" value="foe2_tf" />
+    <param name="tf_prefix" value="foe3_tf" />
     <include file="$(find vss_simulation)/launch/spawn_robot.launch" >
       <arg name="robot_number"  value="3" />
       <arg name="team_number"  value="1" />

diff --git a/launch/spawn_robot.launch b/launch/spawn_robot.launch
@@ -27,18 +27,13 @@ http://wiki.ros.org/simulator_gazebo/Tutorials/Gazebo_ROS_API-->
               -urdf -model $(arg robot_name) -param robot_description"
         respawn="false" output="screen" />
 
-  <!-- Start tf state publishing node -->
-  <node pkg="robot_state_publisher" type="robot_state_publisher"  name="robot_state_publisher">
-    <param name="publish_frequency" type="double" value="30.0" />
-  </node>
-
   <!-- Load configs to publish the state of all joints -->
   <rosparam command="load"
             file="$(find vss_simulation)/config/joints.yaml" />
 
   <!-- Load configs to control robot motors -->
   <rosparam command="load"
-          file="$(find vss_simulation)/config/motor_drive.yaml" />
+          file="$(find vss_simulation)/config/motor_effort.yaml" />
 
   <node name="vss_robot_controller" pkg="controller_manager" type="spawner"
     args="vss_robot_left_controller

diff --git a/launch/spawn_team.launch b/launch/spawn_team.launch
@@ -3,6 +3,9 @@
 
   <arg name="model" default="$(find vss_simulation)/urdf/vss_robot.xacro" />
 
+  <!-- NOTE: The namespace prefix for the topic name is set in the <gazebo>
+    inside the vss_robot.gazebo file -->
+
   <!-- Spawn robot #0 -->
   <group ns="robot1">
     <param name="tf_prefix" value="robot0_tf" />

diff --git a/media/materials/scripts/vss.material b/media/materials/scripts/vss.material
@@ -0,0 +1,14 @@
+import * from "grid.material"
+
+material VSS/Wine
+{
+  technique
+  {
+    pass ambient
+    {
+      ambient 0.07 0.45 0.00 1.00
+      diffuse 0.07 0.45 0.00 1.00
+      specular 0.1 0.1 0.1 1 1
+    }
+  }
+}
diff --git a/models/my_sun/model.config b/models/my_sun/model.config
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Sun</name>
+  <version>1.0</version>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <!-- <name>Nate Koenig</name>
+    <email>[email protected]</email> -->
+    <name>Felipe Gomes de Melo</name>
+    <email>[email protected]</email>
+  </author>
+
+  <description>
+    A directional light for the sun.
+    Taken from https://bitbucket.org/osrf/gazebo/src/gazebo11/models/sun/model.sdf
+  </description>
+</model>
diff --git a/models/my_sun/model.sdf b/models/my_sun/model.sdf
@@ -0,0 +1,16 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <light type="directional" name="sun">
+    <cast_shadows>true</cast_shadows>
+    <pose>2 2 10 0 0 0</pose>
+    <diffuse>0.8 0.8 0.8 1</diffuse>
+    <specular>0.2 0.2 0.2 1</specular>
+    <attenuation>
+      <range>1000</range>
+      <constant>0.9</constant>
+      <linear>0.01</linear>
+      <quadratic>0.001</quadratic>
+    </attenuation>
+    <direction>-0.5 0.1 -0.9</direction>
+  </light>
+</sdf>
diff --git a/models/golf_ball/model.config → models/vss_ball/model.config b/models/golf_ball/model.config → models/vss_ball/model.config