diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/.vscode/c_cpp_properties.json b/submitted_models/cerberus_rmf_obelix_sensor_config_1/.vscode/c_cpp_properties.json new file mode 100644 index 00000000..ad6963db --- /dev/null +++ b/submitted_models/cerberus_rmf_obelix_sensor_config_1/.vscode/c_cpp_properties.json @@ -0,0 +1,16 @@ +{ + "configurations": [ + { + "browse": { + "databaseFilename": "", + "limitSymbolsToIncludedHeaders": true + }, + "includePath": [ + "/opt/ros/noetic/include/**", + "/usr/include/**" + ], + "name": "ROS" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/.vscode/settings.json b/submitted_models/cerberus_rmf_obelix_sensor_config_1/.vscode/settings.json new file mode 100644 index 00000000..57f111f3 --- /dev/null +++ b/submitted_models/cerberus_rmf_obelix_sensor_config_1/.vscode/settings.json @@ -0,0 +1,5 @@ +{ + "python.autoComplete.extraPaths": [ + "/opt/ros/noetic/lib/python3/dist-packages" + ] +} \ No newline at end of file diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/CMakeLists.txt b/submitted_models/cerberus_rmf_obelix_sensor_config_1/CMakeLists.txt new file mode 100644 index 00000000..baf60e49 --- /dev/null +++ b/submitted_models/cerberus_rmf_obelix_sensor_config_1/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 2.8.3) +project(cerberus_rmf_obelix_sensor_config_1) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(FILES model.sdf model.config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/README.md b/submitted_models/cerberus_rmf_obelix_sensor_config_1/README.md new file mode 100644 index 00000000..995435ef --- /dev/null +++ b/submitted_models/cerberus_rmf_obelix_sensor_config_1/README.md @@ -0,0 +1,22 @@ +# darpa_virtual_model_submit +Simulation models to submit to DARPA | CERBERUS Aerial Scouts (RMF Obelix - Resilient Micro Flyer Obelix) + +## workspace setup +Follow these step to setup the Darpa Subt Virtual Environment: + +https://github.com/osrf/subt/wiki/Get%20Started + +## add a new model + +``` bash +cd ~/subt_ws/src/subt/submitted_models + +git clone https://github.com/ntnu-arl/darpa_virtual_model_submit.git submitted_models/cerberus_rmf_obelix_sensor_config_1 + +cd ~/subt_ws/ +catkin_make install +source install/setup.bash +``` + +## launch the simulation +ign launch -v 4 cave_circuit.ign worldName:=cave_circuit_practice_01 robotName1:=rmf_obelix robotConfig1:=CERBERUS_RMF_OBELIX_SENSOR_CONFIG_1 localModel:=true diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/launch/description.launch b/submitted_models/cerberus_rmf_obelix_sensor_config_1/launch/description.launch new file mode 100755 index 00000000..ab9233d0 --- /dev/null +++ b/submitted_models/cerberus_rmf_obelix_sensor_config_1/launch/description.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/launch/example.ign b/submitted_models/cerberus_rmf_obelix_sensor_config_1/launch/example.ign new file mode 100644 index 00000000..4ba87f8a --- /dev/null +++ b/submitted_models/cerberus_rmf_obelix_sensor_config_1/launch/example.ign @@ -0,0 +1,170 @@ + + + +<% + require_relative 'spawner' + + # Modify these as needed + $enableGroundTruth = true + $headless = local_variables.include?(:headless) ? :headless : false + +%> + +<% + + unless local_variables.include?(:robotName) + raise "missing parameters. robotName is a required parameter" + end + + # This assumes that this launch file is in a directory below the model + modelURI = File.expand_path("../", File.dirname(__FILE__)) + $worldName = 'example' + worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf") + +%> + + + + IGN_GAZEBO_SYSTEM_PLUGIN_PATH + $LD_LIBRARY_PATH + + + + + + roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%> + + + + <%= worldFile %> + true + false + + false + + + + + + + ogre2 + + + + + + + + + + + + + + + + <%if !$headless %> + + + <%= $worldName %> + SubT Simulator + <%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg + + + 3D View + false + docked + + + ogre2 + scene + 0.2 0.2 0.1 + 0.8 0.8 0.8 + -6.3 -4.2 3.6 0 0.268 0.304 + /world/<%= $worldName %>/scene/info + /world/<%= $worldName %>/pose/info + /world/<%= $worldName %>/scene/info + /world/<%= $worldName %>/scene/deletion + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + /world/<%= $worldName %>/control + /world/<%= $worldName %>/stats + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + /world/<%= $worldName %>/stats + + + + <%end%> + +<%= spawner(robotName, modelURI, $worldName, 0, 0, 0.1, 0, 0, 0) %> +<%= rosExecutables(robotName, $worldName) %> + + + diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/launch/rmf_test.ign b/submitted_models/cerberus_rmf_obelix_sensor_config_1/launch/rmf_test.ign new file mode 100755 index 00000000..4ba87f8a --- /dev/null +++ b/submitted_models/cerberus_rmf_obelix_sensor_config_1/launch/rmf_test.ign @@ -0,0 +1,170 @@ + + + +<% + require_relative 'spawner' + + # Modify these as needed + $enableGroundTruth = true + $headless = local_variables.include?(:headless) ? :headless : false + +%> + +<% + + unless local_variables.include?(:robotName) + raise "missing parameters. robotName is a required parameter" + end + + # This assumes that this launch file is in a directory below the model + modelURI = File.expand_path("../", File.dirname(__FILE__)) + $worldName = 'example' + worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf") + +%> + + + + IGN_GAZEBO_SYSTEM_PLUGIN_PATH + $LD_LIBRARY_PATH + + + + + + roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%> + + + + <%= worldFile %> + true + false + + false + + + + + + + ogre2 + + + + + + + + + + + + + + + + <%if !$headless %> + + + <%= $worldName %> + SubT Simulator + <%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg + + + 3D View + false + docked + + + ogre2 + scene + 0.2 0.2 0.1 + 0.8 0.8 0.8 + -6.3 -4.2 3.6 0 0.268 0.304 + /world/<%= $worldName %>/scene/info + /world/<%= $worldName %>/pose/info + /world/<%= $worldName %>/scene/info + /world/<%= $worldName %>/scene/deletion + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + /world/<%= $worldName %>/control + /world/<%= $worldName %>/stats + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + /world/<%= $worldName %>/stats + + + + <%end%> + +<%= spawner(robotName, modelURI, $worldName, 0, 0, 0.1, 0, 0, 0) %> +<%= rosExecutables(robotName, $worldName) %> + + + diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/launch/spawner.rb b/submitted_models/cerberus_rmf_obelix_sensor_config_1/launch/spawner.rb new file mode 100755 index 00000000..a66b3116 --- /dev/null +++ b/submitted_models/cerberus_rmf_obelix_sensor_config_1/launch/spawner.rb @@ -0,0 +1,189 @@ +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) + <<-HEREDOC + + #{_name} + false + #{_x} #{_y} #{_z + -0.02} #{_roll} #{_pitch} #{_yaw} + #{_worldName} + true + + + #{_name} + #{_modelURI} + + + true + true + false + false + #{$enableGroundTruth} + true + true + 1 + + + model/#{_name} + rotor_0_joint + rotor_0 + ccw + 0.0182 + 0.0182 + 1000.0 + 0.02246 + 0.016754 + command/motor_speed + 0 + 2.0673e-04 + 0 + motor_speed/0 + 0.2 + velocity + + + model/#{_name} + rotor_1_joint + rotor_1 + ccw + 0.0182 + 0.0182 + 1000.0 + 0.02246 + 0.016754 + command/motor_speed + 1 + 2.0673e-04 + 0 + motor_speed/1 + 0.2 + velocity + + + model/#{_name} + rotor_2_joint + rotor_2 + cw + 0.0182 + 0.0182 + 1000.0 + 0.02246 + 0.016754 + command/motor_speed + 2 + 2.0673e-04 + 0 + motor_speed/2 + 0.2 + velocity + + + model/#{_name} + rotor_3_joint + rotor_3 + cw + 0.0182 + 0.0182 + 1000.0 + 0.02246 + 0.016754 + command/motor_speed + 3 + 2.0673e-04 + 0 + motor_speed/3 + 0.2 + velocity + + + model/#{_name} + cmd_vel + command/motor_speed + velocity_controller/enable + base_link + 4 4 15 + 1 1 0.8 + 0.3 0.3 0.3 + 4 4 4 + 2.5 2.5 2.0 + 2.25 2.25 1.5 + 0 0 0 + + + + 0.1105 0.1261 0.0947 + 0 0 0 + + + 0.004 0.004 0.004 + + + + rotor_0_joint + 0.0225 + 1.6754e-2 + 1 + + + rotor_1_joint + 0.0225 + 1.6754e-2 + 1 + + + rotor_2_joint + 0.0225 + 1.6754e-2 + -1 + + + rotor_3_joint + 0.0225 + 1.6754e-2 + -1 + + + + + + linear_battery + 22.2 + 22.2 + -3.1424 + 45.0 + 45.0 + 0.061523 + 1.9499 + 70 + true + + + + /model/#{_name}/gas_detected + 10 + gas + + + + + + HEREDOC +end + +def rosExecutables(_name, _worldName) + <<-HEREDOC + + roslaunch --wait cerberus_rmf_obelix_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name} + + + roslaunch --wait cerberus_rmf_obelix_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} uav:=1 lidar_3d:=1 laser_scan:=0 top_scan:=0 bottom_scan:=0 stereo_cam:=0 rgbd_cam:=0 + + HEREDOC +end diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/cerberus_rmf_obelix_sensor_config_1/launch/vehicle_topics.launch new file mode 100755 index 00000000..330945e0 --- /dev/null +++ b/submitted_models/cerberus_rmf_obelix_sensor_config_1/launch/vehicle_topics.launch @@ -0,0 +1,231 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/meshes/carbon.jpg b/submitted_models/cerberus_rmf_obelix_sensor_config_1/meshes/carbon.jpg new file mode 100644 index 00000000..1007c492 Binary files /dev/null and b/submitted_models/cerberus_rmf_obelix_sensor_config_1/meshes/carbon.jpg differ diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/meshes/os0_low_res.dae b/submitted_models/cerberus_rmf_obelix_sensor_config_1/meshes/os0_low_res.dae new file mode 100644 index 00000000..b853d38d --- /dev/null +++ b/submitted_models/cerberus_rmf_obelix_sensor_config_1/meshes/os0_low_res.dae @@ -0,0 +1,193 @@ + + + + + Blender User + Blender 2.93.2 commit date:2021-08-03, commit time:05:58, hash:1eb06de2607a + + 2021-08-17T20:26:50 + 2021-08-17T20:26:50 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 1 + + + + + + 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114570 10459 34151 114571 10348 34151 114572 10356 34152 114573 10349 34152 114574 10348 34152 114575 10350 34153 114576 10356 34153 114577 10348 34153 114578 10351 34154 114579 10367 34154 114580 10349 34154 114581 10367 34155 114582 10365 34155 114583 10349 34155 114584 10356 34156 114585 10351 34156 114586 10349 34156 114587 10366 34157 114588 10368 34157 114589 10350 34157 114590 10352 34158 114591 10369 34158 114592 10351 34158 114593 10369 34159 114594 10367 34159 114595 10351 34159 114596 10356 34160 114597 10352 34160 114598 10351 34160 114599 10370 34161 114600 10353 34161 114601 10350 34161 114602 10368 34162 114603 10370 34162 114604 10350 34162 114605 10353 34163 114606 10356 34163 114607 10350 34163 114608 10354 34164 114609 10462 34164 114610 10352 34164 114611 10462 34165 114612 10443 34165 114613 10352 34165 114614 10443 34166 114615 10369 34166 114616 10352 34166 114617 10356 34167 114618 10354 34167 114619 10352 34167 114620 10370 34168 114621 10463 34168 114622 10353 34168 114623 10463 34169 114624 10468 34169 114625 10353 34169 114626 10468 34170 114627 10355 34170 114628 10353 34170 114629 10355 34171 114630 10356 34171 114631 10353 34171 114632 10373 34172 114633 10371 34172 114634 10354 34172 114635 10356 34173 114636 10373 34173 114637 10354 34173 114638 10371 34174 114639 10467 34174 114640 10354 34174 114641 10467 34175 114642 10462 34175 114643 10354 34175 114644 10468 34176 114645 10446 34176 114646 10355 34176 114647 10446 34177 114648 10372 34177 114649 10355 34177 114650 10372 34178 114651 10374 34178 114652 10355 34178 114653 10374 34179 114654 10357 34179 114655 10355 34179 114656 10357 34180 114657 10356 34180 114658 10355 34180 114659 10360 34181 114660 10358 34181 114661 10356 34181 114662 10364 34182 114663 10363 34182 114664 10356 34182 114665 10363 34183 114666 10362 34183 114667 10356 34183 114668 10362 34184 114669 10360 34184 114670 10356 34184 114671 10359 34185 114672 10361 34185 114673 10356 34185 114674 10361 34186 114675 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114728 10363 34204 114729 10382 34204 114730 10362 34204 114731 10382 34205 114732 10380 34205 114733 10362 34205 114734 10383 34206 114735 10364 34206 114736 10361 34206 114737 10381 34207 114738 10383 34207 114739 10361 34207 114740 10364 34208 114741 10483 34208 114742 10363 34208 114743 10483 34209 114744 10451 34209 114745 10363 34209 114746 10383 34210 114747 10484 34210 114748 10364 34210 114749 10484 18934 114750 10483 18934 114751 10364 18934 114752 10441 34211 114753 10459 34211 114754 10365 34211 114755 10444 34212 114756 10463 34212 114757 10370 34212 114758 10445 34213 114759 10467 34213 114760 10371 34213 114761 10448 34214 114762 10479 34214 114763 10377 34214 114764 10449 34215 114765 10478 34215 114766 10378 34215 114767 10363 34216 114768 10384 34216 114769 10382 34216 114770 10452 34217 114771 10484 34217 114772 10383 34217 114773 10451 34218 114774 10384 34218 114775 10363 34218 114776 10366 34219 114777 10385 34219 114778 10368 34219 114779 10386 34220 114780 10367 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10442 34238 114834 10416 34238 114835 10401 34238 114836 10429 34239 114837 10392 34239 114838 10384 34239 114839 10451 34240 114840 10429 34240 114841 10384 34240 114842 10447 34241 114843 10405 34241 114844 10376 34241 114845 10405 34242 114846 10375 34242 114847 10376 34242 114848 10386 34243 114849 10400 34243 114850 10367 34243 114851 10400 34244 114852 10365 34244 114853 10367 34244 114854 10401 34245 114855 10387 34245 114856 10385 34245 114857 10405 34246 114858 10388 34246 114859 10375 34246 114860 10393 34247 114861 10377 34247 114862 10389 34247 114863 10392 34248 114864 10394 34248 114865 10380 34248 114866 10394 34249 114867 10378 34249 114868 10380 34249 114869 10379 34250 114870 10395 34250 114871 10390 34250 114872 10384 34251 114873 10392 34251 114874 10380 34251 114875 10395 34252 114876 10391 34252 114877 10390 34252 114878 10415 34253 114879 10441 34253 114880 10365 34253 114881 10400 34254 114882 10415 34254 114883 10365 34254 114884 10443 34255 114885 10417 34255 114886 10386 34255 114887 10418 34256 114888 10444 34256 114889 10387 34256 114890 10421 34257 114891 10445 34257 114892 10388 34257 114893 10425 34258 114894 10448 34258 114895 10377 34258 114896 10393 34259 114897 10425 34259 114898 10377 34259 114899 10427 34260 114900 10449 34260 114901 10378 34260 114902 10394 34261 114903 10427 34261 114904 10378 34261 114905 10428 34262 114906 10395 34262 114907 10379 34262 114908 10450 34263 114909 10428 34263 114910 10379 34263 114911 10430 34264 114912 10452 34264 114913 10391 34264 114914 10446 34265 114915 10422 34265 114916 10389 34265 114917 10447 34266 114918 10424 34266 114919 10405 34266 114920 10411 34267 114921 10400 34267 114922 10396 34267 114923 10401 34268 114924 10416 34268 114925 10397 34268 114926 10416 34269 114927 10412 34269 114928 10397 34269 114929 10398 34270 114930 10401 34270 114931 10397 34270 114932 10400 34271 114933 10386 34271 114934 10396 34271 114935 10386 34272 114936 10399 34272 114937 10396 34272 114938 10387 34273 114939 10401 34273 114940 10398 34273 114941 10386 34274 114942 10417 34274 114943 10399 34274 114944 10417 34275 114945 10413 34275 114946 10399 34275 114947 10414 34276 114948 10387 34276 114949 10398 34276 114950 10411 34277 114951 10415 34277 114952 10400 34277 114953 10414 34278 114954 10418 34278 114955 10387 34278 114956 10419 34279 114957 10388 34279 114958 10402 34279 114959 10389 34280 114960 10422 34280 114961 10403 34280 114962 10422 34281 114963 10420 34281 114964 10403 34281 114965 10404 34282 114966 10389 34282 114967 10403 34282 114968 10419 34283 114969 10421 34283 114970 10388 34283 114971 10405 34284 114972 10402 34284 114973 10388 34284 114974 10404 34285 114975 10393 34285 114976 10389 34285 114977 10405 34286 114978 10406 34286 114979 10402 34286 114980 10424 34287 114981 10406 34287 114982 10405 34287 114983 10404 34288 114984 10423 34288 114985 10393 34288 114986 10423 34289 114987 10425 34289 114988 10393 34289 114989 10424 34290 114990 10426 34290 114991 10406 34290 114992 10407 34291 114993 10431 34291 114994 10394 34291 114995 10431 34292 114996 10427 34292 114997 10394 34292 114998 10392 34293 114999 10407 34293 115000 10394 34293 115001 10428 34294 115002 10408 34294 115003 10395 34294 115004 10409 34295 115005 10391 34295 115006 10395 34295 115007 10408 34296 115008 10409 34296 115009 10395 34296 115010 10429 34297 115011 10410 34297 115012 10392 34297 115013 10410 34298 115014 10407 34298 115015 10392 34298 115016 10409 34299 115017 10433 34299 115018 10391 34299 115019 10433 34300 115020 10430 34300 115021 10391 34300 115022 10428 34301 115023 10432 34301 115024 10408 34301 115025 10429 34302 115026 10434 34302 115027 10410 34302 115028 10413 34303 115029 10415 34303 115030 10411 34303 115031 10416 34304 115032 10414 34304 115033 10412 34304 115034 10417 34305 115035 10415 34305 115036 10413 34305 115037 10416 34306 115038 10418 34306 115039 10414 34306 115040 10417 34307 115041 10435 34307 115042 10415 34307 115043 10436 34308 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115202 10475 34361 115203 10479 34361 115204 10448 34361 115205 10480 34362 115206 10478 34362 115207 10449 34362 115208 10482 34363 115209 10480 34363 115210 10449 34363 115211 10457 34364 115212 10482 34364 115213 10449 34364 115214 10481 34365 115215 10458 34365 115216 10450 34365 115217 10479 34366 115218 10481 34366 115219 10450 34366 115220 10451 34367 115221 10482 34367 115222 10457 34367 115223 10481 34368 115224 10452 34368 115225 10458 34368 115226 10483 34369 115227 10482 34369 115228 10451 34369 115229 10481 34370 115230 10484 34370 115231 10452 34370 115232 10460 34371 115233 10464 34371 115234 10459 34371 115235 10464 34372 115236 10461 34372 115237 10459 34372 115238 10465 34373 115239 10464 34373 115240 10460 34373 115241 10462 34374 115242 10465 34374 115243 10460 34374 115244 10464 34375 115245 10466 34375 115246 10461 34375 115247 10466 34376 115248 10463 34376 115249 10461 34376 115250 10467 34377 115251 10469 34377 115252 10462 34377 115253 10469 34378 115254 10465 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10486 34396 115308 10477 34396 115309 10474 34396 115310 10480 34397 115311 10482 34397 115312 10476 34397 115313 10484 34398 115314 10481 34398 115315 10477 34398 115316 10482 34399 115317 10483 34399 115318 10476 34399 115319 10483 34400 115320 10484 34400 115321 10477 34400 115322 10476 34401 115323 10483 34401 115324 10477 34401 115325 10489 34402 115326 10488 34402 115327 10485 34402 115328 10465 34403 115329 10489 34403 115330 10485 34403 115331 10491 34404 115332 10489 34404 115333 10465 34404 115334 10490 34405 115335 10466 34405 115336 10485 34405 115337 10488 34406 115338 10490 34406 115339 10485 34406 115340 10493 34407 115341 10491 34407 115342 10465 34407 115343 10490 34408 115344 10492 34408 115345 10466 34408 115346 10469 34409 115347 10493 34409 115348 10465 34409 115349 10492 34410 115350 10470 34410 115351 10466 34410 115352 10495 34411 115353 10493 34411 115354 10469 34411 115355 10492 34412 115356 10494 34412 115357 10470 34412 115358 10497 34413 115359 10495 34413 115360 10469 34413 115361 10473 34414 115362 10497 34414 115363 10469 34414 115364 10496 34415 115365 10486 34415 115366 10470 34415 115367 10494 34416 115368 10496 34416 115369 10470 34416 115370 10487 34417 115371 10497 34417 115372 10473 34417 115373 10496 34418 115374 10498 34418 115375 10486 34418 115376 10476 34419 115377 10499 34419 115378 10487 34419 115379 10500 34420 115380 10477 34420 115381 10486 34420 115382 10498 34421 115383 10500 34421 115384 10486 34421 115385 10501 34422 115386 10499 34422 115387 10476 34422 115388 10502 34423 115389 10501 34423 115390 10476 34423 115391 10502 34424 115392 10476 34424 115393 10477 34424 115394 10500 34425 115395 10502 34425 115396 10477 34425 115397 10489 34426 115398 10505 34426 115399 10488 34426 115400 10507 34427 115401 10505 34427 115402 10489 34427 115403 10505 34428 115404 10490 34428 115405 10488 34428 115406 10491 34429 115407 10507 34429 115408 10489 34429 115409 10505 34430 115410 10504 34430 115411 10490 34430 115412 10504 34431 115413 10503 34431 115414 10490 34431 115415 10503 34432 115416 10492 34432 115417 10490 34432 115418 10493 34433 115419 10507 34433 115420 10491 34433 115421 10503 34434 115422 10520 34434 115423 10492 34434 115424 10508 34435 115425 10507 34435 115426 10493 34435 115427 10520 34436 115428 10529 34436 115429 10492 34436 115430 10529 34437 115431 10494 34437 115432 10492 34437 115433 10495 34438 115434 10508 34438 115435 10493 34438 115436 10529 34439 115437 10496 34439 115438 10494 34439 115439 10529 34440 115440 10522 34440 115441 10496 34440 115442 10497 34441 115443 10510 34441 115444 10495 34441 115445 10510 34442 115446 10508 34442 115447 10495 34442 115448 10522 34443 115449 10498 34443 115450 10496 34443 115451 10487 34444 115452 10510 34444 115453 10497 34444 115454 10499 34445 115455 10510 34445 115456 10487 34445 115457 10522 34446 115458 10500 34446 115459 10498 34446 115460 10515 34447 115461 10510 34447 115462 10499 34447 115463 10522 34448 115464 10519 34448 115465 10500 34448 115466 10501 34449 115467 10515 34449 115468 10499 34449 115469 10519 34450 115470 10502 34450 115471 10500 34450 115472 10502 34451 115473 10517 34451 115474 10501 34451 115475 10517 34452 115476 10515 34452 115477 10501 34452 115478 10519 34453 115479 10517 34453 115480 10502 34453 115481 10506 34454 115482 10520 34454 115483 10503 34454 115484 10504 34455 115485 10506 34455 115486 10503 34455 115487 10504 34456 115488 10509 34456 115489 10506 34456 115490 10505 34457 115491 10509 34457 115492 10504 34457 115493 10512 34458 115494 10509 34458 115495 10505 34458 115496 10508 34459 115497 10511 34459 115498 10507 34459 115499 10507 34460 115500 10513 34460 115501 10505 34460 115502 10513 34461 115503 10512 34461 115504 10505 34461 115505 10511 34462 115506 10513 34462 115507 10507 34462 115508 10510 34463 115509 10514 34463 115510 10508 34463 115511 10509 34464 115512 10516 34464 115513 10506 34464 115514 10514 34465 115515 10511 34465 115516 10508 34465 115517 10515 34466 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+ + + + + + + + -8.34205e-10 -1.41981e-9 0.01880592 0.07732137 0.01908438 1.33738e-9 8.22033e-10 -0.01667532 -1.35718e-9 0.01880592 1.41981e-9 0.04717612 0 0 0 1 + + + + + + + + + + + + 10 0 0 0 0 10 0 0 0 0 10 -0.8764796 0 0 0 1 + + + + -4.37114e-11 4.36724e-11 9.99352e-4 0 0.001 -1.19103e-10 4.36831e-11 0 1.19209e-10 9.99107e-4 -4.36831e-11 0.1218285 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + 10 0 0 0 0 10 0 0 0 0 10 1.037109 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/model.config b/submitted_models/cerberus_rmf_obelix_sensor_config_1/model.config new file mode 100644 index 00000000..ec59e40d --- /dev/null +++ b/submitted_models/cerberus_rmf_obelix_sensor_config_1/model.config @@ -0,0 +1,22 @@ + + + + cerberus_rmf_obelix_sensor_config_1 + 1.0 + model.sdf + + + Mihir Kulkarni + mihirk284@gmail.com + + + + Paolo de Petris + tiralonghipol@gmail.com + + + + Autonomous Robots Lab Resilient Micro Flyer Obelix (RMF Obelix) UAV with sensor configuration #8: 3D Lidar, IMU, RGB camera, magnetometer. + Originally submitted as cerberus_rmf_obelix_sensor_config_1. + + diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/model.sdf b/submitted_models/cerberus_rmf_obelix_sensor_config_1/model.sdf new file mode 100644 index 00000000..39e42c39 --- /dev/null +++ b/submitted_models/cerberus_rmf_obelix_sensor_config_1/model.sdf @@ -0,0 +1,449 @@ + + + + 0 0 0 0 0 0 + + 0 0 0.01 0 0 0 + + 0 0 0 0 -0 0 + 1.3 + + 0.017 + 0 + 0 + 0.018 + 0 + 0.028 + + + + 0 0 0.01 0 0 0 + + + 1 1 1 + meshes/rmf_obelix.dae + + + + + 0 0 0.01 0 0 0 + + + 1 1 1 + meshes/rmf_obelix.dae + + + + + 0.05 0 0.220 0 -1.5707926535897934 0 + + 20 + 0 + 0.1 + 0.01 + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 1.5 + 1.8 + 1 + + 0 0 -1 + 1 + + + 1 + 200 + 0 + + + + + 0 + 0.009 + 0.00075 + 0.005 + 0.00002 + 400.0 + 0.00025 + + + + + 0 + 0.009 + 0.00075 + 0.005 + 0.00002 + 400.0 + 0.00025 + + + + + 0 + 0.009 + 0.00075 + 0.005 + 0.00002 + 400.0 + 0.00025 + + + + + + + 0 + 0.021 + 0.05 + 0.0075 + 0.000375 + 175.0 + 0.005 + + + + + 0 + 0.021 + 0.05 + 0.0075 + 0.000375 + 175.0 + 0.005 + + + + + 0 + 0.021 + 0.05 + 0.0075 + 0.000375 + 175.0 + 0.005 + + + + + + + 1 + 20 + + 0 + + 0.00000008 + + + + + 1 + 20 + + + + 0.000000080 + 0.000000400 + + + + + 0.000000080 + 0.000000400 + + + + + 0.000000080 + 0.000000400 + + + + + + + 0.10 0.0 0.10 0 0 0 + 1 + 20 + + 2.0944 + + + 1108.952913 + 1110.658360 + 729.533992 + 544.985715 + 1 + + + + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 +
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160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + rmf_obelix/base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rmf_obelix/rotor_0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rmf_obelix/rotor_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rmf_obelix/rotor_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rmf_obelix/rotor_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: rmf_obelix/robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /rmf_obelix/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /rmf_obelix/front/optical/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: rmf_obelix + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.141590118408203 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1385 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000400000000000001f8000004cbfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000313000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000356000001b20000001600ffffff000000010000010f000004cbfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004cb000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009bd0000003efc0100000002fb0000000800540069006d00650100000000000009bd000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000007bf000004cb00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 2493 + X: 67 + Y: 27 diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/specifications.md b/submitted_models/cerberus_rmf_obelix_sensor_config_1/specifications.md new file mode 100644 index 00000000..8a977738 --- /dev/null +++ b/submitted_models/cerberus_rmf_obelix_sensor_config_1/specifications.md @@ -0,0 +1,88 @@ + + +# CERBERUS-Aerial Scout +This specifications.md file is a description and proof of virtual model validation for +the CERBERUS Aerial Scout with Sensor Configuration 1. This robot may be launched using a launch command with the variable name `CERBERUS_RMF_OBELIX_SENSOR_CONFIG_1`. + +## Description +CERBERUS RMF OBELIX (Resilient Micro Flyer Obelix) Aerial Scout is a highly autonomous system capable of being deployed in an unknown environment and proceeding for its mapping up to the point of automatic return to home. The platform basis is custom designed as so are the algorithms and the integratation of the onboard sensors. + +## Usage Instructions +The vehicle can be launched with the following command: +``` +ign launch -v 4 tunnel_circuit_practice.ign worldName:=tunnel_circuit_practice_01 robotName1:=rmf_obelix robotConfig1:=CERBERUS_RMF_OBELIX_SENSOR_CONFIG_1 localModel:=true +``` +The velocity of the robot can be controlled with following command: +``` +rostopic pub /rmf_obelix/cmd_vel geometry_msgs/Twist "linear: + x: -0.1 + y: 0.1 + z: 0.1 +angular: + x: 0.0 + y: 0.0 + z: 0.1" +``` + +## Usage Rights +The software included in this package is released under a [BSD 3-Clause license](LICENSE). + + +### Cost and Scale +The CERBERUS RMF Obelix robot is a research platform and its cost is not publicly available at the moment. +It weighs approximately 1.3 kg. The estimated cost to build one physical unit is approximately US Dollars 400. + +### Sensors +This Aerial Scout with sensor configuration 1 includes the following sensors. +The following specific sensors are declared payloads of this vehicle: +* IMU - Generic, modeled by `imu` plugin. +* LIDAR - Ouster OS0, modeled by `gpu_ray` plugin. +* Color Camera - FLIR Blackfly S, modeled by `camera` plugin. + +### Control +This Aerial Scout is controlled by the default twist controller package inside the simulation environment. + +### Motion Characteristics +Based on the tests specified in the DARPA SubT Challenge [Model Preparation +Guide], this vehicle has the following motion constraint characteristics. +* _x_ linear velocity range from -2.5 m/s to 2.5 m/s +* _y_ linear velocity range from -2.5 m/s to 2.5 m/s +* _z_ linear velocity range from -2.0 m/s to 2.0 m/s +* _x_ linear acceleration range from -4.0 m/s2 to 4.0 m/s2 +* _y_ linear acceleration range from -4.0 m/s2 to 4.0 m/s2 +* _z_ linear acceleration range from -4.0 m/s2 to 4.0 m/s2 +* _x_ angular velocity range from -2.25 rad/s to 2.25 rad/s +* _y_ angular velocity range from -2.25 rad/s to 2.25 rad/s +* _z_ angular velocity range from -1.5 rad/s to 1.5 rad/s +* _x_ angular acceleration range from -20.0 rad/s2 to 20 rad/s2 +* _y_ angular acceleration range from -20.0 rad/s2 to 20.0 rad/s2 +* _z_ angular acceleration range from -6.0 rad/s2 to 6.0 rad/s2 + +The constraints can be found in the following locations within the simulation model +package ignition::gazebo::systems::MulticopterVelocityControl (file src/subt/submitted_models/cerberus_rmf_obelix_sensor_config_1/launch/spawner.rb) +* Linear acceleration - 4.0 4.0 4.0 +* Linear velocity - 2.5 2.5 2.0 +* Angular velocity - 2.25 2.25 1.5 + +### Endurance Characteristics +Based on the tests specified in the DARPA SubT Challenge [Model Preparation +Guide], this vehicle has the following endurance characteristics. + +* Battery life of about 500 seconds + +### Diversions from Physical Hardware of Aerial Scout +* Controller in the simulation model is different from the one in the real platform. The control state vector is different for the real platform. We utilized the default controller for other micro aerial vehicles in the repo and tuned performance to match our closed-loop dynamics. +* The IMU on the simulated platform differs from the one one the real robot. + +## Aerial Scout Validation and Specification Links +* Base Platform: Autonomous Robots Lab - Resilient Micro Flyer Obelix +* IMU - Generic Analog Devices IMU: [Link](https://store.mrobotics.io/mRo-PixRacer-Pro-p/m10064c.htm) +* 3D Lidar Ouster OS0-64: [Link](https://ouster.com/products/os0-lidar-sensor/) +* RGB Camera - FLIR Blackfly S USB3 Model ##BFS-U3-16S2C-CS: [Camera](https://www.flir.com/products/blackfly-s-usb3?model=BFS-U3-16S2C-CS) [Lens](http://www.m12lenses.com/3-6mm-F1-8-5MP-M12-Mount-CCTV-Lens-p/pt-03618-5mp.htm) +* Linear Acceleration and Speed Validation Video: [Link](https://youtu.be/SKuDyiVHIew) +* Linear Acceleration and Speed Validation Data: [Link](https://drive.google.com/file/d/1tufNXwWsiig21aGcyZbx9EFLVhFCNDA8/view?usp=sharing) +* Angular Acceleration and Speed Validation Video: [Link](https://youtu.be/y3MnuECQexQ) +* Angular Acceleration and Speed Validation Data: [Link](https://drive.google.com/file/d/1x2mcY8x8hj65spy33pKnM4Nze2FW4fRJ/view?usp=sharing) +* Battery Endurance Validation Video: [Link](https://youtu.be/6OKgpclp4aQ) +* Battery Endurance Validation Data: [Link](https://drive.google.com/file/d/1nXiXdnsnQFK1RXZJdVLrYBZh1Q2lIPMz/view?usp=sharing) diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/thumbnails/1.png b/submitted_models/cerberus_rmf_obelix_sensor_config_1/thumbnails/1.png new file mode 100644 index 00000000..d428e110 Binary files /dev/null and b/submitted_models/cerberus_rmf_obelix_sensor_config_1/thumbnails/1.png differ diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/thumbnails/2.png b/submitted_models/cerberus_rmf_obelix_sensor_config_1/thumbnails/2.png new file mode 100644 index 00000000..35ad4bb8 Binary files /dev/null and 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diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/urdf/model.xacro b/submitted_models/cerberus_rmf_obelix_sensor_config_1/urdf/model.xacro new file mode 100644 index 00000000..5f8dc5c5 --- /dev/null +++ b/submitted_models/cerberus_rmf_obelix_sensor_config_1/urdf/model.xacro @@ -0,0 +1,137 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/cerberus_rmf_obelix_sensor_config_1/worlds/example.sdf b/submitted_models/cerberus_rmf_obelix_sensor_config_1/worlds/example.sdf new file mode 100644 index 00000000..9ea5042c --- /dev/null +++ b/submitted_models/cerberus_rmf_obelix_sensor_config_1/worlds/example.sdf @@ -0,0 +1,183 @@ + + + + + 0.004 + 1.0 + + + + 0.2 0.2 0.2 + 0.8 0.8 0.8 + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 1 + 0.9 + 1 + 0.001 + + 0.0 0.0 -1.0 + + + + 0 0 4 0 0 0 + + 1000 + 0 + 0.1 + 0.005 + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 5 + 10.1 + .1 + + 0 0 -1 + + + 0 0 4 0 0 0 + + 1000 + 0.1 + 0.2 + 0.005 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 5 + 10.1 + .1 + + 0 0 -1 + + + + true + staging_area + 0 0 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area + + + + + barrier_0_-1 + 8.0 -11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_0_1 + 8.0 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_1_-1 + 3.7 -11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_1_1 + 3.7 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_2_-1 + -0.5999999999999996 -11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_2_1 + -0.5999999999999996 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_3_-1 + -4.899999999999999 -11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_3_1 + -4.899999999999999 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_4_-1 + -9.2 -11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_4_1 + -9.2 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-9.5_-2 + 10.5 -8.6 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-9.5_2 + 10.5 8.6 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-32_-2 + -12 -8.6 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-32_-1 + -12 -4.3 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-32_0 + -12 0.0 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-32_1 + -12 4.3 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-32_2 + -12 8.6 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + + + true + base_station + -8 0 0 0 0 -1.5708 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station + + +