diff --git a/submitted_models/bosdyn_spot/.gitignore b/submitted_models/bosdyn_spot/.gitignore new file mode 100644 index 00000000..5a7699cc --- /dev/null +++ b/submitted_models/bosdyn_spot/.gitignore @@ -0,0 +1 @@ +model.sdf.urdf \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/CMakeLists.txt b/submitted_models/bosdyn_spot/CMakeLists.txt new file mode 100644 index 00000000..257cc731 --- /dev/null +++ b/submitted_models/bosdyn_spot/CMakeLists.txt @@ -0,0 +1,91 @@ +cmake_minimum_required(VERSION 3.10.0) +project(bosdyn_spot) + +set(CMAKE_CXX_STANDARD 17) + +set(IGN_GAZEBO_VER 4) +find_package(ignition-gazebo${IGN_GAZEBO_VER} REQUIRED) + +set(DEPS control_toolbox dynamic_reconfigure ros_ign_bridge nodelet roscpp) +set(MSG_DEPS std_msgs geometry_msgs) + +find_package(catkin REQUIRED COMPONENTS ${DEPS} ${MSG_DEPS} message_generation) + +add_message_files(FILES Contact.msg ContactsStamped.msg LogicalContact.msg) +generate_messages(DEPENDENCIES ${MSG_DEPS}) + +catkin_package(CATKIN_DEPENDS ${DEPS} ${MSG_DEPS} message_runtime) + +add_library(multi-joint-command-system src/multi_joint_command.cpp) +target_link_libraries(multi-joint-command-system + PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::core +) + +add_library(foot_contact_bridge src/foot_contact_bridge.cpp) +target_include_directories(foot_contact_bridge PUBLIC ${catkin_INCLUDE_DIRS}) +target_link_libraries(foot_contact_bridge + PUBLIC ignition-gazebo${IGN_GAZEBO_VER}::core ${catkin_LIBRARIES} +) +add_dependencies(foot_contact_bridge ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +add_library(logical_contact_bridge src/logical_contact_bridge.cpp) +target_include_directories(logical_contact_bridge PUBLIC ${catkin_INCLUDE_DIRS}) +target_link_libraries(logical_contact_bridge + PUBLIC ignition-gazebo${IGN_GAZEBO_VER}::core ${catkin_LIBRARIES} +) +add_dependencies(logical_contact_bridge ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +add_library(logical-contact-system src/logical_contact_system.cpp) +target_link_libraries(logical-contact-system + PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::core +) + +add_library(pid_control_bridge src/pid_control_bridge.cpp) +target_include_directories(pid_control_bridge PUBLIC ${catkin_INCLUDE_DIRS}) +target_link_libraries(pid_control_bridge + PUBLIC ignition-gazebo${IGN_GAZEBO_VER}::core ${catkin_LIBRARIES} +) +add_dependencies(pid_control_bridge ${catkin_EXPORTED_TARGETS}) + +add_library(joint_trajectory_bridge src/joint_trajectory_bridge.cpp) +target_include_directories(joint_trajectory_bridge PUBLIC ${catkin_INCLUDE_DIRS}) +target_link_libraries(joint_trajectory_bridge + PUBLIC ignition-gazebo${IGN_GAZEBO_VER}::core ${catkin_LIBRARIES} +) +add_dependencies(joint_trajectory_bridge ${catkin_EXPORTED_TARGETS}) + +add_library(configurable-joint-position-controller-system src/configurable_joint_position_controller.cpp) +target_link_libraries(configurable-joint-position-controller-system + PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::core +) + +add_library(mono-camera-system src/mono_camera_system.cpp) +target_link_libraries(mono-camera-system + PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::core +) + +install(TARGETS + configurable-joint-position-controller-system + joint_trajectory_bridge + multi-joint-command-system + pid_control_bridge + foot_contact_bridge + logical-contact-system + logical_contact_bridge + mono-camera-system + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(PROGRAMS scripts/clean_sdf scripts/high_precision_constants.py scripts/print_robot_urdf scripts/yaml_to_xacro_args + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts) + +install(DIRECTORY config launch meshes urdf worlds + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(FILES model.sdf model.config nodelets.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +catkin_install_python(PROGRAMS nodes/pid_multituner + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/Changelog.md b/submitted_models/bosdyn_spot/Changelog.md new file mode 100644 index 00000000..f86ff737 --- /dev/null +++ b/submitted_models/bosdyn_spot/Changelog.md @@ -0,0 +1,5 @@ +# Changelog + +## 1.0.0 + +- First working version. \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/config/ekf/base_to_footprint.yaml b/submitted_models/bosdyn_spot/config/ekf/base_to_footprint.yaml new file mode 100644 index 00000000..22ca6c56 --- /dev/null +++ b/submitted_models/bosdyn_spot/config/ekf/base_to_footprint.yaml @@ -0,0 +1,30 @@ +frequency: 50 + +transform_timeout: 0.01 +transform_time_offset: 0.045 + +two_d_mode: false +# diagnostics_agg: true + +#x , y , z, +#roll , pitch , yaw, +#vx , vy , vz, +#vroll , vpitch, vyaw, +#ax , ay , az + +pose0: base_to_footprint_pose +pose0_config: [true, true, true, + true, true, true, + false, false, false, + false, false, false, + false, false, false] + +#imu0: imu/data +#imu0_config: [false, false, false, +# false, false, false, +# true, true, true, +# false, false, false, +# false, false, false] + +odom_frame: base_footprint +world_frame: base_footprint \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/config/ekf/footprint_to_odom.yaml b/submitted_models/bosdyn_spot/config/ekf/footprint_to_odom.yaml new file mode 100644 index 00000000..9228850f --- /dev/null +++ b/submitted_models/bosdyn_spot/config/ekf/footprint_to_odom.yaml @@ -0,0 +1,31 @@ +frequency: 50 + +transform_timeout: 0.01 +# transform_time_offset: 0.05 + +two_d_mode: true +# diagnostics_agg: true + +#x , y , z, +#roll , pitch , yaw, +#vx , vy , vz, +#vroll , vpitch, vyaw, +#ax , ay , az + +odom0: odom/raw +odom0_config: [false, false, false, + false, false, false, + true, true, false, + false, false, true, + false, false, false] + +imu0: imu/data +imu0_config: [false, false, false, + false, false, true, + false, false, false, + false, false, true, + false, false, false] + +odom_frame: odom +base_link_frame: base_footprint +world_frame: odom \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/config/gait/gait.yaml b/submitted_models/bosdyn_spot/config/gait/gait.yaml new file mode 100644 index 00000000..1c56576f --- /dev/null +++ b/submitted_models/bosdyn_spot/config/gait/gait.yaml @@ -0,0 +1,12 @@ +knee_orientation : ">>" +pantograph_leg : false +odom_scaler: 1.0 +max_linear_velocity_x : 1.5 +max_linear_velocity_y : 0.25 +max_angular_velocity_z : 0.5 +# the following parameters affect stability of the gait +com_x_translation : -0.1 +swing_height : 0.08 +stance_depth : -0.01 +stance_duration : 0.3 # affects max speed and stability +nominal_height : 0.48 \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/config/joints/joints.yaml b/submitted_models/bosdyn_spot/config/joints/joints.yaml new file mode 100644 index 00000000..8b986fa2 --- /dev/null +++ b/submitted_models/bosdyn_spot/config/joints/joints.yaml @@ -0,0 +1,23 @@ +left_front: + - front_left_hip_x + - front_left_hip_y + - front_left_knee + - front_left_foot + +right_front: + - front_right_hip_x + - front_right_hip_y + - front_right_knee + - front_right_foot + +left_hind: + - rear_left_hip_x + - rear_left_hip_y + - rear_left_knee + - rear_left_foot + +right_hind: + - rear_right_hip_x + - rear_right_hip_y + - rear_right_knee + - rear_right_foot \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/config/links/links.yaml b/submitted_models/bosdyn_spot/config/links/links.yaml new file mode 100644 index 00000000..838f69d4 --- /dev/null +++ b/submitted_models/bosdyn_spot/config/links/links.yaml @@ -0,0 +1,24 @@ +base: body # this should not have the namespace, it is added in state_estimation +left_front: + - $(arg name)/front_left_hip + - $(arg name)/front_left_upper_leg + - $(arg name)/front_left_lower_leg + - $(arg name)/front_left_ee + +right_front: + - $(arg name)/front_right_hip + - $(arg name)/front_right_upper_leg + - $(arg name)/front_right_lower_leg + - $(arg name)/front_right_ee + +left_hind: + - $(arg name)/rear_left_hip + - $(arg name)/rear_left_upper_leg + - $(arg name)/rear_left_lower_leg + - $(arg name)/rear_left_ee + +right_hind: + - $(arg name)/rear_right_hip + - $(arg name)/rear_right_upper_leg + - $(arg name)/rear_right_lower_leg + - $(arg name)/rear_right_ee \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/config/model/common.yaml b/submitted_models/bosdyn_spot/config/model/common.yaml new file mode 100644 index 00000000..94452a93 --- /dev/null +++ b/submitted_models/bosdyn_spot/config/model/common.yaml @@ -0,0 +1,12 @@ +leg_kp: 1e+7 +leg_kd: 100.0 +leg_mu1: 0.8 +leg_mu2: 0.8 +# leg_fdir1: '0 0 1' + +max_knee_effort: 80 +max_knee_velocity: 15 +max_hip_x_effort: 80 +max_hip_x_velocity: 15 +max_hip_y_effort: 80 +max_hip_y_velocity: 15 \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/config/model/ign.yaml b/submitted_models/bosdyn_spot/config/model/ign.yaml new file mode 100644 index 00000000..a040dcfb --- /dev/null +++ b/submitted_models/bosdyn_spot/config/model/ign.yaml @@ -0,0 +1 @@ +rendering_target: ign \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/config/model/urdf.yaml b/submitted_models/bosdyn_spot/config/model/urdf.yaml new file mode 100644 index 00000000..c60a0a81 --- /dev/null +++ b/submitted_models/bosdyn_spot/config/model/urdf.yaml @@ -0,0 +1 @@ +rendering_target: urdf \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/config/ros_control/ros_control.yaml b/submitted_models/bosdyn_spot/config/ros_control/ros_control.yaml new file mode 100644 index 00000000..7e289b06 --- /dev/null +++ b/submitted_models/bosdyn_spot/config/ros_control/ros_control.yaml @@ -0,0 +1,15 @@ +"": + joint_group_position_controller: + gains: # also good: 380, 0.2, 5.75 + front_left_hip_x : {p: 250, i: 0.2, d: 5.0} + front_left_hip_y : {p: 250, i: 0.2, d: 5.0} + front_left_knee : {p: 250, i: 0.2, d: 5.0} + front_right_hip_x : {p: 250, i: 0.2, d: 5.0} + front_right_hip_y : {p: 250, i: 0.2, d: 5.0} + front_right_knee : {p: 250, i: 0.2, d: 5.0} + rear_left_hip_x : {p: 250, i: 0.2, d: 5.0} + rear_left_hip_y : {p: 250, i: 0.2, d: 5.0} + rear_left_knee : {p: 250, i: 0.2, d: 5.0} + rear_right_hip_x : {p: 250, i: 0.2, d: 5.0} + rear_right_hip_y : {p: 250, i: 0.2, d: 5.0} + rear_right_knee : {p: 250, i: 0.2, d: 5.0} \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/config/rviz.rviz b/submitted_models/bosdyn_spot/config/rviz.rviz new file mode 100644 index 00000000..622d1e4b --- /dev/null +++ b/submitted_models/bosdyn_spot/config/rviz.rviz @@ -0,0 +1,963 @@ +Panels: + - Class: rviz/Displays + Help Height: 85 + Name: Displays + Property Tree Widget: + Expanded: + - /Mono1 + - /Depth1 + - /Points1 + Splitter Ratio: 0.6631853580474854 + Tree Height: 313 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + - /Robot left side1/Focal Point1 + Name: Views + Splitter Ratio: 0.4786096215248108 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Left +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - 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 + X1/base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/body: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/camera_back: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/camera_frontleft: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/camera_frontright: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/camera_left: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/camera_right: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/front_left_ee: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/front_left_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_left_lower_leg: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_left_upper_leg: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_rail: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/front_right_ee: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/front_right_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_right_lower_leg: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_right_upper_leg: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/imu: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/rear_left_ee: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/rear_left_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_lower_leg: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_upper_leg: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_rail: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/rear_right_ee: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/rear_right_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_right_lower_leg: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_right_upper_leg: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: Robot model + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + X1: + Value: true + X1/base_link: + Value: true + X1/body: + Value: true + X1/camera_back: + Value: true + X1/camera_back/back_depth: + Value: true + X1/camera_back/back_depth_optical: + Value: true + X1/camera_back/back_fisheye_image: + Value: true + X1/camera_back/back_fisheye_image_optical: + Value: true + X1/camera_frontleft: + Value: true + X1/camera_frontleft/frontleft_depth: + Value: true + X1/camera_frontleft/frontleft_depth_optical: + Value: true + X1/camera_frontleft/frontleft_fisheye_image: + Value: true + X1/camera_frontleft/frontleft_fisheye_image_optical: + Value: true + X1/camera_frontright: + Value: true + X1/camera_frontright/frontright_depth: + Value: true + X1/camera_frontright/frontright_depth_optical: + Value: true + X1/camera_frontright/frontright_fisheye_image: + Value: true + X1/camera_frontright/frontright_fisheye_image_optical: + Value: true + X1/camera_left: + Value: true + X1/camera_left/left_depth: + Value: true + X1/camera_left/left_depth_optical: + Value: true + X1/camera_left/left_fisheye_image: + Value: true + X1/camera_left/left_fisheye_image_optical: + Value: true + X1/camera_right: + Value: true + X1/camera_right/right_depth: + Value: true + X1/camera_right/right_depth_optical: + Value: true + X1/camera_right/right_fisheye_image: + Value: true + X1/camera_right/right_fisheye_image_optical: + Value: true + X1/front_left_ee: + Value: true + X1/front_left_hip: + Value: true + X1/front_left_lower_leg: + Value: true + X1/front_left_lower_leg/contact: + Value: true + X1/front_left_upper_leg: + Value: true + X1/front_rail: + Value: true + X1/front_right_ee: + Value: true + X1/front_right_hip: + Value: true + X1/front_right_lower_leg: + Value: true + X1/front_right_lower_leg/contact: + Value: true + X1/front_right_upper_leg: + Value: true + X1/imu: + Value: true + X1/imu/imu: + Value: true + X1/rear_left_ee: + Value: true + X1/rear_left_hip: + Value: true + X1/rear_left_lower_leg: + Value: true + X1/rear_left_lower_leg/contact: + Value: true + X1/rear_left_upper_leg: + Value: true + X1/rear_rail: + Value: true + X1/rear_right_ee: + Value: true + X1/rear_right_hip: + Value: true + X1/rear_right_lower_leg: + Value: true + X1/rear_right_lower_leg/contact: + Value: true + X1/rear_right_upper_leg: + Value: true + example: + Value: true + world: + Value: true + Marker Scale: 0.6000000238418579 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + X1: + X1/base_link: + {} + X1/body: + {} + X1/camera_back: + X1/camera_back/back_depth: + X1/camera_back/back_depth_optical: + {} + X1/camera_back/back_fisheye_image: + X1/camera_back/back_fisheye_image_optical: + {} + X1/camera_frontleft: + X1/camera_frontleft/frontleft_depth: + X1/camera_frontleft/frontleft_depth_optical: + {} + X1/camera_frontleft/frontleft_fisheye_image: + X1/camera_frontleft/frontleft_fisheye_image_optical: + {} + X1/camera_frontright: + X1/camera_frontright/frontright_depth: + X1/camera_frontright/frontright_depth_optical: + {} + X1/camera_frontright/frontright_fisheye_image: + X1/camera_frontright/frontright_fisheye_image_optical: + {} + X1/camera_left: + X1/camera_left/left_depth: + X1/camera_left/left_depth_optical: + {} + X1/camera_left/left_fisheye_image: + X1/camera_left/left_fisheye_image_optical: + {} + X1/camera_right: + X1/camera_right/right_depth: + X1/camera_right/right_depth_optical: + {} + X1/camera_right/right_fisheye_image: + X1/camera_right/right_fisheye_image_optical: + {} + X1/front_left_ee: + {} + X1/front_left_hip: + {} + X1/front_left_lower_leg: + X1/front_left_lower_leg/contact: + {} + X1/front_left_upper_leg: + {} + X1/front_rail: + {} + X1/front_right_ee: + {} + X1/front_right_hip: + {} + X1/front_right_lower_leg: + X1/front_right_lower_leg/contact: + {} + X1/front_right_upper_leg: + {} + X1/imu: + X1/imu/imu: + {} + X1/rear_left_ee: + {} + X1/rear_left_hip: + {} + X1/rear_left_lower_leg: + X1/rear_left_lower_leg/contact: + {} + X1/rear_left_upper_leg: + {} + X1/rear_rail: + {} + X1/rear_right_ee: + {} + X1/rear_right_hip: + {} + X1/rear_right_lower_leg: + X1/rear_right_lower_leg/contact: + {} + X1/rear_right_upper_leg: + {} + Update Interval: 0 + Value: true + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Base link grid (1 m) + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: X1 + Value: true + - Alpha: 0.5 + Cell Size: 10 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Fixed frame grid (10 m) + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: left/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Left + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: frontleft/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Front Left + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: frontright/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Front Right + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: right/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Right + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: back/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Back + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Name: Mono + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: tof_left/depth + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Left Depth + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: tof_frontleft/depth + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Front Left Depth + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: tof_frontright/depth + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Front Right Depth + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: tof_right/depth + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Right Depth + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: tof_back/depth + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Back Depth + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Name: Depth + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Left PCL + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: tof_left/depth/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Front Left PCL + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: tof_frontleft/depth/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Front Right PCL + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: tof_frontright/depth/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Right PCL + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: tof_right/depth/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Back PCL + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: tof_back/depth/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Points + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: X1 + 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/ThirdPersonFollower + Distance: 3.2473340034484863 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.3315746784210205 + Y: 1.0569753646850586 + Z: 1.2227055776747875e-5 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.10000000149011612 + Pitch: 0.5747964382171631 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 1.7066930532455444 + Saved: + - Class: rviz/Orbit + Distance: 5 + 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: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot orbit + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7853981852531433 + Target Frame: base_link + Value: Orbit (rviz) + Yaw: 0.785398006439209 + - Class: rviz/ThirdPersonFollower + Distance: 5 + 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: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot 3rd person + Near Clip Distance: 3 + Pitch: 0.25 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141590118408203 + - Class: rviz/ThirdPersonFollower + 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: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot top-down + Near Clip Distance: 8 + Pitch: 1.5697963237762451 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141590118408203 + - Class: rviz/ThirdPersonFollower + Distance: 5 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot left side + Near Clip Distance: 4.5 + Pitch: 0 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 1.5700000524520874 + - Class: rviz/ThirdPersonFollower + Distance: 5 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot right side + Near Clip Distance: 4.5 + Pitch: 0 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: -1.5700000524520874 + - Class: rviz/FPS + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Robot top-down + Near Clip Distance: 8 + Pitch: 1.5697963237762451 + Position: + X: 0 + Y: 0 + Z: 10 + Target Frame: base_link + Value: FPS (rviz) + Yaw: 0 + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Robot top-down + Near Clip Distance: 0.009999999776482582 + Scale: 100 + Target Frame: base_link + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Fixed frame top-down + Near Clip Distance: 0.009999999776482582 + Scale: 4 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Class: rviz/FPS + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Fixed frame 1st person + Near Clip Distance: 1 + Pitch: 1 + Position: + X: -2 + Y: 0 + Z: 5 + Target Frame: + Value: FPS (rviz) + Yaw: 0 + - Class: rviz/ThirdPersonFollower + Distance: 36.92524719238281 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.4568486213684082 + Y: 0.32300829887390137 + Z: 7.213062417577021e-6 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.10000000149011612 + Pitch: 0.5397967100143433 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 6.276592254638672 +Window Geometry: + Back: + collapsed: false + Back Depth: + collapsed: false + Displays: + collapsed: false + Front Left: + collapsed: false + Front Left Depth: + collapsed: false + Front Right: + collapsed: false + Front Right Depth: + collapsed: false + Height: 1052 + Hide Left Dock: false + Hide Right Dock: false + Left: + collapsed: false + Left Depth: + collapsed: false + QMainWindow State: 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+ Right: + collapsed: false + Right Depth: + collapsed: false + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1853 + X: 67 + Y: 28 diff --git a/submitted_models/bosdyn_spot/launch/_clock_bridge.launch b/submitted_models/bosdyn_spot/launch/_clock_bridge.launch new file mode 100644 index 00000000..94267feb --- /dev/null +++ b/submitted_models/bosdyn_spot/launch/_clock_bridge.launch @@ -0,0 +1,5 @@ + + + + + \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/launch/body_camera.launch b/submitted_models/bosdyn_spot/launch/body_camera.launch new file mode 100644 index 00000000..7839f97e --- /dev/null +++ b/submitted_models/bosdyn_spot/launch/body_camera.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/bosdyn_spot/launch/common.rb b/submitted_models/bosdyn_spot/launch/common.rb new file mode 100644 index 00000000..26ee83c8 --- /dev/null +++ b/submitted_models/bosdyn_spot/launch/common.rb @@ -0,0 +1,129 @@ +def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSpawnPlugins="", _pid=[250, 0.2, 5]) + joints = [] + legs = ["front_left", "front_right", "rear_left", "rear_right"] + for leg in legs do + for motor in ["hip_x", "hip_y", "knee"] do + joints.append(leg + "_" + motor) + end + end + + actuators = "" + state_publisher_joints = "" + multi_joint_command_joints = "" + + # the PID values for the position controller system are taken from config/ros_control/ros_control.yaml + # and are used just to keep the robot standing until the user starts commanding it from the + # solution container; the PID gains here were verified to be able to keep the robot standing (just the bare robot); + # as soon as the user starts the solution code, the PID gains get reconfigured + # to match whatever is set by the solution code (they can even be changed dynamically) + for joint in joints do + actuator=<<-HEREDOC + + #{joint} + + + #{joint} + + #{_pid[0]} + #{_pid[1]} + #{_pid[2]} + + HEREDOC + actuators += actuator + + state_publisher_joints += "" + joint + "\n" + + multi_joint_command_joints += "\n" + end + + logical_contact_collisions = "" + + for leg in legs do + logical_contact_collisions += "\n"; + logical_contact_collisions += " " + leg + "_lower_leg_collision\n"; + logical_contact_collisions += " " + leg + "_lower_leg_collision_1\n"; + logical_contact_collisions += "\n"; + end + + <<-HEREDOC + + #{_name} + false + #{_x} #{_y} #{_z + 0.7} #{_roll} #{_pitch} #{_yaw} + #{_worldName} + true + + + #{_name} + #{_modelURI} + + + true + true + false + false + false + true + true + 1 + + + false + false + false + false + #{$enableGroundTruth} + true + false + + + + linear_battery + 12.694 + 12.694 + -3.1424 + 78.4 + 78.4 + 0.061523 + 1.9499 + 9.9 + true + + + + /model/#{_name}/gas_detected + 10 + gas + + + #{state_publisher_joints} + + #{actuators} + + #{multi_joint_command_joints} + + + #{logical_contact_collisions} + /model/#{_name}/leg_collisions + + #{_additionalSpawnPlugins} + + + + HEREDOC +end + +def _rosExecutables(_name, _worldName) + # description.launch is included from vehicle_topics.launch + <<-HEREDOC + + roslaunch --wait --screen bosdyn_spot vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} + + HEREDOC +end diff --git a/submitted_models/bosdyn_spot/launch/description.launch b/submitted_models/bosdyn_spot/launch/description.launch new file mode 100644 index 00000000..ba8ddc62 --- /dev/null +++ b/submitted_models/bosdyn_spot/launch/description.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/submitted_models/bosdyn_spot/launch/example.ign b/submitted_models/bosdyn_spot/launch/example.ign new file mode 100644 index 00000000..dfacf538 --- /dev/null +++ b/submitted_models/bosdyn_spot/launch/example.ign @@ -0,0 +1,194 @@ + + + +<% + #require_relative 'spawner' + _base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), "..")) + load File.join(_base_dir, "launch", "spawner.rb") + + # Modify these as needed + $enableGroundTruth = false + $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(_base_dir, File.dirname(__FILE__)) + $worldName = 'example' + worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf") + +%> + + + + IGN_GAZEBO_SYSTEM_PLUGIN_PATH + $LD_LIBRARY_PATH + + + LC_ALL + C + + + + + <% if local_variables.include?(:ros) and ros %> + + roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%> + + <% elsif local_variables.include?(:champ) and champ %> + + roslaunch --wait bosdyn_spot _clock_bridge.launch + + <% end %> + + + <%= worldFile %> + true + false + + false + + + + + + + ogre2 + + + + + + + + + + + + + + + + + + + <%if !$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 + false + /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, 0, 0, 0) %> + + + <% if (local_variables.include?(:ros) and ros) or (local_variables.include?(:champ) and champ) %> + <%= rosExecutables(robotName, $worldName) %> + <% end %> + + + <% if local_variables.include?(:champ) and champ %> + + roslaunch --wait subt_spot champ.launch name:=<%=robotName%> + + <% end %> + <% if local_variables.include?(:teleop) and teleop %> + + env ROS_NAMESPACE=<%=robotName%> roslaunch --wait champ_teleop teleop.launch joy:=true + + <% end %> + + \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/launch/leg.launch b/submitted_models/bosdyn_spot/launch/leg.launch new file mode 100644 index 00000000..af886aa5 --- /dev/null +++ b/submitted_models/bosdyn_spot/launch/leg.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/submitted_models/bosdyn_spot/launch/leg_joint.launch b/submitted_models/bosdyn_spot/launch/leg_joint.launch new file mode 100644 index 00000000..42a88f25 --- /dev/null +++ b/submitted_models/bosdyn_spot/launch/leg_joint.launch @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/bosdyn_spot/launch/spawner.rb b/submitted_models/bosdyn_spot/launch/spawner.rb new file mode 100644 index 00000000..0e80fdb8 --- /dev/null +++ b/submitted_models/bosdyn_spot/launch/spawner.rb @@ -0,0 +1,15 @@ +require_relative 'common.rb' + +# look in common.rb for the actual code; the separation of the code to common.rb was done so that +# other sensor configs can reuse the code; as they reuse it by calling `require`, if they included +# directly this spawner script, their own spawner() and rosExecutables() functions would be overwritten +# if they `require` the common.rb file, functions with non-colliding names _spawner and _rosExecutables +# will be imported + +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSpawnPlugins='') + _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSpawnPlugins) +end + +def rosExecutables(_name, _worldName) + _rosExecutables(_name, _worldName) +end diff --git a/submitted_models/bosdyn_spot/launch/vehicle_topics.launch b/submitted_models/bosdyn_spot/launch/vehicle_topics.launch new file mode 100644 index 00000000..1daf94d1 --- /dev/null +++ b/submitted_models/bosdyn_spot/launch/vehicle_topics.launch @@ -0,0 +1,95 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/bosdyn_spot/meshes/body.dae b/submitted_models/bosdyn_spot/meshes/body.dae new file mode 100644 index 00000000..80d9abfc --- /dev/null +++ b/submitted_models/bosdyn_spot/meshes/body.dae @@ -0,0 +1,119 @@ + + + + + Blender User + Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4 + + 2020-04-13T15:53:56 + 2020-04-13T15:53:56 + + Z_UP + + + + + + + spot_mat_png + + + + + spot_mat_png-surface + + + + + + 0 0 0 1 + + + + + + 1.45 + + + + + + + + + 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5485 11101 33687 5498 11101 33688 5487 11101 33689 1257 11102 33690 5499 11102 33691 1259 11102 33692 5502 11103 33693 5496 11103 33694 5494 11103 33695 5515 11104 33696 1336 11104 33697 1325 11104 33698 1328 11105 33699 1339 11105 33700 5514 11105 33701 5516 11106 33702 1314 11106 33703 1336 11106 33704 5503 11107 33705 5517 11107 33706 1261 11107 33707 1334 11108 33708 5504 11108 33709 5508 11108 33710 1331 11109 33711 1337 11109 33712 1328 11109 33713 5518 11110 33714 1172 11110 33715 5501 11110 33716 1354 11111 33717 5519 11111 33718 1338 11111 33719 1362 11112 33720 5520 11112 33721 1354 11112 33722 5521 11113 33723 5429 11113 33724 5425 11113 33725 5523 11114 33726 5435 11114 33727 5392 11114 33728 5457 11115 33729 5524 11115 33730 5480 11115 33731 1379 11116 33732 1380 11116 33733 1370 11116 33734 1391 11117 33735 1392 11117 33736 1379 11117 33737 1257 11118 33738 5555 11118 33739 5499 11118 33740 5578 11119 33741 5496 11119 33742 5502 11119 33743 5500 11120 33744 5540 11120 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34332 5617 11315 34333 5551 11315 34334 5681 11316 34335 5567 11316 34336 5553 11316 34337 5613 11317 34338 5692 11317 34339 5589 11317 34340 5648 11318 34341 5642 11318 34342 5635 11318 34343 5642 11319 34344 5649 11319 34345 5635 11319 34346 5649 11320 34347 5627 11320 34348 5642 11320 34349 5651 11321 34350 1535 11321 34351 1491 11321 34352 1535 11322 34353 1492 11322 34354 1491 11322 34355 1534 11323 34356 5652 11323 34357 5618 11323 34358 5585 11324 34359 5644 11324 34360 5605 11324 34361 5649 11325 34362 5642 11325 34363 5648 11325 34364 5523 11326 34365 5654 11326 34366 5609 11326 34367 5604 11327 34368 5568 11327 34369 5570 11327 34370 5626 11328 34371 5603 11328 34372 5571 11328 34373 5636 11329 34374 5562 11329 34375 5604 11329 34376 5562 11330 34377 5579 11330 34378 5604 11330 34379 5579 11331 34380 5568 11331 34381 5604 11331 34382 5628 11332 34383 5638 11332 34384 5603 11332 34385 5626 11333 34386 5628 11333 34387 5603 11333 34388 5568 11334 34389 5579 11334 34390 5542 11334 34391 5655 11335 34392 5651 11335 34393 1491 11335 34394 5648 11336 34395 5627 11336 34396 5649 11336 34397 5579 11337 34398 5562 11337 34399 5479 11337 34400 5644 11338 34401 5653 11338 34402 5605 11338 34403 5609 11339 34404 5681 11339 34405 5553 11339 34406 5652 11340 34407 5656 11340 34408 5618 11340 34409 5657 11341 34410 5652 11341 34411 1534 11341 34412 5631 11342 34413 5683 11342 34414 5623 11342 34415 5678 11343 34416 5684 11343 34417 5621 11343 34418 5684 11344 34419 5680 11344 34420 5621 11344 34421 5680 11345 34422 5665 11345 34423 5621 11345 34424 5638 11346 34425 5524 11346 34426 5577 11346 34427 5662 11347 34428 5523 11347 34429 5392 11347 34430 5562 11348 34431 5636 11348 34432 5454 11348 34433 5636 11349 34434 5663 11349 34435 5454 11349 34436 5664 11350 34437 5453 11350 34438 5454 11350 34439 5663 11351 34440 5664 11351 34441 5454 11351 34442 5638 11352 34443 5628 11352 34444 5524 11352 34445 5653 11353 34446 5629 11353 34447 5605 11353 34448 5665 11354 34449 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34508 5645 11374 34509 1512 11374 34510 5641 11374 34511 5665 11375 34512 5690 11375 34513 1561 11375 34514 5615 11376 34515 5611 11376 34516 1560 11376 34517 5611 11377 34518 5623 11377 34519 1560 11377 34520 1465 11378 34521 5630 11378 34522 1560 11378 34523 5658 11379 34524 1465 11379 34525 1560 11379 34526 5630 11380 34527 5615 11380 34528 1560 11380 34529 5588 11381 34530 5659 11381 34531 1561 11381 34532 5690 11382 34533 5588 11382 34534 1561 11382 34535 1553 11383 34536 1466 11383 34537 5658 11383 34538 5685 11384 34539 1553 11384 34540 5658 11384 34541 1466 11385 34542 1465 11385 34543 5658 11385 34544 5591 11386 34545 1554 11386 34546 5659 11386 34547 5587 11387 34548 5591 11387 34549 5659 11387 34550 5588 11388 34551 5587 11388 34552 5659 11388 34553 1556 11389 34554 1555 11389 34555 5675 11389 34556 1555 11390 34557 5686 11390 34558 5675 11390 34559 5686 11391 34560 5674 11391 34561 5675 11391 34562 5687 11392 34563 1556 11392 34564 5675 11392 34565 5398 11393 34566 5688 11393 34567 5613 11393 34568 5456 11394 34569 5689 11394 34570 5577 11394 34571 5646 11395 34572 5610 11395 34573 5412 11395 34574 5586 11396 34575 5630 11396 34576 1465 11396 34577 5629 11397 34578 5653 11397 34579 5588 11397 34580 5653 11398 34581 5624 11398 34582 5588 11398 34583 5690 11399 34584 5629 11399 34585 5588 11399 34586 5654 11400 34587 5681 11400 34588 5609 11400 34589 5690 11401 34590 5684 11401 34591 5678 11401 34592 5631 11402 34593 5691 11402 34594 5683 11402 34595 5679 11403 34596 5691 11403 34597 5631 11403 34598 5684 11404 34599 5665 11404 34600 5680 11404 34601 5667 11405 34602 5679 11405 34603 5631 11405 34604 5679 11406 34605 5683 11406 34606 5691 11406 34607 5691 11407 34608 5623 11407 34609 5683 11407 34610 5690 11408 34611 5665 11408 34612 5684 11408 34613 1574 11409 34614 5677 11409 34615 5666 11409 34616 5616 11410 34617 5629 11410 34618 5690 11410 34619 5586 11411 34620 5639 11411 34621 5630 11411 34622 5644 11412 34623 5624 11412 34624 5653 11412 34625 5612 11413 34626 5616 11413 34627 5690 11413 34628 5643 11414 34629 5693 11414 34630 5617 11414 34631 5662 11415 34632 5654 11415 34633 5523 11415 34634 5694 11416 34635 5695 11416 34636 5667 11416 34637 5695 11417 34638 1560 11417 34639 5667 11417 34640 1561 11418 34641 5697 11418 34642 5648 11418 34643 5697 11419 34644 5696 11419 34645 5648 11419 34646 5698 11420 34647 5560 11420 34648 5611 11420 34649 5615 11421 34650 6237 11421 34651 5611 11421 34652 6237 11422 34653 5698 11422 34654 5611 11422 34655 6317 11423 34656 5616 11423 34657 5612 11423 34658 5584 11424 34659 6237 11424 34660 5615 11424 34661 6238 11425 34662 5770 11425 34663 5616 11425 34664 6317 11426 34665 6238 11426 34666 5616 11426 34667 5703 11427 34668 6747 11427 34669 5699 11427 34670 5704 11428 34671 5703 11428 34672 5699 11428 34673 5700 11429 34674 5704 11429 34675 5699 11429 34676 5705 11430 34677 5706 11430 34678 5701 11430 34679 5706 11431 34680 5707 11431 34681 5701 11431 34682 5707 11432 34683 5702 11432 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1369 2921 8768 1385 2922 8769 1373 2922 8770 1369 2922 8771 1351 2923 8772 1380 2923 8773 1352 2923 8774 1383 2924 8775 1517 2924 8776 1361 2924 8777 1369 2925 8778 1374 2925 8779 1360 2925 8780 1374 2926 8781 1364 2926 8782 1360 2926 8783 1381 2927 8784 1382 2927 8785 1371 2927 8786 1419 2928 8787 1368 2928 8788 1377 2928 8789 1373 2929 8790 1419 2929 8791 1377 2929 8792 1382 2930 8793 1392 2930 8794 1371 2930 8795 1384 2931 8796 1419 2931 8797 1373 2931 8798 1387 2932 8799 1385 2932 8800 1374 2932 8801 1370 2933 8802 1397 2933 8803 1363 2933 8804 1375 2934 8805 1374 2934 8806 1364 2934 8807 1391 2935 8808 1370 2935 8809 1363 2935 8810 1395 2936 8811 1375 2936 8812 1364 2936 8813 1374 2937 8814 1395 2937 8815 1364 2937 8816 1386 2938 8817 1367 2938 8818 1358 2938 8819 1376 2939 8820 1388 2939 8821 1349 2939 8822 1389 2940 8823 1384 2940 8824 1373 2940 8825 1368 2941 8826 1390 2941 8827 1377 2941 8828 1382 2942 8829 1391 2942 8830 1392 2942 8831 1385 2943 8832 1389 2943 8833 1373 2943 8834 1423 2944 8835 1378 2944 8836 1371 2944 8837 1386 2945 8838 1320 2945 8839 1358 2945 8840 1362 2946 8841 1376 2946 8842 1349 2946 8843 1387 2947 8844 1374 2947 8845 1369 2947 8846 1385 2948 8847 1387 2948 8848 1369 2948 8849 1392 2949 8850 1393 2949 8851 1371 2949 8852 1393 2950 8853 1423 2950 8854 1371 2950 8855 1394 2951 8856 1373 2951 8857 1377 2951 8858 1390 2952 8859 1394 2952 8860 1377 2952 8861 1367 2953 8862 1391 2953 8863 1363 2953 8864 1397 2954 8865 1402 2954 8866 1363 2954 8867 1402 2955 8868 1386 2955 8869 1363 2955 8870 1394 2956 8871 1389 2956 8872 1373 2956 8873 1382 2957 8874 1393 2957 8875 1391 2957 8876 1398 2958 8877 1389 2958 8878 1385 2958 8879 1388 2959 8880 1362 2959 8881 1349 2959 8882 1391 2960 8883 1397 2960 8884 1370 2960 8885 1375 2961 8886 1395 2961 8887 1374 2961 8888 1395 2962 8889 1387 2962 8890 1374 2962 8891 1393 2963 8892 1396 2963 8893 1391 2963 8894 1387 2964 8895 1398 2964 8896 1385 2964 8897 1386 2965 8898 1399 2965 8899 1320 2965 8900 1400 2966 8901 1376 2966 8902 1362 2966 8903 1397 2967 8904 1391 2967 8905 1367 2967 8906 1396 2968 8907 1393 2968 8908 1392 2968 8909 1391 2969 8910 1396 2969 8911 1392 2969 8912 1401 2970 8913 1395 2970 8914 1376 2970 8915 1395 2971 8916 1375 2971 8917 1376 2971 8918 1388 2972 8919 1400 2972 8920 1362 2972 8921 1391 2973 8922 1402 2973 8923 1397 2973 8924 1386 2974 8925 1402 2974 8926 1367 2974 8927 1402 2975 8928 1397 2975 8929 1367 2975 8930 1395 2976 8931 1401 2976 8932 1375 2976 8933 1401 2977 8934 1376 2977 8935 1375 2977 8936 1395 2978 8937 1398 2978 8938 1387 2978 8939 1404 2979 8940 1396 2979 8941 1391 2979 8942 1355 2980 8943 1403 2980 8944 1362 2980 8945 1403 2981 8946 1400 2981 8947 1362 2981 8948 1404 2982 8949 1402 2982 8950 1391 2982 8951 1401 2983 8952 1388 2983 8953 1376 2983 8954 1402 2984 8955 1399 2984 8956 1386 2984 8957 1400 2985 8958 1401 2985 8959 1376 2985 8960 1400 2986 8961 1355 2986 8962 1362 2986 8963 1412 2987 8964 1404 2987 8965 1391 2987 8966 1402 2988 8967 1412 2988 8968 1391 2988 8969 1404 2989 8970 1412 2989 8971 1402 2989 8972 1401 2990 8973 1398 2990 8974 1395 2990 8975 1401 2991 8976 1400 2991 8977 1388 2991 8978 1380 2992 8979 1407 2992 8980 1352 2992 8981 2747 2993 8982 2746 2993 8983 1361 2993 8984 2746 2994 8985 1383 2994 8986 1361 2994 8987 1399 2995 8988 1406 2995 8989 1320 2995 8990 1408 2996 8991 1361 2996 8992 1353 2996 8993 1413 2997 8994 1357 2997 8995 1352 2997 8996 1410 2998 8997 1403 2998 8998 1355 2998 8999 1400 2999 9000 1403 2999 9001 1355 2999 9002 1427 3000 9003 2747 3000 9004 1361 3000 9005 1424 3001 9006 1399 3001 9007 1402 3001 9008 1412 3002 9009 1424 3002 9010 1402 3002 9011 1400 3003 9012 1398 3003 9013 1401 3003 9014 1411 3004 9015 1409 3004 9016 1353 3004 9017 1414 3005 9018 1413 3005 9019 1352 3005 9020 1409 3006 9021 1408 3006 9022 1353 3006 9023 1517 3007 9024 1425 3007 9025 1353 3007 9026 1413 3008 9027 1405 3008 9028 1357 3008 9029 1425 3009 9030 1411 3009 9031 1353 3009 9032 1415 3010 9033 1839 3010 9034 744 3010 9035 1884 3011 9036 1416 3011 9037 721 3011 9038 1416 3012 9039 995 3012 9040 721 3012 9041 1417 3013 9042 734 3013 9043 1157 3013 9044 1418 3014 9045 1417 3014 9046 1157 3014 9047 1422 3015 9048 1421 3015 9049 1419 3015 9050 1381 3016 9051 1420 3016 9052 1382 3016 9053 1421 3017 9054 1368 3017 9055 1419 3017 9056 1420 3018 9057 1423 3018 9058 1382 3018 9059 1384 3019 9060 1438 3019 9061 1419 3019 9062 1438 3020 9063 1422 3020 9064 1419 3020 9065 1424 3021 9066 1435 3021 9067 1399 3021 9068 1428 3022 9069 1398 3022 9070 1400 3022 9071 1423 3023 9072 1393 3023 9073 1382 3023 9074 1394 3024 9075 1390 3024 9076 1384 3024 9077 1390 3025 9078 1438 3025 9079 1384 3025 9080 1389 3026 9081 1394 3026 9082 1384 3026 9083 2747 3027 9084 1427 3027 9085 2746 3027 9086 1427 3028 9087 1383 3028 9088 2746 3028 9089 1403 3029 9090 1428 3029 9091 1400 3029 9092 1408 3030 9093 1427 3030 9094 1361 3030 9095 1411 3031 9096 1431 3031 9097 1409 3031 9098 1431 3032 9099 1408 3032 9100 1409 3032 9101 1352 3033 9102 1407 3033 9103 1414 3033 9104 1432 3034 9105 1426 3034 9106 1413 3034 9107 1435 3035 9108 1429 3035 9109 1399 3035 9110 1429 3036 9111 1406 3036 9112 1399 3036 9113 1430 3037 9114 1428 3037 9115 1403 3037 9116 1406 3038 9117 1435 3038 9118 1399 3038 9119 1428 3039 9120 1410 3039 9121 1403 3039 9122 1410 3040 9123 1430 3040 9124 1403 3040 9125 1433 3041 9126 1431 3041 9127 1411 3041 9128 1414 3042 9129 1432 3042 9130 1413 3042 9131 1434 3043 9132 1248 3043 9133 1149 3043 9134 1431 3044 9135 1437 3044 9136 1408 3044 9137 1429 3045 9138 1435 3045 9139 1406 3045 9140 1428 3046 9141 1430 3046 9142 1410 3046 9143 1432 3047 9144 1442 3047 9145 1426 3047 9146 1423 3048 9147 1379 3048 9148 1378 3048 9149 1437 3049 9150 1436 3049 9151 1408 3049 9152 1449 3050 9153 1420 3050 9154 1423 3050 9155 1420 3051 9156 1379 3051 9157 1423 3051 9158 1390 3052 9159 1421 3052 9160 1438 3052 9161 1426 3053 9162 1405 3053 9163 1413 3053 9164 1443 3054 9165 1449 3054 9166 1423 3054 9167 1421 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9301 744 3099 9302 1465 3100 9303 1144 3100 9304 1214 3100 9305 1229 3101 9306 1221 3101 9307 1038 3101 9308 1468 3102 9309 1457 3102 9310 1442 3102 9311 1380 3103 9312 1444 3103 9313 1407 3103 9314 1467 3104 9315 1458 3104 9316 1451 3104 9317 1479 3105 9318 1433 3105 9319 1469 3105 9320 1471 3106 9321 1351 3106 9322 1357 3106 9323 1019 3107 9324 1884 3107 9325 721 3107 9326 1444 3108 9327 1484 3108 9328 1432 3108 9329 1472 3109 9330 1450 3109 9331 1454 3109 9332 1472 3110 9333 1379 3110 9334 1450 3110 9335 1475 3111 9336 1474 3111 9337 1467 3111 9338 1476 3112 9339 1092 3112 9340 1456 3112 9341 1292 3113 9342 1495 3113 9343 1264 3113 9344 1495 3114 9345 1258 3114 9346 1264 3114 9347 1259 3115 9348 1477 3115 9349 1456 3115 9350 1477 3116 9351 1476 3116 9352 1456 3116 9353 1258 3117 9354 1481 3117 9355 1263 3117 9356 1260 3118 9357 1477 3118 9358 1259 3118 9359 1481 3119 9360 1262 3119 9361 1263 3119 9362 1478 3120 9363 1051 3120 9364 744 3120 9365 1479 3121 9366 1469 3121 9367 1425 3121 9368 1485 3122 9369 1357 3122 9370 1405 3122 9371 1390 3123 9372 1464 3123 9373 1451 3123 9374 1500 3124 9375 1445 3124 9376 1439 3124 9377 1455 3125 9378 1488 3125 9379 1425 3125 9380 1488 3126 9381 1479 3126 9382 1425 3126 9383 1481 3127 9384 1480 3127 9385 1263 3127 9386 1480 3128 9387 1264 3128 9388 1263 3128 9389 1268 3129 9390 1481 3129 9391 1263 3129 9392 1477 3130 9393 1167 3130 9394 1259 3130 9395 1482 3131 9396 1169 3131 9397 1167 3131 9398 1464 3132 9399 1467 3132 9400 1451 3132 9401 1092 3133 9402 1483 3133 9403 1032 3133 9404 1483 3134 9405 1456 3134 9406 1032 3134 9407 1479 3135 9408 1488 3135 9409 1469 3135 9410 1480 3136 9411 1096 3136 9412 1264 3136 9413 1483 3137 9414 1477 3137 9415 1456 3137 9416 1436 3138 9417 1383 3138 9418 1427 3138 9419 1488 3139 9420 1433 3139 9421 1479 3139 9422 1432 3140 9423 1487 3140 9424 1453 3140 9425 1453 3141 9426 1513 3141 9427 1442 3141 9428 1485 3142 9429 1492 3142 9430 1357 3142 9431 1492 3143 9432 1471 3143 9433 1357 3143 9434 1486 3144 9435 1432 3144 9436 1484 3144 9437 1444 3145 9438 1486 3145 9439 1484 3145 9440 1303 3146 9441 1489 3146 9442 1209 3146 9443 1489 3147 9444 1229 3147 9445 1209 3147 9446 1490 3148 9447 1211 3148 9448 1298 3148 9449 1418 3149 9450 1157 3149 9451 1211 3149 9452 1490 3150 9453 1418 3150 9454 1211 3150 9455 1463 3151 9456 1303 3151 9457 979 3151 9458 1492 3152 9459 1485 3152 9460 1405 3152 9461 1448 3153 9462 1492 3153 9463 1405 3153 9464 1491 3154 9465 1488 3154 9466 1455 3154 9467 1486 3155 9468 1487 3155 9469 1432 3155 9470 1238 3156 9471 1019 3156 9472 1171 3156 9473 1491 3157 9474 1433 3157 9475 1488 3157 9476 1486 3158 9477 1380 3158 9478 1484 3158 9479 1380 3159 9480 1487 3159 9481 1484 3159 9482 1487 3160 9483 1486 3160 9484 1484 3160 9485 1444 3161 9486 1380 3161 9487 1486 3161 9488 1493 3162 9489 1472 3162 9490 1454 3162 9491 1494 3163 9492 1492 3163 9493 1485 3163 9494 1096 3164 9495 1495 3164 9496 1292 3164 9497 1268 3165 9498 1168 3165 9499 1239 3165 9500 1470 3166 9501 1268 3166 9502 1239 3166 9503 1482 3167 9504 1256 3167 9505 1169 3167 9506 1473 3168 9507 1496 3168 9508 1454 3168 9509 1498 3169 9510 1584 3169 9511 1467 3169 9512 1584 3170 9513 1475 3170 9514 1467 3170 9515 1496 3171 9516 1493 3171 9517 1454 3171 9518 1464 3172 9519 1498 3172 9520 1467 3172 9521 1448 3173 9522 1494 3173 9523 1492 3173 9524 1102 3174 9525 1317 3174 9526 1062 3174 9527 1494 3175 9528 1471 3175 9529 1492 3175 9530 1496 3176 9531 1590 3176 9532 1493 3176 9533 1497 3177 9534 1498 3177 9535 1464 3177 9536 1496 3178 9537 1472 3178 9538 1493 3178 9539 1448 3179 9540 1471 3179 9541 1494 3179 9542 1462 3180 9543 1491 3180 9544 1455 3180 9545 1487 3181 9546 1513 3181 9547 1453 3181 9548 1445 3182 9549 1383 3182 9550 1436 3182 9551 1457 3183 9552 1499 3183 9553 1448 3183 9554 1496 3184 9555 1501 3184 9556 1472 3184 9557 1500 3185 9558 1383 3185 9559 1445 3185 9560 1491 3186 9561 1461 3186 9562 1433 3186 9563 1501 3187 9564 1503 3187 9565 1472 3187 9566 1249 3188 9567 1504 3188 9568 1189 3188 9569 1504 3189 9570 1214 3189 9571 1189 3189 9572 1505 3190 9573 1181 3190 9574 1250 3190 9575 1506 3191 9576 1497 3191 9577 1464 3191 9578 1503 3192 9579 1379 3192 9580 1472 3192 9581 1390 3193 9582 1506 3193 9583 1464 3193 9584 1507 3194 9585 1884 3194 9586 1019 3194 9587 1448 3195 9588 1499 3195 9589 1471 3195 9590 1503 3196 9591 1508 3196 9592 1379 3196 9593 1508 3197 9594 1459 3197 9595 1379 3197 9596 1460 3198 9597 1506 3198 9598 1390 3198 9599 1508 3199 9600 1756 3199 9601 1459 3199 9602 1756 3200 9603 1509 3200 9604 1459 3200 9605 1510 3201 9606 1511 3201 9607 1460 3201 9608 1511 3202 9609 1512 3202 9610 1460 3202 9611 1512 3203 9612 1506 3203 9613 1460 3203 9614 1505 3204 9615 1514 3204 9616 1181 3204 9617 1514 3205 9618 1177 3205 9619 1181 3205 9620 1514 3206 9621 1186 3206 9622 1177 3206 9623 1380 3207 9624 1513 3207 9625 1487 3207 9626 1515 3208 9627 1473 3208 9628 1454 3208 9629 1478 3209 9630 2012 3209 9631 1051 3209 9632 1516 3210 9633 1513 3210 9634 1380 3210 9635 1521 3211 9636 1458 3211 9637 1467 3211 9638 1380 3212 9639 1518 3212 9640 1516 3212 9641 1351 3213 9642 1518 3213 9643 1380 3213 9644 1518 3214 9645 1513 3214 9646 1516 3214 9647 1500 3215 9648 1517 3215 9649 1383 3215 9650 1518 3216 9651 1519 3216 9652 1516 3216 9653 1351 3217 9654 1519 3217 9655 1518 3217 9656 1520 3218 9657 1461 3218 9658 1491 3218 9659 1519 3219 9660 1513 3219 9661 1518 3219 9662 1351 3220 9663 1513 3220 9664 1519 3220 9665 1466 3221 9666 1515 3221 9667 1454 3221 9668 1474 3222 9669 1521 3222 9670 1467 3222 9671 1544 3223 9672 1351 3223 9673 1471 3223 9674 1476 3224 9675 1483 3224 9676 1092 3224 9677 1142 3225 9678 1470 3225 9679 1239 3225 9680 1522 3226 9681 1240 3226 9682 1256 3226 9683 1523 3227 9684 1522 3227 9685 1256 3227 9686 1482 3228 9687 1523 3228 9688 1256 3228 9689 1495 3229 9690 1096 3229 9691 1480 3229 9692 1532 3230 9693 1477 3230 9694 1483 3230 9695 1575 3231 9696 1307 3231 9697 995 3231 9698 2012 3232 9699 1502 3232 9700 1051 3232 9701 1524 3233 9702 1507 3233 9703 1019 3233 9704 1238 3234 9705 1524 3234 9706 1019 3234 9707 1525 3235 9708 1446 3235 9709 1459 3235 9710 1526 3236 9711 1525 3236 9712 1459 3236 9713 1509 3237 9714 1526 3237 9715 1459 3237 9716 1527 3238 9717 1460 3238 9718 1447 3238 9719 1528 3239 9720 1142 3239 9721 1262 3239 9722 1240 3240 9723 1529 3240 9724 1260 3240 9725 1534 3241 9726 1528 3241 9727 1262 3241 9728 1481 3242 9729 1534 3242 9730 1262 3242 9731 1530 3243 9732 1527 3243 9733 1447 3243 9734 1529 3244 9735 1477 3244 9736 1260 3244 9737 1531 3245 9738 1482 3245 9739 1167 3245 9740 1495 3246 9741 1534 3246 9742 1481 3246 9743 1258 3247 9744 1495 3247 9745 1481 3247 9746 1529 3248 9747 1532 3248 9748 1477 3248 9749 1567 3249 9750 1481 3249 9751 1268 3249 9752 1532 3250 9753 1476 3250 9754 1477 3250 9755 1567 3251 9756 1534 3251 9757 1481 3251 9758 1477 3252 9759 1531 3252 9760 1167 3252 9761 1114 3253 9762 1533 3253 9763 1089 3253 9764 1533 3254 9765 1160 3254 9766 1089 3254 9767 1532 3255 9768 1531 3255 9769 1477 3255 9770 1534 3256 9771 1480 3256 9772 1481 3256 9773 1525 3257 9774 1466 3257 9775 1446 3257 9776 1458 3258 9777 1530 3258 9778 1447 3258 9779 1102 3259 9780 1535 3259 9781 1317 3259 9782 1525 3260 9783 1536 3260 9784 1466 3260 9785 1537 3261 9786 1221 3261 9787 1229 3261 9788 1538 3262 9789 1233 3262 9790 1465 3262 9791 1537 3263 9792 1539 3263 9793 1221 3263 9794 1088 3264 9795 1535 3264 9796 1102 3264 9797 1307 3265 9798 1540 3265 9799 1114 3265 9800 1540 3266 9801 1533 3266 9802 1114 3266 9803 1539 3267 9804 1215 3267 9805 1221 3267 9806 1536 3268 9807 1515 3268 9808 1466 3268 9809 1521 3269 9810 1530 3269 9811 1458 3269 9812 1517 3270 9813 1689 3270 9814 1462 3270 9815 1542 3271 9816 1468 3271 9817 1513 3271 9818 1468 3272 9819 1442 3272 9820 1513 3272 9821 1541 3273 9822 1542 3273 9823 1513 3273 9824 1607 3274 9825 1634 3274 9826 1500 3274 9827 1439 3275 9828 1607 3275 9829 1500 3275 9830 1634 3276 9831 1543 3276 9832 1500 3276 9833 1461 3277 9834 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+ -0.254801 + 80 + 15 + + + 0 + 0 + + 0 + + + + -0.27285 -0.165945 -0.6905 0 -0 0 + + 1e-05 + + 0.001 + 1e-06 + 1e-06 + 0.001 + 1e-06 + 0.001 + + + + + rear_right_ee + rear_right_lower_leg + + + 0 + 0 + + 0 0 1 + 0 + + -1e+16 + 1e+16 + + + + + + 0 + 0.2 + + + + + + + diff --git a/submitted_models/bosdyn_spot/msg/Contact.msg b/submitted_models/bosdyn_spot/msg/Contact.msg new file mode 100644 index 00000000..ede5a276 --- /dev/null +++ b/submitted_models/bosdyn_spot/msg/Contact.msg @@ -0,0 +1,10 @@ +uint64 collision1 +uint64 collision2 + +geometry_msgs/Vector3[] position +geometry_msgs/Vector3[] normal +float64[] depth +geometry_msgs/Wrench[] body1_wrench +geometry_msgs/Wrench[] body2_wrench + +uint64 world \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/msg/ContactsStamped.msg b/submitted_models/bosdyn_spot/msg/ContactsStamped.msg new file mode 100644 index 00000000..2214c803 --- /dev/null +++ b/submitted_models/bosdyn_spot/msg/ContactsStamped.msg @@ -0,0 +1,2 @@ +Header header +bosdyn_spot/Contact[] contacts \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/msg/LogicalContact.msg b/submitted_models/bosdyn_spot/msg/LogicalContact.msg new file mode 100644 index 00000000..bac64113 --- /dev/null +++ b/submitted_models/bosdyn_spot/msg/LogicalContact.msg @@ -0,0 +1,2 @@ +Header header +bool[] contacts \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/nodelets.xml b/submitted_models/bosdyn_spot/nodelets.xml new file mode 100644 index 00000000..4921ff55 --- /dev/null +++ b/submitted_models/bosdyn_spot/nodelets.xml @@ -0,0 +1,33 @@ + + + + + Nodelet for converting Ignition Gazebo logical contact messages to bosdyn_spot/LogicalContact. + + + + + + + + Nodelet for converting Ignition Gazebo foot contact messages to bosdyn_spot/ContactsStamped. + + + + + + + + ROS Bridge for configuration of ConfigurableJointPositionControllerSystem. + + + + + + + + ROS Bridge for JointTrajectory messages. + + + + \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/nodes/pid_multituner b/submitted_models/bosdyn_spot/nodes/pid_multituner new file mode 100755 index 00000000..7ddceb4e --- /dev/null +++ b/submitted_models/bosdyn_spot/nodes/pid_multituner @@ -0,0 +1,41 @@ +#!/usr/bin/env python + +""" +This node is a meta-commander for tuning all PIDs on the Spot at the same time. +Just set a value via dynamic reconfigure to this and the same change will be +propagated to all of the position-controlled joints' PIDs. +""" + +import rospy +from control_toolbox.cfg import ParametersConfig +from dynamic_reconfigure.server import Server +from dynamic_reconfigure.client import Client + +clients = [] + + +def update(config, level): + for client in clients: + client.update_configuration(config) + + return config + + +if __name__ == '__main__': + rospy.init_node("pid_multituner") + + for leg in ("front_left", "front_right", "rear_left", "rear_right"): + for motor in ("hip_x", "hip_y", "knee"): + clients.append(Client("joint_group_position_controller/gains/{}_{}".format(leg, motor))) + + config = clients[0].get_configuration() + rospy.set_param("~p", config["p"]) + rospy.set_param("~i", config["i"]) + rospy.set_param("~d", config["d"]) + rospy.set_param("~i_clamp_min", config["i_clamp_min"]) + rospy.set_param("~i_clamp_max", config["i_clamp_max"]) + rospy.set_param("~antiwindup", config["antiwindup"]) + + dyn_server = Server(ParametersConfig, update) + + rospy.spin() diff --git a/submitted_models/bosdyn_spot/package.xml b/submitted_models/bosdyn_spot/package.xml new file mode 100644 index 00000000..509a68fe --- /dev/null +++ b/submitted_models/bosdyn_spot/package.xml @@ -0,0 +1,40 @@ + + + bosdyn_spot + 0.0.1 + Base of Boston Dynamics Spot with just the builtin sensors. + - 5 grayscale depth cameras + - IMU + - Weight: about 30 kg + + Martin Pecka + Martin Pecka + BSD + + catkin + + ignition-gazebo4 + ignition-gazebo4 + + message_generation + message_runtime + message_runtime + + control_toolbox + dynamic_reconfigure + geometry_msgs + nodelet + ros_ign_bridge + roscpp + std_msgs + + ros_ign_image + roslaunch + rospy + subt_ros + xacro + + + + + diff --git a/submitted_models/bosdyn_spot/scripts/clean_sdf b/submitted_models/bosdyn_spot/scripts/clean_sdf new file mode 100755 index 00000000..691f7456 --- /dev/null +++ b/submitted_models/bosdyn_spot/scripts/clean_sdf @@ -0,0 +1,15 @@ +#!/usr/bin/env bash +set -e + +sed -i \ + -e '//{:a;N;/<\/surface>/!ba};/\n\s*\n\s*\n\s*<\/contact>\n\s*\n\s*\n\s*<\/friction>\n\s*<\/surface>/d' \ + -e '/\(-\?0 \?\)\{6\}<\/pose>/d' \ + -e '/1 1 1<\/scale>/d' \ + -e '//d' \ + -e '//d' \ + -e '//d' \ + -e '/1<\/gravity>/d' \ + -e '/0<\/kinematic>/d' \ + -e '/0<\/static>/d' "$1" +sed -i '//{:a;N;/<\/contact>/!ba};/\n\s*\n\s*<\/contact>/d' "$1" +sed -i 's/\(]*>\)/\1\r /g' "$1" \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/scripts/high_precision_constants.py b/submitted_models/bosdyn_spot/scripts/high_precision_constants.py new file mode 100755 index 00000000..c216baf7 --- /dev/null +++ b/submitted_models/bosdyn_spot/scripts/high_precision_constants.py @@ -0,0 +1,79 @@ +#!/usr/bin/env python +# +# Copyright 2019 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. + +from __future__ import print_function +from lxml import etree +import math +import argparse +import sys + +# Values of PI to check. Only put positive values. +CONSTANTS_TO_CHECK = [math.pi, math.pi/2] + +def convert_to_high_precision_pi(urdf_file, tol, precision): + """Search all poses for values that are near PI and PI/2 and replace them + with their high precision counterparts. + + Parameters + ---------- + urdf_file : Input urdf file + tol: Tolerance for equality check + + Returns + ------- + etree.Element + + """ + inp = etree.parse(urdf_file) + sdf = inp.getroot() + poses = sdf.xpath('//pose') + + for pose in poses: + new_pose_list = [] + for val in pose.text.split(): + val_fl = float(val) + for check_val in CONSTANTS_TO_CHECK: + if abs(abs(val_fl) - check_val) < tol: + new_pose_list.append('{:.{precision}f}'.format( + math.copysign(check_val, val_fl), precision=precision)) + break + # The else block executes if none of the values in + # CONSTANTS_TO_CHECK match val_fl + else: + new_pose_list.append(val) + + new_pose = ' '.join(new_pose_list) + pose.text = new_pose + return inp + + +if __name__ == '__main__': + parser = argparse.ArgumentParser( + formatter_class=argparse.ArgumentDefaultsHelpFormatter, + description='Search all elements for values that are near PI ' + 'and PI/2 and replace them with their high precision counterparts.') + parser.add_argument('infile', type=argparse.FileType('r'), + help='Input URDF file') + parser.add_argument('-t', '--tolerance', type=float, default=1e-3, + help='Tolerance for equality checks') + parser.add_argument('-p', '--precision', type=float, default=16, + help='Tolerance for equality checks') + + args = parser.parse_args() + out = convert_to_high_precision_pi(args.infile, args.tolerance, + args.precision) + print(etree.tostring(out, pretty_print=True, encoding='utf-8', + xml_declaration=True)) diff --git a/submitted_models/bosdyn_spot/scripts/install_in_local_fuel_cache b/submitted_models/bosdyn_spot/scripts/install_in_local_fuel_cache new file mode 100755 index 00000000..42f2d29c --- /dev/null +++ b/submitted_models/bosdyn_spot/scripts/install_in_local_fuel_cache @@ -0,0 +1,26 @@ +#!/usr/bin/env bash +set -e +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" + +# Install the model in local Ignition Fuel cache so that it is available even before being uploaded to Fuel by Open Robotics. + +path="${DIR}/../../../../../install/share/bosdyn_spot" +if [ ! -d "$path" ]; then + path="$1" +fi + +if [ ! -d "$path" ]; then + echo "ERROR: Provide a path to the bosdyn_spot folder in either install/share or devel/share as an argument to this script." >&2 + exit 1 +fi + +path="$(realpath "$path")" + +cache_path="${IGN_FUEL_CACHE_PATH:-${HOME}/.ignition/fuel}/fuel.ignitionrobotics.org/openrobotics/models/bosdyn_spot/1" +mkdir -p "$cache_path" + +for f in model.sdf model.config meshes textures; do + ln -sf "${path}/${f}" "${cache_path}/${f}" +done + +echo "INFO: Done, the model was installed in ${cache_path}." \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/scripts/print_robot_urdf b/submitted_models/bosdyn_spot/scripts/print_robot_urdf new file mode 100755 index 00000000..7e8cbe49 --- /dev/null +++ b/submitted_models/bosdyn_spot/scripts/print_robot_urdf @@ -0,0 +1,13 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." + +config="" +for file in "${MODEL_DIR}/config/model/common.yaml" "${MODEL_DIR}/config/model/urdf.yaml"; do + config="${config} $("${DIR}/yaml_to_xacro_args" "$file")" +done + +echo -e "Rendering URDF of $(basename "$(realpath "$MODEL_DIR")") with the following Xacro arguments:\n${config}" "$@" >&2 +rosrun xacro xacro "${MODEL_DIR}/urdf/spot.urdf.xacro" ${config} "$@" \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/scripts/update_robot_sdf b/submitted_models/bosdyn_spot/scripts/update_robot_sdf new file mode 100755 index 00000000..7e61dd83 --- /dev/null +++ b/submitted_models/bosdyn_spot/scripts/update_robot_sdf @@ -0,0 +1,30 @@ +#!/usr/bin/env bash +set -e + +# This script re-generates the model.sdf file in the root of this package based on the Xacro files. +# This script is only intended to be run from the source space and is intentionally not a part of +# the installed package. + +# If you want to test some local changes, you can pass arguments to this script and it will relay +# them to the Xacro call (usually the key:=value pairs for setting xacro args). + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf" + +config="" +for file in "${MODEL_DIR}/config/model/common.yaml" "${MODEL_DIR}/config/model/ign.yaml"; do + config="${config} $("${DIR}/yaml_to_xacro_args" "$file")" +done + +sdf8_version="$(ign sdf --versions | grep '^8')" || true +[ -z "$sdf8_version" ] && echo "libsdformat8 not found. It is required to update this robot's SDF. Please install libsdformat8-dev and try again." >&2 && exit 1 +echo "Found libsdformat ${sdf8_version}" >&2 + +echo -e "Rendering Ignition Gazebo SDF of $(basename "$(realpath "$MODEL_DIR")") with the following Xacro arguments:\n${config}" "$@" >&2 +rosrun xacro xacro "${MODEL_DIR}/urdf/spot.urdf.xacro" ${config} "$@" > "${OUTPUT_FILE}.urdf" +ign sdf --force-version "$sdf8_version" -p "${OUTPUT_FILE}.urdf" | "${DIR}/high_precision_constants.py" - > "${OUTPUT_FILE}" + +"${DIR}/clean_sdf" "${OUTPUT_FILE}" +# fix resource paths +sed -i -e 's#model://bosdyn_spot/##g' "${OUTPUT_FILE}" diff --git a/submitted_models/bosdyn_spot/scripts/yaml_to_xacro_args b/submitted_models/bosdyn_spot/scripts/yaml_to_xacro_args new file mode 100755 index 00000000..8383ada8 --- /dev/null +++ b/submitted_models/bosdyn_spot/scripts/yaml_to_xacro_args @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +set -e + +# convert the given yaml file to a list of key:=value intended to be passed to xacro +# this script does not support nested YAML structures + +file="$1" +sed 's/: \?/:=/' < "$file" | sed '/^#.*$/d' | sed 's/#.*$//' | sed 's/:=\s*True\s*$/:=1/i' | sed 's/:=\s*False\s*$/:=0/i' | tr "\n" " " \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/specifications.md b/submitted_models/bosdyn_spot/specifications.md new file mode 100644 index 00000000..623995ec --- /dev/null +++ b/submitted_models/bosdyn_spot/specifications.md @@ -0,0 +1,238 @@ +# Boston Dynamics Spot +This specifications.md file is a description and proof of virtual model validation for the +Boston Dynamics Spot robot base. This robot may be launched using an ign launch command with the +variable name `BOSDYN_SPOT`. + +For local testing, you can use the following command: + + LC_ALL=C ign launch -v 4 ~/subt_ws/src/subt/submitted_models/bosdyn_spot/launch/example.ign robotName:=X1 ros:=true champ:=true teleop:=true + +This package contains just the bare robot body which is not expected to be run "standalone" as a robot +in the SubT competition. It is expected that each team will develop their own sensor config based +on this common model. So far, it is known that teams CTU-CRAS-Norlab, MARBLE and CoSTAR use the Spot +robot and a sensor config from these teams can be expected. But it is not limited to these teams. + +Although it is not expected to run this robot "standalone", it works. But there might be some scripts +that expect the `_sensor_config_x` suffix. We have left out this suffix intentionally in this base +package so that it is not common that the bare robot is used. + +The additional sensor configs reuse a lot of files from this base package, including the meshes. +For that to work when the model is downloaded from the Fuel database, each sensor config has to +specify `BOSDYN_SPOT` as a dependency in their `model.config` file. + +As an example of how to "extend" this base robot with a custom sensor config, see +[ctu_cras_norlab_spot_sensor_config_1](../ctu_cras_norlab_spot_sensor_config_1). + +## Description +The base body of Boston Dynamics Spot robot with 5 mono fisheye cameras, 5 depth cameras and an IMU. +The robot is a quadruped with many autonomous motion functions which are mostly not modeled in this +simulation package. + +## Usage Instructions + +### Supporting package for cmd_vel support + +The robot model as it is in the SubT repo can only be controlled joint-by-joint (see further). +To get `cmd_vel` command support via a basic open-loop gait generator, the users can download +the support package [ctu-vras/subt_spot](https://github.com/ctu-vras/subt_spot) to their solution +container. It is also possible to use any other gait generation package. + +With the support package, robot motion is controlled via standard `cmd_vel` commands. Pose of the +body relative to ground can be controlled by `geometry_msgs/Pose` commands on topic `body_pose`. +See the usage instructions in the package's README.md file for further instructions on how to run it. + +See the [Control section](#control) for more options how to control the robot. + +### Contacts from simulation + +The simulator publishes information about contact of the lower legs with terrain. There are two +types of topics. Both depend on the presence of plugin `ignition-gazebo-contact-system` in the +simulation world. This plugin is automatically a part of all competition worlds, but if you create +your own worlds, you may need to add it manually. + +First type of contact information is the per-leg precise set of contacts. It is published on topic +`leg_contacts/front_left` etc. of type `bosdyn_spot/ContactsStamped` and contains the exact positions +of all contact points reported by the simulator. + +Second type of contact information is published on topic `leg_contacts` of type `bosdyn_spot/LogicalContact`. +This message contains just a true/false value specifying which legs were in contact at all. The order of +the legs is `front_left`, `front_right`, `rear_left` and `rear_right`. If you run the support package, +this topic is further retranslated to topic `foot_contacts` of type `champ_msgs/ContactsStamped` which is +used in state estimation. + +### Odometry + +If you run the support package, there is also a basic leg odometry for the robot. It is not very precise, +but can be used to get at least a glimpse into how does the robot move. + +There are two parts the odometry consists of: base-footprint part and footprint-odom part. + +The base-footprint odometry is published on topic `base_to_footprint_pose` of type +`geometry_msgs/PoseWithCovarianceStamped` and defines the pose of the body `base_link` frame +relative to the projection of the robot to the (flat) ground. This odometry enters a Kalman filter +which produces TF frame `base_link->base_footprint` (both prefixed by the robot name). A sample +configuration of this filter is in `config/ekf/base_to_footprint.yaml`, but the users can use their +own configuration. + +The footprint-odom part is published on topic `odom/raw` of type `nav_msgs/Odometry`. This is the +transformation between the robot's footprint and the odom frame. This odometry enters a Kalman filter +which produces TF frame `base_footprint->odom` (both prefixed by the robot name). A sample +configuration of this filter is in `config/ekf/footprint_to_odom.yaml`, but the users can use their +own configuration. + +## Usage Rights +No additional restrictions have to be taken into account for this model. + +It is based on the BSD-licensed packages [spot_ros](https://github.com/clearpathrobotics/spot_ros) +and CHAMP's [spot_description](https://github.com/chvmp/spot_ros/tree/gazebo/spot_description). + +## Cost and Scale +* Base vehicle: $75,000 + +Its weight is approximately 34 kg. + +## Sensors +The bare body of Spot includes the following sensors. The specifications for these instruments are not +public, so their properties and performance was estimated from real robot data. + +* 5 mono fisheye cameras with resolution 640x480 px modeled by `camera` sensor and `MonoCameraSystem` plugin + that applies a simple transformation to the original RGB images the simulator produces. +* 5 stereo cameras with resolution 424x240 px modeled by `depth_camera` sensor. +* IMU modeled by the `imu` sensor (not exposed via original bosdyn API, but it has to have some). +* Foot contact sensors publishing the contact data to topic `leg_contacts`. + +Additional sensor configs of Spot are expected to add a lot of payload and thus a separate `specifications.md` +file is expected to be a part of the sensor config packages. + +## Control + +Even without the support package, the joints can be controlled separately. +They offer both a positional and a force/effort control interface. + +There are several control topics that repeat for every joint and contain the joint name in their name. +The robot has 4 legs: `front_left`, `front_right`, `rear_left` and `rear_right`. Each leg has 3 joints: +`hip_x`, `hip_y` and `knee`. So there are 12 joints in total, and their name follows pattern `$leg_$joint`. +All of these joints are revolute with limits. + +### Single-joint control + +#### Effort control + +To control each joint separately via commanded effort, there are topics `cmd_force/front_left_hip_x` etc. +of type `std_msgs/Float64`. There might be time sync problems when commanding each joint separately, so +it is suggested to not used this interface and use the multi-commanding topic described further. + +#### Position control + +To control each joint separately via target position, there are topics `cmd_pos/front_left_hip_x` etc. +of type `std_msgs/Float64`. There might be time sync problems when commanding each joint separately, so +it is suggested to not used this interface and use the multi-commanding topic described further. Each +joint contains a PID controller that translates the positional commands into commanded effort (but for +performance reasons, it does not republish the commanded effort to the `cmd_force/*` topics - it +communicates directly with the simulator instead). The PID gains of all positional controllers are +configurable during runtime via standard ROS dynamic reconfigure. You can either reconfigure each PID +separately (e.g. `joint_group_position_controller/gains/front_left_hip_x`) or you can set all 12 +PIDs at once using namespace: `pid_multituner`. + +### Multi-joint control + +There are two interfaces that allow commanding a set of joints at the same time (synchronously in a +single simulation step). The is the preferred option because it should make the control algorithms +more stable. Both interfaces are equivalent in what they can do and they differ just in the type of +the input message. + +First interface is `joint_commands` of type `sensor_msgs/JointState`. It expects that the `name` +field will contain a list of joints that should be affected by this command. In addition to this field, +it is expected to contain finite values in either `effort` or `position`. The order of these numbers +corresponds to the order of joints in the `name` field. Both `effort` and `position` can be defined +at the same time, which means the effort from PID will add with the commanded `effort`, but it probably +doesn't make much sense. All the remaining fields (`velocity` and possibly `effort` or `position`) have +to have the same length as `name` and be filled with `NaN`s. This means that these values will not be +set. If you forget to make all the 4 arrays in the message of the same length, the `ros_ign` bridge for +`joint_commands` topic might segfault. + +The alternative multi-joint control topic is `joint_group_position_controller/command` accepting +`trajectory_msgs/JointTrajectory` messages. Their treatment is similar to `joint_commands`, but the +structure of the message is slightly different. The command type supports passing a trajectory with +multiple points, but this package only executes the first point in the trajectory (and it ignores the +`time_from_start` field and executes the command immediately). The trajectory command does not need +to have all fields of the same length. You can leave the unused fields empty. + +### Turning off positional control + +Once a joint has been commanded a positional control command, it tries to keep this position. +To turn off this behavior (e.g. to allow for usage of force-control algorithms), send a `NaN` +command to each separate joint. This will not work with the multi-joint command topics as they +ignore all `NaN` values and do not pass them further to the joints. + +When the robot is spawned into simulation, each joint is commanded a positional control command +that specifies that the joint should keep its initial position. + +## Motion characteristics + +Based on the tests specified in the DARPA SubT Challenge +[Model Preparation Guide](https://www.subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), +this vehicle has the following motion constraint characteristics. + +The tests have not yet been conducted due to Covid restrictions and unavailability of the real hardware. +Team CTU-CRAS-Norlab is planning to rent a Spot at the end of April or beginning of May, so that is +when we will fill the missing validation data. But we hope that team CoSTAR or MARBLE will be able +to do the tests earlier. + +Maximum forward speed is `1.6 m/s` with an almost instant acceleration to this speed from zero +(`TODO m/s^2` from IMU, `TODO m/s^2` from odometry). +Configuration of the maximum forward speed in simulation has no single defining value. It is a +result of the configuration of gait and and PID controllers. There is a default velocity smoother +in the support package that caps the _commanded_ velocity to 1.5 m/s. + +Maximum turning speed is `TODO 1 rad/s` with an almost instant acceleration to this speed from zero +(`TODO rad/s^2` from both IMU and odometry). + +Minimum turning radius is 0, as the robot can turn in place. + +The real robot can climb stairs. The simulated model should be able to do it too, provided a suitable +control algorithm. + +## Endurance Characteristics +This configuration has an endurance of approximately 90 minutes (value from datasheet). + +## Diversions from Physical Hardware of Spot robot +The fisheye lens does not use any fisheye projection as the simulator doesn't support that. + +Cameras have no distortion as the simulator doesn't support it. + +The simulated model offers much inferior autonomous motion capabilities than the real platform. + +## Changing parameters of the robot +Most parameters affecting the simulation model performance are in the `config/model` folder, +in files `common.yaml` and `ign.yaml`. If some parameter is not exposed to these config files, +look into the Xacro files in `urdf/` folder and change the values there. + +After changing a value in these files, run script `scripts/update_robot_sdf` to write the +changes to the `model.sdf` file. This updates the SDF just for this particular robot. If the change +is supposed to propagate in all dependent sensor configs, `update_robot_sdf` of each of the +respective configs must be called. After the update scripts are called, review the resulting SDF and +commit the changes. + +__Do not change the SDF files directly, as the changes could be lost the next time the update scripts are run.__ + +The URDF files are not physically present, but are generated on-the-fly by calling script +`scripts/print_robot_urdf`. + +## Validation and Specification Links +* Vehicle Links: + * https://www.bostondynamics.com/spot + +* Sensor specification links: + * N/A (no specification of the used sensors has been published) + +* Validation Video Links: + * Endurance test: TODO + * Maximum linear speed: TODO + * Maximum angular speed: TODO + * Rotation in place: TODO + +* Validation Data Links: + * Recordings of validation tests: TODO + * Total mass measurement: TODO + diff --git a/submitted_models/bosdyn_spot/src/configurable_joint_position_controller.cpp b/submitted_models/bosdyn_spot/src/configurable_joint_position_controller.cpp new file mode 100644 index 00000000..59214a9b --- /dev/null +++ b/submitted_models/bosdyn_spot/src/configurable_joint_position_controller.cpp @@ -0,0 +1,401 @@ +/* + * Copyright (C) 2020 Open Source Robotics Foundation + * Copyright (C) 2021 Czech Technical University in Prague + * + * 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 +#include + +#include + +#include +#include +#include +#include + +#include "ignition/gazebo/components/JointForceCmd.hh" +#include "ignition/gazebo/components/JointPosition.hh" +#include "ignition/gazebo/Model.hh" + +#include +#include + +using namespace ignition; +using namespace gazebo; + +namespace subt +{ +/// \brief Joint position controller which can be attached to a model with a +/// reference to a single joint. This is an improved version of the standard +/// Ignition Gazebo JointPositionController system which allows for runtime +/// changes of the PID parameters and also allows to specify an initial target. +/// +/// A new Ignition Transport topic is created to send target joint positions. +/// The topic name is +/// "/model//joint///cmd_pos" +/// +/// This topic accepts ignition::msgs::Double values representing the target +/// position. Sending NaN will disable the controller until another finite +/// command is issued. Be aware that sending NaNs does not work through +/// the MultiJointCommandSystem and you have to send the NaNs to each controller +/// separately. +/// +/// The following service is advertised: +/// "/model//joint///set_pos_pid" +/// +/// That service accepts ignition::msgs::PID messages that configure the internal PID. +/// The system reads only the new _optional fields of the message, not the deprecated ones. +/// +/// ## System Parameters +/// +/// `` If set, changes the command topic. Optional parameter. +/// +/// `` If set, changes the PID configuration topic. Optional parameter. +/// +/// `` The name of the joint to control. Required parameter. +/// +/// `` Axis of the joint to control. Optional parameter. +/// The default value is 0. +/// +/// `` Optional parameter specifying the target position of +/// the joint before any commands arrive. If omitted, the joint will not be +/// controlled until commanded (see , though). +/// +/// `` Optional bool parameter specifying that the joint should +/// be controlled to keep its initial position until commanded otherwise. +/// If is also set, this parameter is ignored and the +/// joint is controlled to reach the position from . +/// +/// `` The proportional gain of the PID. Optional parameter. +/// The default value is 1. +/// +/// `` The integral gain of the PID. Optional parameter. +/// The default value is 0.1. +/// +/// `` The derivative gain of the PID. Optional parameter. +/// The default value is 0.01 +/// +/// `` The integral upper limit of the PID. Optional parameter. +/// The default value is 1. +/// +/// `` The integral lower limit of the PID. Optional parameter. +/// The default value is -1. +/// +/// `` Output max value of the PID. Optional parameter. +/// The default value is 1000. +/// +/// `` Output min value of the PID. Optional parameter. +/// The default value is -1000. +/// +/// `` Command offset (feed-forward) of the PID. Optional +/// parameter. The default value is 0. +class ConfigurableJointPositionController : public System, public ISystemConfigure, public ISystemPreUpdate +{ + public: void Configure( + const Entity& _entity, const std::shared_ptr& _sdf, + EntityComponentManager& _ecm, EventManager& _eventMgr) override; + + public: void PreUpdate( + const ignition::gazebo::UpdateInfo& _info, + ignition::gazebo::EntityComponentManager& _ecm) override; + + /// \brief Callback for position subscription + /// \param[in] _msg Position message + protected: void OnCmdPos(const ignition::msgs::Double& _msg); + + /// \brief Callback for PID config + /// \param[in] _msg PID message + protected: void OnCmdPID(const ignition::msgs::PID& _msg); + + protected: transport::Node node; + protected: Entity jointEntity{kNullEntity}; + protected: std::string jointName; + protected: std::optional jointPosCmd; + protected: std::mutex jointCmdMutex; + protected: Model model{kNullEntity}; + protected: std::string modelName; + protected: math::PID posPid; + protected: unsigned int jointIndex {0u}; + protected: bool keepInitialPos {false}; +}; + +void ConfigurableJointPositionController::Configure( + const Entity& _entity, const std::shared_ptr& _sdf, + EntityComponentManager& _ecm, EventManager&/*_eventMgr*/) +{ + this->model = Model(_entity); + + if (!this->model.Valid(_ecm)) + { + ignerr << "ConfigurableJointPositionController plugin should be attached to a model " + << "entity. Failed to initialize." << std::endl; + return; + } + + this->modelName = this->model.Name(_ecm); + + // Get params from SDF + this->jointName = _sdf->Get("joint_name"); + + if (this->jointName.empty()) + { + ignerr << "ConfigurableJointPositionController found an empty jointName parameter. " + << "Failed to initialize."; + return; + } + + if (_sdf->HasElement("joint_index")) + { + this->jointIndex = _sdf->Get("joint_index"); + } + + // PID parameters + double p = 1; + double i = 0.1; + double d = 0.01; + double iMax = 1; + double iMin = -1; + double cmdMax = 1000; + double cmdMin = -1000; + double cmdOffset = 0; + + if (_sdf->HasElement("p_gain")) + { + p = _sdf->Get("p_gain"); + } + if (_sdf->HasElement("i_gain")) + { + i = _sdf->Get("i_gain"); + } + if (_sdf->HasElement("d_gain")) + { + d = _sdf->Get("d_gain"); + } + if (_sdf->HasElement("i_max")) + { + iMax = _sdf->Get("i_max"); + } + if (_sdf->HasElement("i_min")) + { + iMin = _sdf->Get("i_min"); + } + if (_sdf->HasElement("cmd_max")) + { + cmdMax = _sdf->Get("cmd_max"); + } + if (_sdf->HasElement("cmd_min")) + { + cmdMin = _sdf->Get("cmd_min"); + } + if (_sdf->HasElement("cmd_offset")) + { + cmdOffset = _sdf->Get("cmd_offset"); + } + + this->posPid.Init(p, i, d, iMax, iMin, cmdMax, cmdMin, cmdOffset); + + this->keepInitialPos = _sdf->HasElement("keep_initial_pos"); + + if (_sdf->HasElement("initial_target_pos")) + { + this->jointPosCmd = _sdf->Get("initial_target_pos"); + if (this->keepInitialPos) + ignwarn << "Position controller of joint [" << this->jointName << "] has " + "both and specified. " + "In this case, is ignored." << std::endl; + } + + // Subscribe to commands + std::string topic = transport::TopicUtils::AsValidTopic("/model/" + + this->model.Name(_ecm) + "/joint/" + this->jointName + + "/" + std::to_string(this->jointIndex) + "/cmd_pos"); + if (topic.empty() && !_sdf->HasElement("topic")) + { + ignerr << "Failed to create topic for joint [" << this->jointName << "]" << std::endl; + return; + } + if (_sdf->HasElement("topic")) + { + topic = transport::TopicUtils::AsValidTopic(_sdf->Get("topic")); + + if (topic.empty()) + { + ignerr << "Failed to create topic [" << _sdf->Get("topic") + << "]" << " for joint [" << this->jointName << "]" << std::endl; + return; + } + } + + std::string pidTopic = transport::TopicUtils::AsValidTopic("/model/" + + this->model.Name(_ecm) + "/joint/" + this->jointName + + "/" + std::to_string(this->jointIndex) + "/set_pos_pid"); + if (pidTopic.empty() && !_sdf->HasElement("pid_topic")) + { + ignerr << "Failed to create PID service for joint [" << this->jointName << "]" << std::endl; + return; + } + if (_sdf->HasElement("pid_topic")) + { + pidTopic = transport::TopicUtils::AsValidTopic(_sdf->Get("pid_topic")); + + if (pidTopic.empty()) + { + ignerr << "Failed to create PID service [" << _sdf->Get("pid_topic") + << "]" << " for joint [" << this->jointName << "]" << std::endl; + return; + } + } + + if (topic == pidTopic) + { + ignerr << "Command and PID topics are the same for joint [" << this->jointName << "]" << std::endl; + return; + } + + this->node.Subscribe(topic, &ConfigurableJointPositionController::OnCmdPos, this); + this->node.Advertise(pidTopic, &ConfigurableJointPositionController::OnCmdPID, this); + + igndbg << "[ConfigurableJointPositionController] system parameters:" << std::endl; + igndbg << "p_gain: [" << p << "]" << std::endl; + igndbg << "i_gain: [" << i << "]" << std::endl; + igndbg << "d_gain: [" << d << "]" << std::endl; + igndbg << "i_max: [" << iMax << "]" << std::endl; + igndbg << "i_min: [" << iMin << "]" << std::endl; + igndbg << "cmd_max: [" << cmdMax << "]" << std::endl; + igndbg << "cmd_min: [" << cmdMin << "]" << std::endl; + igndbg << "cmd_offset: [" << cmdOffset << "]" << std::endl; + if (this->jointPosCmd.has_value()) + igndbg << "Initial target: [" << this->jointPosCmd.value() << "]" << std::endl; + else if (this->keepInitialPos) + igndbg << "Initial target: [initial position]" << std::endl; + else + igndbg << "Initial target: none" << std::endl; + igndbg << "Topic: [" << topic << "]" << std::endl; + igndbg << "PID config service: [" << pidTopic << "]" << std::endl; +} + +void ConfigurableJointPositionController::PreUpdate( + const UpdateInfo& _info, EntityComponentManager& _ecm) +{ + IGN_PROFILE("ConfigurableJointPositionController::PreUpdate"); + + // \TODO(anyone) Support rewind + if (_info.dt < std::chrono::steady_clock::duration::zero()) + { + ignwarn << "Detected jump back in time [" + << std::chrono::duration_cast(_info.dt).count() + << "s]. System may not work properly." << std::endl; + } + + // If the joint hasn't been identified yet, look for it + if (this->jointEntity == kNullEntity) + this->jointEntity = this->model.JointByName(_ecm, this->jointName); + + if (this->jointEntity == kNullEntity) + return; + + // Nothing left to do if paused. + if (_info.paused) + return; + + // no command received yet + if (!this->jointPosCmd.has_value() && !this->keepInitialPos) + return; + + auto jointPosComp = _ecm.ComponentDefault(this->jointEntity); + + // Sanity check: Make sure that the joint index is valid. + if (this->jointIndex >= jointPosComp->Data().size()) + { + static bool invalidJointReported = false; + if (!invalidJointReported) + { + ignerr << "[ConfigurableJointPositionController]: Detected an invalid " + << "parameter. The index specified is [" << this->jointIndex << "] but the joint only has [" + << jointPosComp->Data().size() << "] index[es]. This controller will be ignored" << std::endl; + invalidJointReported = true; + } + return; + } + + // read initial joint position if we should keep it + if (this->keepInitialPos && !this->jointPosCmd.has_value()) + this->jointPosCmd = jointPosComp->Data().at(this->jointIndex); + + // no command yet and we should not keep the initial position + if (!this->jointPosCmd.has_value()) + return; + + // sending NaN disables the controller + if (!std::isfinite(this->jointPosCmd.value())) + return; + + // Update force command. + double error; + { + std::lock_guard lock(this->jointCmdMutex); + error = jointPosComp->Data().at(this->jointIndex) - this->jointPosCmd.value(); + } + + double force = this->posPid.Update(error, _info.dt); + + auto forceCmd = _ecm.ComponentDefault(this->jointEntity)->Data(); + forceCmd.resize(std::max(forceCmd.size(), static_cast(this->jointIndex + 1))); + forceCmd[this->jointIndex] = force; + + _ecm.SetComponentData(this->jointEntity, forceCmd); +} + +void ConfigurableJointPositionController::OnCmdPos(const msgs::Double& _msg) +{ + std::lock_guard lock(this->jointCmdMutex); + this->jointPosCmd = _msg.data(); +} + +void ConfigurableJointPositionController::OnCmdPID(const msgs::PID& _msg) +{ + std::lock_guard lock(this->jointCmdMutex); + + if (_msg.has_p_gain_optional()) + this->posPid.SetPGain(_msg.p_gain_optional().data()); + if (_msg.has_i_gain_optional()) + this->posPid.SetIGain(_msg.i_gain_optional().data()); + if (_msg.has_d_gain_optional()) + this->posPid.SetDGain(_msg.d_gain_optional().data()); + if (_msg.has_i_max_optional()) + this->posPid.SetIMax(_msg.i_max_optional().data()); + if (_msg.has_i_min_optional()) + this->posPid.SetIMin(_msg.i_min_optional().data()); + if (_msg.has_limit_optional()) + this->posPid.SetIMin(_msg.i_min_optional().data()); + + const auto& stamp = _msg.header().stamp(); + const auto now = std::chrono::duration_cast>( + math::secNsecToDuration(stamp.sec(), stamp.nsec())); + igndbg << "[" << std::fixed << std::setprecision(3) << now.count() << "]: " + << "Updated PID properties of joint [" + << this->modelName << "/" << this->jointName << "]" << std::endl; +} + +} + +IGNITION_ADD_PLUGIN(subt::ConfigurableJointPositionController, + ignition::gazebo::System, + ignition::gazebo::ISystemConfigure, + ignition::gazebo::ISystemPreUpdate) + +IGNITION_ADD_PLUGIN_ALIAS(subt::ConfigurableJointPositionController, + "subt::ConfigurableJointPositionController") diff --git a/submitted_models/bosdyn_spot/src/foot_contact_bridge.cpp b/submitted_models/bosdyn_spot/src/foot_contact_bridge.cpp new file mode 100644 index 00000000..24dd338d --- /dev/null +++ b/submitted_models/bosdyn_spot/src/foot_contact_bridge.cpp @@ -0,0 +1,98 @@ +#include + +#include +#include + +#include +#include +#include + +#include + + +namespace subt +{ + +void ignVectorToMsg(const ignition::msgs::Vector3d& ignV, geometry_msgs::Vector3& rosV) +{ + rosV.x = ignV.x(); + rosV.y = ignV.y(); + rosV.z = ignV.z(); +} + +/// \brief ROS-Ign bridge for relaying bosdyn_spot::ContactsStamped for a leg. +class FootContactBridge : public nodelet::Nodelet +{ + + protected: void onInit() override + { + if (!this->getPrivateNodeHandle().getParam("ign_topic", this->ignTopic)) + { + ROS_ERROR("Please, provide parameter ~ign_topic"); + exit(1); + } + + this->pub = this->getNodeHandle().advertise("contacts", 100); + + ROS_INFO("Subscribing to Ignition topic %s", this->ignTopic.c_str()); + this->node.Subscribe(this->ignTopic, &FootContactBridge::OnContacts, this); + } + + protected: void OnContacts(const ignition::msgs::Contacts& ignMsg) + { + ROS_INFO_ONCE("Received first message on topic %s", this->ignTopic.c_str()); + + bosdyn_spot::ContactsStamped msg; + msg.header.stamp.sec = ignMsg.header().stamp().sec(); + msg.header.stamp.nsec = ignMsg.header().stamp().nsec(); + + for (const auto& contact : ignMsg.contact()) + { + bosdyn_spot::Contact con; + con.collision1 = contact.collision1().id(); + con.collision2 = contact.collision2().id(); + con.world = contact.world().id(); + + for (const auto& pos: contact.position()) + { + geometry_msgs::Vector3 p; + ignVectorToMsg(pos, p); + con.position.push_back(p); + } + + for (const auto& norm: contact.normal()) + { + geometry_msgs::Vector3 n; + ignVectorToMsg(norm, n); + con.normal.push_back(n); + } + + for (const auto& wrench: contact.wrench()) + { + geometry_msgs::Wrench w; + if (wrench.body_1_wrench().has_force()) + ignVectorToMsg(wrench.body_1_wrench().force(), w.force); + if (wrench.body_1_wrench().has_torque()) + ignVectorToMsg(wrench.body_1_wrench().torque(), w.torque); + con.body1_wrench.push_back(w); + + geometry_msgs::Wrench w2; + if (wrench.body_2_wrench().has_force()) + ignVectorToMsg(wrench.body_2_wrench().force(), w2.force); + if (wrench.body_2_wrench().has_torque()) + ignVectorToMsg(wrench.body_2_wrench().torque(), w2.torque); + con.body2_wrench.push_back(w2); + } + msg.contacts.push_back(con); + } + this->pub.publish(msg); + } + + protected: ros::Publisher pub; + protected: ignition::transport::Node node; + protected: std::string ignTopic; +}; + +} + +PLUGINLIB_EXPORT_CLASS(subt::FootContactBridge, nodelet::Nodelet) \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/src/joint_trajectory_bridge.cpp b/submitted_models/bosdyn_spot/src/joint_trajectory_bridge.cpp new file mode 100644 index 00000000..3be54d81 --- /dev/null +++ b/submitted_models/bosdyn_spot/src/joint_trajectory_bridge.cpp @@ -0,0 +1,85 @@ +#include + +#include +#include + +#include +#include +#include +#include + +#include + +using namespace ros_ign_bridge; + + +namespace subt +{ +/// \brief ROS-Ign bridge for JointTrajectory messages. +class JointTrajectoryBridge : public nodelet::Nodelet +{ + + protected: void onInit() override + { + if (!this->getPrivateNodeHandle().getParam("ign_topic", this->ignTopic)) + { + ROS_ERROR("Please, provide parameter ~ign_topic"); + exit(1); + } + + this->sub = this->getPrivateNodeHandle().subscribe("trajectory", 100, &JointTrajectoryBridge::OnTrajectory, this); + + ROS_INFO("Publishing to Ignition topic %s", this->ignTopic.c_str()); + this->pub = this->node.Advertise(this->ignTopic); + } + + protected: void OnTrajectory(const trajectory_msgs::JointTrajectory& msg) + { + ROS_INFO_ONCE("Publishing first message to topic %s", this->ignTopic.c_str()); + + ignition::msgs::JointTrajectory ignMsg; + + convert_ros_to_ign(msg.header, (*ignMsg.mutable_header())); + + ignMsg.mutable_points()->Reserve(msg.points.size()); + for (const auto & name : msg.joint_names) + ignMsg.add_joint_names(name); + + ignMsg.mutable_points()->Reserve(msg.points.size()); + for (const auto& point : msg.points) + { + auto* ignPoint = ignMsg.add_points(); + + ignPoint->mutable_positions()->Reserve(point.positions.size()); + for (const auto & ros_position : point.positions) + ignPoint->add_positions(ros_position); + + ignPoint->mutable_velocities()->Reserve(point.velocities.size()); + for (const auto & ros_velocity : point.velocities) + ignPoint->add_velocities(ros_velocity); + + ignPoint->mutable_accelerations()->Reserve(point.accelerations.size()); + for (const auto & ros_acceleration : point.accelerations) + ignPoint->add_accelerations(ros_acceleration); + + ignPoint->mutable_effort()->Reserve(point.effort.size()); + for (const auto & ros_effort : point.effort) + ignPoint->add_effort(ros_effort); + + auto* ign_duration = ignPoint->mutable_time_from_start(); + ign_duration->set_sec(point.time_from_start.sec); + ign_duration->set_nsec(point.time_from_start.nsec); + } + + this->pub.Publish(ignMsg); + } + + protected: ignition::transport::Node::Publisher pub; + protected: ignition::transport::Node node; + protected: ros::Subscriber sub; + protected: std::string ignTopic; +}; + +} + +PLUGINLIB_EXPORT_CLASS(subt::JointTrajectoryBridge, nodelet::Nodelet) \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/src/logical_contact_bridge.cpp b/submitted_models/bosdyn_spot/src/logical_contact_bridge.cpp new file mode 100644 index 00000000..6602a444 --- /dev/null +++ b/submitted_models/bosdyn_spot/src/logical_contact_bridge.cpp @@ -0,0 +1,56 @@ +#include + +#include +#include + +#include + +#include +#include +#include + +namespace subt +{ + +class LogicalContactBridge : public nodelet::Nodelet +{ + private: void onInit() override + { + if (!this->getPrivateNodeHandle().getParam("ign_topic", this->ignTopic)) + { + ROS_ERROR("LogicalContactBridge: Please, provide parameter ~ign_topic"); + return; + } + + this->pub = this->getNodeHandle().advertise("logical_contacts", 100); + + ROS_INFO("Subscribing to Ignition topic %s", this->ignTopic.c_str()); + this->node.Subscribe(this->ignTopic, &LogicalContactBridge::OnContacts, this); + } + + void OnContacts(const ignition::msgs::Int32_V& ignMsg) + { + ROS_INFO_ONCE("Received first message on topic %s", this->ignTopic.c_str()); + + bosdyn_spot::LogicalContactPtr msg(new bosdyn_spot::LogicalContact); + msg->header.stamp.sec = ignMsg.header().stamp().sec(); + msg->header.stamp.nsec = ignMsg.header().stamp().nsec(); + msg->contacts.resize(ignMsg.data_size()); + + size_t i = 0; + for (const auto& contact : ignMsg.data()) + { + msg->contacts[i] = contact > 0; + i += 1; + } + this->pub.publish(msg); + } + + protected: ros::Publisher pub; + protected: ignition::transport::Node node; + protected: std::string ignTopic; +}; + +} + +PLUGINLIB_EXPORT_CLASS(subt::LogicalContactBridge, nodelet::Nodelet) \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/src/logical_contact_system.cpp b/submitted_models/bosdyn_spot/src/logical_contact_system.cpp new file mode 100644 index 00000000..9265af8b --- /dev/null +++ b/submitted_models/bosdyn_spot/src/logical_contact_system.cpp @@ -0,0 +1,133 @@ +#include + +#include +#include + +#include + +#include +#include + +#include + +using namespace ignition; +using namespace gazebo; + +namespace subt +{ + +class LogicalContactSystem : public System, public ISystemConfigure, public ISystemPostUpdate +{ + public: void Configure(const Entity& _entity, const std::shared_ptr& _sdf, + EntityComponentManager& _ecm, EventManager& _eventMgr) override + { + const Model model(_entity); + if (!model.Valid(_ecm)) + { + ignerr << "LogicalContactSystem should be attached to a model entity. Failed to initialize." << std::endl; + return; + } + + if (!_sdf->HasElement("group")) + { + ignerr << "LogicalContactSystem doesn't have any element. It will not do anything." << std::endl; + return; + } + + auto sdf = _sdf->Clone(); + for (auto group = sdf->GetElement("group"); group; group = group->GetNextElement("group")) + { + if (!group->HasAttribute("name")) + { + ignerr << "LogicalContactSystem found a group without the 'name' attribute, ignoring it." << std::endl; + continue; + } + + const auto name = group->GetAttribute("name")->GetAsString(); + this->collisionNames[name].clear(); // initialize the map key + + for (auto collision = group->GetElement("collision"); collision; collision = collision->GetNextElement("collision")) + { + const auto collName = collision->GetValue()->GetAsString(); + if (collName.empty()) + { + ignerr << "LogicalContactSystem found empty tag in group [" << name << "], it will be ignored." << std::endl; + continue; + } + this->collisions[collName] = kNullEntity; + this->collisionNames[name].push_back(collName); + } + } + + std::string topic {"/model/" + model.Name(_ecm) + "/logical_contacts"}; + if (_sdf->HasElement("topic")) + topic = _sdf->Get("topic"); + + this->pub = this->node.Advertise(topic); + + std::stringstream ss; + for (const auto& groupPair : this->collisionNames) + { + ss << " - '" << groupPair.first << "' with collisions ["; + for (size_t i = 0; i < groupPair.second.size(); ++i) + { + ss << "'" << groupPair.second[i] << "'"; + if (i < groupPair.second.size() - 1) + ss << ", "; + } + ss << "]" << std::endl; + } + ignmsg << "LogicalContactSystem publishing on [" << topic << "] is handling the following groups:\n" << ss.str(); + } + + public: void PostUpdate(const UpdateInfo& _info, const EntityComponentManager& _ecm) override + { + ignition::msgs::Int32_V msg; + size_t i = 0; + msg.mutable_header()->mutable_stamp()->CopyFrom(convert(_info.simTime)); + msg.mutable_data()->Resize(this->collisionNames.size(), -1); + for (const auto& groupPair : this->collisionNames) + { + msg.mutable_data()->Set(i, false); + for (const auto& name : groupPair.second) + { + auto& entity = this->collisions.at(name); + if (entity == kNullEntity) + { + auto collisionEntities = _ecm.EntitiesByComponents( + components::Collision(), components::Name(name)); + if (!collisionEntities.empty()) + entity = collisionEntities[0]; + } + + if (entity != kNullEntity) + { + const auto& contacts = _ecm.Component(entity); + if (contacts != nullptr && contacts->Data().contact_size() > 0) + { + msg.mutable_data()->Set(i,true); + break; + } + } + } + + i += 1; + } + + this->pub.Publish(msg); + } + + protected: transport::Node node; + protected: transport::Node::Publisher pub; + protected: std::map> collisionNames; + protected: std::unordered_map collisions; +}; + +} + +IGNITION_ADD_PLUGIN(subt::LogicalContactSystem, + System, + ISystemConfigure, + ISystemPostUpdate) + +IGNITION_ADD_PLUGIN_ALIAS(subt::LogicalContactSystem, "subt::LogicalContactSystem") \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/src/mono_camera_system.cpp b/submitted_models/bosdyn_spot/src/mono_camera_system.cpp new file mode 100644 index 00000000..49d6be92 --- /dev/null +++ b/submitted_models/bosdyn_spot/src/mono_camera_system.cpp @@ -0,0 +1,143 @@ +#include + +#include +#include +#include +#include + +#include + +#include +#include +#include + +#include + +using namespace ignition; +using namespace gazebo; + +namespace subt +{ + +/// \brief Attach this plugin inside a tag to make it publish mono images in a sub-namespace 'mono' +/// The conversion to mono is a simple one with perceptually good results (non-uniform linear combination of RGB). +class MonoCameraSystem : public System, public ISystemConfigure, public ISystemPostUpdate +{ + public: void Configure(const Entity& _entity, const std::shared_ptr& _sdf, + EntityComponentManager& _ecm, EventManager& _eventMgr) override + { + this->sensor = _entity; + } + + protected: void PostUpdate(const UpdateInfo& _info, const EntityComponentManager& _ecm) override + { + if (this->initialized) + return; + + // wait until the sensor is attached to world + + const World world(worldEntity(this->sensor, _ecm)); + const auto worldName = world.Name(_ecm); + + if (!worldName.has_value()) + return; + + this->initialized = true; + + // sensor is attached to world, now we can get full scoped name + + const auto sensorName = "/" + scopedName(this->sensor, _ecm); + + std::string subTopic { sensorName + "/image" }; + std::string subInfoTopic { sensorName + "/camera_info" }; + std::string pubTopic { sensorName + "/mono/image" }; + std::string pubInfoTopic { sensorName + "/mono/camera_info" }; + this->reqSetRateTopic = subTopic + "/set_rate"; + std::string advSetRateTopic { pubTopic + "/set_rate" }; + + this->pub = this->node.Advertise(pubTopic); + this->pubInfo = this->node.Advertise(pubInfoTopic); + this->node.Subscribe(subTopic, &MonoCameraSystem::OnMsg, this); + this->node.Subscribe(subInfoTopic, &MonoCameraSystem::OnInfoMsg, this); + this->node.Advertise(advSetRateTopic, &MonoCameraSystem::OnSetRate, this); + + ignmsg << "MonoCameraSystem publishing on [" << pubTopic << "]" << std::endl; + } + + protected: void OnMsg(const ignition::msgs::Image& msg) + { + ignition::msgs::Image outMsg; + switch (msg.pixel_format_type()) + { + case ignition::msgs::PixelFormatType::BAYER_BGGR8: + case ignition::msgs::PixelFormatType::BAYER_GBRG8: + case ignition::msgs::PixelFormatType::BAYER_GRBG8: + case ignition::msgs::PixelFormatType::BAYER_RGGB8: + { + outMsg.CopyFrom(msg); + outMsg.set_pixel_format_type(ignition::msgs::PixelFormatType::L_INT8); + break; + } + case ignition::msgs::PixelFormatType::RGB_INT8: + case ignition::msgs::PixelFormatType::BGR_INT8: + { + outMsg.mutable_header()->CopyFrom(msg.header()); + outMsg.set_pixel_format_type(ignition::msgs::PixelFormatType::L_INT8); + outMsg.set_width(msg.width()); + outMsg.set_height(msg.height()); + outMsg.set_step(msg.width()); + + const auto length = msg.width() * msg.height(); + if (this->data == nullptr) + this->data = new char[length]; + + const auto& inData = msg.data(); + for (size_t i = 0; i < length; ++i) + this->data[i] = static_cast((30 * inData[i*3] + 59 * inData[i*3+1] + 11 * inData[i*3+2]) / 100); + + outMsg.set_data(this->data, length); + break; + } + default: + { + static bool warned = false; + if (!warned) + { + ignwarn << "MonoCameraSystem: Unsupported pixel format [" << msg.pixel_format_type() << "]" << std::endl; + warned = true; + return; + } + } + } + + this->pub.Publish(outMsg); + } + + protected: void OnInfoMsg(const ignition::msgs::CameraInfo& msg) + { + this->pubInfo.Publish(msg); + } + + protected: void OnSetRate(const ignition::msgs::Double &_rate) + { + this->node.Request(this->reqSetRateTopic, _rate); + } + + public: ~MonoCameraSystem() override + { + delete[] this->data; + this->data = nullptr; + } + + protected: transport::Node node; + protected: transport::Node::Publisher pub, pubInfo; + protected: Entity sensor {kNullEntity}; + protected: bool initialized {false}; + protected: char* data {nullptr}; + protected: std::string reqSetRateTopic; +}; + +} + +IGNITION_ADD_PLUGIN(subt::MonoCameraSystem, System, ISystemConfigure, ISystemPostUpdate) +IGNITION_ADD_PLUGIN_ALIAS(subt::MonoCameraSystem, "subt::MonoCameraSystem") \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/src/multi_joint_command.cpp b/submitted_models/bosdyn_spot/src/multi_joint_command.cpp new file mode 100644 index 00000000..9eea9f02 --- /dev/null +++ b/submitted_models/bosdyn_spot/src/multi_joint_command.cpp @@ -0,0 +1,312 @@ +#include +#include +#include + +#include +#include + +#include "ignition/gazebo/components/JointPosition.hh" +#include "ignition/gazebo/components/JointVelocityCmd.hh" +#include "ignition/gazebo/components/JointForceCmd.hh" +#include "ignition/gazebo/Model.hh" + +using namespace ignition; +using namespace gazebo; +using namespace systems; + +namespace subt +{ +/// \brief Plugin for controlling multiple joints at once. This should avoid time-sync +/// problems in control algorithms. +/// +/// This plugin does not control the joints itself. The joints need to spawn their own +/// positional, velocity or effort controllers that accept commands on Ignition topics. +/// This plugin just de-multiplexes the single control command into multiple commands for the controllers. +/// This relaying should happen during a single simulation step. +/// +/// Only finite values will be published to the controllers. So if you e.g. only want to set +/// the effort target for a joint, be sure to set the position and velocity targets to NaN, +/// otherwise this plugin will set all three targets (even if the other two are zero). +/// This might be no problem if there actually are none positional and velocity controllers +/// for the joint - then the commands will be published, but nobody will read them. +/// +/// Once https://github.com/ignitionrobotics/ros_ign/pull/135 gets merged, it will +/// be possible to e.g. leave the position and velocity fields empty and only fill out +/// name and effort. +/// +/// The command can also be sent as a JointTrajectory type. It will do the same as the Model +/// type message. Only the first trajectory point will be executed. +/// +/// # Parameters +/// +/// ``: Name of the topic on which this system receives commands. Defaults to `/model/${MODEL_NAME}/joint_commands`. +/// ``: Name of the topic on which this system receives trajectory commands. Defaults to `/model/${MODEL_NAME}/joint_trajectory`. +/// ``: The plugin is configured by a list of tags, each of which specifies one controlled joint. +/// The `name` attribute is mandatory and specifies the name of the joint. +/// +/// ``: Topic for sending positional commands. Defaults to `/model/${MODEL_NAME}/joint/${JOINT_NAME}/0/cmd_pos`. +/// ``: Topic for sending velocity commands. Defaults to `/model/${MODEL_NAME}/joint/${JOINT_NAME}/cmd_vel`. +/// ``: Topic for sending effort commands. Defaults to `/model/${MODEL_NAME}/joint/${JOINT_NAME}/cmd_force`. +/// +/// # Subscriptions +/// +/// `{topic}` (`ignition::msgs::Model`): The system receives the multi-commands on this topic. It only parses the +/// fields that are present, and is only interested in the header and joints/axis1 fields. Ignition-ROS bridge +/// provides a converter between sensor_msgs/JointState and ignition::msgs::Model. Make sure the ROS message +/// has all four vectors of the same length, otherwise the Ign-ROS bridge could segfault! +class MultiJointCommandSystem : public System, public ISystemConfigure +{ + public: void Configure(const Entity& _entity, const std::shared_ptr& _sdf, + EntityComponentManager& _ecm, EventManager& _eventMgr) override + { + this->model = Model(_entity); + if (!this->model.Valid(_ecm)) + { + ignerr << "MultiJointCommandSystem should be attached to a model entity. Failed to initialize." << std::endl; + return; + } + + if (!_sdf->HasElement("joint")) + { + ignerr << "MultiJointCommandSystem doesn't have any element. It will not do anything." << std::endl; + return; + } + + auto sdf = _sdf->Clone(); + + auto joint = sdf->GetElement("joint"); + while (joint) + { + if (!joint->HasAttribute("name")) + { + ignerr << "MultiJointCommandSystem found a element with no `name` attribute. This element will be ignored." << std::endl; + joint = joint->GetNextElement("joint"); + continue; + } + + const auto name = joint->GetAttribute("name")->GetAsString(); + + const auto& jointEntity = this->model.JointByName(_ecm, name); + if (jointEntity == kNullEntity) + { + ignerr << "MultiJointCommandSystem tried to configure for joint " << name << " but that joint does not exist in the model. It will be ignored." << std::endl; + joint = joint->GetNextElement("joint"); + continue; + } + + const auto prefix = "/model/" + this->model.Name(_ecm) + "/joint/" + name; + + std::string posTopic = prefix + "/0/cmd_pos"; + std::string velTopic = prefix + "/cmd_vel"; + std::string forceTopic = prefix + "/cmd_force"; + + if (sdf->HasElement("position_target_topic")) + posTopic = sdf->Get("position_target_topic"); + if (sdf->HasElement("velocity_target_topic")) + velTopic = sdf->Get("velocity_target_topic"); + if (sdf->HasElement("effort_target_topic")) + forceTopic = sdf->Get("effort_target_topic"); + + const auto prevPosTopic = posTopic; + posTopic = transport::TopicUtils::AsValidTopic(posTopic); + if (posTopic.empty()) + ignwarn << "Invalid topic name " << prevPosTopic; + else + { + this->posPublishers[name] = this->node.Advertise(posTopic); + if (posTopic != prevPosTopic) + ignwarn << "Topic name adjusted from " << prevPosTopic << " to " << posTopic; + } + + const auto prevVelTopic = velTopic; + velTopic = transport::TopicUtils::AsValidTopic(velTopic); + if (velTopic.empty()) + ignwarn << "Invalid topic name " << prevVelTopic; + else + { + this->velPublishers[name] = this->node.Advertise(velTopic); + if (velTopic != prevVelTopic) + ignwarn << "Topic name adjusted from " << prevVelTopic << " to " << velTopic; + } + + const auto prevForceTopic = forceTopic; + forceTopic = transport::TopicUtils::AsValidTopic(forceTopic); + if (forceTopic.empty()) + ignwarn << "Invalid topic name " << prevForceTopic; + else + { + this->forcePublishers[name] = this->node.Advertise(forceTopic); + if (forceTopic != prevForceTopic) + ignwarn << "Topic name adjusted from " << prevForceTopic << " to " << forceTopic; + } + + ignmsg << "MultiJointControlSystem was configured for joint " << name << std::endl; + + joint = joint->GetNextElement("joint"); + } + + std::string topic {"/model/" + this->model.Name(_ecm) + "/joint_commands"}; + if (_sdf->HasElement("topic")) + topic = _sdf->Get("topic"); + + this->node.Subscribe(topic, &MultiJointCommandSystem::OnCmd, this); + + std::string trajectoryTopic {"/model/" + this->model.Name(_ecm) + "/joint_trajectory"}; + if (_sdf->HasElement("trajectory_topic")) + trajectoryTopic = _sdf->Get("trajectory_topic"); + + this->node.Subscribe(trajectoryTopic, &MultiJointCommandSystem::OnTrajectoryCmd, this); + + ignmsg << "MultiJointCommandSystem subscribing to JointState commands on [" << topic + << "] and JointTrajectory commands on [" << trajectoryTopic << "]" << std::endl; + + this->initialized = true; + } + + protected: void OnCmd(const msgs::Model &_msg) + { + if (!this->initialized) + return; + + for (const auto& joint : _msg.joint()) + { + if (joint.name().empty()) + { + ignwarn << "Received command with empty joint name." << std::endl; + continue; + } + + const auto& name = joint.name(); + + if (!joint.has_axis1()) + { + ignwarn << "Received command for joint " << name << " without axis1." << std::endl; + continue; + } + + const auto& axis = joint.axis1(); + + if (std::isfinite(axis.position())) + { + if (this->posPublishers.find(name) != this->posPublishers.end()) + { + msgs::Double msg; + *msg.mutable_header() = _msg.header(); + msg.set_data(axis.position()); + this->posPublishers[name].Publish(msg); + } + else + ignwarn << "Received positional command for joint " << name << " which doesn't have a valid positional target topic." << std::endl; + } + + if (std::isfinite(axis.velocity())) + { + if (this->velPublishers.find(name) != this->velPublishers.end()) + { + msgs::Double msg; + *msg.mutable_header() = _msg.header(); + msg.set_data(axis.velocity()); + this->velPublishers[name].Publish(msg); + } + else + ignwarn << "Received velocity command for joint " << name << " which doesn't have a valid velocity target topic." << std::endl; + } + + if (std::isfinite(axis.force())) + { + if (this->forcePublishers.find(name) != this->forcePublishers.end()) + { + msgs::Double msg; + *msg.mutable_header() = _msg.header(); + msg.set_data(axis.force()); + this->forcePublishers[name].Publish(msg); + } + else + ignwarn << "Received force command for joint " << name << " which doesn't have a valid effort target topic." << std::endl; + } + + if (!std::isfinite(axis.position()) && !std::isfinite(axis.velocity()) && !std::isfinite(axis.force())) + { + ignwarn << "Received command for joint " << name << " with no values to set." << std::endl; + } + } + } + + protected: void OnTrajectoryCmd(const msgs::JointTrajectory &_msg) + { + if (!this->initialized) + return; + + for (size_t i = 0; i < _msg.joint_names_size(); ++i) + { + if (_msg.joint_names(i).empty()) + { + ignwarn << "Received command with empty joint name." << std::endl; + continue; + } + + if (_msg.points().empty()) + { + ignwarn << "Received empty trajectory command." << std::endl; + continue; + } + + if (_msg.points().size() > 1) + ignwarn << "Received trajectory command with >1 points, this is not supported. Executing only the first one." << std::endl; + + const auto& name = _msg.joint_names(i); + const auto& point = *_msg.points().begin(); + + if (i < point.positions_size() && std::isfinite(point.positions(i))) + { + if (this->posPublishers.find(name) != this->posPublishers.end()) + { + msgs::Double msg; + *msg.mutable_header() = _msg.header(); + msg.set_data(point.positions(i)); + this->posPublishers[name].Publish(msg); + } + else + ignwarn << "Received positional command for joint " << name << " which doesn't have a valid positional target topic." << std::endl; + } + + if (i < point.velocities_size() && std::isfinite(point.velocities(i))) + { + if (this->velPublishers.find(name) != this->velPublishers.end()) + { + msgs::Double msg; + *msg.mutable_header() = _msg.header(); + msg.set_data(point.velocities(i)); + this->velPublishers[name].Publish(msg); + } + else + ignwarn << "Received velocity command for joint " << name << " which doesn't have a valid velocity target topic." << std::endl; + } + + if (i < point.effort_size() && std::isfinite(point.effort(i))) + { + if (this->forcePublishers.find(name) != this->forcePublishers.end()) + { + msgs::Double msg; + *msg.mutable_header() = _msg.header(); + msg.set_data(point.effort(i)); + this->forcePublishers[name].Publish(msg); + } + else + ignwarn << "Received force command for joint " << name << " which doesn't have a valid effort target topic." << std::endl; + } + } + } + + protected: bool initialized {false}; + protected: transport::Node node; + protected: std::unordered_map posPublishers; + protected: std::unordered_map velPublishers; + protected: std::unordered_map forcePublishers; + protected: Model model{kNullEntity}; +}; + +} + +IGNITION_ADD_PLUGIN(subt::MultiJointCommandSystem, System, ISystemConfigure) +IGNITION_ADD_PLUGIN_ALIAS(subt::MultiJointCommandSystem, "subt::MultiJointCommandSystem") \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/src/pid_control_bridge.cpp b/submitted_models/bosdyn_spot/src/pid_control_bridge.cpp new file mode 100644 index 00000000..5092be8a --- /dev/null +++ b/submitted_models/bosdyn_spot/src/pid_control_bridge.cpp @@ -0,0 +1,62 @@ +#include + +#include +#include + +#include +#include +#include +#include + +#include + + +namespace subt +{ + +/// \brief ROS-Ign bridge for dynamic reconfiguration of a PID. +class PidControlBridge : public nodelet::Nodelet +{ + + protected: void onInit() override + { + if (!this->getPrivateNodeHandle().getParam("ign_topic", this->ignTopic)) + { + ROS_ERROR("Please, provide parameter ~ign_topic"); + exit(1); + } + + ROS_INFO("Connected to Ignition topic %s", this->ignTopic.c_str()); + + ROS_DEBUG_STREAM_NAMED("pid","Initializing dynamic reconfigure in namespace " + << this->getPrivateNodeHandle().getNamespace()); + + this->reconfServer = std::make_unique>( + this->getPrivateNodeHandle()); + this->reconfServer->setCallback(boost::bind(&PidControlBridge::dynamicReconfigCallback, this, _1, _2)); + } + + protected: void dynamicReconfigCallback(control_toolbox::ParametersConfig &config, uint32_t /*level*/) + { + const auto now = ros::Time::now(); + ignition::msgs::PID msg; + msg.mutable_header()->mutable_stamp()->set_sec(now.sec); + msg.mutable_header()->mutable_stamp()->set_nsec(now.nsec); + + msg.mutable_p_gain_optional()->set_data(config.p); + msg.mutable_i_gain_optional()->set_data(config.i); + msg.mutable_d_gain_optional()->set_data(config.d); + msg.mutable_i_max_optional()->set_data(config.i_clamp_max); + msg.mutable_i_min_optional()->set_data(config.i_clamp_min); + + this->node.Request(this->ignTopic, msg); + } + + protected: ignition::transport::Node node; + protected: std::string ignTopic; + protected: std::unique_ptr> reconfServer; +}; + +} + +PLUGINLIB_EXPORT_CLASS(subt::PidControlBridge, nodelet::Nodelet) \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/thumbnails/1.png b/submitted_models/bosdyn_spot/thumbnails/1.png new file mode 100644 index 00000000..fee60003 Binary files /dev/null and b/submitted_models/bosdyn_spot/thumbnails/1.png differ diff --git a/submitted_models/bosdyn_spot/thumbnails/2.png b/submitted_models/bosdyn_spot/thumbnails/2.png new file mode 100644 index 00000000..ce92b1c1 Binary files /dev/null and b/submitted_models/bosdyn_spot/thumbnails/2.png differ diff --git a/submitted_models/bosdyn_spot/thumbnails/3.png b/submitted_models/bosdyn_spot/thumbnails/3.png new file mode 100644 index 00000000..f764e2fd Binary files /dev/null and b/submitted_models/bosdyn_spot/thumbnails/3.png differ diff --git a/submitted_models/bosdyn_spot/thumbnails/4.png b/submitted_models/bosdyn_spot/thumbnails/4.png new file mode 100644 index 00000000..401017c4 Binary files /dev/null and b/submitted_models/bosdyn_spot/thumbnails/4.png differ diff --git a/submitted_models/bosdyn_spot/thumbnails/5.png b/submitted_models/bosdyn_spot/thumbnails/5.png new file mode 100644 index 00000000..6d2a562a Binary files /dev/null and b/submitted_models/bosdyn_spot/thumbnails/5.png differ diff --git a/submitted_models/bosdyn_spot/urdf/camera.xacro b/submitted_models/bosdyn_spot/urdf/camera.xacro new file mode 100644 index 00000000..2469a68d --- /dev/null +++ b/submitted_models/bosdyn_spot/urdf/camera.xacro @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + + 0 0.01 0 0 0 0 + 30 + ${visualize} + + ${radians(102.35)} + + 640 + 480 + R8G8B8 + + + 0.1 + 20.0 + + + gaussian + 0.0 + 0.007 + + + + 257.4866 + 257.4866 + 319.5 + 239.5 + 0 + + + + + + + + 0 0 0 0 0 0 + 30 + ${visualize} + + ${radians(102.35)} + + 424 + 240 + R_FLOAT32 + + + 0.1 + 4.0 + + + gaussian + 0.0 + 0.007 + + + + 170.6 + 170.6 + 211.5 + 119.5 + 0 + + + + + + + + \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/urdf/constants.urdf.xacro b/submitted_models/bosdyn_spot/urdf/constants.urdf.xacro new file mode 100644 index 00000000..c296ffcc --- /dev/null +++ b/submitted_models/bosdyn_spot/urdf/constants.urdf.xacro @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/bosdyn_spot/urdf/empty.urdf b/submitted_models/bosdyn_spot/urdf/empty.urdf new file mode 100644 index 00000000..239c6e02 --- /dev/null +++ b/submitted_models/bosdyn_spot/urdf/empty.urdf @@ -0,0 +1,6 @@ + + + diff --git a/submitted_models/bosdyn_spot/urdf/spot.urdf.xacro b/submitted_models/bosdyn_spot/urdf/spot.urdf.xacro new file mode 100644 index 00000000..427b326a --- /dev/null +++ b/submitted_models/bosdyn_spot/urdf/spot.urdf.xacro @@ -0,0 +1,149 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 50 + + + + + 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 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/bosdyn_spot/urdf/spot_leg.urdf.xacro b/submitted_models/bosdyn_spot/urdf/spot_leg.urdf.xacro new file mode 100644 index 00000000..9da4d7d2 --- /dev/null +++ b/submitted_models/bosdyn_spot/urdf/spot_leg.urdf.xacro @@ -0,0 +1,169 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + $(arg leg_kp) + $(arg leg_kd) + $(arg leg_mu1) + $(arg leg_mu2) + + $(arg leg_fdir1) + + + + ${leg_name}_lower_leg_collision + ${leg_name}_lower_leg_collision_1 + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/urdf/utils.xacro b/submitted_models/bosdyn_spot/urdf/utils.xacro new file mode 100644 index 00000000..0a955041 --- /dev/null +++ b/submitted_models/bosdyn_spot/urdf/utils.xacro @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + false + + + + + + + + + + + + + true + + + + + + + + + + ${r} ${g} ${b} 1 + ${r} ${g} ${b} 1 + ${r} ${g} ${b} 1 + 0 0 0 0 + + + + + + \ No newline at end of file diff --git a/submitted_models/bosdyn_spot/worlds/example.sdf b/submitted_models/bosdyn_spot/worlds/example.sdf new file mode 100644 index 00000000..9eb5c0f8 --- /dev/null +++ b/submitted_models/bosdyn_spot/worlds/example.sdf @@ -0,0 +1,192 @@ + + + + + 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 + + + diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/.gitignore b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/.gitignore new file mode 100644 index 00000000..5a7699cc --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/.gitignore @@ -0,0 +1 @@ +model.sdf.urdf \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/CMakeLists.txt b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/CMakeLists.txt new file mode 100644 index 00000000..0828208d --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8.3) +project(ctu_cras_norlab_spot_sensor_config_1) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY config launch meshes textures urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(FILES model.sdf model.config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(PROGRAMS scripts/print_robot_urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts) \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/model/common.yaml b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/model/common.yaml new file mode 100644 index 00000000..703ab192 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/model/common.yaml @@ -0,0 +1,4 @@ +num_breadcrumbs: 0 +body_color_r: 0 +body_color_g: 0.364705882 +body_color_b: 0.678431373 \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/model/urdf.yaml b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/model/urdf.yaml new file mode 100644 index 00000000..905f9971 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/model/urdf.yaml @@ -0,0 +1 @@ +has_big_collision_box_on_top: True \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/ros_control/ros_control.yaml b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/ros_control/ros_control.yaml new file mode 100644 index 00000000..14685449 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/ros_control/ros_control.yaml @@ -0,0 +1,15 @@ +"": + joint_group_position_controller: + gains: + front_left_hip_x : {p: 280, i: 0.3, d: 7.0} + front_left_hip_y : {p: 280, i: 0.3, d: 7.0} + front_left_knee : {p: 280, i: 0.3, d: 7.0} + front_right_hip_x : {p: 280, i: 0.3, d: 7.0} + front_right_hip_y : {p: 280, i: 0.3, d: 7.0} + front_right_knee : {p: 280, i: 0.3, d: 7.0} + rear_left_hip_x : {p: 280, i: 0.3, d: 7.0} + rear_left_hip_y : {p: 280, i: 0.3, d: 7.0} + rear_left_knee : {p: 280, i: 0.3, d: 7.0} + rear_right_hip_x : {p: 280, i: 0.3, d: 7.0} + rear_right_hip_y : {p: 280, i: 0.3, d: 7.0} + rear_right_knee : {p: 280, i: 0.3, d: 7.0} \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/rviz.rviz b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/rviz.rviz new file mode 100644 index 00000000..21c85583 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/config/rviz.rviz @@ -0,0 +1,1198 @@ +Panels: + - Class: rviz/Displays + Help Height: 85 + Name: Displays + Property Tree Widget: + Expanded: + - /Robot model1/Status1 + - /Mono1 + - /Depth1 + - /Points1 + - /VRAS Omnicam1 + Splitter Ratio: 0.6631853580474854 + Tree Height: 313 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + - /Robot left side1/Focal Point1 + Name: Views + Splitter Ratio: 0.4786096215248108 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Left +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - 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 + X1/base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/body: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/camera_0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/camera_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/camera_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/camera_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/camera_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/camera_back: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/camera_frontleft: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/camera_frontright: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/camera_left: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/camera_right: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/front_left_ee: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/front_left_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_left_lower_leg: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_left_upper_leg: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_rail: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/front_right_ee: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/front_right_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_right_lower_leg: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_right_upper_leg: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/imu: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/imu_vras: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/payload: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_ee: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/rear_left_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_lower_leg: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_upper_leg: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_rail: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/rear_right_ee: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/rear_right_hip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_right_lower_leg: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_right_upper_leg: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + total_mass_34_66: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: Robot model + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + X1: + Value: true + X1/base_link: + Value: true + X1/body: + Value: true + X1/camera_0: + Value: true + X1/camera_0/camera_0: + Value: true + X1/camera_0/camera_0_optical: + Value: true + X1/camera_1: + Value: true + X1/camera_1/camera_1: + Value: true + X1/camera_1/camera_1_optical: + Value: true + X1/camera_2: + Value: true + X1/camera_2/camera_2: + Value: true + X1/camera_2/camera_2_optical: + Value: true + X1/camera_3: + Value: true + X1/camera_3/camera_3: + Value: true + X1/camera_3/camera_3_optical: + Value: true + X1/camera_4: + Value: true + X1/camera_4/camera_4: + Value: true + X1/camera_4/camera_4_optical: + Value: true + X1/camera_back: + Value: true + X1/camera_back/back_depth: + Value: true + X1/camera_back/back_depth_optical: + Value: true + X1/camera_back/back_fisheye_image: + Value: true + X1/camera_back/back_fisheye_image_optical: + Value: true + X1/camera_frontleft: + Value: true + X1/camera_frontleft/frontleft_depth: + Value: true + X1/camera_frontleft/frontleft_depth_optical: + Value: true + X1/camera_frontleft/frontleft_fisheye_image: + Value: true + X1/camera_frontleft/frontleft_fisheye_image_optical: + Value: true + X1/camera_frontright: + Value: true + X1/camera_frontright/frontright_depth: + Value: true + X1/camera_frontright/frontright_depth_optical: + Value: true + X1/camera_frontright/frontright_fisheye_image: + Value: true + X1/camera_frontright/frontright_fisheye_image_optical: + Value: true + X1/camera_left: + Value: true + X1/camera_left/left_depth: + Value: true + X1/camera_left/left_depth_optical: + Value: true + X1/camera_left/left_fisheye_image: + Value: true + X1/camera_left/left_fisheye_image_optical: + Value: true + X1/camera_right: + Value: true + X1/camera_right/right_depth: + Value: true + X1/camera_right/right_depth_optical: + Value: true + X1/camera_right/right_fisheye_image: + Value: true + X1/camera_right/right_fisheye_image_optical: + Value: true + X1/front_left_ee: + Value: true + X1/front_left_hip: + Value: true + X1/front_left_lower_leg: + Value: true + X1/front_left_lower_leg/contact: + Value: true + X1/front_left_upper_leg: + Value: true + X1/front_rail: + Value: true + X1/front_right_ee: + Value: true + X1/front_right_hip: + Value: true + X1/front_right_lower_leg: + Value: true + X1/front_right_lower_leg/contact: + Value: true + X1/front_right_upper_leg: + Value: true + X1/imu: + Value: true + X1/imu/imu: + Value: true + X1/imu_vras: + Value: true + X1/imu_vras/imu: + Value: true + X1/laser: + Value: true + X1/laser/laser: + Value: true + X1/payload: + Value: true + X1/rear_left_ee: + Value: true + X1/rear_left_hip: + Value: true + X1/rear_left_lower_leg: + Value: true + X1/rear_left_lower_leg/contact: + Value: true + X1/rear_left_upper_leg: + Value: true + X1/rear_rail: + Value: true + X1/rear_right_ee: + Value: true + X1/rear_right_hip: + Value: true + X1/rear_right_lower_leg: + Value: true + X1/rear_right_lower_leg/contact: + Value: true + X1/rear_right_upper_leg: + Value: true + example: + Value: true + world: + Value: true + Marker Scale: 0.6000000238418579 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + X1: + X1/base_link: + {} + X1/body: + {} + X1/camera_0: + X1/camera_0/camera_0: + X1/camera_0/camera_0_optical: + {} + X1/camera_1: + X1/camera_1/camera_1: + X1/camera_1/camera_1_optical: + {} + X1/camera_2: + X1/camera_2/camera_2: + X1/camera_2/camera_2_optical: + {} + X1/camera_3: + X1/camera_3/camera_3: + X1/camera_3/camera_3_optical: + {} + X1/camera_4: + X1/camera_4/camera_4: + X1/camera_4/camera_4_optical: + {} + X1/camera_back: + X1/camera_back/back_depth: + X1/camera_back/back_depth_optical: + {} + X1/camera_back/back_fisheye_image: + X1/camera_back/back_fisheye_image_optical: + {} + X1/camera_frontleft: + X1/camera_frontleft/frontleft_depth: + X1/camera_frontleft/frontleft_depth_optical: + {} + X1/camera_frontleft/frontleft_fisheye_image: + X1/camera_frontleft/frontleft_fisheye_image_optical: + {} + X1/camera_frontright: + X1/camera_frontright/frontright_depth: + X1/camera_frontright/frontright_depth_optical: + {} + X1/camera_frontright/frontright_fisheye_image: + X1/camera_frontright/frontright_fisheye_image_optical: + {} + X1/camera_left: + X1/camera_left/left_depth: + X1/camera_left/left_depth_optical: + {} + X1/camera_left/left_fisheye_image: + X1/camera_left/left_fisheye_image_optical: + {} + X1/camera_right: + X1/camera_right/right_depth: + X1/camera_right/right_depth_optical: + {} + X1/camera_right/right_fisheye_image: + X1/camera_right/right_fisheye_image_optical: + {} + X1/front_left_ee: + {} + X1/front_left_hip: + {} + X1/front_left_lower_leg: + X1/front_left_lower_leg/contact: + {} + X1/front_left_upper_leg: + {} + X1/front_rail: + {} + X1/front_right_ee: + {} + X1/front_right_hip: + {} + X1/front_right_lower_leg: + X1/front_right_lower_leg/contact: + {} + X1/front_right_upper_leg: + {} + X1/imu: + X1/imu/imu: + {} + X1/imu_vras: + X1/imu_vras/imu: + {} + X1/laser: + X1/laser/laser: + {} + X1/payload: + {} + X1/rear_left_ee: + {} + X1/rear_left_hip: + {} + X1/rear_left_lower_leg: + X1/rear_left_lower_leg/contact: + {} + X1/rear_left_upper_leg: + {} + X1/rear_rail: + {} + X1/rear_right_ee: + {} + X1/rear_right_hip: + {} + X1/rear_right_lower_leg: + X1/rear_right_lower_leg/contact: + {} + X1/rear_right_upper_leg: + {} + Update Interval: 0 + Value: true + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Base link grid (1 m) + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: X1 + Value: true + - Alpha: 0.5 + Cell Size: 10 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Fixed frame grid (10 m) + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: left/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Left + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: frontleft/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Front Left + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: frontright/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Front Right + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: right/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Right + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: back/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Back + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Name: Mono + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: tof_left/depth + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Left Depth + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: tof_frontleft/depth + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Front Left Depth + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: tof_frontright/depth + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Front Right Depth + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: tof_right/depth + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Right Depth + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: tof_back/depth + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Back Depth + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Name: Depth + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Left PCL + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: tof_left/depth/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Front Left PCL + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: tof_frontleft/depth/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Front Right PCL + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: tof_frontright/depth/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Right PCL + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: tof_right/depth/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Back PCL + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: tof_back/depth/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: false + Name: Points + - Alpha: 1 + Class: rviz_plugin_tutorials/Imu + Color: 204; 51; 204 + Enabled: false + History Length: 1 + Name: Body IMU + Topic: imu/data + Unreliable: false + Value: false + - Alpha: 1 + Class: rviz_plugin_tutorials/Imu + Color: 204; 51; 204 + Enabled: false + History Length: 1 + Name: Payload IMU + Topic: imu_vras/data + Unreliable: false + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 45.6143684387207 + Min Value: -3.9196484088897705 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Ouster + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Flat Squares + Topic: points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_0/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Omni Front + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_1/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Omni Right + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_2/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Omni Rear + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_3/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Omni Left + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_4/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Omni Up + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Name: VRAS Omnicam + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: X1 + 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/ThirdPersonFollower + Distance: 2.429633378982544 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.7089881896972656 + Y: 0.7545500993728638 + Z: 1.2227055776747875e-5 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.10000000149011612 + Pitch: 0.7147965431213379 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 1.4216936826705933 + Saved: + - Class: rviz/Orbit + Distance: 5 + 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: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot orbit + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7853981852531433 + Target Frame: base_link + Value: Orbit (rviz) + Yaw: 0.785398006439209 + - Class: rviz/ThirdPersonFollower + Distance: 5 + 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: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot 3rd person + Near Clip Distance: 3 + Pitch: 0.25 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141590118408203 + - Class: rviz/ThirdPersonFollower + 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: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot top-down + Near Clip Distance: 8 + Pitch: 1.5697963237762451 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141590118408203 + - Class: rviz/ThirdPersonFollower + Distance: 5 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot left side + Near Clip Distance: 4.5 + Pitch: 0 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 1.5700000524520874 + - Class: rviz/ThirdPersonFollower + Distance: 5 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot right side + Near Clip Distance: 4.5 + Pitch: 0 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: -1.5700000524520874 + - Class: rviz/FPS + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Robot top-down + Near Clip Distance: 8 + Pitch: 1.5697963237762451 + Position: + X: 0 + Y: 0 + Z: 10 + Target Frame: base_link + Value: FPS (rviz) + Yaw: 0 + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Robot top-down + Near Clip Distance: 0.009999999776482582 + Scale: 100 + Target Frame: base_link + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Fixed frame top-down + Near Clip Distance: 0.009999999776482582 + Scale: 4 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Class: rviz/FPS + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Fixed frame 1st person + Near Clip Distance: 1 + Pitch: 1 + Position: + X: -2 + Y: 0 + Z: 5 + Target Frame: + Value: FPS (rviz) + Yaw: 0 + - Class: rviz/ThirdPersonFollower + Distance: 36.92524719238281 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.4568486213684082 + Y: 0.32300829887390137 + Z: 7.213062417577021e-6 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.10000000149011612 + Pitch: 0.5397967100143433 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 6.276592254638672 +Window Geometry: + Back: + collapsed: false + Back Depth: + collapsed: false + Displays: + collapsed: false + Front Left: + collapsed: false + Front Left Depth: + collapsed: false + Front Right: + collapsed: false + Front Right Depth: + collapsed: false + Height: 1052 + Hide Left Dock: false + Hide Right Dock: false + Left: + collapsed: false + Left Depth: + collapsed: false + Omni Front: + collapsed: false + Omni Left: + collapsed: false + Omni Rear: + collapsed: false + Omni Right: + collapsed: false + Omni Up: + collapsed: false + QMainWindow State: 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+ Right: + collapsed: false + Right Depth: + collapsed: false + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1853 + X: 67 + Y: 28 diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/common.rb new file mode 100644 index 00000000..a0ea1e94 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/common.rb @@ -0,0 +1,23 @@ +def _spawner2(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSpawnPlugins='') + base_spawn = `rospack find bosdyn_spot`.chomp + "/launch/common.rb" + begin + load base_spawn + rescue LoadError + raise "Unknown robot configuration #{File.dirname(__FILE__)}. #{base_spawn} could not be found." + else + additionalSpawnPlugins = <<-HEREDOC + + HEREDOC + _pid=[280, 0.3, 7] + _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, additionalSpawnPlugins + _additionalSpawnPlugins, ) + end +end + +def _rosExecutables2(_name, _worldName) + # description.launch is included from vehicle_topics.launch + <<-HEREDOC + + roslaunch --wait ctu_cras_norlab_spot_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} breadcrumbs:=0 + + HEREDOC +end diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/example.ign b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/example.ign new file mode 100644 index 00000000..c997a41a --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/example.ign @@ -0,0 +1,30 @@ + +<% + base_launch = `rospack find bosdyn_spot`.chomp + "/launch" + base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + + ros_param='' + if defined?(ros) and ros + ros_param='ros:=true' + end + + champ_param='' + if defined?(champ) and champ + champ_param='champ:=true' + end + + headless_param='' + if defined?(headless) and headless + headless_param='headless:=true' + end + + teleop_param='' + if defined?(teleop) and teleop + teleop_param='teleop:=true' + end +%> + + + ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= champ_param %> <%= headless_param %> <%= teleop_param %> + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/spawner.rb new file mode 100644 index 00000000..6fc054b5 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/spawner.rb @@ -0,0 +1,9 @@ +require_relative 'common.rb' + +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSpawnPlugins='') + _spawner2(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSpawnPlugins) +end + +def rosExecutables(_name, _worldName) + _rosExecutables2(_name, _worldName) +end diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/vehicle_topics.launch new file mode 100644 index 00000000..f82c6c88 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/vehicle_topics.launch @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/basler_ace2_pro.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/basler_ace2_pro.dae new file mode 100644 index 00000000..4b757cfb --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/basler_ace2_pro.dae @@ -0,0 +1,96 @@ + + + + + Blender User + Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44 + + 2021-03-17T17:12:57 + 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617 37

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--git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_left_upper_leg.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_left_upper_leg.dae new file mode 120000 index 00000000..d91aaf2f --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_left_upper_leg.dae @@ -0,0 +1 @@ +../../bosdyn_spot/meshes/front_left_upper_leg.dae \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_hip.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_hip.dae new file mode 120000 index 00000000..0fc683a9 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_hip.dae @@ -0,0 +1 @@ +../../bosdyn_spot/meshes/front_right_hip.dae \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_lower_leg.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_lower_leg.dae new file mode 120000 index 00000000..aa28ffce --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_lower_leg.dae @@ -0,0 +1 @@ +../../bosdyn_spot/meshes/front_right_lower_leg.dae \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_upper_leg.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_upper_leg.dae new file mode 120000 index 00000000..44310fc3 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/front_right_upper_leg.dae @@ -0,0 +1 @@ +../../bosdyn_spot/meshes/front_right_upper_leg.dae \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/mote_deployer.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/mote_deployer.dae new file mode 100644 index 00000000..2025ec05 --- 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1365 226 1440 301 1449 310

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2249 4443 13372 2255 4443 13373 2030 4444 13374 1983 4444 13375 2009 4444 13376 2254 4445 13377 2257 4445 13378 2010 4445 13379 1983 4446 13380 1987 4446 13381 2009 4446 13382 2009 4447 13383 1987 4447 13384 2249 4447 13385 2251 4448 13386 2257 4448 13387 2254 4448 13388 2107 4449 13389 2106 4449 13390 2242 4449 13391 2257 4450 13392 2256 4450 13393 2259 4450 13394 2256 4451 13395 2106 4451 13396 2259 4451 13397 2259 4452 13398 2106 4452 13399 2104 4452 13400 1987 4453 13401 1986 4453 13402 2251 4453 13403 2251 4454 13404 1986 4454 13405 2257 4454 13406 2029 4455 13407 1988 4455 13408 2030 4455 13409 2030 4456 13410 1988 4456 13411 1983 4456 13412 1986 4457 13413 2256 4457 13414 2257 4457 13415 2106 4458 13416 2244 4458 13417 2242 4458 13418 1986 4459 13419 2125 4459 13420 2256 4459 13421 2241 4460 13422 2239 4460 13423 2029 4460 13424 2029 4461 13425 2239 4461 13426 1988 4461 13427 2126 4462 13428 2244 4462 13429 2106 4462 13430 1988 4463 13431 2239 4463 13432 1986 4463 13433 2125 4464 13434 2244 4464 13435 2126 4464 13436 1986 4465 13437 2239 4465 13438 2125 4465 13439 2239 4466 13440 2244 4466 13441 2125 4466 13442 2247 4467 13443 2180 4467 13444 2260 4467 13445 2260 4468 13446 2180 4468 13447 2143 4468 13448 2245 4469 13449 2162 4469 13450 2264 4469 13451 2162 4470 13452 2245 4470 13453 2163 4470 13454 2252 4471 13455 2253 4471 13456 2254 4471 13457 2264 4472 13458 2262 4472 13459 2184 4472 13460 2265 4473 13461 2184 4473 13462 2262 4473 13463 2183 4474 13464 2184 4474 13465 2265 4474 13466 2263 4475 13467 2183 4475 13468 2265 4475 13469 2186 4476 13470 2264 4476 13471 2184 4476 13472 2183 4477 13473 2263 4477 13474 2186 4477 13475 2263 4478 13476 2264 4478 13477 2186 4478 13478 2267 4479 13479 2266 4479 13480 2268 4479 13481 2269 4480 13482 2267 4480 13483 2268 4480 13484 2270 4481 13485 2269 4481 13486 2268 4481 13487 2271 4482 13488 2266 4482 13489 2269 4482 13490 2266 4483 13491 2267 4483 13492 2269 4483 13493 2270 4484 13494 2266 4484 13495 2271 4484 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4504 13559 1114 4504 13560 2255 4504 13561 1116 4504 13562 1110 4504 13563 1987 4504 13564 848 4504 13565 225 4504 13566 1366 4504 13567 227 4504 13568 848 4504 13569 2251 4504 13570 1112 4504 13571 1113 4504 13572 2254 4504 13573 1115 4504 13574 1110 4504 13575 2250 4504 13576 1111 4504 13577 1112 4504 13578 2249 4504 13579 1110 4504 13580 1116 4504 13581 2249 4504 13582 1110 4504 13583 309 4504 13584 1447 4504 13585 308 4504 13586 224 4504 13587 1364 4504 13588 225 4504 13589 308 4504 13590 1450 4504 13591 311 4504 13592 1115 4504 13593 2253 4504 13594 1114 4504 13595 299 4504 13596 1439 4504 13597 300 4504 13598 227 4504 13599 1363 4504 13600 224 4504 13601 1112 4504 13602 2250 4504 13603 1111 4504 13604 1116 4504 13605 2252 4504 13606 1113 4504 13607 302 4504 13608 1438 4504 13609 299 4504 13610 311 4504 13611 1448 4504 13612 309 4504 13613 1110 4504 13614 2254 4504 13615 1115 4504 13616 1115 4504 13617 2254 4504 13618 2255 4504 13619 300 4504 13620 1439 4504 13621 1441 4504 13622 1114 4504 13623 2253 4504 13624 2255 4504 13625 1110 4504 13626 2249 4504 13627 1987 4504 13628 225 4504 13629 1364 4504 13630 1366 4504 13631 848 4504 13632 1987 4504 13633 2251 4504 13634 1113 4504 13635 2252 4504 13636 2254 4504 13637 1110 4504 13638 2249 4504 13639 2250 4504 13640 1112 4504 13641 2251 4504 13642 2249 4504 13643 1116 4504 13644 2255 4504 13645 2249 4504 13646 309 4504 13647 1448 4504 13648 1447 4504 13649 224 4504 13650 1363 4504 13651 1364 4504 13652 308 4504 13653 1447 4504 13654 1450 4504 13655 1115 4504 13656 2254 4504 13657 2253 4504 13658 299 4504 13659 1438 4504 13660 1439 4504 13661 227 4504 13662 1366 4504 13663 1363 4504 13664 1112 4504 13665 2251 4504 13666 2250 4504 13667 1116 4504 13668 2255 4504 13669 2252 4504 13670 302 4504 13671 1441 4504 13672 1438 4504 13673 311 4504 13674 1450 4504 13675 1448 4504 13676 1110 4504 13677 2249 4504 13678 2254 4504 13679

+ + + + + + + + -4.37114e-8 4.37112e-8 1.000001 0 1 1.91068e-15 4.37114e-8 0 0 0.9999955 -4.37114e-8 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_hip.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_hip.dae new file mode 120000 index 00000000..d630394e --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_hip.dae @@ -0,0 +1 @@ +../../bosdyn_spot/meshes/rear_left_hip.dae \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_lower_leg.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_lower_leg.dae new file mode 120000 index 00000000..1ac30912 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_lower_leg.dae @@ -0,0 +1 @@ +../../bosdyn_spot/meshes/rear_left_lower_leg.dae \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_upper_leg.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_upper_leg.dae new file mode 120000 index 00000000..868d967d --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_left_upper_leg.dae @@ -0,0 +1 @@ +../../bosdyn_spot/meshes/rear_left_upper_leg.dae \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_hip.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_hip.dae new file mode 120000 index 00000000..8d82ea42 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_hip.dae @@ -0,0 +1 @@ +../../bosdyn_spot/meshes/rear_right_hip.dae \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_lower_leg.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_lower_leg.dae new file mode 120000 index 00000000..e9a9b803 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_lower_leg.dae @@ -0,0 +1 @@ +../../bosdyn_spot/meshes/rear_right_lower_leg.dae \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_upper_leg.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_upper_leg.dae new file mode 120000 index 00000000..c4963d56 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/rear_right_upper_leg.dae @@ -0,0 +1 @@ +../../bosdyn_spot/meshes/rear_right_upper_leg.dae \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/spot_ign_payload.dae b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/meshes/spot_ign_payload.dae new file mode 100644 index 00000000..c1aca4a8 --- 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meshes/front_right_upper_leg.dae + + + + + + front_right_upper_leg + front_right_hip + + 0 1 0 + + -0.898845 + 2.29511 + 80 + 15 + + + 0 + 0 + + 0 + + + + 0.32285 -0.165945 -0.3205 0 -0 0 + + 0 0 -0.16 0 -0 0 + 0.5 + + 0.00743438 + 0 + 0 + 0.00740104 + 0 + 0.000135417 + + + + + + 0.82 0.97 0.98 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/front_right_lower_leg_collision.stl + + + + + + 1e+07 + 100 + + + + + 0.8 + 0.8 + + + + + + 0 0 -0.333 0 -0 0 + + + 0.04 + + + + + + 1e+07 + 100 + + + + + 0.8 + 0.8 + + + + + + + + meshes/front_right_lower_leg.dae + + + + + + front_right_lower_leg_collision + front_right_lower_leg_collision_1 + __default_topic__ + + + + + front_right_lower_leg + front_right_upper_leg + + 0 1 0 + + -2.7929 + -0.254801 + 80 + 15 + + + 0 + 0 + + 0 + + + + 0.32285 -0.165945 -0.6905 0 -0 0 + + 1e-05 + + 0.001 + 1e-06 + 1e-06 + 0.001 + 1e-06 + 0.001 + + + + + front_right_ee + front_right_lower_leg + + + 0 + 0 + + 0 0 1 + 0 + + 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-0 0 + 1 + + 0.0155334 + 0 + 0 + 0.0155334 + 0 + 0.000962667 + + + + + + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_left_upper_leg_collision.stl + + + + + + + meshes/rear_left_upper_leg.dae + + + + + + rear_left_upper_leg + rear_left_hip + + 0 1 0 + + -0.898845 + 2.29511 + 80 + 15 + + + 0 + 0 + + 0 + + + + -0.27285 0.165945 -0.3205 0 -0 0 + + 0 0 -0.16 0 -0 0 + 0.5 + + 0.00743438 + 0 + 0 + 0.00740104 + 0 + 0.000135417 + + + + + + 0.82 0.97 0.98 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_left_lower_leg_collision.stl + + + + + + 1e+07 + 100 + + + + + 0.8 + 0.8 + + + + + + 0 0 -0.333 0 -0 0 + + + 0.04 + + + + + + 1e+07 + 100 + + + + + 0.8 + 0.8 + + + + + + + + meshes/rear_left_lower_leg.dae + + + + + + rear_left_lower_leg_collision + rear_left_lower_leg_collision_1 + __default_topic__ + + + + + rear_left_lower_leg + rear_left_upper_leg + + 0 1 0 + + -2.7929 + -0.254801 + 80 + 15 + + + 0 + 0 + + 0 + + + + -0.27285 0.165945 -0.6905 0 -0 0 + + 1e-05 + + 0.001 + 1e-06 + 1e-06 + 0.001 + 1e-06 + 0.001 + + + + + rear_left_ee + rear_left_lower_leg + + + 0 + 0 + + 0 0 1 + 0 + + -1e+16 + 1e+16 + + + + + + 0 + 0.2 + + + + + + -0.29785 -0.055 0 0 -0 0 + + 2 + + 0.0027 + 0 + 0 + 0.00416667 + 0 + 0.00416667 + + + + + + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_right_hip_collision.stl + + + + + + + meshes/rear_right_hip.dae + + + + + + rear_right_hip + base_link + + 1 0 0 + + -0.785398 + 0.785398 + 80 + 15 + + + 0 + 0 + + 0 + + + + -0.29785 -0.165945 0 0 -0 0 + + 0 0 -0.14 0 -0 0 + 1 + + 0.0155334 + 0 + 0 + 0.0155334 + 0 + 0.000962667 + + + + + + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_right_upper_leg_collision.stl + + + + + + + meshes/rear_right_upper_leg.dae + + + + + + rear_right_upper_leg + rear_right_hip + + 0 1 0 + + -0.898845 + 2.29511 + 80 + 15 + + + 0 + 0 + + 0 + + + + -0.27285 -0.165945 -0.3205 0 -0 0 + + 0 0 -0.16 0 -0 0 + 0.5 + + 0.00743438 + 0 + 0 + 0.00740104 + 0 + 0.000135417 + + + + + + 0.82 0.97 0.98 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/rear_right_lower_leg_collision.stl + + + + + + 1e+07 + 100 + + + + + 0.8 + 0.8 + + + + + + 0 0 -0.333 0 -0 0 + + + 0.04 + + + + + + 1e+07 + 100 + + + + + 0.8 + 0.8 + + + + + + + + meshes/rear_right_lower_leg.dae + + + + + + rear_right_lower_leg_collision + rear_right_lower_leg_collision_1 + __default_topic__ + + + + + rear_right_lower_leg + rear_right_upper_leg + + 0 1 0 + + -2.7929 + -0.254801 + 80 + 15 + + + 0 + 0 + + 0 + + + + -0.27285 -0.165945 -0.6905 0 -0 0 + + 1e-05 + + 0.001 + 1e-06 + 1e-06 + 0.001 + 1e-06 + 0.001 + + + + + rear_right_ee + rear_right_lower_leg + + + 0 + 0 + + 0 0 1 + 0 + + -1e+16 + 1e+16 + + + + + + 0 + 0.2 + + + + + + + diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/package.xml b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/package.xml new file mode 100644 index 00000000..d6d7d14a --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/package.xml @@ -0,0 +1,20 @@ + + + ctu_cras_norlab_spot_sensor_config_1 + 1.0.0 + Boston Dynamics Spot of CTU-CRAS-Norlab team + + Martin Pecka + Martin Pecka + + BSD-3 + + catkin + + bosdyn_spot + ros_ign_bridge + ros_ign_image + roslaunch + subt_ros + xacro + diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/scripts/print_robot_urdf new file mode 100755 index 00000000..d0a1026d --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/scripts/print_robot_urdf @@ -0,0 +1,19 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +BASE_MODEL_DIR="${MODEL_DIR}/../bosdyn_spot" + +# load local modifications of configuration and apply them over the config from bosdyn_spot + +config="" +for file in "${BASE_MODEL_DIR}/config/model/common.yaml" "${BASE_MODEL_DIR}/config/model/urdf.yaml" "${MODEL_DIR}/config/model/common.yaml" "${MODEL_DIR}/config/model/urdf.yaml"; do + [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +echo -e "Rendering URDF of $(basename "$(realpath "$MODEL_DIR")") with the following Xacro arguments:\n${config}" "$@" >&2 +# we replace bosdyn_spot meshes with meshes from this sensor config so that we get the blue body color +urdf="$(rosrun xacro xacro "${MODEL_DIR}/urdf/spot.urdf.xacro" ${config} "$@")" +urdf="$(echo "$urdf" | sed 's#package://bosdyn_spot/\([^>]*\.dae\)#package://ctu_cras_norlab_spot_sensor_config_1/\1#g')" +echo "$urdf" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/scripts/update_robot_sdf new file mode 100755 index 00000000..3052fc16 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/scripts/update_robot_sdf @@ -0,0 +1,35 @@ +#!/usr/bin/env bash +set -e + +# This script re-generates the model.sdf file in the root of this package based on the Xacro files. +# This script is only intended to be run from the source space and is intentionally not a part of +# the installed package. + +# If you want to test some local changes, you can pass arguments to this script and it will relay +# them to the Xacro call (usually the key:=value pairs for setting xacro args). + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +BASE_MODEL_DIR="${MODEL_DIR}/../bosdyn_spot" +[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf" + +# load local modifications of configuration and apply them over the config from bosdyn_spot + +config="" +for file in "${BASE_MODEL_DIR}/config/model/common.yaml" "${BASE_MODEL_DIR}/config/model/ign.yaml" "${MODEL_DIR}/config/model/common.yaml" "${MODEL_DIR}/config/model/ign.yaml"; do + [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +echo -e "Rendering Ignition Gazebo SDF of $(basename "$(realpath "$MODEL_DIR")") with the following Xacro arguments:\n${config}" "$@" >&2 +rosrun xacro xacro "${MODEL_DIR}/urdf/spot.urdf.xacro" ${config} "$@" > "${OUTPUT_FILE}.urdf" +ign sdf -p "${OUTPUT_FILE}.urdf" | "${BASE_MODEL_DIR}/scripts/high_precision_constants.py" - > "${OUTPUT_FILE}" + +"${BASE_MODEL_DIR}/scripts/clean_sdf" "${OUTPUT_FILE}" + +# fix resource paths +sed -i -e 's#model://ctu_cras_norlab_spot_sensor_config_1/##g' "${OUTPUT_FILE}" +# sensor configs which reuse the original bosdyn_spot meshes would use the following: +# sed -i -e 's#model://bosdyn_spot/#https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/BOSDYN_SPOT/tip/files/#g' "${OUTPUT_FILE}" +# but we want to have the blue texture here, so we use +sed -i -e 's#model://bosdyn_spot/\([^>]*\.dae\)#\1#g' "${OUTPUT_FILE}" +sed -i -e 's#model://bosdyn_spot/\([^>]*\.stl\)#https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/\1#g' "${OUTPUT_FILE}" diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/specifications.md b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/specifications.md new file mode 100644 index 00000000..5d29fa65 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/specifications.md @@ -0,0 +1,92 @@ +# Boston Dynamics Spot - CTU-CRAS-Norlab sensor config +This specifications.md file is a description and proof of virtual model validation for the +Boston Dynamics Spot robot configured by team CTU-CRAS-Norlab. This robot may be launched using an +ign launch command with the variable name `CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1`. + +For local testing, you can use the following command: + + LC_ALL=C ign launch -v 4 ~/subt_ws/src/subt/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/example.ign robotName:=X1 ros:=true champ:=true + +This specifications.md file describes mainly the additional sensory payload of our Spot. Refer to +[bosdyn_spot/specifications.md](../bosdyn_spot/specifications.md) for information about the robot base, +how to control it and how to modify parameters of the robot. + +## Description +This sensor config carries 5 FullHD RGB cameras with global shutter, an IMU and a 3D lidar. +Sensor config 2 has additional 12 comms breadcrumbs. + +## Usage Instructions + +See [bosdyn_spot/specifications.md](../bosdyn_spot/specifications.md). There is no diversion from +the principles described there, just substitute `bosdyn_spot` with `ctu_cras_norlab_spot_sensor_config_1`. + +## Usage Rights +No additional restrictions have to be taken into account for this model. + +## Cost and Scale +* Base vehicle: $75,000 +* Custom omnicamera solution: $5,000 +* IMU: $1,500 +* Computers: $1,500 +* Lidar: $10,000 +* Total price: $93,000 + +Its weight is approximately 38.66 kg (or 39.16 kg with breadcrumbs). + +## Sensors +This sensor configuration of Spot includes the following sensors in addition to the base sensors of the platform +described in [bosdyn_spot/specifications.md](../bosdyn_spot/specifications.md). +The specifications for these instruments are provided below in the [Validation Links](#validation_links) section. + +The following specific sensors are declared payloads of this vehicle: + +* Ouster OS0-128 3D lidar modeled by `gpu_lidar` sensor. It runs configured to produce 2048x128 scans at 10 Hz. It has a very wide vertical field of view (90 degrees) and short range (about 50 meters). +* 5x RGB global shutter camera Basler a2A1920-51gcPRO with 4 mm lens modeled by `camera` sensor. Each camera provides 86 degrees of horizontal FOV. Resolution is 1920x1200 px. According to datasheet, the camera can run on frequencies up to 51 Hz, but the robot doesn't have sufficient computational and communication capacity to transmit such high frequency data. We thus lowered the framerate of the simulated camera to 9 Hz. We verified in real life that we are able to transmit the 9 Hz images and process them (the 5 cameras more or less saturate a Gigabit link with this framerate). +* XSens MTI-30 IMU: modeled by `imu` sensor. +* 12 communication breadcrumbs are also available as a payload for this robot in sensor configuration 2 (real robot will carry 4 or 8 breadcrumbs). + +## Control + +See [bosdyn_spot/specifications.md](../bosdyn_spot/specifications.md). + +## Motion characteristics + +See [bosdyn_spot/specifications.md](../bosdyn_spot/specifications.md). +The 4 kg sensory backpack is not expected to affect the maximum speed of the robot +as it keeps low center of gravity and is well under the maximum declared payload weight (11 kg). + +## Endurance Characteristics +This configuration has an endurance of approximately 75 minutes (value from datasheet corrected +by consumption of the sensors and computers). + +## Diversions from Physical Hardware of Spot robot +See [bosdyn_spot/specifications.md](../bosdyn_spot/specifications.md). + +Cameras have no distortion as the simulator doesn't support it. + +The Ouster lidar produces the 360 degree scans in a single instant in simulation, as opposed to the 100 ms-long interval it takes the real lidar. + +## Changing parameters of the robot +Most parameters affecting the simulation model performance are in the `config/model` folder, +in files `common.yaml` and `ign.yaml`. If some parameter is not exposed to these config files, +look into the Xacro files in `urdf/` folder and change the values there. Also look in the respective +config folder of the `bosdyn_spot` base model. Values in configs in this package override the values +set in the base model. + +After changing a value in these files, run script `scripts/update_robot_sdf` to write the +changes to the `model.sdf` file. This updates the SDF just for this particular robot. It is also needed +to call it if the base robot model has changed (`bosdyn_spot`). + +__Do not change the SDF files directly, as the changes could be lost the next time the update scripts are run.__ + +The URDF files are not physically present, but are generated on-the-fly by calling script +`scripts/print_robot_urdf`. + +## Validation and Specification Links +* See [bosdyn_spot/specifications.md](../bosdyn_spot/specifications.md). + +* Sensor specification links: + * Ouster OS0-128 https://ouster.com/products/os0-lidar-sensor/ + * Basler cam https://www.baslerweb.com/en/products/cameras/area-scan-cameras/ace2/a2a1920-51gcpro/ + lens https://www.baslerweb.com/en/products/vision-components/lenses/basler-lens-c125-0418-5m-p-f4mm/ + Experimental validation: https://drive.google.com/drive/folders/1-KWMvjWSYYeLqPA0C3FCdKuHQAmOHN-z?usp=sharing + * IMU: XSens MTi-30 https://www.mouser.com/datasheet/2/693/mti-series-1358510.pdf + * Lights: the robot uses LED strips around the body. The total power output of these strips is about `30 W`. 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b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/thumbnails/5.png differ diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/basler_cameras.xacro b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/basler_cameras.xacro new file mode 100644 index 00000000..a41e6c14 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/basler_cameras.xacro @@ -0,0 +1,122 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${virtual_lens_origin} 0 ${camera_height/2} 0 0 0 + ${frame_rate} + ${visualize} + + ${radians(hfov_deg)} + + ${resolution_x} + ${resolution_y} + R8G8B8 + + + + ${clip} + 300 + + + gaussian + 0.0 + 0.007 + + + + + ${f} + ${f} + ${(resolution_x - 1) / 2} + ${(resolution_y - 1) / 2} + 0 + + + stereographic + true + ${pi} + 1024 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/imu.xacro b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/imu.xacro new file mode 100644 index 00000000..985631a5 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/imu.xacro @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + 1 + 50 + + + + + 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 + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/lights.xacro b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/lights.xacro new file mode 100644 index 00000000..048d4a46 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/lights.xacro @@ -0,0 +1,46 @@ + + + + + + ${pose} + 1 + + ${range} + ${linear} + ${constant} + ${quadratic} + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + ${inner_angle} + ${outer_angle} + 1 + + + 0 0 -1 + + + + + + ${pose} + + 60 + 0 + 0.1 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + ${pi/3} + ${pi/2} + 1 + + + 0 0 -1 + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/mote_deployer.xacro b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/mote_deployer.xacro new file mode 100644 index 00000000..1285fe02 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/mote_deployer.xacro @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/ouster_lidar.xacro b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/ouster_lidar.xacro new file mode 100644 index 00000000..71a9c2d7 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/ouster_lidar.xacro @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0.035925 0 0 0 + ${rate} + ${visualize} + 1 + + + + ${horiz_samples} + 1 + -3.1459 + 3.1459 + + + 128 + 1 + -${pi/4} + ${pi/4} + + + + 0.1 + 50 + 0.01 + + + gaussian + 0 + 0.01 + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/spot.urdf.xacro b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/spot.urdf.xacro new file mode 100644 index 00000000..fe51bbdb --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/urdf/spot.urdf.xacro @@ -0,0 +1,164 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/.gitignore b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/.gitignore new file mode 100644 index 00000000..5a7699cc --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/.gitignore @@ -0,0 +1 @@ +model.sdf.urdf \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/CMakeLists.txt b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/CMakeLists.txt new file mode 100644 index 00000000..8378d226 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8.3) +project(ctu_cras_norlab_spot_sensor_config_2) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY config launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(FILES model.sdf model.config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(PROGRAMS scripts/print_robot_urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts) diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/config/model/common.yaml b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/config/model/common.yaml new file mode 100644 index 00000000..69ea9193 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/config/model/common.yaml @@ -0,0 +1 @@ +num_breadcrumbs: 12 \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/launch/example.ign b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/launch/example.ign new file mode 100644 index 00000000..c997a41a --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/launch/example.ign @@ -0,0 +1,30 @@ + +<% + base_launch = `rospack find bosdyn_spot`.chomp + "/launch" + base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + + ros_param='' + if defined?(ros) and ros + ros_param='ros:=true' + end + + champ_param='' + if defined?(champ) and champ + champ_param='champ:=true' + end + + headless_param='' + if defined?(headless) and headless + headless_param='headless:=true' + end + + teleop_param='' + if defined?(teleop) and teleop + teleop_param='teleop:=true' + end +%> + + + ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= champ_param %> <%= headless_param %> <%= teleop_param %> + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/launch/spawner.rb b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/launch/spawner.rb new file mode 100644 index 00000000..28a53588 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/launch/spawner.rb @@ -0,0 +1,44 @@ +require 'yaml' +confdir = File.join(__dir__, '..', 'config', 'model') +config = YAML.load_file(File.join(confdir, 'common.yaml')) + +$num_breadcrumbs = config["num_breadcrumbs"] + +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) + base_spawn = `rospack find ctu_cras_norlab_spot_sensor_config_1`.chomp + "/launch/common.rb" + begin + load base_spawn + rescue LoadError + raise "Unknown robot configuration #{File.dirname(__FILE__)}. #{base_spawn} could not be found." + else + additionalSpawnPlugins = <<-HEREDOC + + /model/#{_name}/breadcrumb/deploy + #{$num_breadcrumbs} + 3.0 + true + + + + -0.6 0 0 -0.3 0 #{Math::PI/2} + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node + + + + + + HEREDOC + _spawner2(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, additionalSpawnPlugins) + end +end + +def rosExecutables(_name, _worldName) + # description.launch is included from vehicle_topics.launch + <<-HEREDOC + + roslaunch --wait ctu_cras_norlab_spot_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} breadcrumbs:=#{$num_breadcrumbs} description_print_command:="#{File.dirname(__FILE__) + '/../scripts/print_robot_urdf'}" + + HEREDOC +end diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/model.config b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/model.config new file mode 100644 index 00000000..f9d16b81 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/model.config @@ -0,0 +1,14 @@ + + + ctu_cras_norlab_spot_sensor_config_2 + model.sdf + + Boston Dynamics Spot of CTU-CRAS-Norlab team with 12 breadcrumbs. + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_SPOT_SENSOR_CONFIG_1 + + + + diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/model.sdf b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/model.sdf new file mode 100644 index 00000000..e155a1b6 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/model.sdf @@ -0,0 +1,2665 @@ + + + + + + 16 + + 0.0973333 + 0 + 0 + 1.02467 + 0 + 1.04493 + + + + + + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/bosdyn_spot/tip/files/meshes/body_collision.stl + + + + + + + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/body.dae + + + + + + + 1e-05 + + 0.001 + 1e-06 + 1e-06 + 0.001 + 1e-06 + 0.001 + + + + + body + base_link + + + 0 + 0 + + 0 0 1 + 0 + + -1e+16 + 1e+16 + + + + + + 0 + 0.2 + + + + + + 0.223 0 0.0805 0 -0 0 + + 1e-05 + + 0.001 + 1e-06 + 1e-06 + 0.001 + 1e-06 + 0.001 + + + + + front_rail + body + + + 0 + 0 + + 0 0 1 + 0 + + -1e+16 + 1e+16 + + + + + + 0 + 0.2 + + + + + + -0.223 0 0.0805 0 -0 0 + + 1e-05 + + 0.001 + 1e-06 + 1e-06 + 0.001 + 1e-06 + 0.001 + + + + + rear_rail + body + + + 0 + 0 + + 0 0 1 + 0 + + -1e+16 + 1e+16 + + + + + + 0 + 0.2 + + + + + + -0.023 0 0.0805 0 -0 0 + + 0.02 0 0.0905 0 -0 0 + 3 + + 0.0173105 + 0 + 0 + 0.15259 + 0 + 0.15352 + + + + 0.02 0 0.0905 0 -0 0 + + + 0.76 0.191 0.181 + + + + + -0.13 0.03 0.2 0 -0 0 + + + 0.05 0.1 0.22 + + + + + -0.24 -0.045 0.2 0 -0 0 + + + 0.22 + 0.02 + + + + + + + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/spot_ign_payload.dae + + + + + 0.275 0.1 0.13 1.5707963267948966 -1.5707963267948966 0 + 1 + + 20 + 0.2 + 0.1 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 2.8 + 2.9 + 1 + + 0 0 -1 + + + 0.275 -0.1 0.1 -1.5707963267948966 -1.5707963267948966 0 + 1 + + 20 + 0.2 + 0.1 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 2.8 + 2.9 + 1 + + 0 0 -1 + + + 0.375 0 0.1 0 -1.5707963267948966 0 + 1 + + 20 + 0.2 + 0.1 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 2.8 + 2.9 + 1 + + 0 0 -1 + + + -0.36 0 0.14 3.1415926535897931 -1.5707963267948966 0 + 1 + + 20 + 0.2 + 0.1 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 2.8 + 2.9 + 1 + + 0 0 -1 + + + 0.19 0 0.145 3.1415926535897931 -0 3.1415926535897931 + + 60 + 0 + 0.1 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 1.0472 + 1.5708 + 1 + + 0 0 -1 + + + + payload + rear_rail + + + 0 + 0 + + 0 0 1 + 0 + + -1e+16 + 1e+16 + + + + + + 0 + 0.2 + + + + + + 0.294 0 0.2145 -3.1415926535897931 0 0 + + 0.039802 0 0.0145 0 -0 0 + 0.232 + + 3.25187e-05 + 0 + 0 + 0.000158598 + 0 + 0.000158598 + + + + 0.02465 0 0.0145 0 -0 0 + + + 0.0555 0.029 0.029 + + + + + 0.062834 0 0.0145 0 1.5707963267948966 0 + + + 0.03974 + 0.0125 + + + + + 0 0 0.0145 0 -0 0 + + + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/basler_ace2_pro.dae + + + + + 0.042964 0 0.0145 0 -0 0 + + + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/meshes/evetar_lens.dae + + + + + 0.072044 0 0.0145 0 -0 0 + 9 + 0 + + 1.50971 + + 1920 + 1200 + R8G8B8 + + + 0.011726 + 300 + + + gaussian + 0 + 0.007 + + + + 1020.51 + 1020.51 + 959.5 + 599.5 + 0 + + stereographic + 1 + + + + + + camera_0 + payload + + + 0 + 0 + + 0 0 1 + 0 + + -1e+16 + 1e+16 + + + + + + 0 + 0.2 + + + + + + 0.242 -0.01 0.1855 0 0 -1.5707963267948966 + + 0.039802 0 0.0145 0 -0 0 + 0.232 + + 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b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/package.xml new file mode 100644 index 00000000..9c341dd5 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/package.xml @@ -0,0 +1,21 @@ + + + ctu_cras_norlab_spot_sensor_config_2 + 1.0.0 + Boston Dynamics Spot of CTU-CRAS-Norlab team with 12 breadcrumbs + + Martin Pecka + Martin Pecka + + BSD-3 + + catkin + + bosdyn_spot + ctu_cras_norlab_spot_sensor_config_1 + ros_ign_bridge + ros_ign_image + roslaunch + subt_ros + xacro + diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/scripts/print_robot_urdf new file mode 100755 index 00000000..116897fc --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/scripts/print_robot_urdf @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +BOSDYN_MODEL_DIR="${MODEL_DIR}/../bosdyn_spot" +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_spot_sensor_config_1" + +# load local modifications of configuration and apply them over the config from ctu_cras_norlab_spot_sensor_config_1 + +config="" +for file in "${MODEL_DIR}/config/model/common.yaml" "${MODEL_DIR}/config/model/urdf.yaml"; do + [ -f "$file" ] && config="${config} $("${BOSDYN_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +"${BASE_MODEL_DIR}/scripts/print_robot_urdf" $config "$@" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_2/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/scripts/update_robot_sdf new file mode 100755 index 00000000..6262aded --- /dev/null +++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_2/scripts/update_robot_sdf @@ -0,0 +1,26 @@ +#!/usr/bin/env bash +set -e + +# This script re-generates the model.sdf file in the root of this package based on the Xacro files. +# This script is only intended to be run from the source space and is intentionally not a part of +# the installed package. + +# If you want to test some local changes, you can pass arguments to this script and it will relay +# them to the Xacro call (usually the key:=value pairs for setting xacro args). + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +BOSDYN_MODEL_DIR="${MODEL_DIR}/../bosdyn_spot" +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_spot_sensor_config_1" +[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf" + +# load local modifications of configuration and apply them over the config from ctu_cras_norlab_spot_sensor_config_1 + +config="" +for file in "${MODEL_DIR}/config/model/common.yaml" "${MODEL_DIR}/config/model/ign.yaml"; do + [ -f "$file" ] && config="${config} $("${BOSDYN_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf" $config "$@" + +sed -i -e 's#\(meshes/[^>]*\)#https://fuel.ignitionrobotics.org/1.0/openrobotics/models/ctu_cras_norlab_spot_sensor_config_1/tip/files/\1#' "${OUTPUT_FILE}" \ No newline at end of file diff --git a/subt_ros/launch/models_common/depth_camera.launch b/subt_ros/launch/models_common/depth_camera.launch new file mode 100644 index 00000000..ace0ec22 --- /dev/null +++ b/subt_ros/launch/models_common/depth_camera.launch @@ -0,0 +1,49 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file