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Model Submission Coordinated Robotics Mike #845

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Apr 22, 2021
Merged

Model Submission Coordinated Robotics Mike #845

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d0d93c1
Add Coordinated Robotics Mike
gitak2019 Mar 29, 2021
a52fbcb
Updates based on reviews of other robots
gitak2019 Apr 1, 2021
b32b6db
Add thermal camera to sensor list, fix wheel plugin wheel diameter, c…
gitak2019 Apr 8, 2021
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13 changes: 13 additions & 0 deletions submitted_models/coro_mike_sensor_config_1/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(coro_mike_sensor_config_1)

find_package(catkin REQUIRED)

catkin_package()

install(DIRECTORY launch meshes urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(FILES model.sdf model.config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

5 changes: 5 additions & 0 deletions submitted_models/coro_mike_sensor_config_1/launch/description.launch
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<?xml version="1.0"?>
<launch>
<arg name="name" doc="Name of Vehicle"/>
<param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find coro_mike_sensor_config_1)/urdf/model.xacro' name:=$(arg name)"/>
</launch>
171 changes: 171 additions & 0 deletions submitted_models/coro_mike_sensor_config_1/launch/example.ign
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<?xml version="1.0"?>
<!-- Usage: ign launch path/to/example.ign robotName:=<X1>

Parameters:
robotName: Name to be assigned to model
-->

<%
require_relative 'spawner'

# Modify these as needed
$enableGroundTruth = true
$headless = false

%>

<%

unless local_variables.include?(:robotName)
raise "missing parameters. robotName is a required parameter"
end

# This assumes that this launch file is in a directory below the model
modelURI = File.expand_path("../", File.dirname(__FILE__))
$worldName = 'example'
worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")

%>

<ignition version='1.0'>
<env>
<name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
<value>$LD_LIBRARY_PATH</value>
</env>

<!-- Start ROS first. This is a bit hacky for now. -->
<!-- Make sure to source /opt/ros/melodic/setup.bash -->
<executable name='ros'>
<command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
</executable>

<plugin name="ignition::launch::GazeboServer"
filename="libignition-launch-gazebo.so">
<world_file><%= worldFile %></world_file>
<run>true</run>
<levels>false</levels>
<record>
<enabled>false</enabled>
</record>

<plugin entity_name="<%= $worldName %>"
entity_type="world"
filename="libignition-gazebo-physics-system.so"
name="ignition::gazebo::systems::Physics">
</plugin>

<plugin entity_name="<%= $worldName %>"
entity_type="world"
filename="libignition-gazebo-sensors-system.so"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin entity_name="<%= $worldName %>"
entity_type="world"
filename="libignition-gazebo-user-commands-system.so"
name="ignition::gazebo::systems::UserCommands">
</plugin>
<plugin entity_name="<%= $worldName %>"
entity_type="world"
filename="libignition-gazebo-scene-broadcaster-system.so"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>
<plugin entity_name="<%= $worldName %>"
entity_type="world"
filename="libignition-gazebo-imu-system.so"
name="ignition::gazebo::systems::Imu">
</plugin>

<plugin entity_name="<%= $worldName %>"
entity_type="world"
filename="libignition-gazebo-magnetometer-system.so"
name="ignition::gazebo::systems::Magnetometer">
</plugin>

<plugin entity_name="<%= $worldName %>"
entity_type="world"
filename="libignition-gazebo-air-pressure-system.so"
name="ignition::gazebo::systems::AirPressure">
</plugin>
</plugin>

<%if !$headless %>
<executable_wrapper>
<plugin name="ignition::launch::GazeboGui"
filename="libignition-launch-gazebogui.so">
<world_name><%= $worldName %></world_name>
<window_title>SubT Simulator</window_title>
<window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.2 0.2 0.1</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
<service>/world/<%= $worldName %>/scene/info</service>
<pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
<scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
<deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
</plugin>
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/<%= $worldName %>/control</service>
<stats_topic>/world/<%= $worldName %>/stats</stats_topic>

</plugin>

<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/<%= $worldName %>/stats</topic>
</plugin>
</plugin>
</executable_wrapper>
<%end%>

<plugin name="ignition::launch::GazeboFactory" filename="libignition-launch-gazebo-factory.so">
<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
</plugin>
<%= rosExecutables(robotName, $worldName) %>

</ignition>
104 changes: 104 additions & 0 deletions submitted_models/coro_mike_sensor_config_1/launch/spawner.rb
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def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<<-HEREDOC
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.34} #{_roll} #{_pitch} #{_yaw}</pose>
<world>#{_worldName}</world>
<is_performer>true</is_performer>
<sdf version='1.6'>
<include>
<name>#{_name}</name>
<uri>#{_modelURI}</uri>
<!-- Diff drive -->
<plugin filename=\"libignition-gazebo-diff-drive-system.so\"
name=\"ignition::gazebo::systems::DiffDrive\">
<left_joint>front_left_wheel_joint</left_joint>
<left_joint>rear_left_wheel_joint</left_joint>
<right_joint>front_right_wheel_joint</right_joint>
<right_joint>rear_right_wheel_joint</right_joint>
<wheel_separation>0.72</wheel_separation>
<wheel_radius>0.33</wheel_radius>
<topic>/model/#{_name}/cmd_vel_relay</topic>
<min_velocity>-1.0</min_velocity>
<max_velocity>1.0</max_velocity>
<min_acceleration>-3.0</min_acceleration>
<max_acceleration>3.0</max_acceleration>
</plugin>
<!-- Publish robot state information -->
<plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
name=\"ignition::gazebo::systems::PosePublisher\">
<publish_link_pose>true</publish_link_pose>
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Battery plugin -->
<plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
name=\"ignition::gazebo::systems::LinearBatteryPlugin\">
<battery_name>linear_battery</battery_name>
<voltage>12.694</voltage>
<open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>
<open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
<initial_charge>78.4</initial_charge>
<capacity>78.4</capacity>
<resistance>0.061523</resistance>
<smooth_current_tau>1.9499</smooth_current_tau>
<power_load>9.9</power_load>
<start_on_motion>true</start_on_motion>
</plugin>
<!-- Gas Sensor plugin -->"
<plugin filename="libGasEmitterDetectorPlugin.so"
name="subt::GasDetector">
<topic>/model/#{_name}/gas_detected</topic>
<update_rate>10</update_rate>
<type>gas</type>
</plugin>
<!-- Wheel slip -->
<plugin filename="libignition-gazebo-wheel-slip-system.so"
name="ignition::gazebo::systems::WheelSlip">
<wheel link_name="front_left_wheel">
<slip_compliance_lateral>0.172</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>122.6</wheel_normal_force>
<wheel_radius>0.33</wheel_radius>
</wheel>
<wheel link_name="rear_left_wheel">
<slip_compliance_lateral>0.172</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>122.6</wheel_normal_force>
<wheel_radius>0.33</wheel_radius>
</wheel>
<wheel link_name="front_right_wheel">
<slip_compliance_lateral>0.172</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>122.6</wheel_normal_force>
<wheel_radius>0.33</wheel_radius>
</wheel>
<wheel link_name="rear_right_wheel">
<slip_compliance_lateral>0.172</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>122.6</wheel_normal_force>
<wheel_radius>0.33</wheel_radius>
</wheel>
</plugin>
</include>
</sdf>
</spawn>
HEREDOC
end

def rosExecutables(_name, _worldName)
<<-HEREDOC
<executable name='robot_description'>
<command>roslaunch --wait coro_mike_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
</executable>
<executable name='topics'>
<command>roslaunch --wait coro_mike_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} breadcrumbs:=0 thermal:=1</command>
</executable>
HEREDOC
end
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