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Model Submission for JHUAPL Edge540XL sensor config 1 and uav simulation plugin #869

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Model Submission for JHUAPL Edge540XL sensor config 1 and uav simulation plugin #869

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baf4250
Added JHU APL fixed-wing uav model and Gazebo Ignition plugin
heyyeh12 Apr 1, 2021
0e2123e
Force adding plugin library
heyyeh12 Apr 1, 2021
d0fb469
updated specifications, bridged topics, default sensors
heyyeh12 May 25, 2021
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12 changes: 12 additions & 0 deletions submitted_models/jhuapl_edge540xl_sensor_config_1/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(jhuapl_edge540xl_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})
21 changes: 21 additions & 0 deletions submitted_models/jhuapl_edge540xl_sensor_config_1/README.md
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# JHU/APL Edge540XL Sensor Config 1
This package contains a virtual model validation for the JHU/APL Edge540XL with Sensor Configuration 1. Please see the [specifications.md](specifications.md) file for more information.

**Authors & Maintainers**:

* Joe Moore
* Adam Polevoy
* Bryanna Yeh

**Affiliation:** [The Johns Hopkins University Applied Physics Laboratory](https://www.jhuapl.edu/)

[![JHU/APL Edge540XL](doc/edge540xl.png)](doc/edge540xl.png)

## License
This software is released under a BSD license.

## Example
```
cd <jhuapl_edge540xl_sensor_config_1>/launch
ign launch example.ign robotName:=edge540XL -v 4
```
Binary file added submitted_models/jhuapl_edge540xl_sensor_config_1/doc/edge540xl.png
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5 changes: 5 additions & 0 deletions submitted_models/jhuapl_edge540xl_sensor_config_1/launch/description.launch
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<?xml version="1.0"?>
<launch>
<arg name="name" default="Edge540XL" doc="Name of Vehicle"/>
<param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find jhuapl_edge540xl_sensor_config_1)/urdf/Edge540XLPlant.urdf' name:=$(arg name)"/>
</launch>
172 changes: 172 additions & 0 deletions submitted_models/jhuapl_edge540xl_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 = local_variables.include?(:headless) ? :headless : false

%>

<%

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

# This assumes that this launch file is in a directory below the model
modelURI = File.expand_path("../", File.dirname(__FILE__))
$worldName = 'example'
worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
$plantName = 'Edge540XL'
plantURDF = File.join(File.expand_path("../urdf", File.dirname(__FILE__)), "#{$plantName}Plant.urdf")
%>

<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, 0.2, 0, 0, 0) %>
</plugin>
<%= rosExecutables(robotName, $worldName) %>

</ignition>
99 changes: 99 additions & 0 deletions submitted_models/jhuapl_edge540xl_sensor_config_1/launch/spawner.rb
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def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)

_plantURDF = File.join(File.expand_path("../urdf", File.dirname(__FILE__)), "Edge540XLPlant.urdf")
<<-HEREDOC
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
<world>#{_worldName}</world>
<is_performer>true</is_performer>
<sdf version='1.6'>
<include>
<name>#{_name}</name>
<uri>#{_modelURI}</uri>

<!-- Simulate plane dynamics -->

<plugin filename="libjhuapl_uav_dynamics.so"
name="jhuapl::Edge540xlDynamics">
<plant_urdf_file>#{_plantURDF}</plant_urdf_file>
<model_name>#{_name}</model_name>
<topic>/model/#{_name}/input</topic>
<link_name>fuselage</link_name>
<min_x>-1000</min_x>
<max_x>1000</max_x>
<min_y>-1000</min_y>
<max_y>1000</max_y>
<min_z>-1000</min_z>
<max_z>1000</max_z>
</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>12.6</voltage>
<open_circuit_voltage_constant_coef>12.6</open_circuit_voltage_constant_coef>
<open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
<initial_charge>2.2</initial_charge>
<capacity>2.2</capacity>
<resistance>0.061523</resistance>
<smooth_current_tau>1.9499</smooth_current_tau>
<power_load>2</power_load>
<start_on_motion>true</start_on_motion>
</plugin>

<!-- Joint state publisher -->
<plugin filename="libignition-gazebo-joint-state-publisher-system.so"
name="ignition::gazebo::systems::JointStatePublisher">
</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>

<sensor name="air_pressure" type="air_pressure">
<always_on>1</always_on>
<update_rate>20</update_rate>
<air_pressure>
<reference_altitude>0</reference_altitude>
<noise type="gaussian">
<mean>0.00000008</mean>
</noise>
</air_pressure>
</sensor>

</include>
</sdf>
</spawn>
HEREDOC
end

def rosExecutables(_name, _worldName)
<<-HEREDOC
<executable name='robot_description'>
<command>roslaunch --wait jhuapl_edge540xl_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
</executable>
<executable name='topics'>
<command>roslaunch --wait jhuapl_edge540xl_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
</executable>
HEREDOC
end
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