vrx_2023 wamv_compliance
All WAM-V configuration files submitted as part of VRX competition solutions must adhere to the following rules:
- All components must be contained within one of the component bounding boxes (details here). The image below shows the position of the bounding boxes:
-
All thrusters must be contained within one of the thruster bounding boxes (details here). The image below shows the position of the bounding boxes:
-
The numbers of each component and thruster in the configuration must be within the limits defined here for components and here for thrusters.
-
Finally, there can only be one thruster in each bounding box. This is to prevent stacking thrusters together in one location, which is physically infeasible.
- The script
generate_wamv.launchwill print error messages if it is called on non-compliant configuration YAML files. - The URDF file will still be created and be able to be used as usual.
- However, it is not a valid configuration for a VRX competition.
A list of all supported thrusters and components is given in the allowed thrusters and allowed components files (currently we have only one thruster type).
A number of parameters are available to help configure components and thrusters. These include name, prefix, position, orientation, x, y, z, R, P, Y, post_Y, depending on the component or thruster.
If given a thruster_config.yaml' or component_config.yaml' describing a non-compliant WAM-V, the generate_wamv.py script will display a warning. For example:
[INFO] [launch]: All log files can be found below /home/caguero/.ros/log/2022-12-22-22-35-39-966859-cold-3067211
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [generate_wamv.py-1]: process started with pid [3067212]
[generate_wamv.py-1] [INFO] [1671744940.180974378] [configure_wamv]:
[generate_wamv.py-1] Using /home/caguero/my_wamv/example_thruster_config.yaml as the thruster configuration yaml file
[generate_wamv.py-1]
[generate_wamv.py-1] [INFO] [1671744940.181217251] [configure_wamv]:
[generate_wamv.py-1] Trying to open /home/caguero/my_wamv/example_thruster_config.xacro
[generate_wamv.py-1]
[generate_wamv.py-1] [ERROR] [1671744940.184488473] [compliance]: engine second_right is out of bounds
[generate_wamv.py-1] [ERROR] [1671744940.184698986] [compliance]: engine second_right is at xyz=(-2.373776, -1.027135, 0.318237), it must fit in at least one of the following boxes with remaining space:
[generate_wamv.py-1] [ERROR] [1671744940.184906448] [compliance]: <Box name:thruster_compliance_port_aft x:[-1.75, -2.75] y:[1.5,0.5] z:[0.6,-0.6] remaining_space:0>
[generate_wamv.py-1] [ERROR] [1671744940.185110821] [compliance]: <Box name:thruster_compliance_star_aft x:[-1.75, -2.75] y:[-0.5,-1.5] z:[0.6,-0.6] remaining_space:0>
[generate_wamv.py-1] [ERROR] [1671744940.185323194] [compliance]: <Box name:thruster_compliance_port_for x:[1.75, 0.75] y:[1.5,0.5] z:[0.6,-0.6] remaining_space:1>
[generate_wamv.py-1] [ERROR] [1671744940.185535786] [compliance]: <Box name:thruster_compliance_star_for x:[1.75, 0.75] y:[-0.5,-1.5] z:[0.6,-0.6] remaining_space:1>
[generate_wamv.py-1] [ERROR] [1671744940.185748079] [compliance]: <Box name:thruster_compliance_middle x:[1.5, -1.0] y:[0.5,-0.5] z:[0.6,-0.6] remaining_space:1>
[generate_wamv.py-1] [INFO] [1671744940.186929714] [configure_wamv]:
[generate_wamv.py-1] Using /home/caguero/my_wamv/example_component_config.yaml as the component configuration yaml file
[generate_wamv.py-1]
[generate_wamv.py-1] [ERROR] [1671744940.191308478] [compliance]: Too many wamv_camera requested
[generate_wamv.py-1] [ERROR] [1671744940.191511711] [compliance]: maximum of 3 wamv_camera allowed
[generate_wamv.py-1] [ERROR] [1671744940.370982269] [configure_wamv]:
[generate_wamv.py-1] This component/thruster configuration is NOT compliant with the (current) VRX constraints. A urdf file will be created, but please note that the above errors must be fixed for this to be a valid configuration for the VRX competition.
[generate_wamv.py-1]
[generate_wamv.py-1] WAM-V urdf file sucessfully generated. File location: /home/caguero/my_wamv/wamv_target_2.urdf
[INFO] [generate_wamv.py-1]: process has finished cleanly [pid 3067212]
The message above was generated by running the following command using the example component and thruster config files given below:
ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=`pwd`/example_component_config.yaml thruster_yaml:=`pwd`/example_thruster_config.yaml wamv_target:=`pwd`/wamv_target_2.urdf wamv_locked:=False
Note that the URDF file is still created, but these error messages show why your configuration is not compliant.
engine:
- prefix: "left"
position: "-2.373776 1.027135 0.318237"
orientation: "0.0 0.0 0.0"
- prefix: "right"
position: "-2.373776 -1.027135 0.318237"
orientation: "0.0 0.0 0.0"
# Adding new thruster in non-compliant position
- prefix: "second_right"
position: "-2.373776 -1.027135 0.318237"
orientation: "0.0 0.0 0.0"
# Too many cameras
wamv_camera:
- name: front_left_camera
x: 0.75
y: 0.1
P: ${radians(15)}
- name: front_right_camera
x: 0.75
y: -0.1
P: ${radians(15)}
- name: front_far_left_camera
x: 0.75
y: 0.3
P: ${radians(15)}
- name: front_far_right_camera
x: 0.75
y: -0.3
P: ${radians(15)}
- name: middle_left_camera
x: 0.6
y: 0.4
P: ${radians(15)}
Y: ${radians(90)}
post_Y: ${radians(90)}
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