diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index ad729a4f..a5ae207d 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -28,7 +28,7 @@ repos: # Standard hooks - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.6.0 + rev: v5.0.0 hooks: - id: check-added-large-files args: ["--maxkb=2000"] @@ -48,7 +48,7 @@ repos: # Python hooks - repo: https://github.com/asottile/pyupgrade - rev: v3.16.0 + rev: v3.19.1 hooks: - id: pyupgrade args: [--py36-plus] @@ -62,20 +62,20 @@ repos: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"] - repo: https://github.com/psf/black - rev: 24.4.2 + rev: 24.10.0 hooks: - id: black args: ["--line-length=99", "--exclude=tools/code_check"] - repo: https://github.com/pycqa/flake8 - rev: 7.1.0 + rev: 7.1.1 hooks: - id: flake8 args: ["--extend-ignore=E501", "--exclude=tools/code_check"] # CPP hooks - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v18.1.7 + rev: v19.1.6 hooks: - id: clang-format args: ["-fallback-style=none", "-i"] @@ -125,7 +125,7 @@ repos: # Docs - RestructuredText hooks - repo: https://github.com/PyCQA/doc8 - rev: v1.1.1 + rev: v1.1.2 hooks: - id: doc8 args: ["--max-line-length=100", "--ignore=D001"] @@ -150,7 +150,7 @@ repos: # Json lint - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.28.6 + rev: 0.31.0 hooks: - id: check-github-workflows args: ["--verbose"] @@ -161,7 +161,7 @@ repos: # XML lint for xacro, urdf, and sdf files - repo: https://github.com/pamoller/xmlformatter - rev: v0.2.6 + rev: v0.2.8 hooks: - id: xml-formatter name: Format XML diff --git a/gazebo/dave_gz_multibeam_sonar/README.md b/gazebo/dave_gz_multibeam_sonar/README.md new file mode 100644 index 00000000..2aec05b7 --- /dev/null +++ b/gazebo/dave_gz_multibeam_sonar/README.md @@ -0,0 +1,18 @@ +# Dave Gazebo Multibeam Sonar Plugin + +- The sensor itself is at `multibeam_sonar` +- The system plugin that will also be defined in `world` file is at `multibeam_sonar_system` +- We need both the sensor and the system plugin to be able to use the sensor in Gazebo + +- Launch example with `dave_sensor.launch.py`: + + ``` + ros2 launch dave_demos dave_sensor.launch.py namespace:=blueview_p900 world_name:=dave_multibeam_sonar paused:=false x:=4 z:=0.5 yaw:=3.14 + ``` + +- Launch example with `ros_gz_bridge` to translate gazebo msg to ROS msg: + - Not perfect + + ``` + ros2 launch dave_multibeam_sonar_demo multibeam_sonar_demo.launch.py + ``` \ No newline at end of file diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/CMakeLists.txt b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/CMakeLists.txt new file mode 100644 index 00000000..17c77311 --- /dev/null +++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/CMakeLists.txt @@ -0,0 +1,132 @@ +cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) +cmake_policy(SET CMP0144 NEW) + +project(multibeam_sonar) + +find_package(ament_cmake REQUIRED) +find_package(gz-cmake3 REQUIRED) +find_package(gz-sim8 REQUIRED) +find_package(gz-sensors8 REQUIRED) +find_package(gz-rendering8 REQUIRED OPTIONAL_COMPONENTS ogre ogre2) +find_package(gz-transport13 REQUIRED) +find_package(rclcpp REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(PCL REQUIRED) +find_package(pcl_conversions REQUIRED) + +find_package(OpenCV REQUIRED) + +include_directories(${PCL_INCLUDE_DIRS}) +link_directories(${PCL_LIBRARY_DIRS}) +add_definitions(${PCL_DEFINITIONS}) + +# Set version variables +set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR}) +set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR}) +set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR}) +set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR}) +set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR}) + +if(TARGET gz-rendering${GZ_RENDERING_VER}::ogre) + set(HAVE_OGRE TRUE) + set(GZ_RENDERING_TARGET gz-rendering${GZ_RENDERING_VER}-ogre) + add_definitions(-DWITH_OGRE) +endif() + +if(TARGET gz-rendering${GZ_RENDERING_VER}::ogre2) + set(HAVE_OGRE2 TRUE) + set(GZ_RENDERING_TARGET gz-rendering${GZ_RENDERING_VER}-ogre2) + add_definitions(-DWITH_OGRE2) +endif() + +add_library(${PROJECT_NAME} + SHARED + MultibeamSonarSensor.cc +) + +target_include_directories(${PROJECT_NAME} + PUBLIC + ${gz-sensors${GZ_SENSORS_VER}_INCLUDE_DIRS} + ${gz-rendering${GZ_RENDERING_VER}_INCLUDE_DIRS} + ${gz-msgs${GZ_MSGS_VER}_INCLUDE_DIRS} + ${gz-transport${GZ_TRANSPORT_VER}_INCLUDE_DIRS} + ${gz-sim${GZ_SIM_VER}_INCLUDE_DIRS} +) +target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES}) + +install(TARGETS ${PROJECT_NAME} + DESTINATION lib/${PROJECT_NAME} +) + +ament_target_dependencies(${PROJECT_NAME} + gz-sensors${GZ_SENSORS_VER} + ${GZ_RENDERING_TARGET} + gz-msgs${GZ_MSGS_VER} + gz-transport${GZ_TRANSPORT_VER} + gz-sim${GZ_SIM_VER} + rclcpp + sensor_msgs + rosidl_default_generators + PCL + pcl_conversions + OpenCV +) + + +# Environment hooks +ament_environment_hooks( + "${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in" +) + +ament_package() + + +# find_package(CUDAToolkit QUIET) +# if (CUDAToolkit_FOUND) +# enable_language(CUDA) +# message(STATUS "CUDA found, enabling CUDA support.") +# include_directories(${CUDA_INCLUDE_DIRS}) +# set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -arch=sm_60") + +# find_package(cv_bridge REQUIRED) +# find_package(OpenCV REQUIRED) +# find_package(rosidl_default_generators REQUIRED) +# find_package(PCL REQUIRED) +# find_package(pcl_ros REQUIRED) +# find_package(marine_acoustic_msgs REQUIRED) +# find_package(gz-sensors${GZ_SIM_VER} REQUIRED) +# set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR}) + +# add_library(MultibeamSonarSystem SHARED +# src/MultibeamSonarSystem.cc +# ) + +# set_target_properties(MultibeamSonarSystem +# PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +# target_include_directories(MultibeamSonarSystem PRIVATE include) +# target_link_libraries(MultibeamSonarSystem +# gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER} +# gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER} +# gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} +# ${CUDA_LIBRARIES} +# ${PCL_LIBRARIES} +# ${OpenCV_LIBRARIES} +# ) + +# ament_target_dependencies(MultibeamSonarSystem +# rclcpp +# std_msgs +# sensor_msgs +# geometry_msgs +# PCL +# OpenCV +# marine_acoustic_msgs +# ) +# install(TARGETS MultibeamSonarSystem +# DESTINATION lib/${PROJECT_NAME} +# ) +# else() +# message(STATUS "CUDA Toolkit not found: Skipping CUDA-specific targets") +# endif() \ No newline at end of file diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/MultibeamSonarSensor.cc b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/MultibeamSonarSensor.cc new file mode 100644 index 00000000..666b67aa --- /dev/null +++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/MultibeamSonarSensor.cc @@ -0,0 +1,1100 @@ +/* + * Copyright (C) 2022 Open Source Robotics Foundation + * + * 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 + +// TODO(hidmic): implement SVD in gazebo? +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include "MultibeamSonarSensor.hh" + +#include +#include + +#include +#include +#include +#include +#include +#include + +namespace gz +{ +namespace sensors +{ +namespace +{ + +using RowMajorMatrix3d = Eigen::Matrix; + +/// \brief Axis-aligned patch on a plane, using image frame conventions. +template +class AxisAlignedPatch2 +{ +public: + AxisAlignedPatch2() = default; + +public: + AxisAlignedPatch2( + const gz::math::Vector2 & _topLeft, const gz::math::Vector2 & _bottomRight) + : topLeft(_topLeft), bottomRight(_bottomRight) + { + } + + /// \brief Scalar converting copy constructor +public: + template + // cppcheck-suppress noExplicitConstructor + AxisAlignedPatch2(const AxisAlignedPatch2 & _other) + { + this->topLeft.X(static_cast(_other.XMax())); + this->topLeft.Y(static_cast(_other.YMax())); + this->bottomRight.X(static_cast(_other.XMin())); + this->bottomRight.Y(static_cast(_other.YMin())); + } + +public: + T XMax() const { return this->topLeft.X(); } + +public: + T XMin() const { return this->bottomRight.X(); } + +public: + T XSize() const { return this->XMax() - this->XMin(); } + +public: + T YMax() const { return this->topLeft.Y(); } + +public: + T YMin() const { return this->bottomRight.Y(); } + +public: + T YSize() const { return this->YMax() - this->YMin(); } + + /// \brief Merge patch with `_other`. + /// \return a patch that includes both. +public: + AxisAlignedPatch2 & Merge(const AxisAlignedPatch2 & _other) + { + this->topLeft.Set( + std::max(this->topLeft.X(), _other.topLeft.X()), + std::max(this->topLeft.Y(), _other.topLeft.Y())); + this->bottomRight.Set( + std::min(this->bottomRight.X(), _other.bottomRight.X()), + std::min(this->bottomRight.Y(), _other.bottomRight.Y())); + return *this; + } + + /// \brief Flip patch, sending each corner to the opposite quadrant. +public: + AxisAlignedPatch2 Flip() const { return {-this->bottomRight, -this->topLeft}; } + + /// \brief Broadcast multiply corner coordinates by `_vector` + /// coordinates. + const AxisAlignedPatch2 operator*(gz::math::Vector2 _vector) const + { + return {this->topLeft * _vector, this->bottomRight * _vector}; + } + + /// \brief Broadcast divide corner coordinates by `_vector` + /// coordinates. + const AxisAlignedPatch2 operator/(gz::math::Vector2 _vector) const + { + return {this->topLeft / _vector, this->bottomRight / _vector}; + } + + /// \brief Broadcast sum corner coordinates with `_vector` coordinates. + const AxisAlignedPatch2 operator+(gz::math::Vector2 _vector) const + { + return {this->topLeft + _vector, this->bottomRight + _vector}; + } + + /// \brief Broadcast subtract corner coordinate with `_vector` + /// coordinates. + const AxisAlignedPatch2 operator-(gz::math::Vector2 _vector) const + { + return {this->topLeft - _vector, this->bottomRight - _vector}; + } + + /// \brief Upper-left corner i.e. (x, y) maxima +private: + gz::math::Vector2 topLeft; + + /// \brief Bottom-right corner i.e (x, y) minima +private: + gz::math::Vector2 bottomRight; +}; + +// Handy type definitions +using AxisAlignedPatch2d = AxisAlignedPatch2; +using AxisAlignedPatch2i = AxisAlignedPatch2; + +/// \brief Acoustic DVL beam, modelled as a circular cone with aperture +/// angle α and its apex at the origin. Its axis of symmetry is nominally +/// aligned with the x-axis of an x-forward, y-left, z-up frame +/// (following usual Gazebo frame conventions, typically facing +/// downwards). +/// +/// + The cone may be tilted w.r.t. the x-axis +/// /|\ and rotated about the same to accommodate +/// / | \ different beam arrangements, in that order. +/// / | \ That is, an extrinsic XY rotation applies. +/// / v \ / +/// x +/// |-------| +/// α +class AcousticBeam +{ + /// \brief Acoustic beam constructor. + /// \param[in] _id ID of the beam. Ought to be unique. + /// \param[in] _apertureAngle Aperture angle α of the beam. + /// \param[in] _rotationAngle Rotation angle ψ of the beam + /// i.e. a rotation about the x-axis of its frame. + /// \param[in] _tiltAngle Tilt angle φ of the + /// beam i.e. a rotation about the y-axis of its frame, + /// away from the x-axis. Must lie in the (-90, 90) degrees + /// interval. +public: + AcousticBeam( + const int _id, const gz::math::Angle _apertureAngle, const gz::math::Angle _rotationAngle, + const gz::math::Angle _tiltAngle) + : id(_id), + apertureAngle(_apertureAngle), + normalizedRadius(std::atan(_apertureAngle.Radian() / 2.)) + { + // Use extrinsic XY convention (as it is easier to reason about) + using Quaterniond = gz::math::Quaterniond; + this->transform.Rot() = Quaterniond::EulerToQuaternion(_rotationAngle.Radian(), 0., 0.) * + Quaterniond::EulerToQuaternion(0., _tiltAngle.Radian(), 0.); + this->axis = this->transform.Rot() * gz::math::Vector3d::UnitX; + const gz::math::Angle azimuthAngle = std::atan2(this->axis.Y(), this->axis.X()); + const gz::math::Angle inclinationAngle = std::atan2( + this->axis.Z(), std::sqrt(std::pow(this->axis.X(), 2.) + std::pow(this->axis.Y(), 2.))); + const gz::math::Vector2d topLeft{ + (azimuthAngle + _apertureAngle / 2.).Radian(), + (inclinationAngle + _apertureAngle / 2.).Radian()}; + const gz::math::Vector2d bottomRight{ + (azimuthAngle - _apertureAngle / 2.).Radian(), + (inclinationAngle - _apertureAngle / 2.).Radian()}; + this->sphericalFootprint = AxisAlignedPatch2d{topLeft, bottomRight}; + } + +public: + int Id() const { return this->id; } + +public: + const gz::math::Pose3d & Transform() const { return this->transform; } + +public: + const gz::math::Vector3d & Axis() const { return this->axis; } + +public: + double NormalizedRadius() const { return this->normalizedRadius; } + +public: + const gz::math::Angle & ApertureAngle() const { return this->apertureAngle; } + +public: + const AxisAlignedPatch2d & SphericalFootprint() const { return this->sphericalFootprint; } + +private: + int id; + +private: + gz::math::Angle apertureAngle; + +private: + double normalizedRadius; + +private: + gz::math::Pose3d transform; + +private: + gz::math::Vector3d axis; + +private: + AxisAlignedPatch2d sphericalFootprint; +}; + +/// \brief DVL acoustic beam reflecting target. +/// +/// Pose is defined w.r.t. to the beams frame. +struct ObjectTarget +{ + gz::math::Pose3d pose; + uint64_t entity; + std::string name; +}; + +/// \brief A time-varying vector field built on +/// per-axis time-varying volumetric data grids +/// +/// \see gz::math::InMemoryTimeVaryingVolumetricGrid +template +class InMemoryTimeVaryingVectorField +{ +public: + using SessionT = gz::math::InMemorySession; + +public: + using GridT = gz::math::InMemoryTimeVaryingVolumetricGrid; + + /// \brief Default constructor. +public: + InMemoryTimeVaryingVectorField() = default; + + /// \brief Constructor + /// \param[in] _xData X-axis volumetric data grid. + /// \param[in] _yData Y-axis volumetric data grid. + /// \param[in] _zData Z-axis volumetric data grid. +public: + explicit InMemoryTimeVaryingVectorField( + const GridT * _xData, const GridT * _yData, const GridT * _zData) + : xData(_xData), yData(_yData), zData(_zData) + { + if (this->xData) + { + this->xSession = this->xData->CreateSession(); + } + if (this->yData) + { + this->ySession = this->yData->CreateSession(); + } + if (this->zData) + { + this->zSession = this->zData->CreateSession(); + } + } + + /// \brief Advance vector field in time. + /// \param[in] _now Time to step data grids to. +public: + void StepTo(const std::chrono::steady_clock::duration & _now) + { + const T now = std::chrono::duration(_now).count(); + if (this->xData && this->xSession) + { + this->xSession = this->xData->StepTo(this->xSession.value(), now); + } + if (this->yData && this->ySession) + { + this->ySession = this->yData->StepTo(this->ySession.value(), now); + } + if (this->zData && this->zSession) + { + this->zSession = this->zData->StepTo(this->zSession.value(), now); + } + } + + /// \brief Look up vector field value, interpolating data grids. + /// \param[in] _pos Vector field argument. + /// \return vector field value at `_pos` +public: + gz::math::Vector3 LookUp(const gz::math::Vector3

& _pos) + { + auto outcome = gz::math::Vector3::Zero; + if (this->xData && this->xSession) + { + const auto interpolation = this->xData->LookUp(this->xSession.value(), _pos); + outcome.X(interpolation.value_or(0.)); + } + if (this->yData && this->ySession) + { + const auto interpolation = this->yData->LookUp(this->ySession.value(), _pos); + outcome.Y(interpolation.value_or(0.)); + } + if (this->zData && this->zSession) + { + const auto interpolation = this->zData->LookUp(this->ySession.value(), _pos); + outcome.Z(interpolation.value_or(0.)); + } + return outcome; + } + + /// \brief Session for x-axis volumetric data grid, if any. +private: + std::optional xSession{std::nullopt}; + + /// \brief Session for y-axis volumetric data grid, if any. +private: + std::optional ySession{std::nullopt}; + + /// \brief Session for z-axis volumetric data grid, if any. +private: + std::optional zSession{std::nullopt}; + + /// \brief X-axis volumetric data grid, if any. +private: + const GridT * xData{nullptr}; + + /// \brief Y-axis volumetric data grid, if any. +private: + const GridT * yData{nullptr}; + + /// \brief Z-axis volumetric data grid, if any. +private: + const GridT * zData{nullptr}; +}; + +} // namespace + +using namespace gz::msgs; + +/// \brief Implementation for MultibeamSonarSensor +class MultibeamSonarSensor::Implementation +{ + /// \brief SDF DOM object +public: + sdf::ElementPtr sensorSdf; + + /// \brief Sensor entity ID (for world state lookup) +public: + uint64_t entityId{0}; + + /// \brief true if Load() has been called and was successful +public: + bool initialized = false; + + /// \brief Initialize DVL sensor +public: + bool Initialize(MultibeamSonarSensor * _sensor); + + /// \brief Raw buffer of ray data. +public: + float * rayBuffer = nullptr; + + /// \brief Number of channels of the raw ray buffer +public: + const unsigned int kChannelCount = 3u; + + GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING + /// \brief Just a mutex for thread safety +public: + mutable std::mutex rayMutex; + GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING + + /// \brief Initialize beam arrangement for DVL sensor + /// + /// This primarily creates rendering sensors. +public: + bool InitializeBeamArrangement(MultibeamSonarSensor * _sensor); + + /// \brief Maximum range for beams. +public: + double maximumRange; + + /// \brief State of the world. +public: + const WorldState * worldState; + + /// \brief Depth sensor (i.e. a GPU raytracing sensor). +public: + gz::rendering::GpuRaysPtr depthSensor; + + /// \brief Image sensor (i.e. a camera sensor) to aid ray queries. +public: + gz::rendering::CameraPtr imageSensor; + + /// \brief Depth sensor intrinsic constants +public: + struct + { + gz::math::Vector2d offset; /// beams; + + /// \brief Rotation from sensor frame to reference frame. + /// + /// Useful to cope with different DVL frame conventions. +public: + gz::math::Quaterniond referenceFrameRotation; + + /// \brief Transform from sensor frame to acoustic beams' frame. + /// + /// I.e. x-forward, y-left, z-up (dvl sensor frame) rotates to + /// x-down, y-left, z-forward (acoustic beams' frame). +public: + const gz::math::Pose3d beamsFrameTransform{ + gz::math::Vector3d::Zero, gz::math::Quaterniond{0., GZ_PI / 2., 0.}}; + + /// \brief DVL acoustic beams' targets +public: + std::vector> beamTargets; + + /// \brief DVL acoustic beams' patches in depth scan frame. +public: + std::vector beamScanPatches; + + /// \brief The point cloud message. +public: + msgs::PointCloudPacked pointMsg; + + /// \brief Fill the point cloud packed message + /// \param[in] _rayBuffer Ray data buffer. +public: + void FillPointCloudMsg(const float * _rayBuffer); + + /// \brief Node to create a topic publisher with. +public: + gz::transport::Node node; + + /// \brief Publisher for messages. +public: + gz::transport::Node::Publisher pointPub; + + /// \brief Publisher for messages. +public: + gz::transport::Node::Publisher pointFloatPub; + + /// \brief Flag to indicate if sensor should be publishing estimates. +public: + bool publishingEstimates = false; +}; + +////////////////////////////////////////////////// +MultibeamSonarSensor::MultibeamSonarSensor() : dataPtr(new Implementation()) {} + +////////////////////////////////////////////////// +MultibeamSonarSensor::~MultibeamSonarSensor() +{ + this->dataPtr->depthConnection.reset(); + this->dataPtr->sceneChangeConnection.reset(); +} + +////////////////////////////////////////////////// +bool MultibeamSonarSensor::Load(const sdf::Sensor & _sdf) +{ + if (!gz::sensors::RenderingSensor::Load(_sdf)) + { + return false; + } + + // Check if this sensor is of the right type + if (_sdf.Type() != sdf::SensorType::CUSTOM) + { + gzerr << "Expected [" << this->Name() << "] sensor to be " + << "a Multibeam Sonar but found a " << _sdf.TypeStr() << "." << std::endl; + return false; + } + + sdf::ElementPtr elem = _sdf.Element(); + if (!elem->HasAttribute("gz:type")) + { + gzerr << "Missing 'gz:type' attribute " + << "for sensor [" << this->Name() << "]. " + << "Aborting load." << std::endl; + return false; + } + const auto type = elem->Get("gz:type"); + if (type != "multibeam_sonar") + { + gzerr << "Expected sensor [" << this->Name() << "] to be a " + << "DVL but it is of '" << type << "' type. Aborting load." << std::endl; + return false; + } + if (!elem->HasElement("gz:multibeam_sonar")) + { + gzerr << "Missing 'gz:multibeam_sonar' configuration for " + << "sensor [" << this->Name() << "]. " + << "Aborting load." << std::endl; + return false; + } + this->dataPtr->sensorSdf = elem->GetElement("gz:multibeam_sonar"); + + // Initialize the point message. + // \todo(anyone) The true value in the following function call forces + // the xyz and rgb fields to be aligned to memory boundaries. This is need + // by ROS1: https://github.com/ros/common_msgs/pull/77. Ideally, memory + // alignment should be configured. This same problem is in the + // RgbdCameraSensor. + msgs::InitPointCloudPacked( + this->dataPtr->pointMsg, this->FrameId(), true, + {{"xyz", msgs::PointCloudPacked::Field::FLOAT32}, + {"intensity", msgs::PointCloudPacked::Field::FLOAT32}, + {"ring", msgs::PointCloudPacked::Field::UINT16}}); + + // Instantiate interfaces + // Create the point cloud publisher + this->dataPtr->pointPub = + this->dataPtr->node.Advertise(this->Topic() + "/point_cloud"); + this->dataPtr->pointFloatPub = + this->dataPtr->node.Advertise(this->Topic() + "/point_cloud_float_vector"); + if (!this->dataPtr->pointPub) + { + gzerr << "Unable to create publisher on topic " + << "[" << this->Topic() << "] for sensor " + << "[" << this->Name() << "]" << std::endl; + return false; + } + + // Setup sensors + if (this->Scene()) + { + if (!this->dataPtr->Initialize(this)) + { + gzerr << "Failed to setup [" << this->Name() << "] sensor. " << std::endl; + return false; + } + } + + gzmsg << "Loaded [" << this->Name() << "] Multibeam Sonar sensor." << std::endl; + this->dataPtr->sceneChangeConnection = gz::sensors::RenderingEvents::ConnectSceneChangeCallback( + std::bind(&MultibeamSonarSensor::SetScene, this, std::placeholders::_1)); + + // ROS Initialization + + if (!rclcpp::ok()) + { + rclcpp::init(0, nullptr); + } + + this->ros_node_ = std::make_shared("multibeam_sonar_node"); + + this->pointCloudSub_ = this->ros_node_->create_subscription( + "/sensor/multibeam_sonar/point_cloud", 10, + std::bind(&MultibeamSonarSensor::pointCloudCallback, this, std::placeholders::_1)); + + return true; +} + +void MultibeamSonarSensor::pointCloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg) +{ + this->lock_.lock(); + + gzmsg << "Callback POINTCLOUD started" << std::endl; + + pcl::PointCloud::Ptr pcl_pointcloud(new pcl::PointCloud); + + gzmsg << "Converting ROS point cloud message to PCL format..." << std::endl; + + pcl::fromROSMsg(*msg, *pcl_pointcloud); + + gzmsg << "Point cloud converted. Number of points: " << pcl_pointcloud->size() << std::endl; + + if (this->dataPtr->pointMsg.width() == 0 || this->dataPtr->pointMsg.height() == 0) + { + gzmsg << "Error: PointCloud2 message dimensions are zero!" << std::endl; + } + else + { + unsigned int width = this->dataPtr->pointMsg.width(); + unsigned int height = this->dataPtr->pointMsg.height(); + + gzmsg << "Point cloud dimensions: width = " << width << ", height = " << height << std::endl; + + this->point_cloud_image_.create(height, width, CV_32FC1); + cv::MatIterator_ iter_image = this->point_cloud_image_.begin(); + + gzmsg << "Point cloud image matrix created" << std::endl; + } + + this->lock_.unlock(); + + gzmsg << "Callback POINTCLOUD finished" << std::endl; +} + +////////////////////////////////////////////////// +bool MultibeamSonarSensor::Load(sdf::ElementPtr _sdf) +{ + sdf::Sensor sdfSensor; + sdfSensor.Load(_sdf); + return this->Load(sdfSensor); +} + +////////////////////////////////////////////////// +bool MultibeamSonarSensor::Implementation::Initialize(MultibeamSonarSensor * _sensor) +{ + gzmsg << "Initializing [" << _sensor->Name() << "] sensor." << std::endl; + + if (!this->InitializeBeamArrangement(_sensor)) + { + gzerr << "Failed to initialize beam arrangement for " + << "[" << _sensor->Name() << "] sensor." << std::endl; + return false; + } + + gz::math::Pose3d referenceFrameTransform = + this->sensorSdf->Get("reference_frame", gz::math::Pose3d{}).first; + + this->referenceFrameRotation = referenceFrameTransform.Rot().Inverse(); + + gzmsg << "Initialized [" << _sensor->Name() << "] sensor." << std::endl; + this->initialized = true; + return true; +} + +////////////////////////////////////////////////// +bool MultibeamSonarSensor::Implementation::InitializeBeamArrangement(MultibeamSonarSensor * _sensor) +{ + this->beams.clear(); + this->beamTargets.clear(); + + this->depthSensor = _sensor->Scene()->CreateGpuRays(_sensor->Name() + "_depth_sensor"); + if (!this->depthSensor) + { + gzerr << "Failed to create Depth (GPU Ray) sensor for " + << "for [" << _sensor->Name() << "] sensor." << std::endl; + return false; + } + + // Read ray definition from SDF + sdf::ElementPtr rayElement = this->sensorSdf->GetElement("ray"); + if (!rayElement) + { + gzerr << "No beam properties(format of GPU Ray) specified for " + << "[" << _sensor->Name() << "] sensor" << std::endl; + return false; + } + const bool useDegrees = rayElement->Get("degrees", false).first; + const gz::math::Angle angleUnit = useDegrees ? GZ_DTOR(1.) : 1.; + + // -------- Assign depth sensor properties + sdf::ElementPtr rangeElement = rayElement->GetElement("range"); + const double minimumRange = rangeElement->Get("min", 0.1).first; + gzmsg << "Setting minimum range to " << minimumRange << " m for [" << _sensor->Name() + << "] sensor." << std::endl; + this->depthSensor->SetNearClipPlane(minimumRange); + this->maximumRange = rangeElement->Get("max", 5.).first; + gzmsg << "Setting maximum range to " << this->maximumRange << " m for [" << _sensor->Name() + << "] sensor." << std::endl; + this->depthSensor->SetFarClipPlane(this->maximumRange); + + // Mask ranges outside of min/max to +/- inf, as per REP 117 + this->depthSensor->SetClamp(false); + + sdf::ElementPtr horizontalElement = rayElement->GetElement("scan")->GetElement("horizontal"); + const double horizAngleMin = horizontalElement->Get("min_angle", -M_PI / 4.0).first; + const double horizAngleMax = horizontalElement->Get("max_angle", M_PI / 4.0).first; + + sdf::ElementPtr verticalElement = rayElement->GetElement("scan")->GetElement("vertical"); + const double verticalAngleMin = verticalElement->Get("min_angle", -M_PI / 8.0).first; + const double verticalAngleMax = verticalElement->Get("max_angle", M_PI / 8.0).first; + + const int beamCount = horizontalElement->Get("beams", 256).first; + const int rayCount = verticalElement->Get("rays", 3).first; + + // ---- Construct AcousticBeam + // Initialize beamId + int beamId = 0; + + // Iterate through the rays + for (int v = 0; v < rayCount; ++v) + { + for (int h = 0; h < beamCount; ++h) + { + // Calculate beam angles + gz::math::Angle beamApertureAngle = + gz::math::Angle(verticalAngleMax - verticalAngleMin) * angleUnit; + gz::math::Angle beamRotationAngle = + gz::math::Angle(horizAngleMin + (h * (horizAngleMax - horizAngleMin) / beamCount)) * + angleUnit; + gz::math::Angle beamTiltAngle = + gz::math::Angle(verticalAngleMin + (v * (verticalAngleMax - verticalAngleMin) / rayCount)) * + angleUnit; + + // Normalize angles + beamApertureAngle = beamApertureAngle.Normalized(); + beamRotationAngle = beamRotationAngle.Normalized(); + beamTiltAngle = beamTiltAngle.Normalized(); + + // Build acoustic beam + this->beams.push_back( + AcousticBeam{beamId, beamApertureAngle, beamRotationAngle, beamTiltAngle}); + + // Increment beamId + ++beamId; + } + } + + // Add as many (still null) targets as beams + this->beamTargets.resize(this->beams.size()); + + // Aggregate all beams' footprint in spherical coordinates into one + AxisAlignedPatch2d beamsSphericalFootprint; + for (const auto & beam : this->beams) + { + beamsSphericalFootprint.Merge(beam.SphericalFootprint()); + } + // Rendering sensors' FOV must be symmetric about its main axis + beamsSphericalFootprint.Merge(beamsSphericalFootprint.Flip()); + + this->depthSensor->SetAngleMin(beamsSphericalFootprint.XMin()); + this->depthSensor->SetAngleMax(beamsSphericalFootprint.XMax()); + auto horizontalRayCount = beamCount; + if (horizontalRayCount % 2 == 0) + { + ++horizontalRayCount; // ensure odd + } + this->depthSensor->SetRayCount(horizontalRayCount); + + this->depthSensor->SetVerticalAngleMin(beamsSphericalFootprint.YMin()); + this->depthSensor->SetVerticalAngleMax(beamsSphericalFootprint.YMax()); + auto verticalRayCount = rayCount; + if (verticalRayCount % 2 == 0) + { + ++verticalRayCount; // ensure odd + } + + this->depthSensor->SetVerticalRayCount(verticalRayCount); + + auto & intrinsics = this->depthSensorIntrinsics; + intrinsics.offset.X(beamsSphericalFootprint.XMin()); + intrinsics.offset.Y(beamsSphericalFootprint.YMin()); + intrinsics.step.X(beamsSphericalFootprint.XSize() / (horizontalRayCount - 1)); + intrinsics.step.Y(beamsSphericalFootprint.YSize() / (verticalRayCount - 1)); + + // Pre-compute scan indices covered by beam spherical + // footprints for speed during scan iteration + this->beamScanPatches.clear(); + for (const auto & beam : this->beams) + { + this->beamScanPatches.push_back( + AxisAlignedPatch2i{(beam.SphericalFootprint() - intrinsics.offset) / intrinsics.step}); + } + + // _sensor->Scene()->RootVisual()->AddChild(this->depthSensor); + + this->depthSensor->SetVisibilityMask(GZ_VISIBILITY_ALL); + + _sensor->AddSensor(this->depthSensor); + + // Set the values on the point message. + this->pointMsg.set_width(this->depthSensor->RangeCount()); + this->pointMsg.set_height(this->depthSensor->VerticalRangeCount()); + this->pointMsg.set_row_step(this->pointMsg.point_step() * this->pointMsg.width()); + + this->imageSensor = _sensor->Scene()->CreateCamera(_sensor->Name() + "_image_sensor"); + if (!this->imageSensor) + { + gzerr << "Failed to create image sensor for " + << "for [" << _sensor->Name() << "] sensor." << std::endl; + return false; + } + + this->imageSensor->SetImageWidth(horizontalRayCount); + this->imageSensor->SetImageHeight(verticalRayCount); + + this->imageSensor->SetNearClipPlane(minimumRange); + this->imageSensor->SetFarClipPlane(this->maximumRange); + this->imageSensor->SetAntiAliasing(2); + + this->imageSensor->SetAspectRatio( + beamsSphericalFootprint.XSize() / beamsSphericalFootprint.YSize()); + this->imageSensor->SetHFOV(beamsSphericalFootprint.XSize()); + this->imageSensor->SetVisibilityMask(~GZ_VISIBILITY_GUI); + + _sensor->AddSensor(this->imageSensor); + + this->depthConnection = this->depthSensor->ConnectNewGpuRaysFrame(std::bind( + &MultibeamSonarSensor::Implementation::OnNewFrame, this, std::placeholders::_1, + std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5)); + + return true; +} + +////////////////////////////////////////////////// +std::vector MultibeamSonarSensor::RenderingSensors() const +{ + return {this->dataPtr->depthSensor, this->dataPtr->imageSensor}; +} + +// Simplified function to only process point cloud +void MultibeamSonarSensor::Implementation::OnNewFrame( + const float * _scan, unsigned int _width, unsigned int _height, unsigned int _channels, + const std::string & /*_format*/) +{ + // Lock the ray buffer for thread safety + std::lock_guard lock(this->rayMutex); + + // Total number of points in the scan + unsigned int samples = _width * _height * _channels; + unsigned int rayBufferSize = samples * sizeof(float); + + // Allocate memory for the ray buffer if not already allocated + if (!this->rayBuffer) + { + this->rayBuffer = new float[samples]; + } + + // Copy the incoming scan data into the ray buffer + memcpy(this->rayBuffer, _scan, rayBufferSize); + + // Further processing of the point cloud can go here, if needed +} + +///////////////////////////////////////////////// +void MultibeamSonarSensor::SetScene(gz::rendering::ScenePtr _scene) +{ + // APIs make it possible for the scene pointer to change + if (this->Scene() != _scene) + { + // TODO(anyone) Remove camera from scene + this->dataPtr->depthSensor = nullptr; + this->dataPtr->imageSensor = nullptr; + if (this->dataPtr->rayBuffer) + { + delete[] this->dataPtr->rayBuffer; + this->dataPtr->rayBuffer = nullptr; + } + RenderingSensor::SetScene(_scene); + if (!this->dataPtr->initialized) + { + if (!this->dataPtr->Initialize(this)) + { + gzerr << "Failed to initialize " + << "[" << this->Name() << "]" + << " sensor." << std::endl; + } + } + } +} + +////////////////////////////////////////////////// +void MultibeamSonarSensor::SetWorldState(const WorldState & _state) +{ + this->dataPtr->worldState = &_state; +} +////////////////////////////////////////////////// +void MultibeamSonarSensor::SetEnvironmentalData(const EnvironmentalData & _data) {} + +////////////////////////////////////////////////// +void MultibeamSonarSensor::SetEntity(uint64_t _entityId) { this->dataPtr->entityId = _entityId; } + +////////////////////////////////////////////////// +bool MultibeamSonarSensor::Update(const std::chrono::steady_clock::duration & _now) +{ + GZ_PROFILE("MultibeamSonarSensor::Update"); + if (!this->dataPtr->initialized || this->dataPtr->entityId == 0) + { + gzerr << "Not initialized, update ignored." << std::endl; + return false; + } + + if (!this->dataPtr->depthSensor) + { + gzerr << "Depth (GpuRays) Sensor for Multibeam Sonar doesn't exist.\n"; + return false; + } + + // const gz::math::Pose3d beamsFramePose = this->Pose() * this->dataPtr->beamsFrameTransform; + // this->dataPtr->depthSensor->SetLocalPose(beamsFramePose); + // this->dataPtr->imageSensor->SetLocalPose(beamsFramePose); + + // Generate sensor data + this->Render(); + + if (this->dataPtr->pointPub.HasConnections()) + { + // Set the time stamp + *this->dataPtr->pointMsg.mutable_header()->mutable_stamp() = msgs::Convert(_now); + // Set frame_id + for (auto i = 0; i < this->dataPtr->pointMsg.mutable_header()->data_size(); ++i) + { + if ( + this->dataPtr->pointMsg.mutable_header()->data(i).key() == "frame_id" && + this->dataPtr->pointMsg.mutable_header()->data(i).value_size() > 0) + { + this->dataPtr->pointMsg.mutable_header()->mutable_data(i)->set_value(0, this->FrameId()); + } + } + + this->dataPtr->FillPointCloudMsg(this->dataPtr->rayBuffer); + + // For the point cloud visualization in gazebo + // https://github.com/gazebosim/gz-gui/pull/346 + { + this->AddSequence(this->dataPtr->pointMsg.mutable_header()); + GZ_PROFILE("MultibeamSonarSensor::Update Publish point cloud"); + this->dataPtr->pointPub.Publish(this->dataPtr->pointMsg); + } + } + + return true; +} + +////////////////////////////////////////////////// +void MultibeamSonarSensor::PostUpdate(const std::chrono::steady_clock::duration & _now) +{ + GZ_PROFILE("MultibeamSonarSensor::PostUpdate"); + + if (!this->dataPtr->worldState) + { + gzwarn << "No world state available, " + << "cannot estimate velocities." << std::endl; + return; + } + rclcpp::spin_some(this->ros_node_); + + for (size_t i = 0; i < this->dataPtr->beams.size(); ++i) + { + auto & beamTarget = this->dataPtr->beamTargets[i]; + if (beamTarget) + { + // TODO(hidmic): use shader to fetch target entity id + const gz::math::Vector2i pixel = this->dataPtr->imageSensor->Project(beamTarget->pose.Pos()); + auto visual = this->dataPtr->imageSensor->VisualAt(pixel); + if (visual) + { + if (visual->HasUserData("gazebo-entity")) + { + auto user_data = visual->UserData("gazebo-entity"); + beamTarget->entity = std::get(user_data); + } + else + { + gzdbg << "No entity associated to [" << visual->Name() << "]" + << " visual. Assuming it is static w.r.t. the world." << std::endl; + } + } + } + } + + // auto * headerMessage = waterMassModeMessage.mutable_header(); + // auto frame = headerMessage->add_data(); + // frame->set_key("frame_id"); + // frame->add_value(this->FrameId()); + // this->AddSequence(headerMessage, "doppler_velocity_log"); + // this->dataPtr->pointPub.Publish(waterMassModeMessage); +} + +////////////////////////////////////////////////// +bool MultibeamSonarSensor::HasConnections() const +{ + return this->dataPtr->pointPub && this->dataPtr->pointPub.HasConnections(); +} + +////////////////////////////////////////////////// +void MultibeamSonarSensor::Implementation::FillPointCloudMsg(const float * _rayBuffer) +{ + uint32_t width = this->pointMsg.width(); + uint32_t height = this->pointMsg.height(); + unsigned int channels = 3; + + float angleStep = (this->depthSensor->AngleMax() - this->depthSensor->AngleMin()).Radian() / + (this->depthSensor->RangeCount() - 1); + + float verticleAngleStep = + (this->depthSensor->VerticalAngleMax() - this->depthSensor->VerticalAngleMin()).Radian() / + (this->depthSensor->VerticalRangeCount() - 1); + + // Angles of ray currently processing, azimuth is horizontal, inclination + // is vertical + float inclination = this->depthSensor->VerticalAngleMin().Radian(); + + std::string * msgBuffer = this->pointMsg.mutable_data(); + msgBuffer->resize(this->pointMsg.row_step() * this->pointMsg.height()); + char * msgBufferIndex = msgBuffer->data(); + // Set Pointcloud as dense. Change if invalid points are found. + bool isDense{true}; + // Iterate over scan and populate point cloud + for (uint32_t j = 0; j < height; ++j) + { + float azimuth = this->depthSensor->AngleMin().Radian(); + + for (uint32_t i = 0; i < width; ++i) + { + // Index of current point, and the depth value at that point + auto index = j * width * channels + i * channels; + float depth = _rayBuffer[index]; + // Validate Depth/Radius and update pointcloud density flag + if (isDense) + { + isDense = !(gz::math::isnan(depth) || std::isinf(depth)); + } + + float intensity = _rayBuffer[index + 1]; + uint16_t ring = j; + + int fieldIndex = 0; + + // Convert spherical coordinates to Cartesian for pointcloud + // See https://en.wikipedia.org/wiki/Spherical_coordinate_system + *reinterpret_cast(msgBufferIndex + this->pointMsg.field(fieldIndex++).offset()) = + depth * std::cos(inclination) * std::cos(azimuth); + + *reinterpret_cast(msgBufferIndex + this->pointMsg.field(fieldIndex++).offset()) = + depth * std::cos(inclination) * std::sin(azimuth); + + *reinterpret_cast(msgBufferIndex + this->pointMsg.field(fieldIndex++).offset()) = + depth * std::sin(inclination); + + // Intensity + *reinterpret_cast(msgBufferIndex + this->pointMsg.field(fieldIndex++).offset()) = + intensity; + + // Ring + *reinterpret_cast(msgBufferIndex + this->pointMsg.field(fieldIndex++).offset()) = + ring; + + // Move the index to the next point. + msgBufferIndex += this->pointMsg.point_step(); + + azimuth += angleStep; + } + inclination += verticleAngleStep; + } + this->pointMsg.set_is_dense(isDense); +} + +} // namespace sensors +} // namespace gz \ No newline at end of file diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/MultibeamSonarSensor.hh b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/MultibeamSonarSensor.hh new file mode 100644 index 00000000..4c94cf7d --- /dev/null +++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/MultibeamSonarSensor.hh @@ -0,0 +1,116 @@ +#ifndef GZ_SENSORS_MULTIBEAMSONAR_HH_ +#define GZ_SENSORS_MULTIBEAMSONAR_HH_ + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include // For OpenCV Mat +#include +#include + +namespace gz +{ +namespace sensors +{ +/// \brief Kinematic state for an entity in the world. +/// +/// All quantities are defined w.r.t. the world frame. +struct EntityKinematicState +{ + gz::math::Pose3d pose; + gz::math::Vector3d linearVelocity; + gz::math::Vector3d angularVelocity; +}; + +/// \brief Kinematic state for all entities in the world. +using WorldKinematicState = std::unordered_map; + +/// \brief Kinematic state for all entities in the world. +struct WorldState +{ + WorldKinematicState kinematics; + gz::math::SphericalCoordinates origin; +}; + +class MultibeamSonarSensor : public gz::sensors::RenderingSensor +{ +public: + MultibeamSonarSensor(); + +public: + ~MultibeamSonarSensor(); + + /// Inherits documentation from parent class +public: + virtual bool Load(const sdf::Sensor & _sdf) override; + + /// Inherits documentation from parent class +public: + virtual bool Load(sdf::ElementPtr _sdf) override; + + /// Inherits documentation from parent class +public: + virtual bool Update(const std::chrono::steady_clock::duration & _now) override; + + /// Perform any sensor updates after the rendering pass +public: + virtual void PostUpdate(const std::chrono::steady_clock::duration & _now); + + /// Inherits documentation from parent class +public: + void SetScene(gz::rendering::ScenePtr _scene) override; + + /// \brief Set this sensor's entity ID (for world state lookup). +public: + void SetEntity(uint64_t entity); + + /// \brief Set world `_state` to support DVL water and bottom-tracking. +public: + void SetWorldState(const WorldState & _state); + + /// \brief Set environmental `_data` to support DVL water-tracking. +public: + void SetEnvironmentalData(const EnvironmentalData & _data); + + /// \brief Inherits documentation from parent class +public: + virtual bool HasConnections() const override; + + /// \brief Yield rendering sensors that underpin the implementation. + /// + /// \internal +public: + std::vector RenderingSensors() const; + +private: + class Implementation; + +private: + std::mutex lock_; + +private: + std::unique_ptr dataPtr; + + // ROS node handle member + std::shared_ptr ros_node_; + // Subscription for PointCloud2 messages + rclcpp::Subscription::SharedPtr pointCloudSub_; + + void pointCloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg); + +private: + cv::Mat point_cloud_image_; // Point cloud image + cv::Mat point_cloud_normal_image_; // Point cloud normal image +}; + +} // namespace sensors +} // namespace gz + +#endif // GZ_SENSORS_MULTIBEAMSONAR_HH_ diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/hooks/multibeam_sonar.dsv.in b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/hooks/multibeam_sonar.dsv.in new file mode 100644 index 00000000..07f53dcf --- /dev/null +++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/hooks/multibeam_sonar.dsv.in @@ -0,0 +1,2 @@ +prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;lib/@PROJECT_NAME@/ +prepend-non-duplicate;LD_LIBRARY_PATH;lib/@PROJECT_NAME@/ diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/package.xml b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/package.xml new file mode 100644 index 00000000..431054ba --- /dev/null +++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/package.xml @@ -0,0 +1,25 @@ + + + multibeam_sonar + 0.0.1 + DAVE multibeam sonar sensor + Woen-Sug Choi + Helena Moyen + Gaurav kumar + Apache 2.0 + geometry_msgs + pcl_conversions + libpcl-all-dev + libpcl-all + ament_cmake + ament_lint_auto + dave_interfaces + protobuf + marine_acoustic_msgs + + dave_interfaces + + + ament_cmake + + \ No newline at end of file diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/CMakeLists.txt b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/CMakeLists.txt new file mode 100644 index 00000000..7f57f3de --- /dev/null +++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 3.8) +project(dave_multibeam_sonar_demo) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY launch + DESTINATION share/${PROJECT_NAME} +) + +install( + DIRECTORY rviz + DESTINATION share/${PROJECT_NAME} +) + +ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in") + +ament_package() diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/hooks/dave_multibeam_sonar_demo.dsv.in b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/hooks/dave_multibeam_sonar_demo.dsv.in new file mode 100644 index 00000000..000c1b2d --- /dev/null +++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/hooks/dave_multibeam_sonar_demo.dsv.in @@ -0,0 +1 @@ +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@ \ No newline at end of file diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/launch/multibeam_sonar_demo.launch.py b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/launch/multibeam_sonar_demo.launch.py new file mode 100644 index 00000000..73ca2e94 --- /dev/null +++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/launch/multibeam_sonar_demo.launch.py @@ -0,0 +1,91 @@ +# 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. + +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import IncludeLaunchDescription +from launch.conditions import IfCondition +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + +from launch_ros.actions import Node + + +def generate_launch_description(): + pkg_dave_demos = get_package_share_directory("dave_demos") + multibeam_sonar_sim = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_dave_demos, "launch", "dave_sensor.launch.py") + ), + launch_arguments={ + "namespace": "blueview_p900", + "world_name": "dave_multibeam_sonar", + "paused": "false", + "x": "4", + "z": "0.5", + "yaw": "3.14", + }.items(), + ) + + # RViz + pkg_dave_multibeam_sonar_demo = get_package_share_directory("dave_multibeam_sonar_demo") + rviz = Node( + package="rviz2", + executable="rviz2", + arguments=[ + "-d", + os.path.join(pkg_dave_multibeam_sonar_demo, "rviz", "multibeam_sonar.rviz"), + ], + condition=IfCondition(LaunchConfiguration("rviz")), + ) + + # Bridge + bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=[ + "/sensor/camera@sensor_msgs/msg/Image@gz.msgs.Image", + "/sensor/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo", + "/sensor/depth_camera@sensor_msgs/msg/Image@gz.msgs.Image", + "/sensor/multibeam_sonar/point_cloud@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked", + ], + output="screen", + ) + + # ! TODO: Add a static transform publisher for the multibeam sonar + # TF (Not sure about this....) + tf_node = Node( + package="tf2_ros", + executable="static_transform_publisher", + arguments=[ + "--frame-id", + "world", + "--child-frame-id", + "blueview_p900/blueview_p900_base_link/multibeam_sonar", + ], + ) + + return LaunchDescription( + [ + multibeam_sonar_sim, + DeclareLaunchArgument("rviz", default_value="true", description="Open RViz."), + bridge, + rviz, + tf_node, + ] + ) diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/package.xml b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/package.xml new file mode 100644 index 00000000..bd5aa9dd --- /dev/null +++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/package.xml @@ -0,0 +1,12 @@ + + + dave_multibeam_sonar_demo + 0.1.0 + A package for multibeam sonar demo files. + Woen-Sug Choi + MIT + ament_cmake + + ament_cmake + + \ No newline at end of file diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/rviz/multibeam_sonar.rviz b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/rviz/multibeam_sonar.rviz new file mode 100644 index 00000000..610fb45c --- /dev/null +++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/rviz/multibeam_sonar.rviz @@ -0,0 +1,205 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Camera1 + - /Camera1/Status1 + - /Camera1/Topic1 + - /Depth Camera1 + - /Depth Camera1/Topic1 + - /PointCloud21 + - /PointCloud21/Status1 + Splitter Ratio: 0.5 + Tree Height: 785 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Camera + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensor/camera + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Depth Camera + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: System Default + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensor/depth_camera + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + 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: PointCloud2 + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensor/multibeam_sonar/point_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 17.623416900634766 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7903980016708374 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 0.785398006439209 + Saved: ~ +Window Geometry: + Camera: + collapsed: false + Depth Camera: + collapsed: false + Displays: + collapsed: false + Height: 1773 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000003c7000005e3fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000700000040d0000018600fffffffb0000000a005600690065007700730100000489000001ca0000013800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000002ec000005e3fc0200000004fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000c00430061006d0065007200610100000070000002fe0000004c00fffffffb0000001800440065007000740068002000430061006d006500720061010000037a000002d90000004c00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000bcf0000005efc0100000002fb0000000800540069006d0065010000000000000bcf0000047a00fffffffb0000000800540069006d0065010000000000000450000000000000000000000504000005e300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 3023 + X: 401 + Y: 368 diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/CMakeLists.txt b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/CMakeLists.txt new file mode 100644 index 00000000..22f5860f --- /dev/null +++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/CMakeLists.txt @@ -0,0 +1,114 @@ +cmake_minimum_required(VERSION 3.11.0 FATAL_ERROR) +project(multibeam_sonar_system) + +find_package(ament_cmake REQUIRED) +find_package(gz-cmake3 REQUIRED) +find_package(gz-common5 REQUIRED COMPONENTS profiler) +find_package(gz-plugin2 REQUIRED COMPONENTS register) +find_package(gz-rendering8 REQUIRED OPTIONAL_COMPONENTS ogre ogre2) +find_package(gz-sim8 REQUIRED) +find_package(gz-sensors8 REQUIRED) + +set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR}) +set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR}) +set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR}) +set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR}) +set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR}) + +if(TARGET gz-rendering${GZ_RENDERING_VER}::ogre) + set(HAVE_OGRE TRUE) + set(GZ_RENDERING_TARGET gz-rendering${GZ_RENDERING_VER}-ogre) + add_definitions(-DWITH_OGRE) +endif() + +if(TARGET gz-rendering${GZ_RENDERING_VER}::ogre2) + set(HAVE_OGRE2 TRUE) + set(GZ_RENDERING_TARGET gz-rendering${GZ_RENDERING_VER}-ogre2) + add_definitions(-DWITH_OGRE2) +endif() + + +add_subdirectory(../multibeam_sonar ${CMAKE_BINARY_DIR}/multibeam_sonar) + +add_library(${PROJECT_NAME} SHARED MultibeamSonarSystem.cc) +target_link_libraries(${PROJECT_NAME} + gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} + gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER} + gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER} + multibeam_sonar +) +target_include_directories(${PROJECT_NAME} + PUBLIC + ../multibeam_sonar +) + +ament_target_dependencies(${PROJECT_NAME} + gz-common${GZ_COMMON_VER} + ${GZ_RENDERING_TARGET} + gz-plugin${GZ_PLUGIN_VER} + gz-sim${GZ_SIM_VER} + gz-sensors${GZ_SENSORS_VER} +) + +# Install targets +install(TARGETS ${PROJECT_NAME} + DESTINATION lib/${PROJECT_NAME} +) + +# Environment hooks +ament_environment_hooks( + "${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in" +) + +ament_package() + + +# find_package(CUDAToolkit QUIET) +# if(CUDAToolkit_FOUND) +# enable_language(CUDA) +# message(STATUS "CUDA found, enabling CUDA support.") +# include_directories(${CUDA_INCLUDE_DIRS}) +# set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -arch=sm_60") + +# find_package(cv_bridge REQUIRED) +# find_package(OpenCV REQUIRED) +# find_package(rosidl_default_generators REQUIRED) +# find_package(PCL REQUIRED) +# find_package(pcl_ros REQUIRED) +# find_package(marine_acoustic_msgs REQUIRED) +# find_package(gz-sensors${GZ_SIM_VER} REQUIRED) +# set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR}) + +# add_library(MultibeamSonarSystem SHARED +# src/MultibeamSonarSystem.cc +# ) + +# set_target_properties(MultibeamSonarSystem +# PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +# target_include_directories(MultibeamSonarSystem PRIVATE include) +# target_link_libraries(MultibeamSonarSystem +# gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER} +# gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER} +# gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} +# ${CUDA_LIBRARIES} +# ${PCL_LIBRARIES} +# ${OpenCV_LIBRARIES} +# ) + +# ament_target_dependencies(MultibeamSonarSystem +# rclcpp +# std_msgs +# sensor_msgs +# geometry_msgs +# PCL +# OpenCV +# marine_acoustic_msgs +# ) +# install(TARGETS MultibeamSonarSystem +# DESTINATION lib/${PROJECT_NAME} +# ) +# else() +# message(STATUS "CUDA Toolkit not found: Skipping CUDA-specific targets") +# endif() \ No newline at end of file diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/MultibeamSonarSystem.cc b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/MultibeamSonarSystem.cc new file mode 100644 index 00000000..2f28c240 --- /dev/null +++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/MultibeamSonarSystem.cc @@ -0,0 +1,706 @@ +/* + * Copyright (C) 2022 Open Source Robotics Foundation + * + * 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 +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include + +#include +#include +#include +#include + +#include + +#include "./../multibeam_sonar/MultibeamSonarSensor.hh" +#include "MultibeamSonarSystem.hh" + +namespace gz +{ +namespace sim +{ +namespace requests +{ +/// \brief A request for sensor creation. +struct CreateSensor +{ + sdf::Sensor sdf; + gz::sim::Entity entity; + gz::sim::Entity parent; + std::string parentName; +}; + +/// \brief A request for sensor destruction. +struct DestroySensor +{ + /// \brief Entity to destroy + gz::sim::Entity entity; +}; + +/// \brief A request for a world state update for sensors. +struct SetWorldState +{ + /// \brief World state + gz::sensors::WorldState worldState; +}; + +/// \brief A request for an environmental data update for sensors. +struct SetEnvironmentalData +{ + /// \brief Environment data + std::shared_ptr environmentalData; +}; + +/// \brief Union request type. +using SomeRequest = std::variant; + +} // namespace requests +} // namespace sim +} // namespace gz + +/// \brief Private data class. +class gz::sim::systems::MultibeamSonarSystem::Implementation +{ + /// \brief Callback invoked in the rendering thread before a rendering update +public: + void OnPreRender(); + + /// \brief Callback invoked in the rendering thread during a rendering update +public: + void OnRender(); + + /// \brief Callback invoked in the rendering thread after a rendering update +public: + void OnPostRender(); + + /// \brief Callback invoked in the rendering thread before stopping +public: + void OnRenderTeardown(); + + /// \brief Find visual with given entity id + /// \param[in] _scene Pointer to Scene + /// \param[in] _entity Entity ID +public: + gz::rendering::VisualPtr FindEntityVisual( + gz::rendering::ScenePtr _scene, gz::sim::Entity _entity); + + /// \brief Overload to handle sensor creation requests. +public: + void Handle(requests::CreateSensor _request); + + /// \brief Overload to handle sensor destruction requests. +public: + void Handle(requests::DestroySensor _request); + + /// \brief Overload to handle world state update requests. +public: + void Handle(requests::SetWorldState _request); + + /// \brief Overload to handle environment data update requests. +public: + void Handle(requests::SetEnvironmentalData _request); + + /// \brief Implementation for Configure() hook. +public: + void DoConfigure( + const gz::sim::Entity & _entity, const std::shared_ptr & _sdf, + gz::sim::EntityComponentManager & _ecm, gz::sim::EventManager & _eventMgr); + + /// \brief Implementation for PreUpdate() hook. +public: + void DoPreUpdate(const gz::sim::UpdateInfo & _info, gz::sim::EntityComponentManager & _ecm); + + /// \brief Implementation for Update() hook. +public: + void DoUpdate(const gz::sim::UpdateInfo & _info, gz::sim::EntityComponentManager & _ecm); + + /// \brief Implementation for PostUpdate() hook. +public: + void DoPostUpdate( + const gz::sim::UpdateInfo & _info, const gz::sim::EntityComponentManager & _ecm); + + /// \brief State of all entities in the world in simulation thread +public: + std::optional latestWorldState; + + /// \brief State of all entities in the world in simulation thread +public: + std::shared_ptr latestEnvironmentalData; + + /// \brief Connection to the pre-render event. +public: + gz::common::ConnectionPtr preRenderConn; + + /// \brief Connection to the render event. +public: + gz::common::ConnectionPtr renderConn; + + /// \brief Connection to the post-render event. +public: + gz::common::ConnectionPtr postRenderConn; + + /// \brief Connection to the render teardown event. +public: + gz::common::ConnectionPtr renderTeardownConn; + + /// \brief Pointer to the event manager +public: + gz::sim::EventManager * eventMgr = nullptr; + + //// \brief Pointer to the rendering scene +public: + gz::rendering::ScenePtr scene; + + /// \brief Sensor managers +public: + gz::sensors::Manager sensorManager; + + /// \brief Entities of known sensors (in simulation thread) +public: + std::unordered_set knownSensorEntities; + + /// \brief Sensor ID per sensor entity mapping in rendering thread +public: + std::unordered_map sensorIdPerEntity; + + /// \brief IDs of sensors updated in the last rendering pass +public: + std::vector updatedSensorIds; + + /// \brief Queue of requests from simulation thread to rendering thread +public: + std::vector perStepRequests; + + /// \brief Mutex to synchronize access to queued requests +public: + std::mutex requestsMutex; + + /// \brief Create/Destroy sensor requests queue, popped by the rendering + /// thread. +public: + std::vector queuedRequests; + + /// \brief SetWorldState requests queue, popped by the rendering thread. +public: + std::vector queuedSetWorldRequests; + + /// \brief Flag for pending (ie. queued) requests. +public: + std::atomic pendingRequests{false}; + + /// \brief Flag for pending (ie. queued) set world state requests. +public: + std::atomic pendingSetWorldRequests{false}; + + /// \brief Flag for +public: + bool needsUpdate{false}; + + /// \brief Current simulation time. +public: + std::chrono::steady_clock::duration simTime{0}; + + /// \brief Current simulation time. +public: + std::chrono::steady_clock::duration nextUpdateTime{std::chrono::steady_clock::duration::max()}; + + /// \brief Mutex to protect current simulation times +public: + std::mutex timeMutex; +}; + +using namespace gz; +using namespace sim; +using namespace systems; + +////////////////////////////////////////////////// +void MultibeamSonarSystem::Implementation::DoConfigure( + const gz::sim::Entity &, const std::shared_ptr &, + gz::sim::EntityComponentManager &, gz::sim::EventManager & _eventMgr) +{ + this->preRenderConn = + _eventMgr.Connect(std::bind(&Implementation::OnPreRender, this)); + + this->renderConn = + _eventMgr.Connect(std::bind(&Implementation::OnRender, this)); + + this->postRenderConn = + _eventMgr.Connect(std::bind(&Implementation::OnPostRender, this)); + + this->renderTeardownConn = _eventMgr.Connect( + std::bind(&Implementation::OnRenderTeardown, this)); + + this->eventMgr = &_eventMgr; +} + +////////////////////////////////////////////////// +void MultibeamSonarSystem::Implementation::DoPreUpdate( + const gz::sim::UpdateInfo &, gz::sim::EntityComponentManager & _ecm) +{ + _ecm.EachNew( + [&](const gz::sim::Entity & _entity, const gz::sim::components::Environment * _env) -> bool + { + if (_entity == gz::sim::worldEntity(_ecm)) + { + // \todo(anyone) Create an EnvironmentalData DOM class + // in sdformat and make gz-sensors and gz-sim use this + // generic data structure? Currently the data structure is + // duplicated in the two libraries. + auto envData = sensors::EnvironmentalData::MakeShared( + _env->Data()->frame, _env->Data()->reference, + static_cast(_env->Data()->units), + _env->Data()->staticTime); + + this->perStepRequests.push_back(requests::SetEnvironmentalData{envData}); + } + return true; + }); + + _ecm.EachNew( + [&]( + const gz::sim::Entity & _entity, const gz::sim::components::CustomSensor * _custom, + const gz::sim::components::ParentEntity * _parent) -> bool + { + using namespace gz::sim; + // Get sensor's scoped name without the world + std::string sensorScopedName = + removeParentScope(scopedName(_entity, _ecm, "::", false), "::"); + + // Check sensor's type before proceeding + sdf::Sensor sdf = _custom->Data(); + sdf::ElementPtr root = sdf.Element(); + if (!root->HasAttribute("gz:type")) + { + gzmsg << "No 'gz:type' attribute in custom sensor " + << "[" << sensorScopedName << "]. Ignoring." << std::endl; + return true; + } + auto type = root->Get("gz:type"); + if (type != "multibeam_sonar") + { + gzdbg << "Found custom sensor [" << sensorScopedName << "]" + << " of '" << type << "' type. Ignoring." << std::endl; + return true; + } + gzdbg << "Found custom sensor [" << sensorScopedName << "]" + << " of '" << type << "' type!" << std::endl; + + sdf.SetName(sensorScopedName); + + if (sdf.Topic().empty()) + { + // Default to scoped name as topic + sdf.SetTopic(scopedName(_entity, _ecm) + "/multibeam_sonar/velocity"); + } + + auto parentName = _ecm.Component(_parent->Data()); + + enableComponent(_ecm, _entity); + enableComponent(_ecm, _entity); + enableComponent(_ecm, _entity); + + this->perStepRequests.push_back( + requests::CreateSensor{sdf, _entity, _parent->Data(), parentName->Data()}); + + this->knownSensorEntities.insert(_entity); + return true; + }); +} + +////////////////////////////////////////////////// +void MultibeamSonarSystem::Implementation::DoPostUpdate( + const gz::sim::UpdateInfo & _info, const gz::sim::EntityComponentManager & _ecm) +{ + _ecm.EachRemoved( + [&](const gz::sim::Entity & _entity, const gz::sim::components::CustomSensor *) + { + if (this->knownSensorEntities.count(_entity)) + { + this->perStepRequests.push_back(requests::DestroySensor{_entity}); + this->knownSensorEntities.erase(_entity); + } + return true; + }); + + std::lock_guard timeLock(this->timeMutex); + + if (!this->perStepRequests.empty() || (!_info.paused && this->nextUpdateTime <= _info.simTime)) + { + this->simTime = _info.simTime; + requests::SetWorldState request; + auto component = + _ecm.Component(gz::sim::worldEntity(_ecm)); + if (component) + { + request.worldState.origin = component->Data(); + } + + _ecm.Each< + gz::sim::components::WorldPose, gz::sim::components::WorldLinearVelocity, + gz::sim::components::WorldAngularVelocity>( + [&]( + const gz::sim::Entity & _entity, const gz::sim::components::WorldPose * _pose, + const gz::sim::components::WorldLinearVelocity * _linearVelocity, + const gz::sim::components::WorldAngularVelocity * _angularVelocity) + { + auto & kinematicState = request.worldState.kinematics[_entity]; + + kinematicState.pose = _pose->Data(); + kinematicState.linearVelocity = _linearVelocity->Data(); + kinematicState.angularVelocity = _angularVelocity->Data(); + return true; + }); + ; + + { + std::lock_guard lock(this->requestsMutex); + + this->queuedRequests.insert( + this->queuedRequests.end(), std::make_move_iterator(this->perStepRequests.begin()), + std::make_move_iterator(this->perStepRequests.end())); + this->perStepRequests.clear(); + + // keep a queue size of 1 for set world state + // this avoids setting the world state in gz-sensors multiple times + // before render update takes place + this->queuedSetWorldRequests.clear(); + this->queuedSetWorldRequests.push_back(std::move(request)); + } + + this->pendingRequests = true; + this->pendingSetWorldRequests = true; + + // this is a non-blocking call that force render to occur in the next + // render iteration in the render thread + this->eventMgr->Emit(); + } +} + +////////////////////////////////////////////////// +gz::rendering::VisualPtr MultibeamSonarSystem::Implementation::FindEntityVisual( + gz::rendering::ScenePtr _scene, gz::sim::Entity _entity) +{ + for (unsigned int i = 0; i < _scene->VisualCount(); ++i) + { + gz::rendering::VisualPtr visual = _scene->VisualByIndex(i); + if (visual->HasUserData("gazebo-entity")) + { + auto userData = visual->UserData("gazebo-entity"); + if (_entity == std::get(userData)) + { + return visual; + } + } + } + return gz::rendering::VisualPtr(); +} + +////////////////////////////////////////////////// +void MultibeamSonarSystem::Implementation::Handle(requests::CreateSensor _request) +{ + auto * sensor = this->sensorManager.CreateSensor(_request.sdf); + if (nullptr == sensor) + { + gzerr << "Failed to create sensor " + << "[" << _request.sdf.Name() << "]" << std::endl; + return; + } + + sensor->SetEntity(_request.entity); + sensor->SetParent(_request.parentName); + + // Set the scene so it can create the rendering sensor + sensor->SetScene(this->scene); + sensor->SetManualSceneUpdate(true); + + if (this->latestWorldState) + { + sensor->SetWorldState(*this->latestWorldState); + } + + if (this->latestEnvironmentalData) + { + sensor->SetEnvironmentalData(*this->latestEnvironmentalData); + } + + gz::rendering::VisualPtr parentVisual = this->FindEntityVisual(this->scene, _request.parent); + if (!parentVisual) + { + gzerr << "Failed to find parent visual for sensor " + << "[" << _request.sdf.Name() << "]" << std::endl; + if (!this->sensorManager.Remove(sensor->Id())) + { + gzerr << "Internal error, missing sensor " + << "[" << _request.sdf.Name() << "]" << std::endl; + } + return; + } + for (auto renderingSensor : sensor->RenderingSensors()) + { + parentVisual->AddChild(renderingSensor); + } + + // Track sensor id for this sensor entity + this->sensorIdPerEntity.insert({_request.entity, sensor->Id()}); + + // Force (first) sensor update + this->needsUpdate = true; +} + +////////////////////////////////////////////////// +void MultibeamSonarSystem::Implementation::Handle(requests::DestroySensor _request) +{ + auto it = this->sensorIdPerEntity.find(_request.entity); + if (it != this->sensorIdPerEntity.end()) + { + auto * sensor = + dynamic_cast(this->sensorManager.Sensor(it->second)); + if (sensor) + { + for (auto renderingSensor : sensor->RenderingSensors()) + { + renderingSensor->RemoveParent(); + } + this->sensorManager.Remove(it->second); + } + else + { + gzerr << "Internal error, missing DVL sensor for entity " + << "[" << _request.entity << "]" << std::endl; + } + this->sensorIdPerEntity.erase(it); + } +} + +////////////////////////////////////////////////// +void MultibeamSonarSystem::Implementation::Handle(requests::SetWorldState _request) +{ + this->latestWorldState = std::move(_request.worldState); + for (const auto & [_, sensorId] : this->sensorIdPerEntity) + { + auto * sensor = + dynamic_cast(this->sensorManager.Sensor(sensorId)); + sensor->SetWorldState(*this->latestWorldState); + } + this->needsUpdate = true; +} + +////////////////////////////////////////////////// +void MultibeamSonarSystem::Implementation::Handle(requests::SetEnvironmentalData _request) +{ + this->latestEnvironmentalData = std::move(_request.environmentalData); + for (const auto & [_, sensorId] : this->sensorIdPerEntity) + { + auto * sensor = + dynamic_cast(this->sensorManager.Sensor(sensorId)); + sensor->SetEnvironmentalData(*this->latestEnvironmentalData); + } + this->needsUpdate = true; +} + +////////////////////////////////////////////////// +void MultibeamSonarSystem::Implementation::OnPreRender() +{ + GZ_PROFILE("MultibeamSonarSystem::Implementation::OnPreRender"); + + if (!this->scene) + { + this->scene = gz::rendering::sceneFromFirstRenderEngine(); + } + + if (this->pendingRequests.exchange(false)) + { + std::vector requests; + std::vector setWorldRequests; + { + std::lock_guard lock(this->requestsMutex); + requests.insert( + requests.end(), std::make_move_iterator(this->queuedRequests.begin()), + std::make_move_iterator(this->queuedRequests.end())); + this->queuedRequests.clear(); + setWorldRequests.insert( + setWorldRequests.end(), std::make_move_iterator(this->queuedSetWorldRequests.begin()), + std::make_move_iterator(this->queuedSetWorldRequests.end())); + this->queuedSetWorldRequests.clear(); + } + // handle requests - create/destroy sensor + for (auto & request : requests) + { + std::visit([this](auto & req) { this->Handle(std::move(req)); }, request); + } + // handle set world state requests + for (auto & request : setWorldRequests) + { + std::visit([this](auto & req) { this->Handle(std::move(req)); }, request); + } + } +} + +////////////////////////////////////////////////// +void MultibeamSonarSystem::Implementation::OnRender() +{ + GZ_PROFILE("MultibeamSonarSystem::Implementation::OnRender"); + if (!this->scene->IsInitialized() || this->scene->SensorCount() == 0) + { + return; + } + + if (this->needsUpdate) + { + if (this->pendingSetWorldRequests.exchange(false)) + { + std::vector setWorldRequests; + { + std::lock_guard lock(this->requestsMutex); + setWorldRequests.insert( + setWorldRequests.end(), std::make_move_iterator(this->queuedSetWorldRequests.begin()), + std::make_move_iterator(this->queuedSetWorldRequests.end())); + this->queuedSetWorldRequests.clear(); + } + // handle set world state requests + for (auto & request : setWorldRequests) + { + std::visit([this](auto & req) { this->Handle(std::move(req)); }, request); + } + } + + auto closestUpdateTime = std::chrono::steady_clock::duration::max(); + + std::lock_guard timeLock(this->timeMutex); + + for (const auto & [_, sensorId] : this->sensorIdPerEntity) + { + gz::sensors::Sensor * sensor = this->sensorManager.Sensor(sensorId); + + constexpr bool kForce = true; + if (sensor->Update(this->simTime, !kForce)) + { + this->updatedSensorIds.push_back(sensorId); + } + + closestUpdateTime = std::min(sensor->NextDataUpdateTime(), closestUpdateTime); + } + this->nextUpdateTime = closestUpdateTime; + + this->needsUpdate = false; + } +} + +////////////////////////////////////////////////// +void MultibeamSonarSystem::Implementation::OnPostRender() +{ + GZ_PROFILE("MultibeamSonarSystem::Implementation::OnPostRender"); + + std::lock_guard timeLock(this->timeMutex); + + for (const auto & sensorId : this->updatedSensorIds) + { + auto * sensor = + dynamic_cast(this->sensorManager.Sensor(sensorId)); + sensor->PostUpdate(this->simTime); + } + this->updatedSensorIds.clear(); +} + +////////////////////////////////////////////////// +void MultibeamSonarSystem::Implementation::OnRenderTeardown() +{ + GZ_PROFILE("MultibeamSonarSystem::Implementation::OnRenderTeardown"); + for (const auto & [entityId, sensorId] : this->sensorIdPerEntity) + { + auto * sensor = + dynamic_cast(this->sensorManager.Sensor(sensorId)); + if (sensor) + { + for (auto renderingSensor : sensor->RenderingSensors()) + { + renderingSensor->RemoveParent(); + } + this->sensorManager.Remove(sensorId); + } + else + { + gzerr << "Internal error, missing DVL sensor for entity " + << "[" << entityId << "]" << std::endl; + } + } + this->sensorIdPerEntity.clear(); +} + +////////////////////////////////////////////////// +MultibeamSonarSystem::MultibeamSonarSystem() : dataPtr(gz::utils::MakeUniqueImpl()) +{ +} + +////////////////////////////////////////////////// +MultibeamSonarSystem::~MultibeamSonarSystem() {} + +////////////////////////////////////////////////// +void MultibeamSonarSystem::Configure( + const gz::sim::Entity & _entity, const std::shared_ptr & _sdf, + gz::sim::EntityComponentManager & _ecm, gz::sim::EventManager & _eventMgr) +{ + GZ_PROFILE("MultibeamSonarSystem::Configure"); + this->dataPtr->DoConfigure(_entity, _sdf, _ecm, _eventMgr); +} + +////////////////////////////////////////////////// +void MultibeamSonarSystem::PreUpdate( + const gz::sim::UpdateInfo & _info, gz::sim::EntityComponentManager & _ecm) +{ + GZ_PROFILE("MultibeamSonarSystem::PreUpdate"); + this->dataPtr->DoPreUpdate(_info, _ecm); +} + +////////////////////////////////////////////////// +void MultibeamSonarSystem::PostUpdate( + const gz::sim::UpdateInfo & _info, const gz::sim::EntityComponentManager & _ecm) +{ + GZ_PROFILE("MultibeamSonarSystem::PostUpdate"); + this->dataPtr->DoPostUpdate(_info, _ecm); +} + +GZ_ADD_PLUGIN( + MultibeamSonarSystem, gz::sim::System, MultibeamSonarSystem::ISystemConfigure, + MultibeamSonarSystem::ISystemPreUpdate, MultibeamSonarSystem::ISystemPostUpdate) + +GZ_ADD_PLUGIN_ALIAS(MultibeamSonarSystem, "custom::MultibeamSonarSystem") \ No newline at end of file diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/MultibeamSonarSystem.hh b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/MultibeamSonarSystem.hh new file mode 100644 index 00000000..486a5ff9 --- /dev/null +++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/MultibeamSonarSystem.hh @@ -0,0 +1,73 @@ +/* + * Copyright (C) 2022 Open Source Robotics Foundation + * + * 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. + * + */ + +#ifndef GZ_SIM_SYSTEMS_MULTIBEAMSONARSYSTEM_HH_ +#define GZ_SIM_SYSTEMS_MULTIBEAMSONARSYSTEM_HH_ + +#include + +#include +#include "gz/sim/System.hh" + +namespace gz +{ +namespace sim +{ +// Inline bracket to help doxygen filtering +inline namespace GZ_SIM_VERSION_NAMESPACE +{ +namespace systems +{ + +/// \brief System that creates and updates MultibeamSonarSensor (DVL) sensors. +class MultibeamSonarSystem : public System, + public ISystemConfigure, + public ISystemPreUpdate, + public ISystemPostUpdate +{ + /// \brief Constructor +public: + explicit MultibeamSonarSystem(); + + /// \brief Destructor +public: + ~MultibeamSonarSystem(); + + // Documentation inherited +public: + void Configure( + const Entity & _entity, const std::shared_ptr & _sdf, + EntityComponentManager & _ecm, EventManager & _eventMgr) override; + + // Documentation inherited +public: + void PreUpdate(const UpdateInfo & _info, EntityComponentManager & _ecm) override; + + // Documentation inherited +public: + void PostUpdate(const UpdateInfo & _info, const EntityComponentManager & _ecm) override; + + /// \brief Pointer to private data + GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) +}; + +} // namespace systems +} // namespace GZ_SIM_VERSION_NAMESPACE +} // namespace sim +} // namespace gz + +#endif \ No newline at end of file diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/hooks/multibeam_sonar_system.dsv.in b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/hooks/multibeam_sonar_system.dsv.in new file mode 100644 index 00000000..07f53dcf --- /dev/null +++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/hooks/multibeam_sonar_system.dsv.in @@ -0,0 +1,2 @@ +prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;lib/@PROJECT_NAME@/ +prepend-non-duplicate;LD_LIBRARY_PATH;lib/@PROJECT_NAME@/ diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/package.xml b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/package.xml new file mode 100644 index 00000000..d8a5b9c9 --- /dev/null +++ b/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/package.xml @@ -0,0 +1,24 @@ + + + multibeam_sonar_system + 0.0.1 + DAVE multibeam sonar sensor system + Woen-Sug Choi + Helena Moyen + Gaurav kumar + Apache 2.0 + geometry_msgs + ament_cmake + ament_lint_auto + + + ament_cmake + + \ No newline at end of file diff --git a/gazebo/dave_gz_sensor_plugins/include/dave_gz_sensor_plugins/sea_pressure_sensor.hh b/gazebo/dave_gz_sensor_plugins/include/dave_gz_sensor_plugins/sea_pressure_sensor.hh index d729f360..3b4ac670 100644 --- a/gazebo/dave_gz_sensor_plugins/include/dave_gz_sensor_plugins/sea_pressure_sensor.hh +++ b/gazebo/dave_gz_sensor_plugins/include/dave_gz_sensor_plugins/sea_pressure_sensor.hh @@ -1,5 +1,5 @@ -#ifndef dave_gz_sensor_plugins__SUBSEA_PRESSURE_SENSOR_HH_ -#define dave_gz_sensor_plugins__SUBSEA_PRESSURE_SENSOR_HH_ +#ifndef DAVE_GZ_SENSOR_PLUGINS__SUBSEA_PRESSURE_SENSOR_HH_ +#define DAVE_GZ_SENSOR_PLUGINS__SUBSEA_PRESSURE_SENSOR_HH_ #include #include diff --git a/gazebo/dave_gz_sensor_plugins/package.xml b/gazebo/dave_gz_sensor_plugins/package.xml index de9335f2..3e6f729b 100644 --- a/gazebo/dave_gz_sensor_plugins/package.xml +++ b/gazebo/dave_gz_sensor_plugins/package.xml @@ -12,6 +12,8 @@ ament_lint_auto dave_interfaces protobuf + protobuf dave_interfaces rclcpp diff --git a/models/dave_object_models/hooks/dave_object_models.dsv.in b/models/dave_object_models/hooks/dave_object_models.dsv.in index 346888c8..000c1b2d 100644 --- a/models/dave_object_models/hooks/dave_object_models.dsv.in +++ b/models/dave_object_models/hooks/dave_object_models.dsv.in @@ -1 +1 @@ -prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@ +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@ \ No newline at end of file diff --git a/models/dave_robot_models/launch/upload_robot.launch.py b/models/dave_robot_models/launch/upload_robot.launch.py index b48b1b4b..284d66fb 100755 --- a/models/dave_robot_models/launch/upload_robot.launch.py +++ b/models/dave_robot_models/launch/upload_robot.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): x = LaunchConfiguration("x") y = LaunchConfiguration("y") z = LaunchConfiguration("z") - roll = LaunchConfiguration("roll") - pitch = LaunchConfiguration("pitch") - yaw = LaunchConfiguration("yaw") + roll = LaunchConfiguration("R") + pitch = LaunchConfiguration("P") + yaw = LaunchConfiguration("Y") use_ned_frame = LaunchConfiguration("use_ned_frame") args = [ @@ -60,17 +60,17 @@ def generate_launch_description(): description="Initial z position", ), DeclareLaunchArgument( - "roll", + "R", default_value="0.0", description="Initial roll", ), DeclareLaunchArgument( - "pitch", + "P", default_value="0.0", description="Initial pitch", ), DeclareLaunchArgument( - "yaw", + "Y", default_value="0.0", description="Initial yaw", ), diff --git a/models/dave_sensor_models/description/blueview_p900/model.config b/models/dave_sensor_models/description/blueview_p900/model.config new file mode 100644 index 00000000..e05d269f --- /dev/null +++ b/models/dave_sensor_models/description/blueview_p900/model.config @@ -0,0 +1,15 @@ + + + blueview_p900 + 1.0 + model.sdf + + + Brian Bingham + briansbingham@gmail.com + + + + Blueview P900 + + diff --git a/models/dave_sensor_models/description/blueview_p900/model.sdf b/models/dave_sensor_models/description/blueview_p900/model.sdf new file mode 100644 index 00000000..15c91ccf --- /dev/null +++ b/models/dave_sensor_models/description/blueview_p900/model.sdf @@ -0,0 +1,128 @@ + + + + 4 0 0.5 0 0.0 3.14 + + + 0 0 0 0 0 0 + 3.5 + + 0.0195872 + 0 + 0 + 0.0195872 + 0 + 0.0151357 + + + 1 + + + + + 1.047 + + 320 + 240 + + + 0.1 + 100 + + + 1 + 30 + true + /sensor/camera + + + + + 10 + /sensor/depth_camera + true + + 1.05 + + 320 + 240 + R_FLOAT32 + + + 0.1 + 10.0 + + + + + + + + + + true + 30.0 + /sensor/multibeam_sonar + true + + + + + 1024 + -0.78539816339 + 0.78539816339 + + + 10 + -0.349066 + 0.349066 + + + + 0.1 + 5.0 + + + + + + + 0 + 0 + 0 + + + 0 0 0 0 0 0 + + + 1 1 1 + model://meshes/blueview_p900/p900.dae + + + 0 + 1 + + + 0 0 0 0 0 0 + + + model://meshes/blueview_p900/COLLISION-p900.dae + + + + + 1 + 1 + + diff --git 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/models/dave_sensor_models/meshes/blueview_p900/tx-p900.png b/models/dave_sensor_models/meshes/blueview_p900/tx-p900.png new file mode 100644 index 00000000..2aca5e77 Binary files /dev/null and b/models/dave_sensor_models/meshes/blueview_p900/tx-p900.png differ diff --git a/models/dave_worlds/worlds/dave_multibeam_sonar.world b/models/dave_worlds/worlds/dave_multibeam_sonar.world new file mode 100644 index 00000000..9046d264 --- /dev/null +++ b/models/dave_worlds/worlds/dave_multibeam_sonar.world @@ -0,0 +1,235 @@ + + + + + + 0.001 + 1.0 + + + + + ogre2 + + + + + + + + + + + + + 3D View + false + docked + + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + -6 0 6 0 0.5 0 + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 1 + + floating + + + + + + + true + true + true + true + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + docked + + + + + + + docked + + + + + + + RGB camera + floating + 350 + 315 + + /sensor/camera + false + + + + Depth camera + floating + 350 + 315 + 500 + + /sensor/depth_camera + false + + + + + + Multibeam Sonar PointCloud + docked + + /sensor/multibeam_sonar/point_cloud + /sensor/multibeam_sonar/point_cloud_float_vector + + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane + + 0 0 0 0 0 0 + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun + + + + + 0 -1 0.5 0 0 0 + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 1.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + + + 0 1 3 0.0 0.0 1.57 + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Construction Cone + + + + + diff --git a/models/dave_worlds/worlds/dvl_world.world b/models/dave_worlds/worlds/dvl_world.world index bf36b12c..226eac13 100644 --- a/models/dave_worlds/worlds/dvl_world.world +++ b/models/dave_worlds/worlds/dvl_world.world @@ -42,6 +42,9 @@ filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster"> +