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Acoustic comms plugin #1608

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merged 19 commits into from
Aug 24, 2022
Merged

Acoustic comms plugin #1608

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1463478
Cloned perfect comms
adityapande-1995 Jul 21, 2022
8daec46
Added logic for in transit messages
adityapande-1995 Jul 22, 2022
96b081e
Added test for out of range msgs
adityapande-1995 Jul 22, 2022
7dbdc72
Linter fixes
adityapande-1995 Jul 22, 2022
8cb0a46
Use std::chrono
adityapande-1995 Jul 26, 2022
920506d
Added test for moving source and destination
adityapande-1995 Jul 27, 2022
aa779fa
Use transmitter_position in header data map, else use current pos of …
adityapande-1995 Jul 27, 2022
b563885
Added minor documentation
adityapande-1995 Jul 27, 2022
e79a240
Updated doc for msg header requirement
adityapande-1995 Jul 27, 2022
2c148d3
Minor doc update
adityapande-1995 Jul 27, 2022
fdc4d07
Eliminate need for msg headers
adityapande-1995 Jul 28, 2022
3db98f2
Minor documentatin update
adityapande-1995 Jul 29, 2022
96e9bea
Minor documentation update
adityapande-1995 Jul 29, 2022
1546da9
Added const, minor refactor
adityapande-1995 Aug 23, 2022
929dad6
unlock mutex when sleeping
adityapande-1995 Aug 23, 2022
8f643c5
Use a common template for test cases
adityapande-1995 Aug 23, 2022
58902ac
Corrected minor typo
adityapande-1995 Aug 23, 2022
d99fc28
minor refactor
adityapande-1995 Aug 24, 2022
6aceed4
Inherit from TestWithParam
adityapande-1995 Aug 24, 2022
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254 changes: 254 additions & 0 deletions examples/worlds/acoustic_comms.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,254 @@
<?xml version="1.0" ?>
<!--
Gazebo acoustic-comms plugin demo.
-->
<sdf version="1.6">
<world name="acoustic_comms">

<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin
filename="gz-sim-acoustic-comms-system"
name="gz::sim::systems::AcousticComms">
<max_range>6</max_range>
<speed_of_sound>1400</speed_of_sound>
</plugin>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name="box1">
<pose>2 0 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>

<plugin
filename="gz-sim-comms-endpoint-system"
name="gz::sim::systems::CommsEndpoint">
<address>addr1</address>
<topic>addr1/rx</topic>
</plugin>
</model>

<model name="box2">
<pose>-2 0 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0 0 1 1</specular>
</material>
</visual>
</link>

<plugin
filename="gz-sim-comms-endpoint-system"
name="gz::sim::systems::CommsEndpoint">
<address>addr2</address>
<topic>addr2/rx</topic>
<broker>
<bind_service>/broker/bind</bind_service>
<unbind_service>/broker/unbind</unbind_service>
</broker>
</plugin>

</model>

<model name="box3">
<pose>5 0 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>

<plugin
filename="gz-sim-comms-endpoint-system"
name="gz::sim::systems::CommsEndpoint">
<address>addr3</address>
<topic>addr3/rx</topic>
</plugin>
</model>

<model name="box4">
<pose>-5 0 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>

<plugin
filename="gz-sim-comms-endpoint-system"
name="gz::sim::systems::CommsEndpoint">
<address>addr4</address>
<topic>addr4/rx</topic>
</plugin>
</model>

</world>
</sdf>
1 change: 1 addition & 0 deletions src/systems/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,7 @@ function(gz_add_system system_name)
endfunction()

add_subdirectory(ackermann_steering)
add_subdirectory(acoustic_comms)
add_subdirectory(air_pressure)
add_subdirectory(altimeter)
add_subdirectory(apply_joint_force)
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