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Ian Chen edited this page Aug 17, 2022 · 28 revisions

Release Notes:

2022-08-17

  • Reduce log recording rate
  • Save target images when targets are reported
    • adds ros-galactic-cv-bridge package dependency
  • Support configuring wavefield params in GameLogicPlugin
  • Fix reporting targets from RGBD camera
  • Tagged v4_2
  • Docker image
  • Ignition library dependencies:
    • ignition-gazebo 6.11.0
    • ignition-gui 6.4.0
    • ignition-sensors 6.6.0
    • ignition-rendering 6.5.1
    • ignition-physics 5.2.0
    • ignition-common 4.5.2
    • ignition-math 6.11.0
    • ignition-transport 11.2.0
    • ignition-msgs 8.6.0
    • ignition-fuel-tool 7.1.0
    • ignition-utils 1.4.0
    • ignition-cmake 2.14.1
    • sdformat 12.5.0
  • ros_gz: galactic branch. Commit 94abe668a8e5ef8cfad9059f9e8ce125f12415c6

2022-07-29

  • Revert thruster joint rotation limits
  • Add long range HD camera, mbzirc_hd_long_range_camera
  • Add lightweight suction gripper, mbzirc_suction_gripper_light
  • Enable simulation log recording
  • Fix radar sample cluster count
  • Support changing video streams between target reports
  • Fix sensor payload topic mapping when loading from config file
  • Add solution submission script. Doc.
  • Tagged v4_1
  • Docker image
  • Ignition library dependencies:
    • ignition-gazebo 6.10.0
    • ignition-gui 6.4.0
    • ignition-sensors 6.6.0
    • ignition-rendering 6.5.1
    • ignition-physics 5.2.0
    • ignition-common 4.5.1
    • ignition-math 6.11.0
    • ignition-transport 11.1.0
    • ignition-msgs 8.5.0
    • ignition-fuel-tool 7.0.0
    • ignition-utils 1.4.0
    • ignition-cmake 2.12.1
    • sdformat 12.5.0
  • ros_gz: galactic branch. Commit 94abe668a8e5ef8cfad9059f9e8ce125f12415c6

2022-06-30

  • Bumped communications tx power from 20 to 25 dBm to increase comms range slightly
  • Added rssi field to comms Dataframe message. (Requires upstream ign-gazebo6 release)
  • Support configuring arm sensor payload. Doc.
  • Added 4 more USV sensor payload slots: front left, rear left, front right, rear right. Doc.
  • Updated thruster joint rotation limits to match official specification. Changed from [-90, 90] (left to right) to [0, 180] (front to back).
  • Added single entry point for launching simulation and spawning an array of vehicles. Doc.
  • Added USV hardware interface APIs. Doc.
  • Added example team solution with simple UAV and USV controllers in a new mbzirc_seed package.
  • Added Docker files for cloud simulation
  • Reduced size of vessels B, C, D and G
  • Updated large object geometry
    • Clear local cache to trigger downloading updated models: 
      rm -fr ~/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/*
  • Added new maritime radar model, mbzirc_naive_3d_scanning_model. This replaces the other radar models and should be the only one used in final evaluation. Doc.
  • Added 2 RF-based range sensor models, mbzirc_rf_range and mbzirc_rf_long_range. You can only pick one model to use, i.e. all vehicles must use the same RF range sensor. Doc.
  • Added UAV object grasping demos. Doc.
  • Added docker compose scripts for testing team solution locally. Doc
  • Tagged v4
  • Docker image
  • Ignition library dependencies:
    • ignition-gazebo 6.10.0
    • ignition-gui 6.4.0
    • ignition-sensors 6.6.0
    • ignition-rendering 6.5.0
    • ignition-physics 5.2.0
    • ignition-math 6.11.0
    • ignition-transport 11.1.0
    • ignition-msgs 8.5.0
    • ignition-fuel-tool 7.0.0
    • ignition-utils 1.4.0
    • ignition-cmake 2.12.1
    • sdformat 12.5.0
  • ros_gz: galactic branch. Commit 94abe668a8e5ef8cfad9059f9e8ce125f12415c6

2022-05-13

  • Added custom sensor examples
  • Updated USV geometry, arm position, and tweaked base rotation limits
  • Fixed vessel rocking behavior
  • Updated suction gripper to require better surface contact for successful suction
  • Omit water from lidar returns
  • Disable vehicle sensors when battery is drained
  • Tagged v3_1
  • Docker image
  • Ignition library dependencies:
    • ignition-gazebo 6.9.0
    • ignition-gui 6.4.0
    • ignition-sensors 6.4.0
    • ignition-rendering 6.4.0
    • ignition-physics 5.1.0
    • ignition-math 6.10.0
    • ignition-transport 11.0.0
    • ignition-msgs 8.4.0
    • ignition-fuel-tool 7.0.0
    • ignition-utils 1.4.0
    • ignition-cmake 2.12.1
    • sdformat 12.5.0

2022-04-15

  • Added Oberon7 manipulator
  • Added Oberon7 gripper and suction gripper
  • Added 4 sensor slots to USV
  • Enabled multicopter UAVs to have grippers attached
  • Added start gate and dock to the coast environment
  • Added API for fixed wing UAV to take-off from runway in start gate
  • Integrated RF based inter-robot communication model
  • Added support for vessel identification over video stream
  • Extended game logic plugin to validate targets in video stream
  • Implemented time penalties for target retrieval failure
  • Added fog in simple demo and coast environments - need to be manually triggered
  • Provided scripts for configuring wave and wind parameters based on historic weather data
  • Added kill switch - triggered when robots move beyond 2nd geofence
  • Tagged v3
  • Docker image
  • Ignition library dependencies:
    • ignition-gazebo 6.9.0
    • ignition-gui 6.4.0
    • ignition-sensors 6.3.0
    • ignition-rendering 6.3.1
    • ignition-physics 5.1.0
    • ignition-math 6.10.0
    • ignition-transport 11.0.0
    • ignition-msgs 8.4.0
    • ignition-fuel-tool 7.0.0
    • ignition-utils 1.4.0
    • ignition-cmake 2.12.1
    • sdformat 12.4.0

2022-02-25

  • Added Coast environment that features wave model, wind effect, and 7 trajectory following vessels
  • Replaced simple demo world water plane with waves
  • Added dust storms to simple demo and coast environments - need to be manually triggered
  • Added hydrodynamics plugin to the USV and vessels.
  • Added 4 more sensor slots of the UAVs - for a total of 8 sensor slots
  • Added fixed wing UAV with attitude controller - requires additional mechanism for takeoff.
  • Add Game Logic plugin with scoring system
  • Tagged v2
  • Docker image

2022-01-14

  • Created Simple demo world
  • Added 1 target vessel to the simple demo world
  • Added 2 UAVs models: a quadrotor and a hexrotor with 4 slots for mounting sensors
  • Added a USV model
  • Tagged v1
  • Docker image

Running Docker

Docker image of each release is pushed to Dockerhub: https://hub.docker.com/repository/docker/osrf/mbzirc

Use the run.bash script to launch a docker container of a released image, e.g. to launch the latest release (requires nvidia-docker2)

cd <path_to_mbzirc>/docker
bash run.bash osrf/mbzirc:mbzirc_sim_latest /bin/bash
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