Cave feature release1 (#426)

* Adding breadcrumbs to x1 config 7 & 8 * Added additional breadcrumbs * Prevent breadcrumb topics * Added breadcrumb handling to more launch files * Apply patch * Adjust spawn location of the breadcrumbs * Update cave_circuit.ign to call the corect spawner method (#409) Signed-off-by: Addisu Z. Taddese <[email protected]> * Add disable_physics_time param to breadcrumb plugin to auto disable them Signed-off-by: Ian Chen <[email protected]> * Adding team base * One team base only * Updates based on review * Missed one pose publisher * Azeey/marsupial (#424) * Add marsupial robots for cave_circuit * Update example command * Apply spawnWorldYaw to marsupial offsets * Add marsupial vehicle support to cloudsim Signed-off-by: Addisu Z. Taddese <[email protected]> * Update cloudsim_bridge and json2docker Signed-off-by: Addisu Z. Taddese <[email protected]> * Suppress DetachableJoint missing child warning Signed-off-by: Addisu Z. Taddese <[email protected]> * Added platform Signed-off-by: Nate Koenig <[email protected]> * Fix platform position Signed-off-by: Nate Koenig <[email protected]> * Combined spawn Signed-off-by: Nate Koenig <[email protected]> * Update submitted models Signed-off-by: Nate Koenig <[email protected]> * Merge cave_circuit.ign to urban_circuit.ign, tunnel_circuit_practice.ign, and competition.ign Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Add missing changes from PRs #402 and #403 Signed-off-by: Addisu Z. Taddese <[email protected]> * Adjust platform height Signed-off-by: Nate Koenig <[email protected]> * Add level generator (#416) * add level generator Signed-off-by: Ian Chen <[email protected]> * comment and simplify code Signed-off-by: Ian Chen <[email protected]> * Tweaks to the level generator (#423) Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Ian Chen <[email protected]> * fix typo Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * worlds Signed-off-by: Nate Koenig <[email protected]> * Update tile_22 Signed-off-by: Nate Koenig <[email protected]> * openrobotics to OpenRobotics Signed-off-by: Nate Koenig <[email protected]> * Missed a few Signed-off-by: Nate Koenig <[email protected]> * Fix download_models Signed-off-by: Nate Koenig <[email protected]> * Remove std::regex from CommsBrokerPlugin. (#430) Signed-off-by: Carlos Aguero <[email protected]> Co-authored-by: Carlos Aguero <[email protected]> * tweaks Signed-off-by: Nate Koenig <[email protected]> * remove transport unlimited buffers Signed-off-by: Nate Koenig <[email protected]> * all caps teambase Signed-off-by: Nate Koenig <[email protected]> * Uppercase Signed-off-by: Nate Koenig <[email protected]> * fix Signed-off-by: Nate Koenig <[email protected]> * fix capitalization Signed-off-by: Nate Koenig <[email protected]> * Fix deadlock Signed-off-by: Nate Koenig <[email protected]> * teambase update Signed-off-by: Nate Koenig <[email protected]> * teambase update Signed-off-by: Nate Koenig <[email protected]> * Fix a deadlock (#431) Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Graceful fail if teambase is used multiple times in the config Signed-off-by: Nate Koenig <[email protected]> * Update gitignore Signed-off-by: Nate Koenig <[email protected]> * Fix docker Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Addisu Taddese <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Carlos Agüero <[email protected]> Co-authored-by: Carlos Aguero <[email protected]>
osrf · May 25, 2020 · 03baf43 · 03baf43
1 parent 54b4b1e
commit 03baf43
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Showing 168 changed files with 156,529 additions and 10,095 deletions.
diff --git a/.gitignore b/.gitignore
@@ -32,3 +32,5 @@
 *.exe
 *.out
 *.app
+
+subt_ign/worlds/cave_circuit_practice_02.dat
diff --git a/docker/download_models.sh b/docker/download_models.sh
diff --git a/docker/json2docker.rb b/docker/json2docker.rb
@@ -183,6 +183,13 @@
   robotStr += "robotName#{index+1}:=#{robot['name']} robotConfig#{index+1}:=#{robot['type']} "
 end
 
+marsupialChildren = []
+submission['marsupials'].each_with_index do |(parent, child), index|
+  robotStr += "marsupial#{index+1}:=#{parent}:#{child} "
+  marsupialChildren.append(child)
+end
+
+
 # Set where the output is going
 if options['run']
   output = Tempfile.new()
@@ -225,10 +232,11 @@
 
   # Output bridge and solution definitions
   submission['robots'].each_with_index do |robot, index|
+    marsupialStr = "marsupial:=true" if marsupialChildren.include? robot['name']
     output.puts <<EOF
   bridge#{index+1}:
     image: #{options['bridge_image']}
-    command: circuit:=#{submission['circuit']} worldName:=#{submission['world']} robotName1:=#{robot['name']} robotConfig1:=#{robot['type']}
+    command: circuit:=#{submission['circuit']} worldName:=#{submission['world']} robotName1:=#{robot['name']} robotConfig1:=#{robot['type']} #{marsupialStr}
     networks:
       relay_net#{index+1}:
         ipv4_address: 172.#{29+index}.1.1

diff --git a/ign_migration_scripts/worlds/preview.sdf b/ign_migration_scripts/worlds/preview.sdf
@@ -65,110 +65,110 @@
       <static>true</static>
       <name>staging_area</name>
       <pose>0 0 0 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/subt_tunnel_staging_area</uri>
     </include>
 
     <!-- Barriers -->
     <include>
       <name>barrier_0_-1</name>
       <pose>8.0 -11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_0_1</name>
       <pose>8.0 11 0 0 0 0 </pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_1_-1</name>
       <pose>3.7 -11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_1_1</name>
       <pose>3.7 11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_2_-1</name>
       <pose>-0.5999999999999996 -11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_2_1</name>
       <pose>-0.5999999999999996 11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_3_-1</name>
       <pose>-4.899999999999999 -11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_3_1</name>
       <pose>-4.899999999999999 11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_4_-1</name>
       <pose>-9.2 -11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_4_1</name>
       <pose>-9.2 11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_-9.5_-2</name>
       <pose>10.5 -8.6 0 0 0 1.5707963267948966</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_-9.5_2</name>
       <pose>10.5 8.6 0 0 0 1.5707963267948966</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_-32_-2</name>
       <pose>-12 -8.6 0 0 0 1.5707963267948966</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_-32_-1</name>
       <pose>-12 -4.3 0 0 0 1.5707963267948966</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_-32_0</name>
       <pose>-12 0.0 0 0 0 1.5707963267948966</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_-32_1</name>
       <pose>-12 4.3 0 0 0 1.5707963267948966</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_-32_2</name>
       <pose>-12 8.6 0 0 0 1.5707963267948966</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
 
@@ -177,7 +177,7 @@
       <static>true</static>
       <name>base_station</name>
       <pose>-8 0 0 0 0 -1.5708</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Base Station</uri>
     </include>
   </world>
 </sdf>
diff --git a/ign_migration_scripts/worlds/preview_standalone.sdf b/ign_migration_scripts/worlds/preview_standalone.sdf
@@ -170,110 +170,110 @@
       <static>true</static>
       <name>staging_area</name>
       <pose>0 0 0 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/subt_tunnel_staging_area</uri>
     </include>
 
     <!-- Barriers -->
     <include>
       <name>barrier_0_-1</name>
       <pose>8.0 -11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_0_1</name>
       <pose>8.0 11 0 0 0 0 </pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_1_-1</name>
       <pose>3.7 -11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_1_1</name>
       <pose>3.7 11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_2_-1</name>
       <pose>-0.5999999999999996 -11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_2_1</name>
       <pose>-0.5999999999999996 11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_3_-1</name>
       <pose>-4.899999999999999 -11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_3_1</name>
       <pose>-4.899999999999999 11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_4_-1</name>
       <pose>-9.2 -11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_4_1</name>
       <pose>-9.2 11 0 0 0 0</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_-9.5_-2</name>
       <pose>10.5 -8.6 0 0 0 1.5707963267948966</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_-9.5_2</name>
       <pose>10.5 8.6 0 0 0 1.5707963267948966</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_-32_-2</name>
       <pose>-12 -8.6 0 0 0 1.5707963267948966</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_-32_-1</name>
       <pose>-12 -4.3 0 0 0 1.5707963267948966</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_-32_0</name>
       <pose>-12 0.0 0 0 0 1.5707963267948966</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_-32_1</name>
       <pose>-12 4.3 0 0 0 1.5707963267948966</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
     <include>
       <name>barrier_-32_2</name>
       <pose>-12 8.6 0 0 0 1.5707963267948966</pose>
-      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+      <uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
     </include>
 
 
@@ -282,7 +282,7 @@
       <static>true</static>
       <name>base_station</name>
       <pose>-8 0 0 0 0 -1.5708</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Base Station</uri>
     </include>
   </world>
 </sdf>
diff --git a/submitted_models/costar_husky_sensor_config_1/launch/spawner.rb b/submitted_models/costar_husky_sensor_config_1/launch/spawner.rb
@@ -1,7 +1,6 @@
 def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
   <<-HEREDOC
-  <plugin name="ignition::launch::GazeboFactory"
-          filename="libignition-launch-gazebo-factory.so">
+  <spawn name='#{_name}'>
     <name>#{_name}</name>
     <allow_renaming>false</allow_renaming>
     <pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
@@ -57,7 +56,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
       </plugin>
     </include>
     </sdf>
-  </plugin>
+  </spawn>
   HEREDOC
 end
-Original file line number
+Diff line change
@@ Expand Up / @@ -32,3 +32,5 @@ @@
     *.exe
     *.out
     *.app
+    subt_ign/worlds/cave_circuit_practice_02.dat