Submitted models/robotika kloubak sensor config 1 (#381)

* Model submission for Kloubak sensor configuration 1 from Robotika * Kloubak URDF ver0 * Robotika Kloubak URDF ver1 * Robotika Kloubak - scale material parameters to 0..1 * Kloubak specification.md ver0 * Robotika Kloubak - update specification.md * Robotika Kloubak - fix also urdf/model.xacro (range 0..1) * Branch for pull request #431 * Robotika Kloubak K2 - fixes (lidar, odometry, battery power_load, ...) * Adjustment to route front and rear DiffDrive odometry to the appropriate topics. * Robotika Kloubak K2 - update specification * Robotika Kloubak K2 - update specification2 * Robotika Kloubak K2 - update specification3 * Update specifications.md with magnetometer and added optical frame publishers Signed-off-by: Nate Koenig <[email protected]> * Updating tf Signed-off-by: Nate Koenig <[email protected]> * Fix spawning Signed-off-by: Nate Koenig <[email protected]> * Updated to use photogrammetry meshes Signed-off-by: Nate Koenig <[email protected]> * Download model Signed-off-by: Nate Koenig <[email protected]> * 60 minutes of charge Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: md <devnull@localhost> Co-authored-by: Martin Dlouhy <[email protected]> Co-authored-by: acschang <[email protected]> Co-authored-by: Arthur Schang <[email protected]> Co-authored-by: Nate Koenig <[email protected]>
osrf · Jun 18, 2020 · b8d43cb · b8d43cb
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diff --git a/docker/download_models.sh b/docker/download_models.sh
@@ -55,6 +55,7 @@ ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/C
 ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/SOPHISTICATED_ENGINEERING_X2_SENSOR_CONFIG_1" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/SOPHISTICATED_ENGINEERING_X4_SENSOR_CONFIG_1" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/DronePlatformX1" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/ROBOTIKA_KLOUBAK_SENSOR_CONFIG_1" -v 4
 
 # Download the tunnel circuit models
 ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/subt_tunnel_staging_area" -v 4

diff --git a/submitted_models/robotika_kloubak_sensor_config_1/CMakeLists.txt b/submitted_models/robotika_kloubak_sensor_config_1/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(robotika_kloubak_sensor_config_1)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch materials meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
diff --git a/submitted_models/robotika_kloubak_sensor_config_1/launch/description.launch b/submitted_models/robotika_kloubak_sensor_config_1/launch/description.launch
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find robotika_kloubak_sensor_config_1)/urdf/model.xacro' name:=$(arg name)"/>
+</launch>
+
diff --git a/submitted_models/robotika_kloubak_sensor_config_1/launch/example.ign b/submitted_models/robotika_kloubak_sensor_config_1/launch/example.ign
@@ -0,0 +1,170 @@
+<?xml version="1.0"?>
+<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
+
+   Parameters:
+    robotName: Name to be assigned to model
+-->
+
+<%
+  require_relative 'spawner'
+
+  # Modify these as needed
+  $enableGroundTruth = true
+  $headless =  local_variables.include?(:headless) ? :headless : false
+
+%>
+
+<%
+
+  unless local_variables.include?(:robotName)
+    raise "missing parameters. robotName is a required parameter"
+  end
+
+  # This assumes that this launch file is in a directory below the model
+  modelURI = File.expand_path("../", File.dirname(__FILE__))
+  $worldName = 'example'
+  worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
+
+%>
+
+<ignition version='1.0'>
+  <env>
+    <name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
+    <value>$LD_LIBRARY_PATH</value>
+  </env>
+
+  <!-- Start ROS first. This is a bit hacky for now. -->
+  <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+  <executable name='ros'>
+    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+  </executable>
+
+  <plugin name="ignition::launch::GazeboServer"
+          filename="libignition-launch-gazebo.so">
+    <world_file><%= worldFile %></world_file>
+    <run>true</run>
+    <levels>false</levels>
+    <record>
+      <enabled>false</enabled>
+    </record>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-physics-system.so"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-sensors-system.so"
+            name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-user-commands-system.so"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-scene-broadcaster-system.so"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-imu-system.so"
+            name="ignition::gazebo::systems::Imu">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-magnetometer-system.so"
+            name="ignition::gazebo::systems::Magnetometer">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-air-pressure-system.so"
+            name="ignition::gazebo::systems::AirPressure">
+    </plugin>
+  </plugin>
+
+  <%if !$headless %>
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="libignition-launch-gazebogui.so">
+      <world_name><%= $worldName %></world_name>
+      <window_title>SubT Simulator</window_title>
+      <window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.2 0.2 0.1</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
+        <service>/world/<%= $worldName %>/scene/info</service>
+        <pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
+        <scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
+        <deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+        <service>/world/<%= $worldName %>/control</service>
+        <stats_topic>/world/<%= $worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= $worldName %>/stats</topic>
+      </plugin>
+    </plugin>
+  </executable_wrapper>
+  <%end%>
+
+<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
+<%= rosExecutables(robotName, $worldName) %>
+
+</ignition>
+
diff --git a/submitted_models/robotika_kloubak_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_kloubak_sensor_config_1/launch/spawner.rb
@@ -0,0 +1,89 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <name>#{_name}</name>
+    <allow_renaming>false</allow_renaming>
+    <pose>#{_x} #{_y} #{_z + 0.25} #{_roll} #{_pitch} #{_yaw}</pose>
+    <world>#{_worldName}</world>
+    <is_performer>true</is_performer>
+    <sdf version='1.6'>
+      <include>
+        <name>#{_name}</name>
+        <uri>#{_modelURI}</uri>
+        <!-- Diff drive front -->
+        <plugin filename=\"libignition-gazebo-diff-drive-system.so\"
+                name=\"ignition::gazebo::systems::DiffDrive\">
+          <left_joint>front_left_wheel_joint</left_joint>
+          <right_joint>front_right_wheel_joint</right_joint>
+          <wheel_separation>0.50</wheel_separation>
+          <wheel_radius>0.15</wheel_radius>
+          <topic>/model/#{_name}/cmd_vel_relay/front</topic>
+          <odom_topic>/model/#{_name}/odometry/front</odom_topic>
+          <min_velocity>-2.5</min_velocity>
+          <max_velocity>2.5</max_velocity>
+          <min_acceleration>-8.8</min_acceleration>
+          <max_acceleration>8.8</max_acceleration>
+        </plugin>
+        <!-- Diff drive rear -->
+        <plugin filename=\"libignition-gazebo-diff-drive-system.so\"
+                name=\"ignition::gazebo::systems::DiffDrive\">
+          <left_joint>rear_left_wheel_joint</left_joint>
+          <right_joint>rear_right_wheel_joint</right_joint>
+          <wheel_separation>0.50</wheel_separation>
+          <wheel_radius>0.15</wheel_radius>
+          <topic>/model/#{_name}/cmd_vel_relay/rear</topic>
+          <odom_topic>/model/#{_name}/odometry/rear</odom_topic>
+          <min_velocity>-2.5</min_velocity>
+          <max_velocity>2.5</max_velocity>
+          <min_acceleration>-8.8</min_acceleration>
+          <max_acceleration>8.8</max_acceleration>
+        </plugin>
+        <!-- Publish robot state information -->
+        <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
+          name=\"ignition::gazebo::systems::PosePublisher\">
+          <publish_link_pose>true</publish_link_pose>
+          <publish_sensor_pose>true</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>true</static_publisher>
+          <static_update_frequency>1</static_update_frequency>
+        </plugin>
+        <!-- Battery plugin -->
+        <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
+          name=\"ignition::gazebo::systems::LinearBatteryPlugin\">
+          <battery_name>linear_battery</battery_name>
+          <voltage>25.2</voltage>
+          <open_circuit_voltage_constant_coef>25.2</open_circuit_voltage_constant_coef>
+          <open_circuit_voltage_linear_coef>-7.2</open_circuit_voltage_linear_coef>
+          <initial_charge>13.214</initial_charge>
+          <capacity>13.214</capacity>
+          <resistance>0.052</resistance>
+          <smooth_current_tau>5.0</smooth_current_tau>
+          <power_load>3.33</power_load>
+          <start_on_motion>true</start_on_motion>
+        </plugin>
+       <!-- Gas Sensor plugin -->"
+       <plugin filename="libGasEmitterDetectorPlugin.so"
+         name="subt::GasDetector">
+         <topic>/model/#{_name}/gas_detected</topic>
+         <update_rate>10</update_rate>
+         <type>gas</type>
+       </plugin>
+        </include>
+      </sdf>
+    </spawn>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='robot_description'>
+      <command>roslaunch --wait robotika_kloubak_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
+    </executable>
+    <executable name='kloubak_ros_ign_bridge'>
+      <command>roslaunch --wait robotika_kloubak_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
+    </executable>
+  HEREDOC
+end