Adding breadcrumbs to models

[nkoenig]

Models Added

1. X1_SENSOR_CONFIG_7 (420 credits) - X1C4 with 12 breadcrumbs
2. X2_SENSOR_CONFIG_8 (275 credits) - X2C6 with 6 breadcrumbs
3. COSTAR_HUSKY_SENSOR_CONFIG_2 (385 credits) - COSTAR Husky Config 1 with 12 breadcrumbs
4. EXPLORER_X1_SENSOR_CONFIG_2 (440 credits) - EXPLORER X1 with 12 breadcrumbs
5. X1_SENSOR_CONFIG_8 (370 credits) - X1C3 with 12 breadcrumbs
6. X2_SENSOR_CONFIG_9 (205 credits) - X2C4 with 6 breadcrumbs

To test:

ign launch -v 4 cave_circuit.ign worldName:=simple_cave_01 robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_7

To drop a breadcrumb

ign topic -t "/model/X1/breadcrumb/deploy" -m ignition.msgs.Empty -p "unused: true"

[azeey]

This looks good. I think we should use a simple box shape as a collision for the breadcrumbs. After deploying a few, I got a message:

ODE Message 2: Trimesh-trimesh contach hash table bucket overflow - close contacts might not be culled in AddContactToNode() [collision_trimesh_trimesh_new.cpp:226]

Another issue is that we now have a <model>/breadcrumb/deploy topic for all robots regardless of whether they are capable of deploying breadcrumbs. Having sensor topics that don't have any data has caused confusion in the past.

[nkoenig]

Version 2 of the breadcrumb model uses a box collision shape: https://app.ignitionrobotics.org/openrobotics/fuel/models/Breadcrumb%20Node

[nkoenig]

This PR prevents the deployment topic from being created: gazebosim/gz-sim#88

[azeey]

I guess my concern was more on the ROS side because that's the API for competitors. IIUC, the ROS topic will still exist even if there is no corresponding topic in ign-transport.

[nkoenig]

I blocked the ROS topics here: 5f7697a

[azeey]

Looks great! I think we also need to to add the same logic in cloudsim_bridge.ign

[nkoenig]

Thanks, added: fe173a8

[azeey]

I would have made these changes directly, but it looks like I don't have write access

index cbb1ee4..f1e4cfc 100644
--- a/subt_ign/launch/competition.ign
+++ b/subt_ign/launch/competition.ign
@@ -968,12 +968,12 @@
     robotConfigN = config[-1]
     posX = -(robotSpawned / spawnColSize * spawnGridSize - spawnRowOffset)
     posY = -(robotSpawned % spawnColSize * spawnGridSize - spawnColOffset)
-    if robotType == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5")
+    if robotType == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "7" or robotConfigN == "8")
       robotSpawned += 1
 %>
 <%=   spawnX1(name, robotConfigN, posX, posY) %>
 <%
-    elsif robotType == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6")
+    elsif robotType == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6" or robotConfigN == "8" or robotConfigN == "9")
       robotSpawned += 1
 %>
 <%=   spawnX2(name, robotConfigN, posX, posY) %>
diff --git a/subt_ign/launch/tunnel_circuit_practice.ign b/subt_ign/launch/tunnel_circuit_practice.ign
index a4b0812..59ff908 100644
--- a/subt_ign/launch/tunnel_circuit_practice.ign
+++ b/subt_ign/launch/tunnel_circuit_practice.ign
@@ -959,12 +959,12 @@
     robotConfigN = config[-1]
     posX = -(robotSpawned / spawnColSize * spawnGridSize - spawnRowOffset)
     posY = -(robotSpawned % spawnColSize * spawnGridSize - spawnColOffset)
-    if robotType == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5")
+    if robotType == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "7" or robotConfigN == "8")
       robotSpawned += 1
 %>
 <%=   spawnX1(name, robotConfigN, posX, posY) %>
 <%
-    elsif robotType == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6")
+    elsif robotType == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6" or robotConfigN == "8" or robotConfigN == "9")
       robotSpawned += 1
 %>
 <%=   spawnX2(name, robotConfigN, posX, posY) %>
diff --git a/subt_ign/launch/urban_circuit.ign b/subt_ign/launch/urban_circuit.ign
index 1e69f82..eaaed5a 100644
--- a/subt_ign/launch/urban_circuit.ign
+++ b/subt_ign/launch/urban_circuit.ign
@@ -1023,12 +1023,12 @@
     posX = x + spawnWorldXPos
     posY = y + spawnWorldYPos
 
-    if robotType == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5")
+    if robotType == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "7" or robotConfigN == "8")
       robotSpawned += 1
 %>
 <%=   spawnX1(name, robotConfigN, posX, posY, spawnWorldZPos, spawnWorldYaw) %>
 <%
-    elsif robotType == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6")
+    elsif robotType == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6" or robotConfigN == "8" or robotConfigN == "9")
       robotSpawned += 1
 %>
 <%=   spawnX2(name, robotConfigN, posX, posY, spawnWorldZPos, spawnWorldYaw) %>

[nkoenig]

Thanks, I've applied those changes.

[acschang]

Checked out new models with breadcrumbs. The models work as advertised.